ar_pose_single (camera frame)

<launch>
  <node pkg="rviz" type="rviz" name="rviz"
    args="-d $(find ar_pose)/launch/live_single.rviz"/>
  <node pkg="tf" type="static_transform_publisher" name="world_to_cam"
    args="0 0 0.5 -1.57 0 -1.57 world camera 10" />
  <node ns="camera" pkg="image_proc" type="image_proc" name="image_proc"/>
  <node ns="camera" pkg="uvc_camera" type="uvc_camera_node" name="uvc_camera_node"
    output="screen">

    <param name="width" type="int" value="320" />
    <param name="height" type="int" value="240" />
    <param name="fps" type="int" value="30" />
    <param name="frame" type="string" value="camera" />
    <param name="device" type="string" value="/dev/video0" />
    <param name="camera_info_url" type="string"
      value="file://$(find ar_pose)/camera_calibration.yaml" />
  </node>

  <node name="ar_pose" pkg="ar_pose" type="ar_single" respawn="false"
    output="screen">
    <param name="marker_pattern" type="string"
      value="$(find ar_pose)/data/4x4/4x4_19.patt"/>
    <param name="marker_width" type="double" value="200"/>
    <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"/>
  </node>
</launch>


ar_pose reverse: (marker frame)
<launch>
  <node pkg="rviz" type="rviz" name="rviz"
    args="-d $(find ar_pose)/launch/live_reverse.rviz"/>
  <node pkg="tf" type="static_transform_publisher" name="world_to_marker"
    args="0 1 1 -1.57 3.14 -1.57 world ar_marker 10" />
  <node ns="camera" pkg="image_proc" type="image_proc" name="image_proc"/>
  <node ns="camera" pkg="uvc_camera" type="uvc_camera_node" name="uvc_camera_node"
    output="screen">

    <param name="width" type="int" value="320" />
    <param name="height" type="int" value="240" />
    <param name="fps" type="int" value="30" />
    <param name="frame" type="string" value="camera" />
    <param name="device" type="string" value="/dev/video0" />
    <param name="camera_info_url" type="string"
      value="file://$(find ar_pose)/camera_test.yaml" />
  </node>

  <node name="ar_pose" pkg="ar_pose" type="ar_single" respawn="false" output="screen">
    <param name="marker_pattern" type="string" value="data/4x4/4x4_19.patt"/>
    <param name="marker_width" type="double" value="152.4"/>
    <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"/>
    <param name="reverse_transform" type="bool" value="true"/>
  </node>
</launch>