position not shown in /tag_detections

[SietseAchterop]

When using continuous_detection the tag is detected and the outline is shown in the image, so it is detected.
But the values of the pose are NOT updated in /tag_detections, they stay all on zero.
What am I doing wrong?

[JiekeLi]

I think I have found the reason: when I echo the topic--/camera/camera_info ,I found that all the parameters in camera_info are zero! Maybe that is the reason why the pose it calculates are zero.

[dmalyuta]

The getRelativeTransform function computes the tag pose. If your camera_info topic has all zero parameters like @JiekeLi says, then that will indeed play badly with the cv::solvePnP function. @SietseAchterop are your parameters all zero for camera_info? If so, fix that first (by filling out the K matrix in that topic with your x, y focal lengths and optical center coordinates) and let us know if this fixes your issue.

[SietseAchterop]

I use the usb_cam package, and that has all the zero's.
After setting sensible calibration values the camera_info is filled in, and continuous_detection is working as advertised!
Maybe a warning about the camera_info would be helpful.
Thanks for the help, issue solved!

[dmalyuta]

I'll make a warning about it, thank you.