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ARuco tf position does not match actual #79
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I am also facing the same issues. I am also using a summit xl. my launch file is:
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Either the marker size is wrong or the camera is not properly calibrated. |
But the calibration info is obtained from the standard topic of SUMMIT XL robot "camera info". We are not clear on how the marker size influence frame location, because the marker frame is located at a distance from camera frame in gazebo, whereas in rviz it is showing above. The correlation between marker frame location and marker size is not clear |
The size parameter for aruco determines the distance from the camera. A 100px x 100px marker in the camera, could be a 10cm marker a 10 meters, or a 1cm marker at 1meter. |
I changed my aruco size in launch file from 0.12 to 0.13 and everything is fine. Thanks a lot! |
Hello, We will proceed to close this issue due to inactivity. Thank you, Best Regards, |
I placed ARuco in front of the camera, but when RViz looked at the tf, the marker_frame was above the camera.
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