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121 lines
3.9 KiB
Markdown
121 lines
3.9 KiB
Markdown
# Positioning with ArUco markers
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`aruco_pose` package consists of two nodelets: `aruco_detect` detects individual ArUco-markers and estimates their poses, `aruco_map` detects maps of markers using `aruco_detect` output.
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## Quick start
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To run a camera nodelet, markers and maps detector:
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```bash
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roslaunch aruco_pose sample.launch
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```
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You're going to need [`cv_camera`](http://wiki.ros.org/cv_camera) package installed.
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## aruco_detect nodelet
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`aruco_detect` detects ArUco markers on the image, publishes list of them (with poses), TF transformations, visualization markers and processed image for debugging.
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It's recommended to run it within the same nodelet manager with the camera nodelet (e. g. [`cv_camera`](http://wiki.ros.org/cv_camera)).
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### Parameters
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* `~dictionary` (*int*) – ArUco dictionary (default: 2)
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* 0 = DICT_4X4_50
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* 1 = DICT_4X4_100,
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* 2 = DICT_4X4_250,
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* 3 = DICT_4X4_1000,
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* 4 = DICT_5X5_50,
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* 5 = DICT_5X5_100,
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* 6 = DICT_5X5_250,
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* 7 = DICT_5X5_1000,
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* 8 = DICT_6X6_50,
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* 9 = DICT_6X6_100,
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* 10 = DICT_6X6_250,
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* 11 = DICT_6X6_1000,
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* 12 = DICT_7X7_50,
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* 13 = DICT_7X7_100,
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* 14 = DICT_7X7_250,
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* 15 = DICT_7X7_1000,
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* 16 = DICT_ARUCO_ORIGINAL
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* `~estimate_poses` (*bool*) – estimate single markers' poses (default: true)
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* `~send_tf` (*bool*) – send TF transforms (default: true)
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* `~frame_id_prefix` (*string*) – prefix for TF transforms names, marker's ID is appended (default: `aruco_`)
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* `~length` (*double*) – markers' sides length
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* `~length_override` (*map*) – lengths of markers with specified ids
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* `~known_tilt` (*string*) – known tilt (pitch and roll) of all the markers as a frame
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### Topics
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#### Subscribed
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* `image_raw` (*sensor_msgs/Image*) – camera image
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* `camera_info` (*sensor_msgs/CameraInfo*) – camera calibration info
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#### Published
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* `~markers` (*aruco_pose/MarkerArray*) – list of detected markers with their corners and poses
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* `~visualization` (*visualization_msgs/MarkerArray*) – visualization markers for rviz
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* `~debug` (*sensor_msgs/Image*) – debug image with detected markers
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### Published transforms
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* `<camera_frame>` => `<frame_id_prefix><id>` – markers' poses
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## aruco_map nodelet
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`aruco_map` nodelet estimates position of markers map.
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### Parameters
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* `~map` – path to text file with markers list
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* `~frame_id` – published frame id (default: `aruco_map`)
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* `~known_tilt` – debug image width
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* `~image_width` – debug image width (default: 2000)
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* `~image_height` – debug image height (default: 2000)
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* `~image_margin` – debug image margin (default: 200)
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* `~dictionary` (*int*) – ArUco dictionary (default: 2) - should be the same as `dictionary` parameter of `aruco_detect` nodelet
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Map file has one marker per line with the following line format:
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```
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marker_id marker_length x y z yaw pitch roll
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```
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Where yaw, pitch and roll are extrinsic rotation around Z, Y, X axis, respectively.
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See examples in [`map`](map/) directory.
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### Topics
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#### Subscribed
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* `image_raw` (*sensor_msgs/Image*) – camera image (used for debug image)
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* `camera_info` (*sensor_msgs/CameraInfo*) – camera calibration info (used for debug image)
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* `markers` (*aruco_pose/MarkerArray*) – list of markers detected by `aruco_pose` nodelet
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#### Published
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* `~pose` (*geometry_msgs/PoseWithCovarianceStamped*) – estimated map pose
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* `~image` (*sensor_msgs/Image*) – planarized map image
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* `~visualization` (*visualization_msgs/MarkerArray*) – markers map visualization for rviz
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* `~debug` (*sensor_msgs/Image*) – debug image with detected markers and map axis
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### Published transforms
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* `<camera_frame>` => `<map_name>` – markers map pose
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## Running tests
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Command for running tests:
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```bash
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catkin_make run_tests && catkin_test_results
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```
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## Copyright
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Copyright © 2018 Copter Express Technologies. Author: Oleg Kalachev.
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Distributed under MIT License (https://opensource.org/licenses/MIT).
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