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Hey there I work with the aruco library and with ROS thus I currently use this code:

https://github.com/joselusl/aruco_eye

I have this output(x pointing right, y out of the image and z down)

enter image description here

What I basically want is: x pointing right, y up and z out of the image

Is there a simple way in the aruco lib definition of how to set the coordinate system? Or do I have to turn it afterwards?

So currently the aruco lib is configured like this:

const aruco::MarkerDetector::ThresholdMethods ARUCO_EYE_CONFIG_thresholdMethod=aruco::MarkerDetector::ADPT_THRES;
const double ARUCO_EYE_CONFIG_ThresParam1=7;
const double ARUCO_EYE_CONFIG_ThresParam2=7;
const aruco::MarkerDetector::CornerRefinementMethod ARUCO_EYE_CONFIG_methodCornerRefinement=aruco::MarkerDetector::LINES;
const float ARUCO_EYE_CONFIG_minSize=0.045;//0.03;
const float ARUCO_EYE_CONFIG_maxSize=0.5;//0.5;

//configure aruco detector
if(MyArucoEye.configureArucoDetector(ARUCO_EYE_CONFIG_thresholdMethod,
                                      ARUCO_EYE_CONFIG_ThresParam1,
                                      ARUCO_EYE_CONFIG_ThresParam2,
                                      ARUCO_EYE_CONFIG_methodCornerRefinement,
                                      ARUCO_EYE_CONFIG_minSize,
                                      ARUCO_EYE_CONFIG_maxSize) )
sqp_125
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  • While this is not a direct answer, I post this as a comment: We do it afterwards by setting a static transform from the marker origin to the desired position. – Tik0 Jun 06 '18 at 03:44

1 Answers1

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You can use tuw_aruco it publishes tf, already and is easy to configure.

Max
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