Revision history [back]

So, I got some progress and stuck in the different place. I will write everything I've got, maybe it could be useful for understanding the problem I have now and for others to refer in the future.

1) Calibration. I follow the instruction described on wiki page for visp_camera_calibration

rosdep install visp_camera_calibration
rosmake visp_camera_calibration
roslaunch launch/lagadic_grid.launch

At the end you find all calibration parameters you need for the launch file as it is described there or in ~/.ros/calibration.ini

2) Launch file looks like this for me:

<launch>
    <arg name="kinect" default="false"/>
    <param name="use_sim_time" value="false"/>

    <node pkg="rviz" type="rviz" name="rviz" />
        args="-d $(find ar_pose)/demo/demo_single.vcg"/> 

    <node pkg="tf" type="static_transform_publisher" name="world_to_cam"
        args="1 0 0 0 0 0 world camera_link 10" />

    <node name="camera" pkg="openni_camera" type="openni_node" respawn="false" output="log">

        <param name="camera_frame_id" type="string" value="camera"/>
        <param name="video_device" type="string" value="/dev/bus/usb/002/009"/>
        <param name="camera_frame_id" type="string" value="camera"/>

        <param name="io_method" type="string" value="mmap"/>
        <param name="image_width" type="int" value="640"/>
        <param name="image_height" type="int" value="480"/>
        <param name="pixel_format" type="string" value="mjpeg"/> 

        <rosparam param="D">[-0.01019, 0.00000, 0.00000, 0.00000, 0.00000]</rosparam>
        <rosparam param="K">[548.83913,0.00000,309.68288,0.00000,541.05367,246.39086, 0.00000, 0.00000, 1.00000]</rosparam>
        <rosparam param="R">[1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]</rosparam>
        <rosparam param="P">[548.83913,0.00000,309.68288,0.00000,0.00000,541.05367,246.39086, 0.00000, 0.00000 0.00000, 1.00000, 0.00000]</rosparam>

    </node>

    <node name="ar_pose" pkg="ar_pose" type="ar_single" respawn="false" output="screen">
        <param name="marker_pattern" type="string" value="data/patt.hiro"/>

        <param name="marker_width" type="double" value="80.0"/>
        <param name="marker_center_x" type="double" value="0.0"/>
        <param name="marker_center_y" type="double" value="0.0"/>
        <param name="threshold" type="int" value="100"/>
        <param name="use_history" type="bool" value="true"/>    

        <remap if="$(arg kinect)" from="/usb_cam/image_raw"   to="/camera/rgb/image_color"/>
            <remap if="$(arg kinect)" from="/usb_cam/camera_info" to="/camera/rgb/camera_info"/>

            <remap unless="$(arg kinect)" from="/usb_cam/image_raw" to="/wide_stereo/left/image_rect_color"/>
            <remap unless="$(arg kinect)" from="/usb_cam/camera_info" to="/wide_stereo/left/camera_info"/>  

    </node>

</launch>

Two crucial lines were(pay attention to the names of package and types you specify):

 args="1 0 0 0 0 0 world camera_link 10" />

<node name="camera" pkg="openni_camera" type="openni_node" respawn="false" output="log">

3) Rviz. I rviz I've chosen 3 topics: TF, Camera (/camera/rgb/image_rect_color) and Marker (visualization_marker). Fixed frame - /world and nothing for Target Frame. I get image from the camera and the transformation between world and camera seem to ok, but ar markers are not recognized.

4) I changed camera topics in include/ar_pose/ar_single.h to the following existing topics:

const std::string cameraImageTopic_ = "/camera/rgb/image_raw";
const std::string cameraInfoTopic_  = "/camera/rgb/camera_info";

Subscribing to info topics seems to be fine, but subscribing to image topics gives me the following error:

OpenCV Error: Image step is wrong () in cvInitMatHeader, file /tmp/buildd/ros-fuerte-opencv2-2.4.2-1precise-20130312-1308/modules/core/src/array.cpp, line 162
terminate called after throwing an instance of 'cv::Exception'
  what():  /tmp/buildd/ros-fuerte-opencv2-2.4.2-1precise-20130312-1308/modules/core/src/array.cpp:162: error: (-13)  in function cvInitMatHeader

I figure out that the problem is with this line:

   capture_ = bridge_.imgMsgToCv (image_msg, "bgr8");

(probably with a format I specify), but I tried different formats(bgr, rgb, mono) in lower and upper cases and no success. Could anyone please help me with that?