ksyy / agimus-vision Goto Github PK

This ROS node will find the AprilTag 0 in the video stream and publish its pose in the TF tree

Dependencies:

• ROS Kinetic
• OpenCV3
• Visp3 and visp_bridge (sudo apt-get install ros-kinetic-vision-visp)
• libxml2

Installation: mkdir build && cd build && cmake .. && make install

Usage: rosrun agimus-vision tracker_box

There are some ros parameters used to configure the node:

• /imageTopic: Topic where the camera publish the RGB image (default: /camera/rgb/image_rect_color).
• /cameraInfoTopic: Topic where the camera publish the information about the camera settings (default: /camera/rgb/camera_info).
• /positionNode: Name of the TF node corresponding to the box position (default: box).
• /positionParentNode: Name of its parent node in the TF tree (default: rgbd_rbg_optical_frame).wn

Run the command blender-2.78 --background --python scripts/april-tag-to-dae.py -- -h to get some help on how to do this.

The following bash script was used to generate some images.

ids="50 51 52 53"

for id in ${ids}; do
  blender-2.78 --background --verbose -10 --python scripts/april-tag-to-dae.py -- \
    --cubesize 1. apriltag-imgs-master/tag36h11/tag36_11_000${id}.png ../gerard-bauzil/meshes/apriltag_36h11/tag36_11_000${id}.dae
done