zed_aruco_localization outputting infinite transform #31
Description
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Description
I am trying to run the zed_aruco_localization example with just one marker, set to the origin of the map frame (i.e. pos = 0,0,0, or = 0,0,0).
But whenever I try to run this example with one marker, it outputs an infinite transform. I have tried this at different distances and doesn't seem to affect it.
When I try running the example with 2 markers, it doesn't output an infinite transform. But the transform is still quite off, and am just wondering if there is anything I am missing?
Here is my config file:
# config/aruco_loc.yaml
# Parameters for ArUco localization
---
/**:
ros__parameters:
general:
marker_count: 1 # Number of markers in the World
marker_size: 0.16 # Width/Height of the ArUco markers [m]
maximum_distance: 3.0 # Maximum distance of the target from the camera to consider it valid
detection_rate: 0.5 # Maximum detection frequency for pose update
camera_name: 'zed' # Name of the camera to relocate
world_frame_id: 'map' # Frame id of the world frame
refine_detection: false # If enabled the corners of the detected markers will be processed to obtain sub-pixel precision
debug:
active: false # Enable debug messages
marker_000:
aruco_id: 40 # ID of the ArUco tag as retrieved by the ArUco Detector code
position: [0.0,0.0,0.0]
orientation: [0.0,0.0,0.0] # Orientation with respect to the World origin [rad]
#marker_001:
# aruco_id: 19 # ID of the ArUco tag as retrieved by the ArUco Detector code
# position: [0.0,0.0,1.09] # Pose with respect to the World origin [m]
# orientation: [0.0,0.0,0.0] # Orientation with respect to the World origin [rad]
# Add a number of marker definitions equal to the number of markers in the World according to the `marker_count` value
#marker_xxx:
# aruco_id: YYY # ID of the ArUco tag as retrieved by the ArUco Detector code
# position: [x.x,y.y,z.z] # Pose with respect to the World origin [m]
# orientation: [R.R,P.P,Y.Y] # Orientation with respect to the World origin [rad]
Steps to Reproduce
ros2 launch zed_aruco_localization zed_aruco_loc.launch.py camera_model:=zed2i
Expected Result
Should be outputting a valid transform from the marker to the camera.
Actual Result
It outputs an infinite transformation.
ZED Camera model
ZED2i
Environment
OS: Ubuntu 22.04
CPU: AMD64 (also tried on ARM64 (Jetson Xavier NX))
ZED SDK 4.0.8
ROS2 HumbleAnything else?
No response