ardrone_tag_recognition
Differences
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ardrone_tag_recognition [2016/11/01 11:01] dwallace created |
ardrone_tag_recognition [2016/11/06 02:18] (current) dwallace |
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| ====== Tag Recognition Using Webcam ====== | ====== Tag Recognition Using Webcam ====== | ||
| - | =Introduction= | + | ===== Introduction ===== |
| We will learn to do tag recognition using your web-cam. Before we continue any further lets make sure you have the necessary package. Open up a terminal and enter : | We will learn to do tag recognition using your web-cam. Before we continue any further lets make sure you have the necessary package. Open up a terminal and enter : | ||
| - | <pre> roscd ar_recog </pre> | + | roscd ar_recog |
| This should take you to the folder of the package "ar_recog". If you don't have the package please download it from the brown repository. Open up a terminal and enter the following line: | This should take you to the folder of the package "ar_recog". If you don't have the package please download it from the brown repository. Open up a terminal and enter the following line: | ||
| - | <pre> svn checkout http://brown-ros-pkg.googlecode.com/svn/trunk/brown-ros-pkg-read-only </pre> | + | svn checkout http://brown-ros-pkg.googlecode.com/svn/trunk/brown-ros-pkg-read-only |
| + | |||
| + | ===== Print out a tag ===== | ||
| - | =Print out a tag= | ||
| We obviously need an image tag before we test the code. | We obviously need an image tag before we test the code. | ||
| - | <br>Step 1:Go to the folder of the package "ar_recog" | ||
| - | <br>Step 2:open up the file "Ar_patts.zip". | ||
| - | <br>Step 3:Print out your desired image tag. | ||
| - | =Test the code= | + | Step 1:Go to the folder of the package "ar_recog" |
| + | Step 2:open up the file "Ar_patts.zip". | ||
| + | Step 3:Print out your desired image tag. | ||
| + | |||
| + | ===== Test the code ===== | ||
| 1. Enter the following commands each in a new terminal. | 1. Enter the following commands each in a new terminal. | ||
| - | <pre> | + | roscore |
| - | roscore | + | rosrun gscam gscam |
| - | rosrun gscam gscam | + | |
| - | </pre> | + | |
| 2.Open up a new terminal and enter the lines one after the other : | 2.Open up a new terminal and enter the lines one after the other : | ||
| - | <pre> | + | |
| - | roscd ar_recog | + | roscd ar_recog |
| - | cmake . | + | cmake . |
| - | rosmake | + | rosmake |
| - | </pre> | + | |
| Make sure you get 0 failures for rosmake. | Make sure you get 0 failures for rosmake. | ||
| - | <pre> | + | cd bin |
| - | cd bin | + | rosparam set aov .67 |
| - | rosparam set aov .67 | + | rosrun ar_recog ar_recog image:=/gscam/image_raw |
| - | rosrun ar_recog ar_recog image:=/gscam/image_raw | + | |
| - | </pre> | + | |
| Enter the following commands each in a new terminal: | Enter the following commands each in a new terminal: | ||
| - | <pre> | ||
| - | rosrun image_view image_view image:=/gscam/image_raw | ||
| - | rosrun image_view image_view image:=/ar/image | ||
| - | </pre> | ||
| - | =Testing the image tag= | + | rosrun image_view image_view image:=/gscam/image_raw |
| + | rosrun image_view image_view image:=/ar/image | ||
| + | |||
| + | ===== Testing the image tag ===== | ||
| Considering the fact that you have a printed image tag. | Considering the fact that you have a printed image tag. | ||
| Hold it in-front of the camera in such a way that your fingers don't touch the surface of the tag. | Hold it in-front of the camera in such a way that your fingers don't touch the surface of the tag. | ||
| I pasted the tag on to the surface of a box lid. | I pasted the tag on to the surface of a box lid. | ||
| - | <br> | ||
| - | [[image:imagetag.jpg|200px|ar_recog]] | + | {{dylanw:imagetag.jpg}}\\ |
| - | <br> | ||
| When you test with the image tag you should see a green line outlining the image tag. | When you test with the image tag you should see a green line outlining the image tag. | ||
| - | + | {{dylanw:image1.png}}\\ | |
| - | [[image:image1.png|200px|ar_recog]] | + | |
| + | {{dylanw:image2.png}}\\ | ||
| - | [[image:image2.png|200px|ar_recog]] | + | ===== Getting the coordinates ===== |
| - | =Getting the coordinates= | ||
| To have a deeper insight of the image tag being recognized open up a terminal and enter: | To have a deeper insight of the image tag being recognized open up a terminal and enter: | ||
| - | <pre> rostopic echo /tags </pre> | + | rostopic echo /tags |
| This shows you the movement of image tag along the x,y,z axes. | This shows you the movement of image tag along the x,y,z axes. | ||
ardrone_tag_recognition.txt · Last modified: 2016/11/06 02:18 by dwallace
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