基于ar_track_alvar的二维码识别

基于ar_track_alvar的二维码识别

1. ar_track_alvar功能包

sudo apt-get install ros-melodic-ar-track-alvar

2. 创建AR_ID可以是从0到65535之间任意数字的标号

rosrun ar_track_alvar createMarker 0

3. -s参数设置生成二维码的尺寸

rosrun ar_track_alvar createMarker -s 5 0
rosrun ar_track_alvar createMarker -s 5 1
rosrun ar_track_alvar createMarker -s 5 2

生成的二维码保存在主目录下：

4. 摄像头二维码识别

ar_track_camera.launch

<launch>
	<!--<node pkg="tf" type="static_transform_publisher" name="world_to_cam" args="0 0 0.5 0 0 0 world camera_link 10" />-->

	<arg name="marker_size" default="5" />
	<arg name="max_new_marker_error" default="0.08" />
	<arg name="max_track_error" default="0.2" />
	<arg name="cam_image_topic" default="/camera_01/rgb/image_raw" />
	<arg name="cam_info_topic" default="/camera_01/rgb/camera_info" />
	<arg name="output_frame" default="/camera_01_rgb_optical_frame" />

	<node name="ar_track_alvar" pkg="ar_track_alvar" type="individualMarkersNoKinect" respawn="false" output="screen">
		<param name="marker_size"           type="double" value="$(arg marker_size)" />
		<param name="max_new_marker_error"  type="double" value="$(arg max_new_marker_error)" />
		<param name="max_track_error"       type="double" value="$(arg max_track_error)" />
		<param name="output_frame"          type="string" value="$(arg output_frame)" />

		<remap from="camera_image"  to="$(arg cam_image_topic)" />
		<remap from="camera_info"   to="$(arg cam_info_topic)" />
	</node>

	<!--rviz view /-->
	<node pkg="rviz" type="rviz" name="rviz" args="-d $(find astra_camera)/config/ar_track_camera.rviz"/>
</launch>

config/ar_track_camera.rviz

Panels:
  - Class: rviz/Displays
    Help Height: 0
    Name: Displays
    Property Tree Widget:
      Expanded: ~
      Splitter Ratio: 0.5
    Tree Height: 298
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.588679016
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: Camera
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style:
        Line Width: 0.0299999993
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 10
      Reference Frame: <Fixed Frame>
      Value: true
    - Class: rviz/TF
      Enabled: true
      Frame Timeout: 15
      Frames:
        All Enabled: true
        ar_marker_0:
          Value: true
        ar_marker_1:
          Value: true
        ar_marker_192:
          Value: true
        ar_marker_2:
          Value: true
        ar_marker_4:
          Value: true
        ar_marker_5:
          Value: true
        ar_marker_7:
          Value: true
        ar_marker_8:
          Value: true
        usb_cam:
          Value: true
        world:
          Value: true
      Marker Scale: 0.300000012
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: true
      Tree:
        world:
          usb_cam:
            ar_marker_0:
              {}
            ar_marker_1:
              {}
            ar_marker_192:
              {}
            ar_marker_2:
              {}
            ar_marker_4:
              {}
            ar_marker_5:
              {}
            ar_marker_7:
              {}
            ar_marker_8:
              {}
      Update Interval: 0
      Value: true
    - Class: rviz/Marker
      Enabled: true
      Marker Topic: /visualization_marker
      Name: Marker
      Namespaces:
        basic_shapes: true
      Queue Size: 100
      Value: true
    - Class: rviz/Camera
      Enabled: true
      Image Rendering: background and overlay
      Image Topic: /camera/rgb/image_raw
      Name: Camera
      Overlay Alpha: 0.5
      Queue Size: 2
      Transport Hint: raw
      Unreliable: false
      Value: true
      Visibility:
        Grid: true
        Marker: true
        TF: true
        Value: true
      Zoom Factor: 1
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Fixed Frame: world
    Frame Rate: 30
  Name: root
  Tools:
    - Class: rviz/Interact
      Hide Inactive Objects: true
    - Class: rviz/MoveCamera
    - Class: rviz/Select
    - Class: rviz/FocusCamera
    - Class: rviz/Measure
    - Class: rviz/SetInitialPose
      Topic: /initialpose
    - Class: rviz/SetGoal
      Topic: /move_base_simple/goal
    - Class: rviz/PublishPoint
      Single click: true
      Topic: /clicked_point
  Value: true
  Views:
    Current:
      Class: rviz/Orbit
      Distance: 1.3831408
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.0599999987
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 0.158190101
        Y: -0.0226284917
        Z: 0.342923284
      Focal Shape Fixed Size: true
      Focal Shape Size: 0.0500000007
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.00999999978
      Pitch: 0.484797359
      Target Frame: <Fixed Frame>
      Value: Orbit (rviz)
      Yaw: 2.52039075
    Saved: ~
Window Geometry:
  Camera:
    collapsed: false
  Displays:
    collapsed: false
  Height: 846
  Hide Left Dock: false
  Hide Right Dock: true
  QMainWindow State: 000000ff00000000fd000000040000000000000231000002c4fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000016b000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610100000199000001530000001600ffffff000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002c4000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005b60000003efc0100000002fb0000000800540069006d00650100000000000005b60000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000037f000002c400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 1462
  X: 268
  Y: 154

5. 二维码识别