CSIC Posted August 24, 2018 Share Posted August 24, 2018 I've been trying to implement this http://wiki.ros.org/ar_track_alvar and I've got the tags detecting but they are not aligned in the camera view on rviz. My suspicion is that the camera_info is not being applied and using rqt_graph confirms this. The node /ar_track_alvar is subscribing to the topic /io/internal_camera/head_camera/image_raw but not to /io/internal_camera/head_camera/camera_info. The camera_info topic appears to be correct and the rectified image looks correct. I don't understand why this is the case, I've checked my launch file and the topic for the camera_info is correct, can somebody point me to some possible things I can test to try get this working. Quote Link to comment Share on other sites More sharing options...
CSIC Posted August 27, 2018 Author Share Posted August 27, 2018 I've tried changing the camera_info topic to something that shouldn't work and it in fact doesn't work. I've also used topic_tools relay to relay the camera_info topic and that continues to detect markers so while my rqt_graph doesn't show a connection from .../camera_info to /ar_track_alvar I think it is? I now believe that the calibration is wrong however rectified images do look accurate. How can I re-calibrate sawyers camera or at least check its calibration? Quote Link to comment Share on other sites More sharing options...
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