About | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange

Only released in EOL distros:   fuerte groovy hydro

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 (visualization_msgs/Marker)

• Visualization marker for rviz

Parameters

marker_pattern_list (string, default: "$(find ar_kinect)/data/object_kinect")

• ARToolKit file describing each pattern.

marker_data_directory (string, default: "$(find ar_pose)")

• Location of ARToolKit files describing each pattern.

threshold (double, default: 100)

• Threshold passed to ARToolKit

publish_visual_markers (bool, default: true)

• Option to enable publishing visual markers for rviz

publish_tf (bool, default: true)

• Enable broadcasting transforms

Provided tf Transforms

camera_frame_id → marker_frames

• the pose of markers relative to the camera frame