[ros-users] Camera input to EKF

Steven Bellens steven.bellens at mech.kuleuven.be
Sun Feb 13 13:37:19 UTC 2011

2011/2/13 abhy <abhy.12354 at gmail.com>:
> Hi Steven,
> Yes i can get the estimation matrix but i am not sure how to do this:
> http://www.ros.org/wiki/robot_pose_ekf/Tutorials/AddingGpsSensor (Instead of
> GPS i want to add a camera)
> Any guidance on the same line?

In the ar_pose_ekf package you'll find a file ar_pose.patch which
shows how we've filled in the covariance in the message. Again, these
numbers have no physical meaning, but were used for testing purposes
only. You can either patch your ar_pose package using that patch,
something like

patch -p0 < ar_pose.patch

will do,
or write an additional ROS node which reads in the arPose messages
(with empty covariance) and fill in the covariance there. The first is
the fast approach, the second the more cleaner which leaves the
ar_pose package untouched.

How exactly does your setup look like?



> Abhy
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