... | ... | @@ -40,7 +40,9 @@ msg.rotational.x |
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# See link above for more details
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```
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# Image Processing Package Installation Requirements
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# Quickstart
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## Image Processing Package Installation Requirements
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These have to be installed manually. Maybe move these dependencies with rosdep? https://docs.ros.org/en/foxy/Guides/Using-Python-Packages.html
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```
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... | ... | @@ -52,22 +54,6 @@ More about this opencv: |
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http://wiki.ros.org/vision_opencv
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# Calculation
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Here are some useful links for some calculation:
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Function for Transformation of Rotation Vector into Quaternion that is used:
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https://docs.scipy.org/doc/scipy/reference/reference/generated/scipy.spatial.transform.Rotation.html
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Main function in open cv to extract translation and rotation vector from found aruco markers read here:
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https://docs.opencv.org/master/d9/d6a/group__aruco.html#ga84dd2e88f3e8c3255eb78e0f79571bd1
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Camera Coordinate System:
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https://homepages.inf.ed.ac.uk/rbf/CVonline/LOCAL_COPIES/OWENS/LECT9/node2.html
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# Example use
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Open 3 Terminals. Don't forget to source your current workspace with `. install/setup.bash`:
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... | ... | @@ -93,4 +79,21 @@ Now if you hold some sample aruco markers as defined in [Aruco Markers](Hardware |
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If you want to see some images:
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`ros2 run rqt_image_view rqt_image_view` |
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\ No newline at end of file |
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`ros2 run rqt_image_view rqt_image_view`
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# Calculation Documentation
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Here are some useful links for some calculation:
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Function for Transformation of Rotation Vector into Quaternion that is used:
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https://docs.scipy.org/doc/scipy/reference/reference/generated/scipy.spatial.transform.Rotation.html
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Main function in open cv to extract translation and rotation vector from found aruco markers read here:
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https://docs.opencv.org/master/d9/d6a/group__aruco.html#ga84dd2e88f3e8c3255eb78e0f79571bd1
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Camera Coordinate System:
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https://homepages.inf.ed.ac.uk/rbf/CVonline/LOCAL_COPIES/OWENS/LECT9/node2.html
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