From 27a8486da759efbdb5ff356c23562cb16791c150 Mon Sep 17 00:00:00 2001
From: Christian Rauch <Christian.Rauch@ed.ac.uk>
Date: Tue, 17 May 2022 16:31:26 +0100
Subject: [PATCH] tag configuration with tags for jaffa and oats

---
 CMakeLists.txt          |   3 +++
 config/settings.yaml    |  12 ++++++++++++
 config/tags.yaml        |   9 +++++++++
 launch/apriltag.launch  |  16 ++++++++++++++++
 package.xml             |   5 ++---
 tags/tag36_11_00000.png | Bin 0 -> 113 bytes
 tags/tag36_11_00001.png | Bin 0 -> 116 bytes
 tags/tags.pdf           | Bin 0 -> 10222 bytes
 tags/tags.tex           |  24 ++++++++++++++++++++++++
 9 files changed, 66 insertions(+), 3 deletions(-)
 create mode 100644 config/settings.yaml
 create mode 100644 config/tags.yaml
 create mode 100644 launch/apriltag.launch
 create mode 100644 tags/tag36_11_00000.png
 create mode 100644 tags/tag36_11_00001.png
 create mode 100644 tags/tags.pdf
 create mode 100644 tags/tags.tex

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3a7e811..3fe5b4c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -190,6 +190,9 @@ include_directories(
 #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 # )
 
+install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
+install(DIRECTORY config/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config)
+
 #############
 ## Testing ##
 #############
diff --git a/config/settings.yaml b/config/settings.yaml
new file mode 100644
index 0000000..997bc8b
--- /dev/null
+++ b/config/settings.yaml
@@ -0,0 +1,12 @@
+# AprilTag 3 code parameters
+# Find descriptions in apriltag/include/apriltag.h:struct apriltag_detector
+#                      apriltag/include/apriltag.h:struct apriltag_family
+tag_family:        'tag36h11' # options: tagStandard52h13, tagStandard41h12, tag36h11, tag25h9, tag16h5, tagCustom48h12, tagCircle21h7, tagCircle49h12
+tag_threads:       4          # default: 2
+tag_decimate:      1.0        # default: 1.0
+tag_blur:          0.0        # default: 0.0
+tag_refine_edges:  1          # default: 1
+tag_debug:         0          # default: 0
+max_hamming_dist:  2          # default: 2 (Tunable parameter with 2 being a good choice - values >=3 consume large amounts of memory. Choose the largest value possible.)
+# Other parameters
+publish_tf:        true       # default: false
\ No newline at end of file
diff --git a/config/tags.yaml b/config/tags.yaml
new file mode 100644
index 0000000..3d73d5b
--- /dev/null
+++ b/config/tags.yaml
@@ -0,0 +1,9 @@
+# The tags (including the white border) are printed on a 10x10 grid, but the tag
+# size is given by the size of the 8x8 grid without the white border. Hence, the
+# values given here are 8/10 of the printed tag size.
+
+standalone_tags:
+  [
+    {id: 0, size: 0.136, name: "jaffa"},
+    {id: 1, size: 0.10, name: "oats"},
+  ]
diff --git a/launch/apriltag.launch b/launch/apriltag.launch
new file mode 100644
index 0000000..a69c676
--- /dev/null
+++ b/launch/apriltag.launch
@@ -0,0 +1,16 @@
+<launch>
+  <arg name="launch_prefix" default="" />
+  <arg name="node_namespace" default="apriltag_ros_continuous_node" />
+  <arg name="camera_name" default="/rgb" />
+
+  <!-- load configuration -->
+  <rosparam command="load" file="$(find jaffa_apriltag)/config/settings.yaml" ns="$(arg node_namespace)" />
+  <rosparam command="load" file="$(find jaffa_apriltag)/config/tags.yaml" ns="$(arg node_namespace)" />
+
+  <node pkg="apriltag_ros" type="apriltag_ros_continuous_node" name="$(arg node_namespace)" clear_params="true" output="screen" launch-prefix="$(arg launch_prefix)" >
+    <remap from="image_rect" to="$(arg camera_name)/image_rect_color" />
+    <remap from="camera_info" to="$(arg camera_name)/camera_info" />
+
+    <param name="publish_tag_detections_image" type="bool" value="true" />
+  </node>
+</launch>
diff --git a/package.xml b/package.xml
index 3dcc06a..efb1c62 100644
--- a/package.xml
+++ b/package.xml
@@ -49,9 +49,8 @@
   <!-- Use doc_depend for packages you need only for building documentation: -->
   <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>apriltag_ros</build_depend>
-  <build_export_depend>apriltag_ros</build_export_depend>
-  <exec_depend>apriltag_ros</exec_depend>
+
+  <depend>apriltag_ros</depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->
diff --git a/tags/tag36_11_00000.png b/tags/tag36_11_00000.png
new file mode 100644
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diff --git a/tags/tag36_11_00001.png b/tags/tag36_11_00001.png
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diff --git a/tags/tags.pdf b/tags/tags.pdf
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HcmV?d00001

diff --git a/tags/tags.tex b/tags/tags.tex
new file mode 100644
index 0000000..1ea52f9
--- /dev/null
+++ b/tags/tags.tex
@@ -0,0 +1,24 @@
+\documentclass{article}
+\usepackage{graphicx}
+\usepackage[export]{adjustbox}
+
+\begin{document}
+
+% tag images
+% https://github.com/AprilRobotics/apriltag-imgs
+
+\begin{figure}
+    \centering
+    \noindent\makebox[\textwidth]{%
+    \includegraphics[width=17cm,frame]{tag36_11_00000.png}
+    }
+\end{figure}
+
+\begin{figure}
+    \centering
+    \noindent\makebox[\textwidth]{%
+    \includegraphics[width=12.5cm,frame]{tag36_11_00001.png}
+    }
+\end{figure}
+
+\end{document}