plusk01 / aruco_localization Goto Github PK
View Code? Open in Web Editor NEWROS localization node using an ArUco Marker Map.
ROS localization node using an ArUco Marker Map.
When the camera is at an extreme angle, ArUco doesn't seem to handle the rotation well. As a result, the ArucoLocalizer::rodriguesToTFQuat
method seems to spit out NaNs (which, maybe there is some work there that needs to be done).
It would be nice if there was a way for users of this node to reset the pose tracker with a service call whenever this happens. At it doesn't seem like there is a built-in ArUco way of doing this (looking at the MarkerMapPoseTracker
class in posetracker.h
) perhaps the next best thing to do is have the service call just re-instantiate the mmPoseTracker_
object.
Thanks @wynn4 for pointing this out.
Hey,
i have some issues with compiling your code. Ive installed aruco like you wrote in your README. but i get this error with catkin_make:
https://pastebin.com/8rcaqt8Q
The FindAruco.cmake is at its correct position ;)
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