Support on-camera apriltag detections #46
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carnegierobotics#42) * Properly handle the full translation between left/aux rectified images * Fix aux projection logic * Add helper functions to prevent locking
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| # Apriltag corner point in pixels | ||
| float64 x | ||
| float64 y |
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Is there a sensor_msg which has this data?
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| # The family of the tag | ||
| string family | ||
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| # The ID of the tag | ||
| uint32 id | ||
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| # The hamming distance between the detection and the real code | ||
| uint8 hamming | ||
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| # The quality/confidence of the binary decoding process | ||
| # average difference between intensity of data bit vs decision thresh. | ||
| # Higher is better. Only useful for small tags | ||
| float32 decisionMargin | ||
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| # The 3x3 homography matrix (in row-major order) describing the projection | ||
| # from an "ideal" tag (with corners at (-1,1), (1,1), (1,-1), and (-1,-1)) | ||
| # to pixels in the image | ||
| float64[9] tagToImageHomography | ||
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| # The 2D position of the origin of the tag in the image | ||
| float64[2] center | ||
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| # The 4 tag corner pixel locations in the order: | ||
| # point 0: [-squareLength / 2, squareLength / 2] | ||
| # point 1: [ squareLength / 2, squareLength / 2] | ||
| # point 2: [ squareLength / 2, -squareLength / 2] | ||
| # point 3: [-squareLength / 2, -squareLength / 2] | ||
| AprilTagCornerPoint[4] corners |
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Is there a standard AprilTag message we can use here? Haven't done really any digging
mattalvarado
previously approved these changes
Jun 23, 2022
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Looks good to me. I would make sure to sync with @QuentinTorg before landing since this will almost certainly conflict with his dynamic reconfigure work.
davidirobinson
changed the base branch from
master
to
feature/remote_head_support
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Stacked behind #44
Source_AprilTag_Detectionsis not available on the camera)