Making New ARTags

From Brown University Robotics

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You can now use mk_patt exactly as in the [http://www.hitl.washington.edu/artoolkit/documentation/devmulti.htm official documentation].
You can now use mk_patt exactly as in the [http://www.hitl.washington.edu/artoolkit/documentation/devmulti.htm official documentation].
-
The rest is as with the offical document
+
=Using the Pattern File=
 +
 
 +
Once you've made a pattern file, you will need to update/change your object_data file (located in ar_recog/bin). Again, ar_recog is strictly compatible with the [http://www.hitl.washington.edu/artoolkit/documentation/devmulti.htm  official implementation].

Revision as of 16:45, 26 August 2010

Contents

Before You Start

Install ar_recog
svn co http://brown-ros-pkg.googlecode.com/svn/trunk/experimental/ar_recog ar_recog; roscd ar_recog; rosmake

Make mk_patt

You only have to do this once per install.

roscd ar_recog
cd src/ARToolKit/util/mk_patt

now edit mk_patt.c

change:
# if defined(AR_INPUT_GSTREAMER)
char                   *vconf = "videotestsrc";

to:
# if defined(AR_INPUT_GSTREAMER)
char                   *vconf = "v4l2src device=/dev/video0 ! video/x-raw-rgb ! ffmpegcolorspace ! identity name=artoolkit ! fakesink";

or whatever gstreamer config is appropriate for the camera you want to do (not the change from ros to artoolkit).

Make mk_patt:

make

Run mk_patt

roscd ar_recog
cd bin

../src/ARToolKit/bin/mk_patt

when prompted to enter your camera parameter filename, simply type: camera_para.dat

This will use whatever camera_para.dat is located in your ar_recog/bin

You can now use mk_patt exactly as in the official documentation.

Using the Pattern File

Once you've made a pattern file, you will need to update/change your object_data file (located in ar_recog/bin). Again, ar_recog is strictly compatible with the official implementation.