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ar_tools: ar_pose | artoolkit

Package Summary

Documented

Augmented Reality Marker Pose Estimation using ARToolkit

ar_tools: ar_pose | artoolkit

Package Summary

Documented

Augmented Reality Marker Pose Estimation using ARToolkit

  • Maintainer: Bill Morris <bill AT neautomation DOT com>, Dan Lazewatsky <lazewatd AT engr.oregonstate DOT edu>, Max Schwarz <max.schwarz AT online DOT de>, Procópio Stein <procopiostein AT gmail DOT com>
  • Author: Ivan Dryanovsk, Bill Morris <bill AT neautomation DOT com>, Gautier Dumonteil
  • License: GPL
  • Bug / feature tracker: https://github.com/ar-tools/ar_tools/issues
  • Source: git https://github.com/ar-tools/ar_tools.git (branch: master)

Package Summary

Documented

Augmented Reality Marker Pose Estimation using ARToolkit

  • Maintainer: Bill Morris <bill AT neautomation DOT com>, Dan Lazewatsky <lazewatd AT engr.oregonstate DOT edu>, Max Schwarz <max.schwarz AT online DOT de>, Procópio Stein <procopiostein AT gmail DOT com>
  • Author: Ivan Dryanovsk, Bill Morris <bill AT neautomation DOT com>, Gautier Dumonteil
  • License: GPL
  • Bug / feature tracker: https://github.com/ar-tools/ar_tools/issues
  • Source: git https://github.com/ar-tools/ar_tools.git (branch: master)
Cannot load information on name: ar_pose, distro: jade, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.

arsingle.jpg armulti.jpg

Overview

This package is an ROS wrapper for ARToolkit.

ar_pose provides has two nodes you can run. The program ar_single provides a transform between the camera and a single AR Marker. The program ar_multi provides an array of transforms for multiple markers.

Calibration Requirements

Currently the ar_pose package requires calibration information from a camera_info topic. If there is no camera_info topic the marker pose estimation will not start.

Examples

You can run ar_pose on a live video from a camera, or on a pre-recorded bag file that comes with the package. First, make sure you have ar_tools metapackage downloaded and installed and built.

Prerecorded Demo: Tracking a single marker

This demo uses ar_single to track the location of an AR Marker relative to the location of a fixed camera. The position of the camera in the world frame is published by static_tf_publisher as a static transform. The tracking process is visualized in rviz.

Download Warning The setup_single.sh script currently downloads a 350MB file.

First, make sure you have built the additional packages necessary for the demo:

   1 rosmake rviz rosbag

Next, download the example image data and run the demo.

   1 roscd ar_pose/demo
   2 ./setup_single.sh
   3 roslaunch ar_pose demo_single.launch

You should then see something similar to the video below:

Prerecorded Demo: Tracking the camera position

This demo uses ar_single to track the position of the camera relative to the location of an AR Marker. The position of the marker in the world frame is published by static_tf_publisher as a static transform. The tracking process is visualized in rviz.

Download Warning The setup_reverse.sh script currently downloads a 177MB file.

First, make sure you have built the additional packages necessary for the demo:

   1 rosmake rviz rosbag

Next, download the example image data and run the demo.

   1 roscd ar_pose/demo
   2 ./setup_reverse.sh
   3 roslaunch ar_pose demo_reverse.launch

You should then see something similar to the video below:

Prerecorded Demo: Tracking multiple markers

This demo uses ar_multi to track the location of multiple AR Markers relative to the location of a fixed camera. The position of the camera in the world frame is published by static_tf_publisher as a static transform. The tracking process is visualized in rviz.

Download Warning The setup_multi.sh script currently downloads a 177MB file.

First, make sure you have built the additional packages necessary for the demo:

   1 rosmake rviz rosbag

Next, download the example image data and run the demo.

   1 roscd ar_pose/demo
   2 ./setup_multi.sh
   3 roslaunch ar_pose demo_multi.launch

Live video examples

Two examples are provided that are configured and calibrated for use with a Logitech C600 webcam and the usb_cam driver.

The single-marker example that is provided uses the patt.hiro marker. A .pdf of this marker can be found in ~/ros/stacks/ccny-ros-pkg/ccny_vision/artoolkit/build/artoolkit-svn/patterns/pattHiro.pdf

   1 roslaunch ar_pose ar_pose_single.launch

A multi-marker configuration can be started as well. The Markers used in this example are found in ~/ros/stacks/ccny-ros-pkg/ccny_vision/data/4x4/4x4_ps.tar.gz The 4x4 patterns were created with patternMaker which was developed by David Johnson, Christopher Berthiaume and Bryan Witkowski. These patterns are distributed with this software under the GPL with permission.

   1 roslaunch ar_pose ar_pose_single.launch

Nodes

Troubleshooting

Ubuntu 11.10

A workaround for undefined references in libARgsub.a with Ubuntu 11.10:

  • delete #include <AR/gsub.h> on line 29 in ar_multi.h

  • remove "argCleanup();" on line 159 in ar_multi.cpp

Bug Reports & Feature Requests

We appreciate the time and effort spent submitting bug reports.

Please use our Trac to report bugs or request features.

Wiki: ar_pose (last edited 2015-05-26 06:20:17 by ProcopioStein)