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updated demo_find_object.launch with save_objects_as_landmarks argument. Added script objects_to_tags.py. Scripts are now installed in binaries. Updated tag conversion to use frame_id/stamp included in detection array instead of parent if set.

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matlabbe
2019-08-09 21:52:01 -04:00
parent 18ee9909fc
commit f5a51aa87f
6 changed files with 138 additions and 23 deletions
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launch/tests/test_apriltag_ros.launch
+2 -2
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@@ -2,11 +2,11 @@
<!-- 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 apriltag_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) -->
<!-- Change Optimizer/Strategy below between 1 (g2o) and 2 (GTSAM), and landmark_angular_variance between 0.005 (optimize rotation) and 9999 (optimize only tag's XYZ) -->
<!-- $ roslaunch realsense2_camera rs_camera.launch align_depth:=true -->
<!-- $ roslaunch rtabmap_ros test_apriltag_ros.launch rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info -->
<!-- $ roslaunch rtabmap_ros rtabmap.launch depth_topic:=/camera/aligned_depth_to_color/image_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info rviz:=true rtabmapviz:=false args:="-d -Optimizer/Strategy 1" tag_angular_variance:=9999 -->
<!-- $ roslaunch rtabmap_ros rtabmap.launch depth_topic:=/camera/aligned_depth_to_color/image_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info rviz:=true rtabmapviz:=false args:="-d -Optimizer/Strategy 1" landmark_angular_variance:=9999 -->
<arg name="camera_frame_id" default="camera_color_optical_frame"/>
<arg name="rgb_topic" default="/camera/rgb/image_rect_color" />