Making New ARTags

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Before You Start

Install ar_recog
svn co 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

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

# 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 use (note the change from ros to artoolkit).

Make mk_patt:


Run mk_patt

roscd ar_recog
cd bin


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

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.