[ros-users] ar_pose orientation accuracy

[Ivan Dryanovski]

Hi Steven

The problem is in the bag file. It was recorded at a time when the
ar_pose package did not use the CameraInfo topic for calibration. We
later patched the code to use CameraInfo, but we haven't gotten around
to recording new bags yet. Sorry for the confusion

Ivan Dryanovski



On Mon, Nov 15, 2010 at 10:08 AM, Steven Bellens
<steven.bellens at mech.kuleuven.be> wrote:
> Hi,
>
> not sure if I should open a new topic for this, but it looks like the
> ar_pose package is not functioning properly anymore. Attached is a
> screenshot I get (tested on multiple computers) when running the demo
> launch file demo_multi.launch with the provided bag file. The tracking
> process completely mis-estimates the marker position as you can see.
> I've looked into the git history to try to find any recent changes
> which can explain this, but I haven't found anything useful.
> Do others see the same behaviour?
> Did the package recently undergo any changes which might cause this?
>
> regards,
>
> Steven
>
> 2010/11/8 Ivan Dryanovski <ivan.dryanovski at gmail.com>:
>>> First is to use arGetTransMatCont(...) which reduces jitter by using
>>> previous frame estimates in the optimization process (see
>>> examples/simpleTest2.c).
>>
>> If I recall correctly the ar_pose package uses this function by
>> default - it can be disabled by setting the "use_history" parameter to
>> false.
>>
>> Ivan
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>
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