install apriltags and make it work with USB camera? [closed]

asked 2016-11-01 06:19:32 -0600

krusion gravatar image

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

http://wiki.ros.org/apriltags

And I'm trying to connect this to them. http://wiki.ros.org/usb_cam

How do I even do that?

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2020-02-10 16:27:44.530168

Comments

To get it out of the way: you have a basic understanding of ROS (ie: followed the tutorials and / or read a book)?

gvdhoorn gravatar image gvdhoorn  ( 2016-11-01 07:29:39 -0600 )edit

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

krusion gravatar image krusion  ( 2016-11-01 08:32:16 -0600 )edit

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.

krusion gravatar image krusion  ( 2016-11-01 08:33:11 -0600 )edit

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, ..

gvdhoorn gravatar image gvdhoorn  ( 2016-11-01 09:15:30 -0600 )edit

.. it'll just be "magic incantations".

I can post it though, so let me know. And it would just be for apriltags_ros and your camera driver. After that you'd have to install aprilslam.

gvdhoorn gravatar image gvdhoorn  ( 2016-11-01 09:17:21 -0600 )edit

Found this. https://cmumrsdproject.wikispaces.com... 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?

krusion gravatar image krusion  ( 2016-11-01 10:23:42 -0600 )edit
1

That's basically what I wrote as well, but with slightly less detail.

I don't even understand the difference between the ros wrapper and the catkin.

One is just the shared library that implements the apriltags algorithm, the other the ros wrapper so you can use it with ROS.

gvdhoorn gravatar image gvdhoorn  ( 2016-11-01 10:53:19 -0600 )edit

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

krusion gravatar image krusion  ( 2016-11-01 11:18:56 -0600 )edit