[ros-users] ar_pose orientation accuracy

[Steven Bellens]

2010/11/15 Ivan Dryanovski <ivan.dryanovski at gmail.com>:
> 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

I found this because I was struggling to get ar_pose and rviz set-up
correctly to track and display the marker. Thanks for the
clarification. I've got it all set-up and working now. Problem here
was a combination of wrong frame_id names and the rviz configuration
file.

Steven

>
> 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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