From b52b42dd8c88029d4e5ee3280ecdf0f5181d6b16 Mon Sep 17 00:00:00 2001
From: mkokic <mkokic65@gmail.com>
Date: Fri, 29 Jul 2022 14:43:15 +0200
Subject: [PATCH] changed parameters for existing april tag detection

---
 apriltag_ros/config/settings.yaml             | 23 ++++------
 apriltag_ros/config/tags.yaml                 | 46 ++-----------------
 .../launch/continuous_detection.launch        |  8 ++--
 3 files changed, 18 insertions(+), 59 deletions(-)

diff --git a/apriltag_ros/config/settings.yaml b/apriltag_ros/config/settings.yaml
index be33540b..4b5dd41a 100644
--- a/apriltag_ros/config/settings.yaml
+++ b/apriltag_ros/config/settings.yaml
@@ -1,13 +1,10 @@
-# 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:       2          # 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
-transport_hint:    "raw"      # default: raw, see http://wiki.ros.org/image_transport#Known_Transport_Packages for options
+tag_family:        'tag36h11'
+tag_border:        1
+tag_threads:       2
+tag_decimate:      1.0
+tag_blur:          0.0
+tag_refine_edges:  1
+tag_refine_decode: 0
+tag_refine_pose:   0
+tag_debug:         0
+publish_tf:        true
diff --git a/apriltag_ros/config/tags.yaml b/apriltag_ros/config/tags.yaml
index d24f148d..275b4f88 100644
--- a/apriltag_ros/config/tags.yaml
+++ b/apriltag_ros/config/tags.yaml
@@ -1,48 +1,10 @@
-# # Definitions of tags to detect
-#
-# ## General remarks
-#
-# - All length in meters
-# - 'size' refers to the length of the shared border between solid black and solid white rectangle.
-#   See README.md or https://github.com/AprilRobotics/apriltag/wiki/AprilTag-User-Guide#pose-estimation for details.
-# - Ellipsis (...) signifies that the previous element can be repeated multiple times.
-#
-# ## Standalone tag definitions
-# ### Remarks
-#
-# - name is optional
-#
-# ### Syntax
-#
-# standalone_tags:
-#   [
-#     {id: ID, size: SIZE, name: NAME},
-#     ...
-#   ]
 standalone_tags:
   [
+    {id: 0, size: 0.008, name: "tag0"},
+    {id: 1, size: 0.0065, name: "tag1"},
+    # {id: 2, size: 0.007, name: "tag2"},
   ]
-# ## Tag bundle definitions
-# ### Remarks
-#
-# - name is optional
-# - x, y, z have default values of 0 thus they are optional
-# - qw has default value of 1 and qx, qy, qz have default values of 0 thus they are optional
-#
-# ### Syntax
-#
-# tag_bundles:
-#   [
-#     {
-#       name: 'CUSTOM_BUNDLE_NAME',
-#       layout:
-#         [
-#           {id: ID, size: SIZE, x: X_POS, y: Y_POS, z: Z_POS, qw: QUAT_W_VAL, qx: QUAT_X_VAL, qy: QUAT_Y_VAL, qz: QUAT_Z_VAL},
-#           ...
-#         ]
-#     },
-#     ...
-#   ]
 tag_bundles:
   [
+
   ]
diff --git a/apriltag_ros/launch/continuous_detection.launch b/apriltag_ros/launch/continuous_detection.launch
index d176f9b9..8298bcb0 100644
--- a/apriltag_ros/launch/continuous_detection.launch
+++ b/apriltag_ros/launch/continuous_detection.launch
@@ -1,17 +1,17 @@
 <launch>
   <arg name="launch_prefix" default="" /> <!-- set to value="gdbserver localhost:10000" for remote debugging -->
   <arg name="node_namespace" default="apriltag_ros_continuous_node" />
-  <arg name="camera_name" default="/camera_rect" />
-  <arg name="image_topic" default="image_rect" />
+  <arg name="camera_name" default="/ximea_cam" />
+  <arg name="image_topic" default="image_raw" />
 
   <!-- Set parameters -->
   <rosparam command="load" file="$(find apriltag_ros)/config/settings.yaml" ns="$(arg node_namespace)" />
   <rosparam command="load" file="$(find apriltag_ros)/config/tags.yaml" ns="$(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 topics from those used in code to those on the ROS network -->
     <remap from="image_rect" to="$(arg camera_name)/$(arg image_topic)" />
-    <remap from="camera_info" to="$(arg camera_name)/camera_info" />
+    <remap from="camera_info" to="$(arg camera_name)/xi_image_info" />
 
     <param name="publish_tag_detections_image" type="bool" value="true" />      <!-- default: false -->
   </node>