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how image_proc helps in ar_pose

i noticed that ar_pose is subscribing only camera_info and image_raw while image_proc doesn't publish image_raw. so, i wonder what is its purpose in ar_pose?

btw, i noticed that the surrounding lighting affects the ar_pose performance greatly. is there anything i can look at to reduce the effect of the lighting or increase ar_pose performance (e.g. detection distance etc)?

how image_proc helps in ar_pose

i noticed that ar_pose is subscribing only camera_info and image_raw while image_proc doesn't publish image_raw. so, i wonder what is its purpose in ar_pose?

btw, i noticed that the surrounding lighting affects the ar_pose performance greatly. is there anything i can look at to reduce the effect of the lighting or increase ar_pose performance (e.g. detection distance etc)?