Size of gazebo models

asked 2022-01-24 10:06:56 -0500

Roshan gravatar image

updated 2022-01-25 20:10:56 -0500

Mike Scheutzow gravatar image

I have an aruco marker that I'm using for aruco detection. The aruco detection needs to know the size of the marker. The issue I have is that I know the marker's full size, but this is including the white border around the marker. I only want to know the actual marker size. Is there any way to find the size/ measure positions in Gazebo?

What I have done up until now is to size the marker and place the camera so I can measure the marker on the screen with a ruler. For example, if I put the marker size to 0.17 m and have the camera in a position like this:

image description

I can move the camera forth and back until the entire marker, including the white borders measures 0.17 m with a ruler on my screen, and then I can measure the black marker to find the size of the black marker. Wondering if this is a legit way to find the size of the marker in this case, or if Gazebo has any tools. I saw there was supposed to be tape measure or something, but never figured out how to use it.

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Hi @Roshan have you considered using the OpenCV to complete this task of calculating size of aruco at different distances?

osilva gravatar image osilva  ( 2022-01-24 18:20:20 -0500 )edit

Hello, no but I might try that. But do you agree that finding the size like described above would give me the actual size of the marker, assuming that I used OpenCV to calculate the distance instead of a ruler?

Roshan gravatar image Roshan  ( 2022-01-25 02:26:07 -0500 )edit

Yes and it can be fairly accurate too

osilva gravatar image osilva  ( 2022-01-25 03:50:44 -0500 )edit

This is an example how to do measurement, not exactly what you are looking to do, but it will give you an idea:

osilva gravatar image osilva  ( 2022-01-26 06:56:17 -0500 )edit