tuw_marker_detection: tuw_aruco | tuw_checkerboard | tuw_ellipses | tuw_marker_pose_estimation

Package Summary

This is a wrapper around the marker detection library ArUco.

tuw_marker_detection: tuw_aruco | tuw_checkerboard | tuw_ellipses | tuw_marker_pose_estimation

Package Summary

This is a wrapper around the marker detection library ArUco.

Nodes

tuw_aruco

This C++ ROS node is a thin wrapper around the most recent version of the OpenCV based augmented reality library ArUco. (https://sourceforge.net/projects/aruco/, Version 2.x) ArUcos marker detection is fast and reliable and supports varios types of visual markers. (See parameter marker_dictonary) The package provides pose estimation based on the ArUco implementation but is also able to publish fiducials via an additional ROS topic to enable 3th party pose estimation. (e.g. via the tuw_marker_pose_estimation package)


tuw_aruco_rviz_bchmarker_screenshot.png

The RViz plugin marker_rviz_plugin provides visualization for the MarkerDetection message.

Usage

rosrun tuw_aruco aruco_node

Subscribed Topics

image (sensor_msgs/Image)

Published Topics

marker (marker_msgs/MarkerDetection)
  • Marker poses and ids found in the corresponding input image in camera space.
fiducials (marker_msgs/FiducialDetection)
  • Fiducials and ids found in the corresponding input image.

Parameters

show_debug_image (boolean, default: true)
  • Enables or disables the camera debug image provided by ArUco.
marker_dictonary (string, default: ARTOOLKITPLUSBCH)
  • String enum to indicate which marker dictonary should be used. Possible values: [ARUCO, ARUCO_MIP_25h7, ARUCO_MIP_16h3, ARUCO_MIP_36h12 (recommended), ARTAG, ARTOOLKITPLUS, ARTOOLKITPLUSBCH (default), TAG16h5, TAG25h7, TAG25h9, TAG36h11, TAG36h10]
marker_size (double, default: 0.06)
  • Marker size (side length) in meters.
publish_tf (boolean, default: true)
  • Indicates whether the transforms should be published or not. (No effect if pose_estimation_enabled is false)
publish_markers (boolean, default: true)
  • Indicates whether the MarkerDetection message should be published or not. (No effect if pose_estimation_enabled is false)
publish_fiducials (boolean, default: false) pose_estimation_enabled (boolean, default: true)
  • Indicates whether the build in pose estimation is enabled or disabled.

Provided tf Transforms

camerat#id
  • Transform from the camera to the estimated pose. (e.g. t1, t6, t22..)

Example

ArUco live demo using the tuw_uvc (uvc camera driver) package as a video source. Default settings (marker_dictonary=ARTOOLKITPLUSBCH, marker_size=0.06) are used.

roslaunch tuw_aruco demo_single_marker_live.launch

Wiki: tuw_aruco (last edited 2016-11-02 11:33:01 by doctorseus)