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Feature/aruco #127

Merged
merged 115 commits into from
Jun 18, 2023
Merged

Feature/aruco #127

merged 115 commits into from
Jun 18, 2023

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EirikKolas
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@EirikKolas EirikKolas commented Jun 16, 2023 •
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ArUco Detection done

  • Detect markers and print ids
  • Estimate pose of ArUco Board
  • Tunable image filtering for better detection with rqt_reconfigure
  • OpenCV 4.2.0 added to dockerfile
  • Modified vkf to work with ArUco detection

EirikKolas and others added 30 commits February 8, 2023 19:47
@EirikKolas
started making ArUco node
aee00d7
@EirikKolas
updated package dependencies
078cc8a
@EirikKolas
added dockerfile for testing
e075d43
@EirikKolas
#116 started making ArUco ROS node
5f81ed0
@EirikKolas
node and dependencies build successfully
4f555c7
@EirikKolas
fixed include errors
b274f0c
@EirikKolas
working NOT
3cb8b14
@EirikKolas
started editing cMake
ee5ccc2
@EirikKolas
progress
88026bb
@EirikKolas
can view image
77720e5
@EirikKolas
progress
de38583
@EirikKolas
pose from image working
b7a767b
@EirikKolas
started actual implementation
c15651c
@EirikKolas
added some tests
d2d0e37
@EirikKolas
test working :)
4c48278
@EirikKolas
all tests works
668b3d7
@EirikKolas
added diagram for board creation function
0dbb27e
@EirikKolas
test failed with webcam
e69485f
@alekskl01
Added starting point for transforming from udfc to world frame
92ae73e
@EirikKolas
cleaned up aruco_detection_node
76ad6d2
@EirikKolas
Merge branch 'feature/aruco' of https://github.com/vortexntnu/vortex-cv…
1618d66 
… into feature/aruco
@EirikKolas
fixed publish functions
5ef2ad7
@alekskl01
Added a listener for odom to udfc transformation in c++
e09614a
@alekskl01
Merge branch 'feature/aruco' of https://github.com/vortexntnu/vortex-cv…
737b519 
… into feature/aruco
@EirikKolas
had to remove subpixel refinement for some reason. Works even worse now
078b3d5
@EirikKolas
pre upgrade OpenCV 4.2.0
3165f13
@EirikKolas
updated to opencv 4.2.0
066b1f9
@vortexuser
Added zed2stereo parameters to algo
8a7b415
@EirikKolas
added vs-code debugging and fixed crash on aruco-marker detection
0cdb76e
@EirikKolas @vortexuser
updated to opencv 4.2.0
fc24936 
pose TFs work we think :)
EirikKolas and others added 14 commits June 15, 2023 20:52
@EirikKolas EirikKolas linked an issue Jun 16, 2023 that may be closed by this pull request
ArUco marker detection #116
Closed
theBadMusician
theBadMusician suggested changes Jun 17, 2023
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As this has been tested and worked during TAC Challenge, we know that it is functionally viable. There are however a some artifacts left over from the rapid prototyping and testing phase that should be fixed.

vision_kf/scripts/vkf_node.py Outdated Show resolved Hide resolved
aruco_detection/include/aruco_detection_node.hpp Outdated Show resolved Hide resolved
aruco_detection/include/aruco_detection_node.hpp Outdated Show resolved Hide resolved
aruco_detection/include/aruco_detection_node.hpp Outdated Show resolved Hide resolved
aruco_detection/include/aruco_handler.hpp Outdated Show resolved Hide resolved
aruco_detection/src/aruco_id_node.cpp Outdated Show resolved Hide resolved
aruco_detection/src/aruco_id_node.cpp Outdated Show resolved Hide resolved
aruco_detection/test/test_aruco_handler.cpp Outdated Show resolved Hide resolved
aruco_detection/test/test_aruco_handler.cpp Outdated Show resolved Hide resolved
aruco_detection/test/test_aruco_handler.cpp Outdated Show resolved Hide resolved
@EirikKolas EirikKolas mentioned this pull request Jun 17, 2023
Closed
theBadMusician
theBadMusician approved these changes Jun 18, 2023
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LGTM 👍

@EirikKolas EirikKolas merged commit e807103 into main Jun 18, 2023
@EirikKolas EirikKolas deleted the feature/aruco branch June 18, 2023 10:00
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@theBadMusician theBadMusician theBadMusician approved these changes

@Bruglen Bruglen Awaiting requested review from Bruglen

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ArUco marker detection
5 participants
@EirikKolas @theBadMusician @alekskl01 @vortexuser @Pernillepingvin