Oleg Kalachev
9932062631
Update sources hats
2019-06-03 17:18:27 +03:00
Oleg Kalachev
b850844fa2
Remove bad 17 marker from cmit aruco map
2019-05-30 22:47:18 +03:00
Alamoris
4c01e710fc
aruco_pose: Add cmit aruco map
2019-05-30 19:46:35 +03:00
sfalexrog
8019712d8c
Revert "aruco_map: Use two-pass solvePnP"
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This reverts commit 91f6f6dd32
2019-05-28 20:54:49 +03:00
sfalexrog
91f6f6dd32
aruco_map: Use two-pass solvePnP
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There are cases when iterative solvePnP method converges on a "wrong" camera position due to projectPoints not treating negative Z values properly.
Other methods don't seem to be affected by that, but their results differ from the iterative method slightly. By combining these two methods we
"nudge" the iterative method towards the correct camera position and get satisfactory results most of the time.
Sometimes, though, even with the "nudge" the iterative method diverges catastrophically, and this is not caught by the solver. We work around that
by assuming our camera position cannot be too far from the markers.
2019-05-20 12:29:42 +03:00
sfalexrog
53c2cf6998
aruco_map: map parser improvements ( #118 )
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* aruco_map: Improve parser
* aruco_map: Use marker id for map visualization
* aruco_pose: Add parser pass test
* aruco_map: Code style
* aruco_pose: Add more test cases
* aruco_map: Better message handling
* aruco_map: Be more informative about bad lines
* aruco_map: Add failure mode tests
* aruco_map: Be less strict about map contents
* aruco_pose: Restructure tests
* aruco_map: Don't use marker id in visualization
* aruco_map: Check for marker uniqueness
* aruco_pose: Use board data to reject duplicate markers
* aruco_pose/test: Spelling fixes
2019-05-13 17:43:20 +03:00
Ilya Petrov
378efd9fab
dictionary parameter of aruco_map nodelet
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aruco_map nodelet has it's own dictionary parameter
2019-04-29 00:00:34 +03:00
sfalexrog
e9e8c84ddf
aruco_pose: Try to draw as much of axes as possible
2019-04-07 22:46:38 +03:00
sfalexrog
04c33d5b03
aruco_pose/draw: Be more strict about drawing axis
2019-03-21 21:52:20 +03:00
Oleg Kalachev
b4e8d9b18a
aruco_pose: little style fix
2019-03-21 20:58:44 +03:00
Oleg Kalachev
e601080a95
aruco_pose: add param auto_flip
2019-03-21 20:55:35 +03:00
Oleg Kalachev
84c16a7296
aruco_pose: fix snapping alrogithm
2019-03-21 20:55:35 +03:00
Oleg Kalachev
c227910431
aruco_pose: fix office ceiling map
2019-03-21 20:55:35 +03:00
sfalexrog
acec09192b
aruco_map: Try to fix frame drawing bug
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`cv::aruco::drawAxis` would attempt to draw detected frame origin even when it's behind the camera. This resulted in an invalid, flipped frame displayed in `/aruco_map/debug`.
This commit prevents drawing frame axis if the frame origin (projected to the screen space) is behind the screen plane.
2019-03-20 16:14:29 +03:00
Oleg Kalachev
05791bb0bf
genmap.py: remove unused arguments
2019-03-15 19:56:34 +03:00
Alamoris
9cbfc5b687
Fix top left setting
2019-03-15 19:51:10 +03:00
Oleg Kalachev
47ed0481b1
Remove marker 17 as of too common faults + remove CRLF
2019-03-13 23:13:45 +03:00
Oleg Kalachev
f30beea983
Typo
2019-03-13 05:05:41 +03:00
Oleg Kalachev
d62e0cac27
Add genmap.py tool
2019-03-13 04:31:45 +03:00
Oleg Kalachev
f2b37d8ea2
aruco_map: fix drawing maps with pitch/roll rotated markers
2019-03-10 02:28:14 +03:00
Oleg Kalachev
e6266e52f8
aruco_pose: remove irrelevant comment
2019-03-09 21:44:08 +03:00
Oleg Kalachev
ec6c5e71bc
aruco_pose: loose assertion even more
2019-03-07 01:35:28 +03:00
Oleg Kalachev
67d25c0d6b
aruco_pose: loose floats assertion for make tests pass
2019-03-06 23:32:37 +03:00
Alamoris
58c2318d84
Add office ceiling aruco map
2019-03-06 17:40:03 +03:00
Oleg Kalachev
5b5f072e2f
aruco_pose: don’t use pytest
2019-03-05 23:11:55 +03:00
Oleg Kalachev
2bf6400e43
aruco_pose: add test dependency image_publisher
2019-03-05 23:11:55 +03:00
Oleg Kalachev
429c7a8c8b
builder: run catkin_ws packages tests
2019-03-05 17:31:45 +03:00
Oleg Kalachev
c00882def6
aruco_pose: moar tests
2019-03-03 00:14:13 +03:00
Oleg Kalachev
394af64553
aruco_pose: improve tests
2019-03-02 23:59:26 +03:00
Oleg Kalachev
7a56a7b231
aruco_pose: add length to Marker message
2019-03-02 23:59:26 +03:00
Oleg Kalachev
23516b0fc1
spaces -> tabs
2019-03-02 23:59:26 +03:00
Oleg Kalachev
2b82516a97
aruco_map: fix drawing map image
2019-03-02 23:59:26 +03:00
Oleg Kalachev
42e437a32f
aruco_pose: fixes to readme
2019-03-01 21:54:59 +03:00
Oleg Kalachev
aaa6f33a60
Typo
2019-03-01 21:52:45 +03:00
Oleg Kalachev
09c9f65165
aruco_pose: add readme
2019-03-01 17:43:15 +03:00
Oleg Kalachev
d3885135e9
aruco_map: remove unused parameter
2019-03-01 17:39:32 +03:00
Oleg Kalachev
b8f5dc3cc3
aruco_pose: add sample launch file
2019-03-01 17:39:32 +03:00
Oleg Kalachev
f1c614d91a
aruco_pose: use Pose instead of PoseWithCovariance in Marker message (for now)
2019-03-01 13:04:07 +03:00
Oleg Kalachev
349afa9a62
aruco_pose: fix tests
2019-03-01 12:38:50 +03:00
Oleg Kalachev
9a8202422e
aruco_pose: draw detected markers in aruco_map/debug topic
2019-03-01 12:38:07 +03:00
Oleg Kalachev
db9d3cb398
aruco_map: align marker map by z axis
2019-02-28 23:33:05 +03:00
Oleg Kalachev
b2a53e5872
Add aruco_map/debug topic
2019-02-28 23:05:00 +03:00
Oleg Kalachev
d8964b1b99
aruco_pose: style fix
2019-02-28 19:55:18 +03:00
Oleg Kalachev
3a6191b76b
aruco_pose: remove using namespace from .h-file
2019-02-28 19:55:18 +03:00
Oleg Kalachev
25c485043d
aruco_pose: add sample office map
2019-02-27 23:12:16 +03:00
Oleg Kalachev
1bfc190654
aruco_pose: fix generating gridboard
2019-02-26 19:36:01 +03:00
Oleg Kalachev
615194fc2a
aruco_pose: rename known_orientation to known_tilt
2019-02-26 09:10:36 +03:00
Oleg Kalachev
8b034dc813
aruco_pose: more tests
2019-02-22 20:04:46 +03:00
Oleg Kalachev
022eaed76c
aruco_pose: rename snap_orientation to known_orientation
2019-02-22 16:44:01 +03:00
Oleg Kalachev
c8844b424e
aruco_pose: add basic tests
2019-02-22 14:57:36 +03:00
