diff --git a/MobileRobot/ObjectTrack/objTracking b/MobileRobot/ObjectTrack/objTracking
index 95b977fdf23da0c52090df03e227de7b52133838..69f738260ef4ea80975332f1c3f4399b12d2df7f 100755
Binary files a/MobileRobot/ObjectTrack/objTracking and b/MobileRobot/ObjectTrack/objTracking differ
diff --git a/MobileRobot/ObjectTrack/objTracking.cpp b/MobileRobot/ObjectTrack/objTracking.cpp
index 8c324f03f10a533e44232e170d3ded7a8bc7557f..70dc0433505b6c0289d868bdce6e542de37020d2 100644
--- a/MobileRobot/ObjectTrack/objTracking.cpp
+++ b/MobileRobot/ObjectTrack/objTracking.cpp
@@ -240,22 +240,23 @@ int main(int argc, char* argv[])
//video capture object to acquire webcam feed
VideoCapture capture;
+ //open video stream from either webcam or biult-in camera
+ capture.open(1); // ******* 0 =built-in, 1 = webcam ********
+
+
// IP address for RobotlabWWW WLAN
//const std::string vsa = "http://192.168.0.101:8080/video?x.mjpeg";
-// IP address for raw3_lund
+/*// IP address for raw3_lund
const std::string vsa = "http://192.168.0.101:8080/video?x.mjpeg";
if(!capture.open(vsa)) {
std::cout << "Error opening video stream or file" << std::endl;
return -1;
}
-
- //open video stream from either webcam or biult-in camera
-// capture.open(1); // ******* 0 =built-in, 1 = webcam ********
-
// open the Video Stream IP camera...
capture.open(vsa);
+*/
//set height and width of capture frame
capture.set(CV_CAP_PROP_FRAME_WIDTH, FRAME_WIDTH);
diff --git a/MobileRobot/ObjectTrack/objTracking.cpp~ b/MobileRobot/ObjectTrack/objTracking.cpp~
index d55f9d5b7f82178a1e89bfd7d0b1a4f5f0d890a4..9259c3ca678fee51a5fc51e9e39ccaa9511424c3 100644
--- a/MobileRobot/ObjectTrack/objTracking.cpp~
+++ b/MobileRobot/ObjectTrack/objTracking.cpp~
@@ -240,10 +240,14 @@ int main(int argc, char* argv[])
//video capture object to acquire webcam feed
VideoCapture capture;
+ //open video stream from either webcam or biult-in camera
+ capture.open(1); // ******* 0 =built-in, 1 = webcam ********
+
+
// IP address for RobotlabWWW WLAN
//const std::string vsa = "http://192.168.0.101:8080/video?x.mjpeg";
-// IP address for robotlab WLAN
+/*// IP address for raw3_lund
const std::string vsa = "http://192.168.0.101:8080/video?x.mjpeg";
if(!capture.open(vsa)) {
@@ -251,11 +255,10 @@ const std::string vsa = "http://192.168.0.101:8080/video?x.mjpeg";
return -1;
}
- //open video stream from either webcam or biult-in camera
-// capture.open(1); // ******* 0 =built-in, 1 = webcam ********
// open the Video Stream IP camera...
capture.open(vsa);
+*/
//set height and width of capture frame
capture.set(CV_CAP_PROP_FRAME_WIDTH, FRAME_WIDTH);
diff --git a/MobileRobot/cameraPubSub/camera/src/vspubsub.cpp b/MobileRobot/cameraPubSub/camera/src/vspubsub.cpp
index 4dcfa43e16072489f1b1193668f4e335e8bc2092..bda44520f3d4079c39622b75f14a048ca8de1b80 100644
--- a/MobileRobot/cameraPubSub/camera/src/vspubsub.cpp
+++ b/MobileRobot/cameraPubSub/camera/src/vspubsub.cpp
@@ -226,7 +226,7 @@ void ObjectDetector::trackObject(int &x, int &y, Mat threshold, Mat &cameraFeed)
{
putText(cameraFeed, "Marker found!", Point(0, 50), 2, 1, Scalar(0, 255, 0), 2);
drawObject(x, y, cameraFeed);
- CreateMarker(x,y,0,Xcam,Ycam,Zcam);
+ CreateMarker(x,y,1,Xcam,Ycam,Zcam);// z value for pixel coordinate should not be 0.
}
}
@@ -352,7 +352,7 @@ const std::string vsa = "http://192.168.0.101:8080/video?x.mjpeg";
void ObjectDetector::imageCallback(const sensor_msgs::ImageConstPtr& msg)
{
- transform.setOrigin( tf::Vector3(.25, 0, 0) );
+ transform.setO rigin( tf::Vector3(.25, 0, 0) );
transform.setRotation( tf::Quaternion(0, 0, 0 , 1) );
time = msg->header.stamp;
br.sendTransform(tf::StampedTransform(transform, (time - ros::Duration(135)) ,"/base_link", "camera"));
diff --git a/MobileRobot/cameraPubSub/camera/src/vspubsub.cpp~ b/MobileRobot/cameraPubSub/camera/src/vspubsub.cpp~
index 94a651c3aec225e908198a4fe20a6b3759b7d6cf..d53354f7c1b44d553bc4526c5c4599bbb0715874 100644
--- a/MobileRobot/cameraPubSub/camera/src/vspubsub.cpp~
+++ b/MobileRobot/cameraPubSub/camera/src/vspubsub.cpp~
@@ -226,7 +226,7 @@ void ObjectDetector::trackObject(int &x, int &y, Mat threshold, Mat &cameraFeed)
{
putText(cameraFeed, "Marker found!", Point(0, 50), 2, 1, Scalar(0, 255, 0), 2);
drawObject(x, y, cameraFeed);
- CreateMarker(x,y,0,Xcam,Ycam,Zcam);
+ CreateMarker(x,y,1,Xcam,Ycam,Zcam);
}
}
@@ -530,7 +530,5 @@ void ObjectDetector::CreateMarker(int inpX, int inpY, int inpZ,
cout<< "]\n" <<endl;
dock = new DockMarker();
- dock->MarkerStart(Pose3dX,Pose3dY,0);
-
-
+ dock->MarkerStart(Pose3dX,Pose3dY,0);
}
diff --git a/catkinPkg4ARMarker.txt b/catkinPkg4ARMarker.txt
new file mode 100644
index 0000000000000000000000000000000000000000..af8fb7f0bf1f167b083af66151a7c19ffea6cd56
--- /dev/null
+++ b/catkinPkg4ARMarker.txt
@@ -0,0 +1,68 @@
+------ How to create a catkin package For AR Marker detection ------------
+
+ 1. create the pkg
+
+ $ catkin_create_pkg <package name> [depend 1] [depend 2] [depend 3]
+
+2. $ catkin_make --source .
+
+to make build, devel and CMakeLists.txt file
+
+3. $ source ./devel/setup.bash
+
+4. To make sure u added the bash file to the source
+ $ roscd < name of the package>
+
+5. Try to modify "CMakeLists.txt" and "package.xml"
+sth like this ...
+
+cmake_minimum_required(VERSION 2.8.3)
+project(ros_aruco)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+ geometry_msgs
+ roscpp
+ rospy
+ std_msgs
+ tf
+ sensor_msgs
+ image_transport
+ cv_bridge
+)
+
+SET(CMAKE_MODULE_PATH ${ARUCO_PATH}/lib/cmake )
+SET(ARUCO_INCLUDE_DIRS ${ARUCO_PATH}/include/aruco )
+
+## System dependencies are found with CMake's conventions
+find_package(aruco REQUIRED )
+find_package(OpenCV REQUIRED )
+
+INCLUDE(FindPkgConfig)
+
+set(ROS_BUILD_TYPE Debug)
+
+include_directories(
+ ${catkin_INCLUDE_DIRS}
+ ${ARUCO_INCLUDE_DIRS}
+ )
+add_executable(ros_aruco src/ros_aruco.cpp)
+
+target_link_libraries(ros_aruco
+ ${catkin_LIBRARIES}
+ ${aruco_LIBS}
+ )
+
+
+6. for getting the addvantage of using Aruco package in catkin package
+
+
+ $ catkin_make --source . -DARUCO_PATH=/usr/local
+Since include and cmake are saved in /usr/local.
+
+7. inside the package ...
+ $ cd /devel/lib/<name of pkg>
+ $ ls -l
+ $ ./name of the executable file