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ardrone_tag_recognition [2016/11/01 11:01]
dwallace created
ardrone_tag_recognition [2016/11/06 02:18] (current)
dwallace
Line 1: Line 1:
 ====== 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