Internal:Ar recog june
From Brown University Robotics
Revision as of 14:57, 11 June 2010 by Chriscrick
The ar_recog package downloads and compiles the AR Toolkit. It must therefore be able to connect to Sourceforge on the internet. This also accounts for why this step takes rather longer than many compilations.
Defines two message types:
And one service:
To run code that listens to /image messages
rosrun ar_recog ar_recog
To run code for a specific image message such as one from gscam:
rosrun ar_recog ar_recog image:=/gscam/image
ar/image contains the image with the tags outlined in the image
If the camera image is a rectified one with appropriate camera parameters, ar_recog will use them to determine the mapping between image space and physical space. However, the rectification pipeline is slow and camera calibration brittle, so the package also provides distance mapping with uncalibrated images. To use this feature, it must know your camera's horizontal angle of view. This can be provided as a ROS parameter ("aov"), or determined using the CalibrateDistance service.
rosservice call calibrate_distance <dist>