about no camera info

[Yaoxingtian]

hi,thanks for your great work!
i try to use this project bot when i run it ,i find my camera does not have camera_info node to output, so how can i change your code to work with my camera ? thanks so much !!

[saikishor]

Hello @Yaoxingtian,

Thank you so much for your interest in the package. The estimation of ARuCo is based on the camera info topic, without having this info it is not possible to estimate the pose of the marker. That's why, if your camera is well calibrated, it will be reflected in the camera_info; hence, you have a better estimation.

We hope this answers your question.

Thank you,

Best Regards,
PAL Robotics Team.

[Yaoxingtian]

Hello @Yaoxingtian,

Thank you so much for your interest in the package. The estimation of ARuCo is based on the camera info topic, without having this info it is not possible to estimate the pose of the marker. That's why, if your camera is well calibrated, it will be reflected in the camera_info; hence, you have a better estimation.

We hope this answers your question.

Thank you,

Best Regards, PAL Robotics Team.

thanks so much for you kindly reply !
and now i add camera info as a topic ,when i run single.launch,it can gets marks but can not show the position on the picture,but echo /aruco_single/pose have enough information, i'am so confused , could you pls. help ?
single.launch:

/aruco_single/pose:
header:
seq: 46
stamp:
secs: 1695872446
nsecs: 169000149
frame_id: "stereo_gazebo_left_camera_optical_frame"
pose:
position:
x: -30.77961287838618
y: 0.9469890380327535
z: 0.6522766351699829
orientation:
x: 0.7413994447944224
y: -0.6668339357097456
z: -0.01968394403844307
w: 0.07260790446958565