image_proc
After workspace setup:
roslaunch optical_swarm sandwich.launch
With the above still running, in a new terminal window:
roslaunch optical_swarm continuous_detection.launch
Note: the launch file is currently configured to run tag detection only for sandwich_0 cameras: two front, two side, two rear
In a new terminal window:
rostopic echo tag_detections
This will print the tag detection information in the terminal window. If no tags are in frame, detections[] will be empty:
If there are tags in the frame, detections[] will contain pose information:
Tag detections can be visualized by selecting /robot0/sandwich_0/sensors/cameras/front_right_camera/tag_detections_image in the rqt_image_view gui. In the image below, both tag #1 and #4 are being detected:
