ArUco for Ground Truth

Procedure in brief

camera

usb_cam

publish: /usb_cam/image_raw /usb_cam/camera_info

1. use camera_calibration package to get calibration parameters
   • refer to: https://www.guyuehome.com/34043 , https://drive.google.com/file/d/1J7elOrq3Q9aIE20FrTNwBHpFSBAlwzIk/view?usp=sharing
   • save parameters in ost.yaml
   • add path to launch file
2. check /dev/video* in /config/usb_cam.yaml
   • can use v4l2-ctl --list-devices
3. roslaunch usb_cam usb_cam-test.launch

image_proc

subscribe: /usb_cam/image_raw /usb_cam/camera_info

publish: /usb_cam/image_rect

1. ROS_NAMESPACE=usb_cam rosrun image_proc image_proc

aruco_ros

subscribe: /usb_cam/image_rect

publish: aruco_ros/single/marker

1. in launch file: check
   • marker size (in m)

     <arg name="markerSize"      default="0.0137"/>
     

   • use calibrated image

     <remap from="/camera_info" to="/usb_cam/camera_info" />
     <remap from="/image" to="/usb_cam/image_rect" />
     

2. roslaunch aruco_ros single.launch

aruco_locate

sensor_analyst