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I am detecting Aruco code with:

rvec, tvec = aruco.estimatePoseSingleMarkers(corners, markersize, cam_mat, dist_coef)

what I get are rvec, tvec that are relative to the camera position.

Also i can easily get Word position of detected camera using:

(trans, rot) = listener.lookupTransform('odom', 'base_footprint', rospy.Time(0))

So my question is how to calculate the position of the aruco code relative to world positions? My goal is to use MoveBaseGoal() for navigation to this Marker.

I m new to this so I'd like to hear advice on how to do it right

I have calibrated camera for accuracy.

chvister
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  • Can you provide a transformation from camera to world frame? – ignacio Mar 29 '23 at 06:43
  • @ignacio trans from camera using lookupTransfrom is `[-0.6997662975521766, 0.000662322948262164, -0.0010073995085540174]` which is world position of camera and output from aruco tvec is `[[[ 3.52228065 -2.75790491 59.53842544]]]` – chvister Mar 29 '23 at 09:53
  • I don't know if I am missing something, but I think the solution to your question is for you to publish the transformation from `aruco` frame to the `camera` frame. As you already have the transformation from `camera` to `world` frame, you have the whole chain from `aruco` to `world` – ignacio Mar 29 '23 at 12:44

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