Only released in EOL distros:   groovy hydro indigo

Overview

3D pose estimation ROS package using ArUco marker boards.

Installing

   1 sudo apt-get install ros-indigo-ar-sys

   1 sudo apt-get install ros-hydro-ar-sys

   1 cd ~/catkin_ws/src
   2 roslocate uri ar_sys | xargs git clone

   1 cd ~/catkin_ws
   2 catkin_make

Usage

To start tracking a single board of markers, ensure you pass the proper launcher parameters (see launch files for details) to meet your camera device, calibration URI, pointing to the correct board configuration, and then use:

   1 roslaunch ar_sys single_board.launch

To track more boards, follow the same as of a single board, but modify the data/multi/boards.yml file to include all your board configuration files, and then launch:

   1 roslaunch ar_sys multi-boards.launch

Finally, you could have the 3D rviz viewer of your boards by using:

   1 roslaunch ar_sys system_viewer.launch

This is the very basic usage of the package, and there are more details in the scenarios below.

Scenarios

Multiple cameras

Assuming you have two cameras, and would like to display multiple boards from each camera in one 3D rvix environment. All you need is to execute something like these commands, each in a separate terminal:

   1 roslaunch ar_sys multi-boards.launch video_namespace:=camera1 camera_frame_id:=camera1 camera_device:=/dev/video0 uid:=1
   2 roslaunch ar_sys multi-boards.launch video_namespace:=camera2 camera_frame_id:=camera2 camera_device:=/dev/video1 uid:=2
   3 roslaunch ar_sys system_viewer.launc

This is the single board version of the above scenario.

   1 roslaunch ar_sys single_board.launch video_namespace:=camera1 camera_frame_id:=camera1 board_frame_id:=board1 camera_device:=/dev/video0 uid:=1
   2 roslaunch ar_sys single_board.launch video_namespace:=camera2 camera_frame_id:=camera2 board_frame_id:=board2 camera_device:=/dev/video1 uid:=2
   3 roslaunch ar_sys system_viewer.launch

Nodes

single_board

Subscribed Topics

• rectified image topic

• camera info for the camera

Published Topics

• Shows input /image with augmented information

• Shows the internal image resulting from the threshold operation

• Provides the position information of the detected board

• Provides the position and orientation information of the detected board

• Provides the transformation information from the camera to the detected board

Parameters

• Whether to pass the P[] matrix values received from the /camera_info topic into ArUco core or not.

• The side length of the markers used in constructing the board in meters. It is used in the calculation of the distance between the camera and the marker itself.

• The path to the YAML file listing markers which contains number of markers used, and the markers array. Each marker in the array must have an "id" and "corners" keys.

• The frame ID of the board that get broadcasted in the /transform topic.

• If true, /result topic will display the IDs and draw rectangles around each marker detected from the /image topic.

• If true, /result topic will draw cubes above each marker detected from the /image topic.

• If true, /result topic will draw the XYZ coordinates orientation of each marker detected from the /image topic.

multi_boards

Subscribed Topics

• rectified image topic

• camera info for the camera

Published Topics

• Shows input /image with augmented information

• Shows the internal image resulting from the threshold operation

• Provides the position information of each detected board

• Provides the position and orientation information of each detected board

• Provides the transformation information from the camera to each detected board

Parameters

• Whether to pass the P[] matrix values received from the /camera_info topic into ArUco core or not.

• The path to the YAML file listing boards which contains the boards array. Each board in the array must have an "name", "path" and "marker_size" keys. The name is the equivalent to board_frame from the single_board node while marker_size is obviously the equivalent to marker_size parameter, the path is a relative path to the boards_directory parameter, and it points to a single YML file as of the board_config parameter from the single_board node.

• A directory that contains all the boards' YAML configuration files.

• If true, /result topic will display the IDs and draw rectangles around each marker detected from the /image topic.

• If true, /result topic will draw cubes above each marker detected from the /image topic.

• If true, /result topic will draw the XYZ coordinates orientation of each marker detected from the /image topic.

system_viewer

Subscribed Topics

• Transformation information from each camera to its corresponding detected boards

Published Topics

• visualize each board received via /transform in a single 3D.

Parameters

• The path to the YAML file listing both boards and cameras positioning configuration arrays. Each board is allowed to be of type: fixed, relative, or floating, while cameras can only be fixed or floating. in case of a fixed position, you need to provide the pose (direction/orientation) values in meter and Radian respectively. fixed position is related to the world (0, 0, 0) point while relative position is relating another marker to the current floating board position. Same concept applies to each camera from the cameras array noting the absence of relative positioning system.

• The rate of change in floating cameras, boards, and relative markers position. Zero will disable the system totally, One mean instantaneous change (disabling the filter). If you have more than a single input transform contributing to the averaging of the position of a floating camera, or floating/relative marker, you need to tune the filter value in the range of 0 < digital_filter_change_rate < 1

Launch files

There are many roslaunch parameters that we are employing in the launchers of each node. Here is the details:

single_board.launch

Parameters

• Whether to use uvc_camera and image_proc or not.

• The path to the camera device.

• The URL to the camera calibration file.

• The frame ID of the camera that get broadcasted in the topics.

• Width of the camera captured frame.

• Height of the camera captured frame.

• How many frame per second shall the camera provides.

• Shall we display the result image using image_view?

• Shall image_view re-size automatically to the contain the result images.

• Redirected to the draw_markers node parameter.

• Redirected to the draw_markers_cube node parameter.

• Redirected to the draw_markers_cube node parameter.

• A unique ID to allow multiple launchers, this is useful when you want to use many cameras.

• If the camera_enable:=true, it will manipulate the topics name accordingly, otherwise, it will only prefix both the video_image_topic and video_info_topic parameters.

• The image topic name excluding the video_namespace indicated previously.

• The camera calibration info topic excluding the video_namespace indicated previously.

• Redirected to the image_is_rectified node parameter.

• Same as board_config node parameter.

• Redirected to the board_frame node parameter.

• Same as marker_size node parameter.

multi-boards.launch

Parameters

• Whether to use uvc_camera and image_proc or not.

• The path to the camera device.

• The URL to the camera calibration file.

• The frame ID of the camera that get broadcasted in the topics.

• Width of the camera captured frame.

• Height of the camera captured frame.

• How many frame per second shall the camera provides.

• Shall we display the result image using image_view?

• Shall image_view re-size automatically to the contain the result images.

• Redirected to the draw_markers node parameter.

• Redirected to the draw_markers_cube node parameter.

• Redirected to the draw_markers_cube node parameter.

• A unique ID to allow multiple launchers, this is useful when you want to use many cameras.

• If the camera_enable:=true, it will manipulate the topics name accordingly, otherwise, it will only prefix both the video_image_topic and video_info_topic parameters.

• The image topic name excluding the video_namespace indicated previously.

• The camera calibration info topic excluding the video_namespace indicated previously.

• Redirected to the image_is_rectified node parameter.

• Same as boards_config node parameter.

• Same as boards_directory node parameter.

system_viewer.launch

Parameters

• Same as map_path node parameter.

• Same as digital_filter_change_rate node parameter.

• The path to the rviz configuration file. See rviz guide for details.

Bug Reports & Feature Requests

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