pcl error when estimate pose

[huiwenzhang]

Hi,

I want to use this package to estimate marker pose. I used a kinect to get depth and camera_info information, which are published on /camera/depth_registered/points and /camera/rgb/camera_info topic. I start the camera driver node, it works fine. and then I start the launch file with ' roslaunch ar_track_alvar pr2_indiv.launch`. The launch file was modified as follows:

<launch>
	<arg name="marker_size" default="5.8" />
	<arg name="max_new_marker_error" default="0.08" />
	<arg name="max_track_error" default="0.2" />

	<arg name="cam_image_topic" default="/camera/depth_registered/points" />
	<arg name="cam_info_topic" default="/camera/rgb/camera_info" />
	<arg name="output_frame" default="/camera_link" />

	<node name="ar_track_alvar" pkg="ar_track_alvar" type="individualMarkers" respawn="false" output="screen">
		<param name="marker_size"           type="double" value="$(arg marker_size)" />
		<param name="max_new_marker_error"  type="double" value="$(arg max_new_marker_error)" />
		<param name="max_track_error"       type="double" value="$(arg max_track_error)" />
		<param name="output_frame"          type="string" value="$(arg output_frame)" />

		<remap from="camera_image"  to="$(arg cam_image_topic)" />
		<remap from="camera_info"   to="$(arg cam_info_topic)" />
	</node>

</launch>

However, once I showed the markers in front of the camera, it throws error as follows:

[pcl::SampleConsensusModel::getSamples] Can not select 0 unique points out of 0!
[pcl::RandomSampleConsensus::computeModel] No samples could be selected!

How can I fix that? @pirobot