From a9e263dd55f5780207ae424cefffe68ce4c8499e Mon Sep 17 00:00:00 2001 From: Fujun Ruan <85526629+Flowerst-0416@users.noreply.github.com> Date: Sun, 4 Dec 2022 02:36:45 -0500 Subject: [PATCH] readme update --- README.md | 14 ++++++++++---- 1 file changed, 10 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index a7812ce..b1f1040 100644 --- a/README.md +++ b/README.md @@ -158,11 +158,16 @@ rqt Go to Plugins -> Visualization -> Image Viewer -![Image Viewer](images/rqt1.png) +

+ Image Viewer +

+ In the Image Viewer panel switch to the `blaser_cam/image_rect_node` topic, this would display the undistorted image. All the straight lines in real world should appear as perfectly straight on the image. -![Image Viewer Panel](images/rqt0.png) +

+ Image Viewer Panel +

## 2. Hand-eye Calibration ![Flowchart](images/Hand_eye_calibration.png) @@ -179,8 +184,9 @@ The key to fiducial marker pose estimation is a correct estimate of the fiducial Note: The tag size should not be measured from the outside of the tag. The tag size is defined as the distance between the detection corners, or alternately, the length of the edge between the white border and the black border. The following illustration marks the detection corners with red Xs and the tag size with a red arrow for a tag from the 48h12Custom tag family. -![Tag size example](images/tag_size_example.png) - +

+ Tag size example +

#### 2.2.2 Tag Measurement - Getting the *camera to Tag* transform: