求助handeye-calib的aruco result没有结果啥情况

Kane

我用的Astra Pro，运行了aruco_start_realsense_sdk.launch（内容修改了放下面）

<launch>
     <include file="$(find astra_camera)/launch/astra_pro.launch">
        <arg name="enable_depth" value="false" />
     </include>
    <arg name="markerId"        default="6"/>
    <arg name="markerSize"      default="0.100"/>    
    <arg name="eye"             default="left"/>
    <arg name="marker_frame"    default="aruco_marker_frame"/>
    <arg name="ref_frame"       default=""/>  
    <arg name="corner_refinement" default="LINES" /> 
    
    <node pkg="aruco_ros" type="single" name="aruco_single">
        <remap from="/camera_info" to="/camera/color/camera_info" />
        <remap from="/image" to="/camera/color/image_raw" />
        <param name="image_is_rectified" value="True"/>
        <param name="marker_size"        value="$(arg markerSize)"/>
        <param name="marker_id"          value="$(arg markerId)"/>
        <param name="reference_frame"    value="$(arg ref_frame)"/> 
        <param name="camera_frame"       value="stereo_gazebo_$(arg eye)_camera_optical_frame"/>
        <param name="marker_frame"       value="$(arg marker_frame)" />
        <param name="corner_refinement"  value="$(arg corner_refinement)" />
    </node> 
    <node name="image_view" pkg="image_view" type="image_view" respawn="false" output="screen">
        <remap from="image" to="/aruco_single/result"/>
        <param name="autosize" value="true" />
    </node>
</launch>

但是在结果中并没有识别到我的aruco啥情况
db225b07-c3cd-4a2a-a219-63902b2f71cf-113e110a5af345faff8e65b8e1a7ef5d.png
启动节点相关信息贴在下面

wheeltec-client@ubuntu:~/Desktop/handeye-calib$ roslaunch handeye-calib aruco_start_realsense_sdk.launch 
... logging to /home/wheeltec-client/.ros/log/f18563ce-4be8-11ee-ba1e-000c29bc7a6b/roslaunch-ubuntu-5778.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.0.100:38889/

SUMMARY
========

PARAMETERS
 * /aruco_single/camera_frame: stereo_gazebo_lef...
 * /aruco_single/corner_refinement: LINES
 * /aruco_single/image_is_rectified: True
 * /aruco_single/marker_frame: aruco_marker_frame
 * /aruco_single/marker_id: 6
 * /aruco_single/marker_size: 0.1
 * /aruco_single/reference_frame: 
 * /camera/camera/camera_name: camera
 * /camera/camera/color_depth_synchronization: False
 * /camera/camera/color_format: RGB
 * /camera/camera/color_fps: 30
 * /camera/camera/color_height: 480
 * /camera/camera/color_info_uri: 
 * /camera/camera/color_roi_height: -1
 * /camera/camera/color_roi_width: -1
 * /camera/camera/color_roi_x: -1
 * /camera/camera/color_roi_y: -1
 * /camera/camera/color_width: 640
 * /camera/camera/connection_delay: 100
 * /camera/camera/depth_align: False
 * /camera/camera/depth_format: Y11
 * /camera/camera/depth_fps: 30
 * /camera/camera/depth_height: 480
 * /camera/camera/depth_roi_height: -1
 * /camera/camera/depth_roi_width: -1
 * /camera/camera/depth_roi_x: -1
 * /camera/camera/depth_roi_y: -1
 * /camera/camera/depth_scale: 1
 * /camera/camera/depth_width: 640
 * /camera/camera/device_num: 1
 * /camera/camera/enable_color: True
 * /camera/camera/enable_d2c_viewer: False
 * /camera/camera/enable_depth: False
 * /camera/camera/enable_ir: True
 * /camera/camera/enable_point_cloud: True
 * /camera/camera/enable_point_cloud_xyzrgb: False
 * /camera/camera/enable_publish_extrinsic: False
 * /camera/camera/flip_color: False
 * /camera/camera/flip_depth: False
 * /camera/camera/flip_ir: False
 * /camera/camera/ir_format: Y10
 * /camera/camera/ir_fps: 30
 * /camera/camera/ir_height: 480
 * /camera/camera/ir_info_uri: 
 * /camera/camera/ir_width: 640
 * /camera/camera/oni_log_level: verbose
 * /camera/camera/oni_log_to_console: False
 * /camera/camera/oni_log_to_file: False
 * /camera/camera/product_id: 0
 * /camera/camera/publish_tf: True
 * /camera/camera/serial_number: 
 * /camera/camera/tf_publish_rate: 10.0
 * /camera/camera/use_uvc_camera: True
 * /camera/camera/uvc_camera_format: mjpeg
 * /camera/camera/uvc_flip: False
 * /camera/camera/uvc_product_id: 0x0501
 * /camera/camera/uvc_retry_count: 100
 * /camera/camera/uvc_vendor_id: 0x2bc5
 * /camera/camera/vendor_id: 0
 * /image_view/autosize: True
 * /rosdistro: melodic
 * /rosversion: 1.14.13

NODES
  /
    aruco_single (aruco_ros/single)
    image_view (image_view/image_view)
  /camera/
    camera (astra_camera/astra_camera_node)

auto-starting new master
process[master]: started with pid [5788]
ROS_MASTER_URI=http://192.168.0.100:11311

setting /run_id to f18563ce-4be8-11ee-ba1e-000c29bc7a6b
process[rosout-1]: started with pid [5799]
started core service [/rosout]
process[camera/camera-2]: started with pid [5806]
process[aruco_single-3]: started with pid [5807]
process[image_view-4]: started with pid [5808]
[ INFO] [1693917435.719332857]: Initializing nodelet with 8 worker threads.
[ INFO] [1693917435.722082159]: Starting camera node...
[ INFO] [1693917435.725723763]: Creating camera node...
[ INFO] [1693917435.726993259]: OBCameraNodeFactory::OBCameraNodeFactory
[ INFO] [1693917435.727017125]: Initializing OBCameraNodeFactory...
[ INFO] [1693917435.736957529]: init Done
[ INFO] [1693917435.737009909]: Creating camera node done...
[ INFO] [1693917435.737055413]: Query device
[ INFO] [1693917435.737101052]: Found 1 devices
[ INFO] [1693917435.737128977]: Device connected: (name, Astra) (uri, 2bc5/0403@3/8) (vendor, Orbbec)
[ INFO] [1693917435.737157659]: Trying to open device: 2bc5/0403@3/8
[ WARN] [1693917435.758409897]: Corner refinement options have been removed in ArUco 3.0.0, corner_refinement ROS parameter is deprecated
[ INFO] [1693917435.777154523]: Using transport "raw"
[ WARN] [1693917435.797969694]: normalizeImageIllumination is unimplemented!
[ INFO] [1693917435.837597725]: OBCameraNodeFactory::onDeviceConnected Open device start
Warning: USB events thread - failed to set priority. This might cause loss of data...
[ INFO] [1693917435.908076975]: OBCameraNodeFactory::onDeviceConnected Open device done, STATUS 0
[ INFO] [1693917435.908131452]: Device connected: Astra serial number: AC29B13006H
[ INFO] [1693917435.908143750]: Start device 
[ INFO] [1693917435.922428941]: Stream depth is disabled
[ INFO] [1693917435.930971520]: set ir video mode Resolution :640x480@30Hz
format PIXEL_FORMAT_GRAY8
[ INFO] [1693917435.932176716]: OBCameraNode::setupUVCCamera
[ WARN] [1693917435.932231930]: Publishing dynamic camera transforms (/tf) at 10 Hz
[ INFO] [1693917435.941890823]: open uvc camera
[ INFO] [1693917436.016246721]: uvc config: vendor_id: 2bc5
product_id: 501
width: 640
height: 480
fps: 30
serial_number: AC29B13006H
format: mjpeg

[ INFO] [1693917436.071739191]: open camera success
[ INFO] [1693917436.071822644]: using default calibration URL
[ INFO] [1693917436.071854523]: camera calibration URL: file:///home/wheeltec-client/.ros/camera_info/rgb_camera.yaml
[ INFO] [1693917436.101592414]: using default calibration URL
[ INFO] [1693917436.101639678]: camera calibration URL: file:///home/wheeltec-client/.ros/camera_info/ir_camera.yaml
[ INFO] [1693917436.101988454]: OBCameraNode initialized
[ INFO] [1693917436.102036440]: Start device  done
[ INFO] [1693917436.215100515]: Image stream color subscribed
[ INFO] [1693917436.215138519]: UVCCameraDriver image subscribed
[ INFO] [1693917436.233684665]: set uvc mode 640x480@30 format mjpeg
^C[image_view-4] killing on exit
[aruco_single-3] killing on exit
[camera/camera-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

小鱼

@2849666561 markid 确认下

Kane

@小鱼 markid 是6没问题吧

Kane

@2849666561 我在实验室找了一块板子，把他放在相机前有时候会闪出来一个result
dd641fe6-dd7a-469b-93d5-cf4717578794-C1BD073560D19657557D63E1F55F3EFA.png