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Package Summary
| Tags | No category tags. |
| Version | 0.8.2 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/yujinrobot/yujin_ocs.git |
| VCS Type | git |
| VCS Version | release/0.8-melodic |
| Last Updated | 2017-01-12 |
| Dev Status | UNMAINTAINED |
| CI status | Continuous Integration : 0 / 0 |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Collecting, tracking and generating statistics for ar markers from ar_track_alvar.
Additional Links
Maintainers
- Jihoon Lee
Authors
- Daniel Stonier
- Jorge Santos
Overview
This package simply collects ar_track_alvar marker output and stores tracking observations and tracking information in an easy to use container. Some features:
- Throws away observations that haven’t been tracked for a while.
- Observation data includes confidence (frame movement consideration), persistence, stability.
To 3d Sense or not to 3d Sense?
You can hook up the ar_track_alvar node to the kinect if you wish. This should give you better stability of results, but keep in mind that it will fail when you move within the sensor’s minimum range (~50cm).
We’ve found the rgb mode (no 3d sensing) is actually quite good - especially when used with the paired tracking algorithm (see alternative package), so that is what the roslaunchers use.
Usage
Launching
# openni and ar_track_alvar
> roslaunch yocs_ar_marker_tracking machinery.launch
> roslaunch yocs_ar_marker_tracking tracking.launch
Debugging
Fire up rqt_logger_level and set the node’s logger level to debug. You’ll get full
ar marker information and generated statistics as well.
Testing
There is a test script that can be used for playing around/testing the ar marker output. It was designed with the paired tracking in mind, but it is useful for checking out the difference between kinect and no kinect.
This is used with a left marker id 3, right marker id 0, marker size 10.0 (can change these in the launchers).
> roslaunch yocs_ar_marker_tracking testies-3dsensor.launch
# OR hooking the 3d sensor up to the ar_track_alvar node...
> roslaunch yocs_ar_marker_tracking testies-3dsensor-depth.launch
# AND
> rosrun yocs_ar_marker_tracking testies.py
Understanding the Script
https://docs.google.com/a/yujinrobot.com/drawings/d/1zEwZM1QMsz9F_NJ6jWP-5vxME7HIXXL_2q45sDt81_w/edit?usp=sharing
The calculated target x, z and heading is relative to the camera rgb pose (z forward, x to the right). In the script I’ve set the target location 40cm in front of the wall and inbetween the markers.
CHANGELOG
Changelog for package yocs_ar_marker_tracking
0.6.3 (2014-12-05)
- Merge branch 'indigo-devel' into indigo
- Delete the duplicate package
- Contributors: DaikiMaekawa, Jihoon Lee
0.6.2 (2014-11-30)
- update yaml cpp dependency #63
- tracked marker prints conf dist and conf head as well
- disable conf_heading. it does not work..
- updates
- add extra spotted and closest function
- Merge branch 'indigo' into indigo-devel
- switch maintainer to jihoonl and add yaml-cpp dependency. Fix #56
- Add depend on yaml-cpp for yocs_ar_marker_tracking
- fix the yaml parser fix
- fix the yaml parser redfine bug
- Contributors: DongWook Lee, Jihoon Lee, Marcus Liebhardt, Scott K Logan
0.6.1 (2014-07-08)
- apply install rules for new packages
- use ar_track_alvar_msgs instead of ar_track_alvar
- remove eclipse files from bad src location.
- yaml 0.5 support
- ar_pair_tracking system working
- migrates ar marker based algorithms from kobuki x
- Contributors: Daniel Stonier, Jihoon Lee
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Dependant Packages
| Name | Deps |
|---|---|
| yocs_ar_pair_tracking |
Launch files
- launch/machinery.launch
-
- ar_marker_size [default: 10.0]
- ar_marker_cam_image_topic [default: camera/rgb/image_raw]
- ar_marker_max_frequency [default: 5]
- launch/tracking.launch
- launch/tests/testies-3dsensor.launch
-
- camera [default: camera]
- publish_tf [default: false]
- rgb_processing [default: true]
- ir_processing [default: false]
- depth_processing [default: false]
- disparity_processing [default: false]
- disparity_registered_processing [default: false]
- num_worker_threads [default: 4]
- depth_registration [default: false]
- depth_registered_processing [default: false]
- marker_size [default: 10.0]
- max_new_marker_error [default: 0.08]
- max_track_error [default: 0.2]
- cam_info_topic [default: /camera/rgb/camera_info]
- output_frame [default: camera_rgb_optical_frame]
- cam_image_topic [default: camera/rgb/image_raw]
- max_frequency [default: 5.0]
- launch/tests/testies-3dsensor-depth.launch
-
- camera [default: camera]
- publish_tf [default: false]
- rgb_processing [default: true]
- ir_processing [default: false]
- depth_processing [default: false]
- disparity_processing [default: false]
- disparity_registered_processing [default: false]
- num_worker_threads [default: 4]
- depth_registration [default: true]
- depth_registered_processing [default: true]
- marker_size [default: 10.0]
- max_new_marker_error [default: 0.08]
- max_track_error [default: 0.2]
- cam_info_topic [default: /camera/rgb/camera_info]
- output_frame [default: camera_rgb_optical_frame]
- cam_image_topic [default: /camera/depth_registered/points]
- max_frequency [default: 5.0]
- launch/includes/openni.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: false]
- rgb_processing [default: true]
- ir_processing [default: false]
- depth_processing [default: false]
- depth_registered_processing [default: false]
- disparity_processing [default: false]
- disparity_registered_processing [default: false]
- num_worker_threads [default: 4]
- launch/includes/ar_track_alvar.xml
-
- ar_marker_size [default: 10.0]
- ar_marker_max_frequency [default: 5.0]
- ar_marker_cam_image_topic [default: camera/rgb/image_raw]
- max_new_marker_error [default: 0.08]
- max_track_error [default: 0.2]
- cam_info_topic [default: camera/rgb/camera_info]
- output_frame [default: camera_rgb_optical_frame]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.