Oleg Kalachev
bc0e45740f
Use aruco_map_ prefix for markers in the map
2019-07-20 17:30:06 +03:00
Oleg Kalachev
96cc0c7ad9
Forgotten lines
2019-07-03 05:38:10 +03:00
Oleg Kalachev
997484cd1f
aruco_map: fix includes order
2019-07-03 05:23:44 +03:00
Oleg Kalachev
48b24a5fef
aruco_map: possibility to publish static transforms for map's markers
2019-07-03 05:18:44 +03:00
Oleg Kalachev
b542851b24
aruco_pose: fix crashing the nodelet if markers on the map are to small
2019-06-26 23:00:49 +03:00
Oleg Kalachev
9932062631
Update sources hats
2019-06-03 17:18:27 +03:00
sfalexrog
8019712d8c
Revert "aruco_map: Use two-pass solvePnP"
...
This reverts commit 91f6f6dd32
2019-05-28 20:54:49 +03:00
sfalexrog
91f6f6dd32
aruco_map: Use two-pass solvePnP
...
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 )
...
* 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
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
sfalexrog
acec09192b
aruco_map: Try to fix frame drawing bug
...
`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
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
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
d3885135e9
aruco_map: remove unused parameter
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
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
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
022eaed76c
aruco_pose: rename snap_orientation to known_orientation
2019-02-22 16:44:01 +03:00
Oleg Kalachev
306185aafe
aruco_detect: add length_override parameter for overriding individual marker’s length
2019-02-22 11:11:19 +03:00
Oleg Kalachev
e72b520f30
aruco_map: parametrize output image width, height and margin
2019-02-16 22:47:21 +03:00
Oleg Kalachev
82f9b9d6c1
aruco_map: enable rotating (yaw, pitch, roll) each marker in the map
2019-02-14 05:46:00 +03:00
Oleg Kalachev
cb4468e719
Fix
2019-02-12 09:36:51 +03:00
Oleg Kalachev
c4448315aa
aruco_map: publish visualization markers
2019-02-12 03:16:44 +03:00
Oleg Kalachev
9cf6524ad6
aruco_detect: fix single markers frame (with snapping)
2019-02-12 00:15:59 +03:00
Oleg Kalachev
adc485c75a
Refactor aruco_pose, split up to aruco_detect and aruco_map notelets
2019-02-10 00:33:31 +03:00
Oleg Kalachev
c5628cecc0
aruco_pose: publish debug image even where there is no board
2018-03-22 23:33:50 +03:00
Oleg Kalachev
2ec6930099
aruco_pose: undocumented possibility to set custom markers board
...
parameters:
~type=custom
~markers
2018-03-06 02:40:35 +03:00
Oleg Kalachev
4fd9f15eba
~markers_sep_x, ~markers_sep_y parameters for grid boards + various fixes
2017-12-28 23:49:17 +03:00
Oleg Kalachev
53dafed679
Show exception if creating aruco board fails
2017-12-28 23:47:45 +03:00
Oleg Kalachev
094f96b096
Fix aruco board «reference point» determination
2017-12-19 03:57:50 +03:00
Oleg Kalachev
09dd32a6ce
Continue «fixing» weird bugs in aruco functions
2017-12-10 03:08:39 +03:00
Oleg Kalachev
df1ae9e748
Always publish /aruco_pose/debug
2017-12-07 01:19:26 +03:00
Oleg Kalachev
9a12e295ac
Cleanup code
2017-11-30 00:41:31 +03:00
Oleg Kalachev
48c9e64f19
markers_ids settings for grid boards
2017-11-30 00:36:44 +03:00
