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tuw_marker_detection: tuw_aruco | tuw_checkerboard | tuw_ellipses | tuw_marker_pose_estimation
Package Summary
Released
Documented
This is a wrapper around the marker detection library ArUco.
- Maintainer status: maintained
- Maintainer: Lukas Pfeifhofer <lukas.pfeifhofer AT devlabs DOT pro>, Markus Bader <markus.bader AT tuwien.ac DOT at>
- Author: Lukas Pfeifhofer
- License: BSD
- Source: git https://github.com/tuw-robotics/tuw_marker_detection.git (branch: kinetic)
tuw_marker_detection: tuw_aruco | tuw_checkerboard | tuw_ellipses | tuw_marker_pose_estimation
Package Summary
Released
Documented
This is a wrapper around the marker detection library ArUco.
- Maintainer status: maintained
- Maintainer: Lukas Pfeifhofer <lukas.pfeifhofer AT devlabs DOT pro>, Markus Bader <markus.bader AT tuwien.ac DOT at>
- Author: Lukas Pfeifhofer
- License: BSD
- Source: git https://github.com/tuw-robotics/tuw_marker_detection.git (branch: melodic)
Contents
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)
The RViz plugin marker_rviz_plugin provides visualization for the MarkerDetection message.
Usage
rosrun tuw_aruco aruco_node
Subscribed Topics
image (sensor_msgs/Image)- Input image provided by a calibrated image source. (ImageTransport)
Published Topics
marker (marker_msgs/MarkerDetection)- Marker poses and ids found in the corresponding input image in camera space.
- 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.
- 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 (side length) in meters.
- Indicates whether the transforms should be published or not. (No effect if pose_estimation_enabled is false)
- Indicates whether the MarkerDetection message should be published or not. (No effect if pose_estimation_enabled is false)
- Indicates whether the FiducialDetection message should be published or not.
- Indicates whether the build in pose estimation is enabled or disabled.
Provided tf Transforms
camera → t#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
