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Only released in EOL distros:  

Package Summary

This package extends the ar_pose package to handle point clouds + images generated from the kinect for improved AR marker localization.

Package Summary

This package extends the ar_pose package to handle point clouds + images generated from the kinect for improved AR marker localization.

Package Summary

This package extends the ar_pose package to handle point clouds + images generated from the kinect for improved AR marker localization.

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)

Published Topics

ar_pose_markers (ar_pose/ARMarkers) visualization_marker (visualization_msgs/Marker)

Parameters

marker_pattern_list (string, default: "$(find ar_kinect)/data/object_kinect") marker_data_directory (string, default: "$(find ar_pose)") threshold (double, default: 100) publish_visual_markers (bool, default: true) publish_tf (bool, default: true)

Provided tf Transforms

camera_frame_idmarker_frames


2019-11-30 12:30