ArUco marker pose detection

Please ensure you have completed the installation of relevant packages.

Setup

In order to run the marker detection, you need to edit viewpoint_estimation_genius_f100.launch file located in the marker_pose_detection package.

• Remap the /image_raw to the camera feed that you are using. In this case /ardrone/front/image_raw
• Make sure the calibration file points to the calibration file you have created in the .ini format.
  This is a good resource to calibrate camera and convert to .ini format.

A Sample launch file is shown below.

<?xml version="1.0"?>
<launch>
<node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args=".5 0 0 0 1.570 0 world marker_233 10" />
  <node pkg="viewpoint_estimation" type="viewpoint_estimation" name="viewpoint_estimation" output="screen"> 
     <remap from="/image_raw" to="/ardrone/front/image_raw" />
     <rosparam> 
      calibration_file: "/home/ros/.ros/camera_info/ardrone_front.ini"
     </rosparam> 
  </node> 
 </launch>

NOTE: You should be connected to the AR drone and the ardrone_autonomy node should be running.

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Reading the output

This node publishes a visualization_msgs/Marker on the /Estimated_marker topic. You can Subscribe to this topic to get your location and orientation with respect to the ArUco marker.