Usage¶
The goal for this package is to publish the position of previously defined markers in a global world frame. These markers can be in view of only some of the cameras. The output is therefore the position of each detected marker in world coordinates for every camera attached.
Start the package¶
In order to launch the usb_cam
and ar_sys
nodes together with the panopticon
node, a handy launch file is provided. Just run the following in the root of the package:
roscd panopticon
roslaunch launch/panopticon.xml
Make sure that the map
marker can be seen by usb_cam0
. Make sure that the center
marker can be seen by all four cameras. The pose of all other markers defined and detected then are published under pose/marker$(markerId)/cam$[1-4]
.
Configuration¶
usb_cam
and ar_sys
can be heavily configured. See their respective docmentations and change the launch files under launch as your require.
Adding markers¶
There are two steps needed to add markers: Generate a board_configuration
and add an entry to config\boards.yml
. Make sure that you specify the right ID and right size. A script has been provided to generate the configuration, see Scripts for more. Markers used for localization have to be prefixed with marker
!