apriltag_detector package from apriltag_detector repo

apriltag_detector

Package Summary

Tags No category tags.
Version 1.0.0
License Apache2
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-misc-utilities/apriltag_detector.git
VCS Type git
VCS Version master
Last Updated 2024-02-10
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS package for apriltag detection

Additional Links

No additional links.

Maintainers

  • Bernd Pfrommer

Authors

No additional authors.

ROS Apriltag detector package

banner image

This repository has ROS/ROS2 nodes and nodelets/components for detecting Apriltags using the Apriltag 3 library.

Supported platforms

Currently builds under Ubuntu 22.04 with ROS2 Humble or later.

How to build

Create a workspace (~/ws), clone this repo, and use vcs to pull in the remaining dependencies:

pkg=apriltag_detector
mkdir -p ~/$pkg/src
cd ~/ws
git clone https://github.com/ros-misc-utilities/${pkg}.git src/${pkg}

On ROS1 you also need the messages package:

cd src
vcs import < ${pkg}/${pkg}.repos
cd ..

Install all system packages that this package depends on:

rosdep install --from-paths src --ignore-src

configure and build on ROS1:

catkin config -DCMAKE_BUILD_TYPE=RelWithDebInfo  # (optionally add -DCMAKE_EXPORT_COMPILE_COMMANDS=1)
catkin build

configure and build on ROS2:

cd ~/ws
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo  # (optionally add -DCMAKE_EXPORT_COMPILE_COMMANDS=1)

How to use

Examine the launch file and adjust the topic remapping, tag family etc. Then start as follows (assuming your camera publishes under /my_camera_name/image_raw):

ROS1:

roslaunch apriltag_detector node.launch camera:=my_camera_name
rqt_image_view

The detector publishes a debug image and a tag topic.

ROS2:

ros2 launch apriltag_detector node.launch.py camera:=my_camera_name
ros2 run rqt_image_view rqt_image_view

Parameters:

  • tag_family. Apriltag family, something like "tf36h11".
  • max_hamming_distance. Maximum allowable hamming distance (defaults to 0).
  • decimate_factor. By how much to decimate the image to speed up detection. Defaults to 1 (no decimation). To half the resolution, use decimate_factor=2.
  • blur. Gaussian blur to apply. Defaults to 0 (no blur). Can be negative to sharpen.
  • image_qos_profile. QoS profile of image messages that are subscribed to. Defaults to default, but can also be set to sensor_data. Use this parameter to achieve QoS compatibility when subscribing to image data.
  • num_threads. Number of threads on which the Apriltag library will operate. Defaults to 1.

License

This software is issued under the Apache License Version 2.0.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged apriltag_detector at Robotics Stack Exchange

apriltag_detector package from apriltag_detector repo

apriltag_detector

Package Summary

Tags No category tags.
Version 1.0.0
License Apache2
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-misc-utilities/apriltag_detector.git
VCS Type git
VCS Version master
Last Updated 2024-02-10
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS package for apriltag detection

Additional Links

No additional links.

Maintainers

  • Bernd Pfrommer

Authors

No additional authors.

ROS Apriltag detector package

banner image

This repository has ROS/ROS2 nodes and nodelets/components for detecting Apriltags using the Apriltag 3 library.

Supported platforms

Currently builds under Ubuntu 22.04 with ROS2 Humble or later.

How to build

Create a workspace (~/ws), clone this repo, and use vcs to pull in the remaining dependencies:

pkg=apriltag_detector
mkdir -p ~/$pkg/src
cd ~/ws
git clone https://github.com/ros-misc-utilities/${pkg}.git src/${pkg}

On ROS1 you also need the messages package:

cd src
vcs import < ${pkg}/${pkg}.repos
cd ..

Install all system packages that this package depends on:

rosdep install --from-paths src --ignore-src

configure and build on ROS1:

catkin config -DCMAKE_BUILD_TYPE=RelWithDebInfo  # (optionally add -DCMAKE_EXPORT_COMPILE_COMMANDS=1)
catkin build

configure and build on ROS2:

cd ~/ws
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo  # (optionally add -DCMAKE_EXPORT_COMPILE_COMMANDS=1)

How to use

Examine the launch file and adjust the topic remapping, tag family etc. Then start as follows (assuming your camera publishes under /my_camera_name/image_raw):

ROS1:

roslaunch apriltag_detector node.launch camera:=my_camera_name
rqt_image_view

The detector publishes a debug image and a tag topic.

ROS2:

ros2 launch apriltag_detector node.launch.py camera:=my_camera_name
ros2 run rqt_image_view rqt_image_view

Parameters:

  • tag_family. Apriltag family, something like "tf36h11".
  • max_hamming_distance. Maximum allowable hamming distance (defaults to 0).
  • decimate_factor. By how much to decimate the image to speed up detection. Defaults to 1 (no decimation). To half the resolution, use decimate_factor=2.
  • blur. Gaussian blur to apply. Defaults to 0 (no blur). Can be negative to sharpen.
  • image_qos_profile. QoS profile of image messages that are subscribed to. Defaults to default, but can also be set to sensor_data. Use this parameter to achieve QoS compatibility when subscribing to image data.
  • num_threads. Number of threads on which the Apriltag library will operate. Defaults to 1.

License

This software is issued under the Apache License Version 2.0.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged apriltag_detector at Robotics Stack Exchange

apriltag_detector package from apriltag_detector repo

apriltag_detector

Package Summary

Tags No category tags.
Version 1.0.0
License Apache2
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-misc-utilities/apriltag_detector.git
VCS Type git
VCS Version master
Last Updated 2024-02-10
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS package for apriltag detection

Additional Links

No additional links.

Maintainers

  • Bernd Pfrommer

Authors

No additional authors.

ROS Apriltag detector package

banner image

This repository has ROS/ROS2 nodes and nodelets/components for detecting Apriltags using the Apriltag 3 library.

Supported platforms

Currently builds under Ubuntu 22.04 with ROS2 Humble or later.

How to build

Create a workspace (~/ws), clone this repo, and use vcs to pull in the remaining dependencies:

pkg=apriltag_detector
mkdir -p ~/$pkg/src
cd ~/ws
git clone https://github.com/ros-misc-utilities/${pkg}.git src/${pkg}

On ROS1 you also need the messages package:

cd src
vcs import < ${pkg}/${pkg}.repos
cd ..

Install all system packages that this package depends on:

rosdep install --from-paths src --ignore-src

configure and build on ROS1:

catkin config -DCMAKE_BUILD_TYPE=RelWithDebInfo  # (optionally add -DCMAKE_EXPORT_COMPILE_COMMANDS=1)
catkin build

configure and build on ROS2:

cd ~/ws
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo  # (optionally add -DCMAKE_EXPORT_COMPILE_COMMANDS=1)

How to use

Examine the launch file and adjust the topic remapping, tag family etc. Then start as follows (assuming your camera publishes under /my_camera_name/image_raw):

ROS1:

roslaunch apriltag_detector node.launch camera:=my_camera_name
rqt_image_view

The detector publishes a debug image and a tag topic.

ROS2:

ros2 launch apriltag_detector node.launch.py camera:=my_camera_name
ros2 run rqt_image_view rqt_image_view

Parameters:

  • tag_family. Apriltag family, something like "tf36h11".
  • max_hamming_distance. Maximum allowable hamming distance (defaults to 0).
  • decimate_factor. By how much to decimate the image to speed up detection. Defaults to 1 (no decimation). To half the resolution, use decimate_factor=2.
  • blur. Gaussian blur to apply. Defaults to 0 (no blur). Can be negative to sharpen.
  • image_qos_profile. QoS profile of image messages that are subscribed to. Defaults to default, but can also be set to sensor_data. Use this parameter to achieve QoS compatibility when subscribing to image data.
  • num_threads. Number of threads on which the Apriltag library will operate. Defaults to 1.

License

This software is issued under the Apache License Version 2.0.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged apriltag_detector at Robotics Stack Exchange