From f19c356bc244cf1bf5aa063c1096e0f9b186b5c4 Mon Sep 17 00:00:00 2001 From: Dmitry Date: Fri, 2 Aug 2024 13:46:47 +0300 Subject: [PATCH] README --- LICENSE.txt | 674 +++++++++++++++++++++++++++ README.md | 63 +++ example_marker/example_detection.gif | Bin 0 -> 10008793 bytes 3 files changed, 737 insertions(+) create mode 100644 LICENSE.txt create mode 100644 README.md create mode 100644 example_marker/example_detection.gif diff --git a/LICENSE.txt b/LICENSE.txt new file mode 100644 index 0000000..e241e2b --- /dev/null +++ b/LICENSE.txt @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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If your program is a subroutine library, you +may consider it more useful to permit linking proprietary applications with +the library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. But first, please read +. \ No newline at end of file diff --git a/README.md b/README.md new file mode 100644 index 0000000..a3f5407 --- /dev/null +++ b/README.md @@ -0,0 +1,63 @@ +# ArUco Fractal Tracker + +This ROS2 package is designed to detect and estimate the pose of ArUco fractal markers. + +![Example Detection](example_marker/example_detection.gif) + +## Features +- Detects ArUco fractal markers in images. +- Estimates the pose of detected markers with respect to a camera frame. +- Publishes the marker pose as a `geometry_msgs::msg::PoseStamped`. +- Broadcasts the transform from the camera frame to the marker frame using TF. + +## Installation + +### Prerequisites + +- **ROS2**: Make sure you have ROS2 installed on your system. This package has been tested with ROS2 FOXY, but it should work with other ROS2 distributions as well. +- **OpenCV**: For image processing. +- **[ArUco Library](https://sourceforge.net/projects/aruco)**: Required for marker detection. + +### Building + +1. Clone this repository into your ROS2 workspace: + ```sh + cd + git clone https://github.com/dimianx/aruco_fractal_tracker.git + ``` +2. Navigate to the workspace root and build the package: + ```sh + cd ~/ros2_ws + colcon build + ``` + +3. Source your workspace: + ```sh + source ~/ros2_ws/install/setup.bash + ``` + +## Usage + +### Running the Node + +To run the ArUco Fractal Tracker node, use the following command: +```sh +ros2 run aruco_fractal_tracker aruco_fractal_tracker_node --ros-args -p marker_configuration:= -p marker_size:= -p cam_params_file:= --remap image_input_topic:= --remap image_output_topic:= --remap poses_output_topic:= + +``` + +### Parameters + +- `marker_configuration` (string): The configuration file for the ArUco fractal markers. +- `marker_size` (double): The size of the marker in meters. +- `cam_params_file` (string): The camera parameters file (in YAML format). + +### Topics + +The node uses the following topics: + +- `image_input_topic` (input): The topic from which the node subscribes to images for processing. +- `image_output_topic` (output): The topic on which the node publishes images with detected markers and pose information. +- `poses_output_topic` (output): The topic on which the node publishes the pose of the detected marker as a `geometry_msgs::msg::PoseStamped`. + +## Example diff --git a/example_marker/example_detection.gif b/example_marker/example_detection.gif new file mode 100644 index 0000000000000000000000000000000000000000..90fdbd55c051e72a249704c18a031aa06301c882 GIT binary patch literal 10008793 zcmW)nWmJ^k*M^5K=|-9dq$LDNr5!ql?gj@0q(nfvW9aT48iqzdx=Uh6X$e6@K){iC zfA9a>S!bPn?)_o!eb&0xecq_5NJ!ckV(no3VG#m>KmZ5?27#a;5DWxDfIvtP2=%{R z004mj5EKBx01yHIApsETe@6i@2n+^6!5|nIgaCt(U=Zqm@c7j13_UR7z~7ffsil|>VHZA0t7~Ypa>8Q0YV@^NCXJ=KY0KN0wY0CBnXBC zA&?*>5`_9+P5=r7MuDIx5DW!Epg>3z2=)JoLI4m141z#G5Eux806~x-2nqxN0T2Ly zfB^^;fWQC<0)QX^2nv9Jzz_fo0fQk>Fa!pMAixkL7=i*rKu`z(g@B#NLJ&|0 z5(+^eR2H~@u% zp>QY^4uirGP&g6_M?v8r7#x7X!7w-!28Y4m2pAj*gQH+@5CRS$;9vwCih#oqa0CL5 zM8Hu9I0y*`kZ>>(4n@LYNH_usMxp>K~OXRMT4PeC=?BYq7hIu5{gDa(I6NafT6)KG!%x0!O#d88VN(AU}z8m4It29 z1R9D!!w_f$0*yqVQ3x~$i3X5pFcJ+#qG3oh0*OW<(I_MughB%-G#G`3qR=oD8i7J1 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