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TODO

Apriltag_tutorial

1.USB-CAM

(1)安装USB-CAM功能包

sudo apt install ros-noetic-usb-cam

(2)修改USB相关参数：

roscd usb_cam/launch/
sudo vim usb_cam-test.launch
    <param name="video_device" value="/dev/video0" />
    <param name="image_width" value="640" />
    <param name="image_height" value="480" />
    <param name="pixel_format" value="mjpeg" />

(3)启动USB相机：

roslaunch usb_cam usb_cam-test.launch

2.棋盘格标定包

(1)安装棋盘格标定包

sudo apt-get install ros-noetic-camera-calibration
棋盘格下载链接：http://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration?action=AttachFile&do=view&target=check-108.pdf

(2)开始标定

roslaunch usb_cam usb_cam-test.launch
rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.024 image:=/usb_cam/image_raw camera:=/usb_cam
参数说明：
size：    棋盘内交叉点的个数，行*列
square：  一个格子的边长，单位是m
image：  订阅摄像头发布的图像话题（ROS topic）
camera： 寻找相应的设备相机名
技巧说明：
相机不运动，移动标定板，让4条标定轴达到绿色，点击calibrate计算出结果，然后点击save、commit,标定文件会自动保存在/tmp路径下，文件名为/tmp/calibrationdata.tar.gz
~/.ros/camera_info/head_camera.yaml,roslaunch usb_cam usb_cam-test.launch会自动读取相机内参文件

3.编译安装依赖库apriltag

git clone https://github.com/AprilRobotics/apriltag.git
mkdir build
cd build
cmake ..
make
sudo make install

4.安装apriltag_ros功能包

cd apriltag_ws/src
git clone https://github.com/AprilRobotics/apriltag_ros.git
cd ..
catkin_make

5.下载预先生成的apriltag图片

(1)进入网站下载

https://github.com/AprilRobotics/apriltag-imgs

(2)选择tag_family

cd /tagCustom48h12
sudo apt-get install ghostscript
ps2pdf alltags.ps alltags.pdf

(3)后期处理

6.apriltag_ros配置

(1)修改apriltag_ros/apriltag_ros/config/settings.yaml

tag_family:        'tagCustom48h12' 
tag_threads:       2          
tag_decimate:      1.0       
tag_blur:          0.0       
tag_refine_edges:  1        
tag_debug:         0         
max_hamming_dist:  2          
publish_tf:        true      
transport_hint:    "raw"

(2)修改apriltag_ros/apriltag_ros/config/tags.yaml

standalone_tags:
[
    {id: 0, size: 0.12},
    {id: 1, size: 0.024},
    {id: 2, size: 0.005},
]
tag_bundles:
[
    {
    name: 'cx_tag_bundle',
    layout:
        [
        {id: 0, size: 0.12, x: 0.0000, y: 0.0000, z: 0.0000, qw: 1.0, qx: 0.0, qy: 0.0, qz: 0.0},
        {id: 1, size: 0.024, x: 0.0000, y: 0.0000, z: 0.0000, qw: 1.0, qx: 0.0, qy: 0.0, qz: 0.0},
        {id: 2, size: 0.005, x: 0.0000, y: 0.0000, z: 0.0000, qw: 1.0, qx: 0.0, qy: 0.0, qz: 0.0}
        ]
    }
]

(3)修改apriltag_ros/apriltag_ros/launch/continuous_detection.launch

<arg name="camera_name" default="/usb_cam" />
<arg name="image_topic" default="image_raw" />
<arg name="queue_size" default="1" />

7.启动apriltag检测

roslaunch apriltag_ros continuous_detection.launch
rostopic echo /tag_detections