Already on GitHub? ar_track_alvar uses the long dead C API for OpenCV. Thank you @pmusau17 I successfully built in ROS noetic as well. But maybe we could connect and try to solve this issue together. Turns out porting is not as easy as first thought. This package is a ROS wrapper for Alvar, an open source AR tag tracking library. Any kind . ar_track_alvar uses the long dead C API for OpenCV. ROS Index. Ive built the package and it is working now. By clicking Sign up for GitHub, you agree to our terms of service and ar_track_alvar has 4 main functionalities: Generating AR tags of varying size, resolution, and data/ID encoding. @sniekum are you still involved? There is quite some potential of reworking parts of the code aside from the port. ar_track_alvar has 4 main functionalities: Generating AR tags of varying size, resolution, and data/ID encoding Identifying and tracking the pose of individual AR tags, optionally integrating kinect depth data (when a kinect is available) for better pose estimates. Moreover, there has been a deprecation of some Eigen types in noetic, which we have to keep in mind, but nothing significant either. Here you go. Have you found an answer to (2)? lin404 ( Jan 22 '20 ) const char* alvar::ALVAR_VERSION_TAG = "" static: Tag version string. lin404 ( Jan 21 '20 ) Never mind, I have found this python resource to detect the AR tags. Please . github-sniekum-ar_track_alvar github-sniekum-ar_track_alvar API Docs Browse Code Overview; 0 Assets; 3 Dependencies; 0 Tutorials . Following the installation instruction , when executing the command rosdep install --from-paths src --ignore-src -r -y I see this error: I have to state that there isnt any problem with executing ZED-ROS-WRAPPER node. Have you added the ar_track_alvar_msgs package available here? I am using ZED camera. Thanks in advance. No. I think the answer to (3) might be to create your own fork of the source code Actually, I've been away from my lab on an internship for the summer. Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. But the tag detections are not accurate and its too noisy. Wiki: ar_track_alvar_msgs (last edited 2015-04-08 02:20:30 by MarcusLiebhardt), Except where otherwise noted, the ROS wiki is licensed under the, https://github.com/sniekum/ar_track_alvar_msgs.git, https://github.com/ros-perception/ar_track_alvar.git, Maintainer: Scott Niekum , Isaac I.Y. I am newbie in ROS and first time using ar_track_alvar. humble galactic foxy rolling noetic melodic. Install the packages: sudo apt-get install ros-kinetic-ar-track-alvar We are going to use a webcam but you can also use a kinect. Check out the ROS 2 Documentation. Are you sure that the tags are printed correctly and they are placed on a perfectly planar surface? The reason I need the confidence is so that could set a confidence threshold and reject those detected tags which have a lower confidence value than the threshold. ar_track_alvar Author(s): Scott Niekum Another option, there is a ar marker lib for python, I might can scan AR tag manually in ros2. . Have a question about this project? Ar_track_alvar for ROS noetic Software ROS1 hamidhma September 22, 2021, 6:02pm #1 Hi, I want to use ZED camera for tracking AR tags. Is this possible? Sign up for a free GitHub account to open an issue and contact its maintainers and the community. I am using ar_track_alvar in ROS Hydro (and Groovy) on Ubuntu 12.04. Are you sure you want to create this branch? ROS ar_track_alvar ar_track asked Aug 9 '16 anilmullapudi 75 12 15 18 updated Aug 9 '16 When i try to install the ar_track_alvar using sudo apt-get install ros-indigo-ar-track-alvar I was getting the following error. Consider for example a rectangular box which has two tags on each side (top of the side and bottom of the side) and a tag at the top for a total of 9 tags. Learn more. I'm not sure how much work it will need. ROS Resources: . I kind of gave up and switched back to ar_pose. Intermodalics@dcc8c40, @smits what is different between your version of Intermodalics/ar_track_alvar#noetic-devel and machinekoder/ar_track_alvar#noetic-devel. Moreover, there has been a deprecation of some Eigen types in noetic, which we have to keep in mind, but nothing significant either. I will start working on this next week. So want to build the ros dependent packages with custom opencv. Creative Commons Attribution Share Alike 3.0. Ive built the package before and everything works well with it. @sloretz do you know who maintains ros-perception? Also, ZED SDK has been installed correctly. You signed in with another tab or window. to use Codespaces. Learn how to add an AR tag 3D element in Gazebo to use it for your AR tracking programs in ROS: https://answers.ros.org/question/240392/add-ar-tag-in-gazebo/. Project Structure ROS Melodic Installation Creating and Configuring a ROS Environment Installing AR Tag Tracking library Running Launch Files ROS Melodic Installation [closed], Problem retrieving video from rovio camera, Time difference in showed and actual webcam image. Sorry for beginner question, ar_track_alvar has 4 main functionalities: Generating AR tags of varying size, resolution, and data/ID encoding Identifying and tracking the pose of individual AR tags, optionally integrating kinect depth data (when a kinect is available) for better pose estimates. How would I do this. Once I have noetic running here I can give it a shot. Maintainer status: maintained Maintainer: Scott Niekum <sniekum AT cs.umass DOT edu>, Isaac I.Y. I want to use ZED camera for tracking AR tags. #94 If you build it from source it should work on Indigo without a problem. ar_track_alvar::ARCloud alvar::Marker::ros_corners_3D: Definition at line 180 of file Marker.h. -s ros run ar_track . The ROS Wiki is for ROS 1. Here are the classes, structs, unions and interfaces with brief descriptions: But this can't be done if the confidence value is always zero. is this repo still actively maintained? This package is a ROS wrapper for Alvar, an open source AR tag tracking library. Is it possible to customize these names so that they represent the box that is being tagged? Saito <gm130s AT gmail DOT com> Author: License: BSD Source: git https://github.com/ros-perception/ar_track_alvar.git (branch: kinetic-devel) Contents Documentation The command after initializing catkin_init_workspace is as follows. How are you installing ar_pose? Identifying and tracking the pose of individual AR tags, optionally integrating kinect depth data (when a kinect is available) for better pose estimates. So I might consider taking a look at what machinekoder is doing. to your account. Older. . If nothing happens, download GitHub Desktop and try again. Reading package lists. However, is there any parameters (args) that I can set in the launch file for a confidence threshold? any chance this is going to get merged in and released? Well occasionally send you account related emails. ar_track_alvar Author(s): Scott Niekum autogenerated on Mon Jun 10 2019 12:47:04 . Repos. Hi guys, I'm looking to use the confidence value as well, did you manage to solve this issue? I also modified the catch at the end of the callback to catch all exceptions, because I was randomly getting cv errors that would shut down the node, which was annoying. The machinekoder repo almost works well, however, if you look at some comments on this (unrelated) issue machinekoder#1 , you will notice that there is a problem where nan is published for a lot of the results. @ajithcodesit I'm at it. Saito <130s AT 2000.jukuin.keio.ac DOT jp> If not, am doing something wrong for the confidence to printed always zero? My approach is to do the checking in the code I write. As I understand and have verified, when using the bundle version, ar_track_alvar provides the pose estimate of the master tag regardless of which tag is visible to the camera. A tag already exists with the provided branch name. This package is a ROS wrapper for Alvar, an open source AR tag tracking library. As I said, this is probably not the "proper" way to fix it, but it gets the job done for what I need. How to use robot_localization with ar_track_alvar? To use the camera, we need to install the right drivers: # web cam driver sudo apt-get install ros-kinetic-usb-cam # Kinect driver sudo apt-get install ros-kinetic-freenect-launch Run the usb camera: looking at the Network of this repo ros-perception/ar_track_alvar, it looks like development of this repos has diverged onto forks Thank you. Work fast with our official CLI. Are you using ROS 2 (Dashing/Foxy/Rolling)? This package is a ROS wrapper for Alvar, an open source AR tag tracking library. Done Turns out porting is not as easy as first thought. Sign in I have tracked down the issue and fixed this locally for individual markers by changing a few lines of code in **nodes/InvididualMarkersNoKinect.cpp**. GPU: NVIDIA GTX1050Ti, Can you help me with this issue? No version for distro noetic. ar_track_alvar. Here is my WIP, I already have it working: https://github.com/machinekoder/ar_track_alvar/tree/noetic-devel. @chriskeraly-rios Easier said than done, I couldn't find nice porting guide, so this will require some manual lookup old API and replace procedure. @fmessmer , I did not know of the machinekoder/ar_track_alvar#noetic-devel when I started my attempt. There is quite a lot cv code in there that needs to be translated. No version for distro humble. So conversion to the C++ is needed along the CV3CV4 port which is small. The tag contains alpha, beta and release candidate versions. How to install @machinekoder 's ar_track_alvar? Issue : I have compiled opencv 4.1.0 with cuda support. @jspricke The API changes between OpenCV3 and 4 seem trivial. For example, if I had a bundle called cherios, then I would like name on the tf tree to by /cherios. @chriskeraly-rios @machinekoder are either of you planning to make a noetic-devel PR? I am using ubuntu 18.04, ROS melodic and a Realsense D435i camera for AR tag detection. If I make the top tag as the master tag, I would like to get the pose estimates of say one of the tags on one of the sides. Here is the fix (roughly line 112). Thanks for looking into this. a community-maintained index of robotics software Changelog for package ar_track_alvar 0.7.1 (2017-06-14) [maintenance] Remove unnecessary metapkg. guide about transitioning ROS packages to Python 3, https://github.com/machinekoder/ar_track_alvar/tree/noetic-devel, error installing ar_track_alvar using catkin_make with OpenCV 4.1.0, Bump CMake version to avoid CMP0048 warning, Alvar marker error message from drone_simulation. Definition at line 203 of file Alvar.h. @machinekoder I tried your WIP but I am not able to compile it with catkin_make. The Noetic Migration Guide or the guide about transitioning ROS packages to Python 3 may be useful. OS: ubuntu 20.04 Thank you. or provide and link a pr, please - so people can build on top of your work and test it https://github.com/rios-ai/ar_track_alvar/tree/feature/rios_bug_fix. @NHirose I got the same error on a Jetson Xavier NX/Jetpack 5.0.2. Essentially the way the quaternions were retrieved didn't work properly. could you point us to proper commit/branch which contains your fix? @130s you have the last commit to this repo If nothing happens, download Xcode and try again. Track orientation based only on features in the image plane. GitHub - ros-perception/ar_track_alvar: AR tag tracking library for ROS ros-perception / ar_track_alvar Public forked from sniekum/ar_track_alvar Notifications Fork 278 Star 105 Wiki melodic-devel 9 branches 23 tags Go to file Code This branch is 42 commits ahead, 25 commits behind sniekum:indigo-devel . We're definitely not close to something that works. The /ar_track_alvar/Pose does not show any message and TF also does not show up Can anyone please help me in this regard ? . Although I am able to detect the tags, when I print the ID and the confidence, I get the confidence value to be always zero. You signed in with another tab or window. Fore some reason I got installed OpenCV 4.5.4 and 4.2.0. It looks like all of its dependencies have been released, and recursively 14 repos need it. This package is a ROS wrapper for Alvar, an open source AR tag tracking library. My Labmate uses ROS melodic (ubuntu 18) and his detections are far more accurate than mine (same situation). Maintainer status: maintained Maintainer: Scott Niekum <sniekum AT cs.umass DOT edu>, Isaac I.Y. I tried your code on Ubuntu 20.04. AR_ID065535 ros run ar_track_alvar createMarker 0 3. I see @haraisao also has a PR for a noetic devel branch. @machinekoder Thank you for releasing your code. @machinekoder are you still working on this? Have you been able to make some progress? I also see that Intermodalics has a noetic-devel branch, which sees recent contributions, e.g. Saito . Known supported distros are highlighted in the buttons above. Would you mind releasing ar_track_alvar to ROS Noetic? I have a couple of questions about the package. Please start posting anonymously - your entry will be published after you log in or create a new account. ar_track_alvar 1. ar_track_alvar sudo apt-get install ros -melodic-ar-track-alvar 2. ROS: noetic There should be a better way to do it, at least this way got the job done, hope it helps on your environment, regards. std::vector<PointDouble> alvar::Marker::ros_marker_points_img: Marker points in image coordinates. Done Building dependency tree Reading state information. The marker tf names that I can see after running view_frames are ar_maker_0, ar_marker_1 etc. So conversion to the C++ is needed along the CV3CV4 port which is small. ROS Resources: Documentation | Support | Discussion . are you also experiencing the "nan"-issues mentioned in machinekoder#1 (comment)? . I've used ar_pose before on Hydro, but am facing issues setting it up for Indigo. Ive done so. ar_track_alvar_msgs. privacy statement. Now the node works well (albeit it seems slower than the melodic version). Anyways, I don't have the time to go and dig deeper at the root cause of why the quaternion retrieval failed and propose a proper pull request, but this should help anyone trying to debug it, or get it running. AR Track Kinect This repository shows a basic implementation of the ROS ar_track_alvar library on Ubuntu 18.04 LTS using ROS Melodic and Microsoft Kinect sensor (Xbox 360). Nope. There was a problem preparing your codespace, please try again. (from this link). This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository. My client machine is on Hydro and ROS master is running on Groovy (its a pain to upgrade the computers on our robot, so we just stuck with the installed versions). [ERROR] [1668810254.584122576]: Error in ar_track_alvar callback: OpenCV(4.5.4) /home/ubuntu/build_opencv/opencv/modules/core/src/matrix.cpp:250: error: (-215:Assertion failed) s >= 0 in function 'setSize'. However, I had a following error. CUDA: 11.0 So the core effort of porting ar_track_alvar lies in converting the OpenCV C API calls with their C++ API equivalents. @wmmc88 I'm going for it next week as we finally moved to noetic. Fusing ARTags poses with robot_localization, Installation path of groovy gscam according to wiki ? Known supported distros are highlighted in the buttons above. I have a couple of questions about the package. Following the installation instruction , when executing the command "rosdep install --from-paths src --ignore-src -r -y" I see this error: Screenshot from 2021-09-22 11-42-11 730124 20.9 KB sign in Home. $ sudo apt-get install ros -melodic-ar-tr. In my case I added the following to force 4.2.0 usage for libopencv_core. Do I need to configure anything separately in the ar_track_alvar package? Are you working on Indigo? Use Git or checkout with SVN using the web URL. Powered by Discourse, best viewed with JavaScript enabled. The text was updated successfully, but these errors were encountered: ar_track_alvar doesn't use Python, so it's only a matter of publishing the package. As I understand and have verified, when using the bundle version, ar_track_alvar provides the pose estimate of the master tag regardless of which tag is visible to the camera. Uninstalled and reinstalled noetic-desktop-full but got the same problem. I am using ar_track_alvar in ROS Hydro (and Groovy) on Ubuntu 12.04. The solution can be that host ros1 and ros2 env at the same time, then use to get the AR tag ID via topic by using ar_track_alvar from ros1. This package is a ROS wrapper for Alvar, an open source AR tag tracking library. This is definitely helpful, but I was wondering if it would be possible to get the pose estimates of the other tags as well. Switched to this branch. I checked the parameters in rosrun rqt_reconfigure rqt_reconfigure and they are all the same either with the zed parameters and ar_track_alvar parameters. 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