Only released in EOL distros:
Package Summary
This package extends the ar_pose package to handle point clouds + images generated from the kinect for improved AR marker localization.
- Author: Michael Ferguson
- License: BSD
- Source: git https://github.com/mikeferguson/ar_kinect.git (branch: fuerte-devel)
Package Summary
This package extends the ar_pose package to handle point clouds + images generated from the kinect for improved AR marker localization.
- Author: Michael Ferguson
- License: BSD
- Source: git https://github.com/mikeferguson/ar_kinect.git (branch: groovy-devel)
Package Summary
This package extends the ar_pose package to handle point clouds + images generated from the kinect for improved AR marker localization.
- Author: Michael Ferguson
- License: BSD
- Source: git https://github.com/mikeferguson/ar_kinect.git (branch: groovy-devel)
Contents
Overview
This package is an ROS wrapper for ARToolkit, which improves marker localization using point cloud data from a Kinect.
ar_kinect has a single node that can be run, which takes RGB point clouds from the Kinect and outputs a transform between the camera and a recognized marker. This is based on the ar_multi node from the ar_pose package.
The node works by creating an RGB image from the point cloud, finding the corners of the marker, and then computing a transformation to an ideal marker geometry using methods from PCL.
Nodes
ar_kinect
This node tracks multiple AR Markers in an image/point-cloud and displays theirs relative pose.Subscribed Topics
points (sensor_msgs/PointCloud2)- The point cloud data which is used for marker detection and localization. In earlier branches, this was directly mapped to /camera/rgb/points.
Published Topics
ar_pose_markers (ar_pose/ARMarkers)- An array of markers, each marker describe the current pose relative to the camera.
- Visualization marker for rviz
Parameters
marker_pattern_list (string, default: "$(find ar_kinect)/data/object_kinect")- ARToolKit file describing each pattern.
- Location of ARToolKit files describing each pattern.
- Threshold passed to ARToolKit
- Option to enable publishing visual markers for rviz
- Enable broadcasting transforms
Provided tf Transforms
camera_frame_id → marker_frames- the pose of markers relative to the camera frame
