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apriltag_localization repositoryopencv gazebo-simulator ros-melodic apriltag-ros bluefox2 apriltag apriltag_localization_simulations apriltag_ros bluefox2 camera_base camera_calibration depth_image_proc image_pipeline image_proc image_publisher image_rotate image_view stereo_image_proc |
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Repository Summary
| Description | Using apriltag & apriltag_ros & bluefox2 & OpenCV & VISP. |
| Checkout URI | https://github.com/lifuguan/apriltag_localization.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2020-05-20 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | opencv gazebo-simulator ros-melodic apriltag-ros bluefox2 |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| apriltag | 3.1.1 |
| apriltag_localization_simulations | 0.0.0 |
| apriltag_ros | 3.1.0 |
| bluefox2 | 0.2.0 |
| camera_base | 0.0.2 |
| camera_calibration | 1.13.0 |
| depth_image_proc | 1.13.0 |
| image_pipeline | 1.13.0 |
| image_proc | 1.13.0 |
| image_publisher | 1.13.0 |
| image_rotate | 1.13.0 |
| image_view | 1.13.0 |
| stereo_image_proc | 1.13.0 |
README
AprilTag_Localization
| Author | lifuguan |
|---|---|
| 1002732355@qq.com |
目录
- 基于AprilTag的ROS定位系统（摄像头型号 ：mvBlueFOX-MLC200wc）
- 直接通过apriltag+OpenCV（使用mp4或者其他USB摄像头）
- Gazebo仿真环境下的Aprilag目标跟随
基于AprilTag的ROS定位系统（摄像头型号：mvBlueFOX-MLC200wc）
！此摄像头不通用于普通USB摄像头（必须通过调用自带的SDK）
- SDK地址，敬请食用
- 无法使用OpenCV中的
VideoCapture cap(0);读取cam的信息 - 无法使用ROS的usb_cam等常用包进行读取
ROS调用简介
bluefox2
驱动摄像头，笔者的cam ID为 ： /mv_26806946
image_proc
代入标定数据矫正frame ： /cam_id/image_raw –> /cam_id/image_rect
apriltag_ros
识别在/config/tags.yml里标记了的tag
使用方式(假设已经安装成功)
方法一
使用集成了的launch文件
roslaunch apriltag_ros my_continuous_detection.launch
注意
需要自行修改arg中的camera_name
方法二
roslaunch bluefox2 single_node.launchROS_NAMESPACE= your_cam_id rosrun image_proc image_procroslaunch apriltag_ros continuous_detection.launch
直接通过apriltag+OpenCV（使用mp4或者其他USB摄像头）
源码地址 opencv_demo.cc
使用方式
cmake .
sudo make install
opencv_demo
相对于官方的修改
-
增加openmp多线程处理 （此处修改了CMakeLists.txt）
-
加入pose_estimation
-
默认取消debug模式
Gazebo仿真环境下的Aprilag目标跟随
- 包名称
apriltag_localization_simulations - 使用模型
car.urdf
使用步骤
roslaunch apriltag_localization_simulation gazebo_detect_simulation.launch
rosrun apriltag_localization_simulation tag_tf_listener.cpp
tag_tf_listener.cpp
监听 /tag_0 与 /camera 之间的relative position，并转化成cmd_vel广播出去
car.urdf
tf树
CONTRIBUTING
No CONTRIBUTING.md found.
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