install apriltags and make it work with USB camera?
I'm trying to setup localization with AprilSLAM and an RPi camera. But before I get into that, I want to test out the apriltags on my laptop. So I want to try the normal apriltags detection and the usb camera inside the laptop. Then after I'm done with that, I'd go onto aprilslam.
So I started out with installing ubuntu 14.04 and installed ROS indigo. I'm faced with two apriltag options.
http://wiki.ros.org/apriltags_ros
And I'm trying to connect this to them. http://wiki.ros.org/usb_cam
How do I even do that?
Asked by krusion on 2016-11-01 06:19:32 UTC
Comments
To get it out of the way: you have a basic understanding of ROS (ie: followed the tutorials and / or read a book)?
Asked by gvdhoorn on 2016-11-01 07:29:39 UTC
I'll be honest with you. No I didn't. I actually lack a lot of linux knowledge too. The reason isn't because I'm lazy. It's because this is for my thesis project and we tried and failed with so many other localization methods, and this is our last chance. I have till tomorrow to approve or scrap it
Asked by krusion on 2016-11-01 08:32:16 UTC
And this is almost impossible to understand, so I was hoping I'd find someone to spoon feed me enough information so I'd be able to test if this will work or not. And maybe even make it work as a whole.
Asked by krusion on 2016-11-01 08:33:11 UTC
Wrote an answer listing all the steps you have to take to get a cam driver running, calibrating the cam, setting up the rectifier, then creating launch files for both your cam driver and apriltags. It's about 6 or 7 steps, but if you have no experience, I'm not sure how useful it is, ..
Asked by gvdhoorn on 2016-11-01 09:15:30 UTC
.. it'll just be "magic incantations".
I can post it though, so let me know. And it would just be for
apriltags_rosand your camera driver. After that you'd have to installaprilslam.Asked by gvdhoorn on 2016-11-01 09:17:21 UTC
Found this. https://cmumrsdproject.wikispaces.com/AprilTags_ROS Was just about to try it out. But that should get the aprilslam to work, not sure how I'll deal with aprilslam though. I don't even understand the difference between the ros wrapper and the catkin. Is your tutorial more useful?
Asked by krusion on 2016-11-01 10:23:42 UTC
That's basically what I wrote as well, but with slightly less detail.
One is just the shared library that implements the
apriltagsalgorithm, the other the ros wrapper so you can use it with ROS.Asked by gvdhoorn on 2016-11-01 10:53:19 UTC
Yh I already started working on it, and found an issue. I'm going back to fix it now though. I'll update you as I go. Have you used AprilSlam yourself? If yes, then what does it output exactly? XY coordinates? I was originally looking for something where I can put predefined tag locations
Asked by krusion on 2016-11-01 11:18:56 UTC
Yh I'm having no luck. running rostopic list for the camera calibration doesn't show me the camera topics. So calibration isn't working. And running rosnode list doesn't show me the fact that I installed the rosindigo apriltags nor usb cam. Reinstalling them says latest version already installed.
Asked by krusion on 2016-11-01 19:14:21 UTC