Can not get pose information and aruco_marker tf from ZED Mini camera

[wangqingyu985]

I used ZED Mini camera to detect the ArUco Marker, I can get the marker ID and box in rviz, but I can not get the pose information of the marker, and it seems to encountered error.

[saikishor]

Hello @wangqingyu985,

The ARuCo pose information is only published when there is a subscriber and it is the same for the TF. This is done to reduce the computational load on the CPU. If you are still facing the issue, we request you send the proper instructions to reproduce the issue. If not, it would be difficult for us to help you.

Best Regards,
PAL Robotics Team.

[wangqingyu985]

@saikishor
Thanks for your kindly and quickly reply. I found the issue you mensioned above when using RealSense D435 camera, and it is OK when I modified the following codes in simple_single.cpp for RealSense. But it is strange when I replaced the camera into ZED Mini, I can not get the aruco_marker tf information.

For RealSense camera, when I annotated the above code, I can finally get the tf information.

[saikishor]

Hello @wangqingyu985,

Thank you for providing the proper information. Regarding your issue, it seems to me that the camera is not calibrated and the information inside the camera_info topic might have zeros instead of some valid values.

Thank you,

Best Regards,
PAL Robotics Team.

[saikishor]

Hello @wangqingyu985,

Could you please share the info from the camera_info topic?

Best Regards,
PAL Robotics Team.

[wangqingyu985]

Sure, let me see......
I do not have GPU on my computer, so I used the zed ros wrapper for CPU, the link is: https://github.com/willdzeng/zed_cpu_ros
For launching the ZED camera, I use zed_cpu_ros.launch

[saikishor]

Hello @wangqingyu985,

I'm not sure about the issue here, but I think it is from the camera_info topic because that is what it uses to compute the transformation.

Thank you,

Best Regards,
PAL Robotics Team.

[wangqingyu985]

It seems the hight and width are 0 in camera_info topic, what should I do to solve this problem?

[saikishor]

Hello @wangqingyu985,

For using the aruco_ros, you need to have the intrinsics of your camera calibrated. I think you could fix it, by calibrating your camera. You can find some info here : http://wiki.ros.org/camera_calibration. Once you solve your issue, please respond here or close the issue.

Thank you,

Best Regards,
PAL Robotics Team.

[Yaoxingtian]

Hello @wangqingyu985,

For using the aruco_ros, you need to have the intrinsics of your camera calibrated. I think you could fix it, by calibrating your camera. You can find some info here : http://wiki.ros.org/camera_calibration. Once you solve your issue, please respond here or close the issue.

Thank you,

Best Regards, PAL Robotics Team.

i face the same problem, but i use a single camera which has been calibrated, could you pls. help me to use this code ? thanks much!