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[ar_track_alvar] - detecting markers of different sizes

asked 2018-12-03 13:37:47 -0500

Dylan gravatar image

updated 2018-12-03 15:59:53 -0500

I am using an aerial vehicle that has a bottom camera (no kinect) and I am using it to detect an ARTag. It works perfect when it is only one, but now I need to add some more tags so they can be seen at different heights. I read that some people did that but I didn't find how, because I would like to define the sizes of all the possible markers but I can only define one.

What can I do? Use more than one pr2_indiv_no_kinect.launch file? My tags would be something like: image description

(i.e, one big tag and some small inside)

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answered 2018-12-06 10:43:31 -0500

nkoenig gravatar image

If I understand correctly, you'd like to put multiple tags in one world. You should be able to do this by creating multiple models, where each model has one tag.

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I created that image and I created a Gazebo model with that image, but when I try to recognize the small images it doesn't work properly because the ar_track_alvar detector is expecting a 100cm x 100cm image (the biggest one has that size). How can I detect the smaller ones AND the bigger?

Dylan gravatar imageDylan ( 2018-12-07 15:54:09 -0500 )edit
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Asked: 2018-12-03 13:37:47 -0500

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Last updated: Dec 06 '18