Aruco recognition coordinate information jitters violently and the recognition rate is low. How should I optimize it?

[MikasaIL]

bf6b07411f32ddb467e36583696ac1c4.mp4

The above is a demonstration of mine. In my D435i camera, the recognized Aruco coordinates are inaccurate and keep shaking, which leads to inaccurate angle recognition. How should I deal with this situation? What is the reason? In addition, the recognition frequency of the QR code is only 30Hz. How can I increase this recognition frequency?

[saikishor]

Hello @MikasaIL ,

The recognition frequency depends on the frequency of the image topic. Regarding the accuracy, how bad are the numbers? Can you share more information.

Thank you