From 5b9ed737569447e99ad7557d0427463e59f91074 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Mon, 7 Jan 2019 12:41:14 -0500
Subject: [PATCH] updated apriltags2 config file and printed file

---
 launch/tests/tag_bundle1.pdf        | Bin 0 -> 1379 bytes
 launch/tests/tag_bundle1.png        | Bin 482 -> 323 bytes
 launch/tests/tags.yaml              |  20 +++++++-------------
 launch/tests/test_apriltags2.launch |   2 +-
 4 files changed, 8 insertions(+), 14 deletions(-)
 create mode 100644 launch/tests/tag_bundle1.pdf

diff --git a/launch/tests/tag_bundle1.pdf b/launch/tests/tag_bundle1.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..4167ad2f59522e92334e7e796de1112a48a90b9c
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diff --git a/launch/tests/tag_bundle1.png b/launch/tests/tag_bundle1.png
index dc781a402e5e5537dde4bf89a4c818c72ec9db63..cd509267a42172a1522793bedaa1069f4762e83a 100644
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diff --git a/launch/tests/tags.yaml b/launch/tests/tags.yaml
index e9acaa8e..e9d9c610 100644
--- a/launch/tests/tags.yaml
+++ b/launch/tests/tags.yaml
@@ -47,19 +47,13 @@ tag_bundles:
        name: 'tag_bundle1',
        layout:
          [
-           # pixel = 180mm/30 = 6mm
-           {id: 1,   size: 0.0480, x: 0.0000, y:  0.0000, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
-           {id: 2,   size: 0.0480, x: 0.0600, y:  0.0000, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
-           {id: 3,   size: 0.0480, x: 0.1200, y:  0.0000, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
-           {id: 25,  size: 0.0480, x: 0.0000, y: -0.0600, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
-           {id: 26,  size: 0.0480, x: 0.0600, y: -0.0600, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
-           {id: 27,  size: 0.0480, x: 0.1200, y: -0.0600, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
-           {id: 49,  size: 0.0480, x: 0.0000, y: -0.1200, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
-           {id: 50,  size: 0.0480, x: 0.0600, y: -0.1200, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
-           {id: 51,  size: 0.0480, x: 0.1200, y: -0.1200, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
-           {id: 73,  size: 0.0480, x: 0.0000, y: -0.1800, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
-           {id: 74,  size: 0.0480, x: 0.0600, y: -0.1800, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
-           {id: 75,  size: 0.0480, x: 0.1200, y: -0.1800, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
+           # for a pixel = ~8mm 
+           {id: 1,   size: 0.0620, x: 0.0000, y:  0.0000, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
+           {id: 2,   size: 0.0620, x: 0.0770, y:  0.0000, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
+           {id: 25,  size: 0.0620, x: 0.0000, y: -0.0770, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
+           {id: 26,  size: 0.0620, x: 0.0770, y: -0.0770, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
+           {id: 49,  size: 0.0620, x: 0.0000, y: -0.1540, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
+           {id: 50,  size: 0.0620, x: 0.0770, y: -0.1540, z: 0, qw: 1, qx: 0, qy: 0, qz: 0}
          ]
      },
    ]
diff --git a/launch/tests/test_apriltags2.launch b/launch/tests/test_apriltags2.launch
index b15e76f1..9b3a20c9 100644
--- a/launch/tests/test_apriltags2.launch
+++ b/launch/tests/test_apriltags2.launch
@@ -1,5 +1,5 @@
 <launch>
-  <!-- Print on the file tag_bundle1.png (with GIMP: set width in Image Settings to 180.00mm) -->
+  <!-- Print on the file tag_bundle1.png (with GIMP: set size in Image Settings to 160x240mm) -->
   <!-- Definition of the tag bundle is tags.yaml, make sure the camera is calibrated or adjust the size of the tag if needed -->
   <!-- The TF published by apriltags_ros should match the point cloud created by the camera -->
   <!-- Change Optimizer/Strategy below between 1 (g2o) and 2 (GTSAM), and tag_angular_variance between 0.005 (optimize rotation) and 9999 (optimize only tag's XYZ) -->