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<body class='hmmessage'><div dir='ltr'><span style="color: rgb(68, 68, 68); font-size: 15px; line-height: 21.2999992370605px; background-color: rgb(255, 255, 255);">Hi everyone!</span><div style="line-height: 21.2999992370605px; color: rgb(68, 68, 68); font-size: 15px; background-color: rgb(255, 255, 255);"><br style="line-height: 21.2999992370605px;"></div><div style="background-color: rgb(255, 255, 255);"><font color="#444444"><span style="font-size: 15px; line-height: 21.2999992370605px;">I have been recently through a need for a reliable pose estimation system, in which ar_pose (</span></font><a href="http://wiki.ros.org/ar_pose" target="_blank" style="color: rgb(0, 104, 207); font-size: 12pt; line-height: 22.7199993133545px; font-weight: inherit; cursor: pointer;">http://wiki.ros.org/ar_pose</a><font color="#444444" size="3"><span style="line-height: 22.7199993133545px;">) failed to </span></font><font color="#444444"><span style="line-height: 22.7199993133545px;">stratify</span></font><font color="#444444" size="3"><span style="line-height: 22.7199993133545px;"> my needs as it depends on the very basic ARToolKit old library.</span></font></div><div style="line-height: 21.2999992370605px; color: rgb(68, 68, 68); font-size: 15px; background-color: rgb(255, 255, 255);"><span style="line-height: 22.7199993133545px; font-size: 12pt;">Moreover, I found aruco_ros (</span><a href="http://wiki.ros.org/aruco_ros" target="_blank" style="line-height: 22.7199993133545px; font-weight: inherit; color: rgb(0, 104, 207); cursor: pointer; font-size: 12pt;">http://wiki.ros.org/aruco_ros</a><span style="line-height: 22.7199993133545px; font-size: 12pt;">) as a good package to begin with, but it was only using a single marker, or double markers. It does not have a visualization system as well.</span></div><div style="line-height: 21.2999992370605px; color: rgb(68, 68, 68); font-size: 15px; background-color: rgb(255, 255, 255);"><span style="line-height: 22.7199993133545px; font-size: 12pt;"><br style="line-height: 22.7199993133545px;"></span></div><div style="line-height: 21.2999992370605px; color: rgb(68, 68, 68); font-size: 15px; background-color: rgb(255, 255, 255);"><span style="line-height: 22.7199993133545px; font-size: 12pt;">So, I made my package..</span></div><div style="line-height: 21.2999992370605px; color: rgb(68, 68, 68); font-size: 15px; background-color: rgb(255, 255, 255);"><span style="line-height: 22.7199993133545px; font-size: 12pt;">In order to avoid </span>occlusions, I used marker boards (you still have the ability to use a 1x1 marker board), and now it could detect virtually unlimited boards with a very good accuracy.</div><div style="line-height: 21.2999992370605px; color: rgb(68, 68, 68); font-size: 15px; background-color: rgb(255, 255, 255);">Nonetheless, it is able to handle many cameras at once, and finally display the result in the rviz (<a href="http://wiki.ros.org/rviz" target="_blank" style="line-height: 22.7199993133545px; font-weight: inherit; color: rgb(0, 104, 207); cursor: pointer; font-size: 12pt;">http://wiki.ros.org/rviz</a><span style="line-height: 22.7199993133545px; font-size: 12pt;">).</span></div><div style="line-height: 21.2999992370605px; color: rgb(68, 68, 68); font-size: 15px; background-color: rgb(255, 255, 255);"><br style="line-height: 21.2999992370605px;"></div><div style="line-height: 21.2999992370605px; color: rgb(68, 68, 68); font-size: 15px; background-color: rgb(255, 255, 255);">I would love if you discover things <span style="line-height: 21.2999992370605px;">further </span><span style="line-height: 21.2999992370605px;">yourself, so here is the link:</span></div><div style="line-height: 21.2999992370605px; color: rgb(68, 68, 68); font-size: 15px; background-color: rgb(255, 255, 255);"><br></div><div style="line-height: 21.2999992370605px; color: rgb(68, 68, 68); font-size: 15px; background-color: rgb(255, 255, 255);"><a href="https://github.com/Sahloul/ar_sys" target="_blank" style="line-height: 21.2999992370605px; font-weight: inherit; color: rgb(0, 104, 207); cursor: pointer;">https://github.com/Sahloul/ar_sys</a></div><div style="line-height: 21.2999992370605px; color: rgb(68, 68, 68); font-size: 15px; background-color: rgb(255, 255, 255);"><br style="line-height: 21.2999992370605px;"></div><div style="line-height: 21.2999992370605px; color: rgb(68, 68, 68); font-size: 15px; background-color: rgb(255, 255, 255);">It would only cost you a camera and couple of papers to try, therefore, kindly be asked to try it and let me please know your impression and feedback which is highly appreciated!</div> </div></body>
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