Can' t figure out the error in 3D position measurement using ar_track_alvar

asked 2021-10-13 04:12:11 -0500

yu_ki gravatar image

I am using ar_track_alvar to measure 3D position. Since I get this error when doing so, please let me know the cause of the error.

The following is the lunch file. In addition, since realsenseD415 is used, rs_rgbd.launch in the library is also started.



<arg name="marker_size" default="1.3" />
<arg name="max_new_marker_error" default="0.08" />
<arg name="max_track_error" default="0.2" />

<!--<arg name="cam_image_topic" default="/camera/depth/color/points" />-->
<!--<arg name="cam_info_topic" default="//camera/depth/camera_info" />-->
<arg name="cam_image_topic" default="/camera/depth_registered/points" />
<arg name="cam_info_topic" default="/camera/depth/camera_info" />
<arg name="output_frame" default="camera_link" />

<node name="ar_track_alvar" pkg="ar_track_alvar" type="individualMarkers" respawn="false" output="screen">
    <param name="marker_size"           type="double" value="$(arg marker_size)" />
    <param name="max_new_marker_error"  type="double" value="$(arg max_new_marker_error)" />
    <param name="max_track_error"       type="double" value="$(arg max_track_error)" />
    <param name="output_frame"          type="string" value="$(arg output_frame)" />

    <remap from="camera_image"  to="$(arg cam_image_topic)" />
    <remap from="camera_info"   to="$(arg cam_info_topic)" />



[pcl::SampleConsensusModelPlane::optimizeModelCoefficients] Not enough inliers found to support a model (3)! Returning the same coefficients.
[pcl::SampleConsensusModel::getSamples] Can not select 0 unique points out of 1!
[pcl::RandomSampleConsensus::computeModel] No samples could be selected!
[pcl::SACSegmentation::segment] Error segmenting the model! No solution found.

This error occurs when the AR marker is placed in the Realsense angle of view


edit retag flag offensive close merge delete