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updated apriltags2 config file and printed file

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matlabbe
2019-01-07 12:41:14 -05:00
parent 02ec32b908
commit 5b9ed73756
4 changed files with 8 additions and 14 deletions
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launch/tests/tag_bundle1.pdf
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launch/tests/tag_bundle1.png
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launch/tests/tags.yaml
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@@ -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}
]
},
]
launch/tests/test_apriltags2.launch
+1 -1
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@@ -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) -->