From eb1d52d4fd372b1684700d33ba479385b6ac7ec4 Mon Sep 17 00:00:00 2001
From: Fujun Ruan <85526629+Flowerst-0416@users.noreply.github.com>
Date: Mon, 21 Nov 2022 01:08:09 -0500
Subject: [PATCH] delete
---
UR_arm_camera_calibration-main/README.md | 326 -------
.../apriltag_ros/LICENSE | 30 -
.../apriltag_ros/README.md | 91 --
.../apriltag_ros/apriltag_ros/CHANGELOG.rst | 43 -
.../apriltag_ros/apriltag_ros/CMakeLists.txt | 157 ----
.../apriltag_ros/config/settings.yaml | 13 -
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.../apriltag_ros/docs/tag_size_guide.svg | 224 -----
.../include/apriltag_ros/common_functions.h | 243 ------
.../apriltag_ros/continuous_detector.h | 79 --
.../apriltag_ros/single_image_detector.h | 71 --
.../launch/continuous_detection.launch | 18 -
.../launch/single_image_client.launch | 25 -
.../launch/single_image_server.launch | 12 -
.../apriltag_ros/msg/AprilTagDetection.msg | 14 -
.../msg/AprilTagDetectionArray.msg | 2 -
.../apriltag_ros/nodelet_plugins.xml | 9 -
.../apriltag_ros/apriltag_ros/package.xml | 63 --
.../apriltag_ros/scripts/analyze_image | 8 -
.../apriltag_ros/scripts/calibrate_bundle.m | 341 --------
.../src/apriltag_ros_continuous_node.cpp | 50 --
.../apriltag_ros_single_image_client_node.cpp | 122 ---
.../apriltag_ros_single_image_server_node.cpp | 45 -
.../apriltag_ros/src/common_functions.cpp | 794 ------------------
.../apriltag_ros/src/continuous_detector.cpp | 106 ---
.../src/single_image_detector.cpp | 96 ---
.../apriltag_ros/srv/AnalyzeSingleImage.srv | 14 -
UR_arm_camera_calibration-main/handeye.ipynb | 297 -------
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.../multi_calibration/CMakeLists.txt | 172 ----
.../multi_calibration/cfg/calib_params.yaml | 60 --
.../cfg/rviz_config_demo.rviz | 296 -------
.../cfg/trajectory_planner.yaml | 46 -
.../multi_calibration/cfg/ximea_80_calib.yaml | 41 -
.../multi_calibration/include/README.md | 2 -
.../include/plannerFactory.hpp | 18 -
.../include/trajectory_planner.hpp | 93 --
.../launch/auto_calibration.launch | 44 -
.../multi_calibration/package.xml | 104 ---
.../multi_calibration/src/image_rect_node.cpp | 129 ---
.../src/image_saving_node.cpp | 102 ---
.../multi_calibration/src/plannerFactory.cpp | 47 --
.../src/trajectory_planner.cpp | 645 --------------
.../src/trajectory_planner_node.cpp | 57 --
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diff --git a/UR_arm_camera_calibration-main/README.md b/UR_arm_camera_calibration-main/README.md
deleted file mode 100644
index 2e4cc0c..0000000
--- a/UR_arm_camera_calibration-main/README.md
+++ /dev/null
@@ -1,326 +0,0 @@
-# Multi_Calibration
-This repo combines camera intrinsics, hand-eye and camera-laser extrinsic calibration methods for the blaser sensor and the UR Robot arm
-
-
-
-## 0. Installation
-### 0.1 Environment
-Use Ubuntu 18.04/20.04 with ROS [Melodic](http://wiki.ros.org/melodic/Installation/Ubuntu) / [Noetic](http://wiki.ros.org/noetic/Installation/Ubuntu).
-### 0.2 Dependencies
-1. [blaser_ros Melodic](https://github.com/biorobotics/blaser_mapping/tree/master/blaser_ros) / [blaser_ros Noetic](https://github.com/biorobotics/blaser_mapping/tree/tina/add-ubuntu20-compatibility/blaser_ros)
-2. ximea_ros_cam (Install with the Blaser Dependencies)
-3. [Universal_Robots_ROS_Driver
-](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver)
-4. MoveIt Melodic [Tutorials]](http://docs.ros.org/en/melodic/api/moveit_tutorials/html/index.html)
-/ MoveIt Noetic [Tutorials](https://ros-planning.github.io/moveit_tutorials/)
-5. [apriltag_ros
-](https://github.com/AprilRobotics/apriltag_ros)
-
-
-Build the blaser_ros ws and the blaser_dependencies before proceeding.
-
-Follow instructions in 0.3 to install other dependencies
-
-### 0.3 Build Calibration Workspace
-
-- ximea_ros_cam
-
-```shell
-cd ~
-mkdir -p ~/calibration_ws/src
-cd ~/calibration_ws/src
-git clone https://github.com/wavelab/ximea_ros_cam.git
-```
-
-- camera_model
-
-Download the folder from this [link](https://drive.google.com/drive/folders/1xBam90TTU8bbKEM8wfbRfDEYF7RcXm7B?usp=sharing), and place it in `~/calibration_ws/src`.
-
-- apriltag
-```shell
-cd ~/calibration_ws/src
-git clone https://github.com/AprilRobotics/apriltag.git
-```
-
-- Build the workspace
-
-```shell
-cd ~/calibration_ws
-catkin build
-```
-
-- Install MoveIt and UR Drivers for MoveIt
-
-```shell
-cd ~/calibration_ws/src
-mkdir ~/calibration_ws/src/src
-cd ~/calibration_ws/src/src
-git clone -b boost https://github.com/UniversalRobots/Universal_Robots_Client_Library.git src/Universal_Robots_Client_Library
-git clone https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git src/Universal_Robots_ROS_Driver
-git clone -b calibration_devel https://github.com/fmauch/universal_robot.git src/fmauch_universal_robot
-sudo apt update -qq
-rosdep update
-rosdep install --from-paths src --ignore-src -y
-cd ~/calibration_ws
-catkin build
-```
-
-- Install this calibration repo
-
-```shell
-cd ~/calibration_ws/src
-git clone https://github.com/biorobotics/UR_arm_camera_calibration.git
-catkin build
-```
-
-catkin build several time (mostly three)
-
-The calibration workspace should contain the following repo in the src:
-* UR_arm_camera_calibration
-* Universal_Robots_ROS_Driver
-* MoveIt
-* ximea_ros_cam
-* camera_model
-* apriltag
-
-### 0.4 Configuring ximea_ros_cam
-In `~/calibration_ws/src/ximea_ros_cam/launch/example_cam.launch` change the value parameter to the serial number of your ximea camera
-
-``
-
-set the **num_cams_in_bus** to **1**
-
-``
-
-To change the **exposure_time** and **white_balance_mode** add the following line:
-```shell
-
-
-```
-
-Configure other camera params as needed
-## 1. Camera Intrinsics
-
-### 1.1 Hardware needed
-* UR robot arm
-* Camera holder ([Example](https://drive.google.com/file/d/12sZWZGFeq9ehgpnKUAZS80BMfkZedMsY/view?usp=sharing))
-
-### 1.2 Calibration process
-
-#### 1.2.0 Configure the Calibration Environment
-
-To do the auto calibration, we need to firstly set the initial joint position for robot arm and the checker board origin position. To achieve that, go to `~/calibration_ws/src/multi_calibration/cfg/trajectory_planner.yaml` and change the **homePositions** and **bedOrigin**.
-
-#### 1.2.1 Image Collection
-Open four terminal:
-For the First one, connect the arm:
-```shell
-cd ~/calibration_ws
-source devel/setup.bash
-roslaunch ur_robot_driver _bringup.launch robot_ip:=[robot ip]
-```
-For the Second one enable Moveit!:
-```shell
-cd ~/calibration_ws
-source devel/setup.bash
-roslaunch ur5e_moveit_config ur5e_moveit_planning_execution.launch
-```
-For the Third one enable Ximea driver:
-```shell
-cd ~/calibration_ws
-source devel/setup.bash
-roslaunch ximea_ros_cam example_cam.launch
-```
-
-For the Last one enable the auto_calibration:
-```shell
-cd ~/calibration_ws
-source devel/setup.bash
-roslaunch multi_calib_ros auto_calibration.launch directory:="[file position]" camera_intrinsic:=1
-```
-
-#### 1.2.2 Calibration Process
-Go to the folder where images collected from last step are saved
-```shell
-source blaser_ws/devel/setup.bash
-rosrun camera_model Calibration -w 7 -h 10 -s 5 -i ./ -v --camera-model mei #use package camera_model to perform calibration.
-```
-The camera model parameters will be saved to **camera_camera_calib.yaml**.
-
-Use help **rosrun camera_model Calibration --help** to see all the parameters.
-
-Be careful about what camera model you use. For a narrow FoV camera without huge distortion, use **pinhole** model should suffice. If you use a large FoV camera with a lot of distortion, use **mei** or **kannala-brandt**. Typically you can try all the camera models and choose the one with the smallest reprojection error.
-
-**Finally, examine the intrinsics parameters and result**
-
-* Is the reprojection error reasonable? (should be at least < 1.0 px)
-* Is fx and fy similar?
-* Is cx and cy reasonable? cx ~ width / 2, cy ~ height / 2
-* Is image height and width correct?
-
-Update the calibration result to `~/calibration_ws/src/multi_calibration/cfg/ximea_80_calib.yaml`
-
-After we finish the **MEI** model, we need to do the camera calibration for **PINHOLE** model.
-
-Then, we do the do the calibration in PINHOLE model:
-
-Launch the four terminals but instead of running auto_calibration in camera_intrinsic mode run it in camera_rect_intrinsic mode
-
-```shell
-cd ~/calibration_ws
-source devel/setup.bash
-roslaunch multi_calib_ros auto_calibration.launch directory:="[file position]" camera_rect_intrinsic:=1
-```
-
-Go to the folder where images collected from last step are saved and run the pinhole calibration
-
-```shell
-source Blaser_ws/devel/setup.bash
-rosrun camera_model Calibration -w 7 -h 10 -s 5 -i ./ -v --camera-model PINHOLE #use package camera_model to perform calibration.
-```
-
-Update the pinhole calibration result (fx fy cx cy) to `rectCameraMatrix` in `~/calibration_ws/src/multi_calibration/cfg/calib_params.yaml`
-
-#### 1.2.3 Result Checking
-To check the calibration result, run all the same four terminals with auto_calibration in camera_rect_intrinsic mode
-
-```shell
-cd ~/calibration_ws
-source devel/setup.bash
-roslaunch multi_calib_ros auto_calibration.launch directory:="[file position]" camera_rect_intrinsic:=1
-```
-
-In another terminal window open rqt.
-
-```shell
-rqt
-```
-
-Go to Plugins -> Visualization -> 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.
-
-
-
-## 2. Hand-eye Calibration
-
-
-### 2.1 Hardware needed
-* UR robot arm
-* Camera holder([Example](https://drive.google.com/file/d/1i7l1ikb1o2ocoi0iMsCJhSHDmBsIzraE/view?usp=sharing))
-* April tag holder([Example](https://drive.google.com/file/d/12sZWZGFeq9ehgpnKUAZS80BMfkZedMsY/view?usp=sharing))
-* [Hand eye calibration ipynb](Hand_eye.ipynb)
-
-### 2.2 Calibration process
-#### 2.2.1 Tag Size Measurement
-The key to fiducial marker pose estimation is a correct estimate of the fiducial marker's actual size. To guarantee the precision of fiducial marker tag size, Photoshop editing and 100% print scale is recommended.
-
-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.
-
-
-
-#### 2.2.2 Calibration Process
-
-- Getting the *camera to Tag* transform:
-
- - Start the ximea camera node
-
-
- ```shell
- cd ~/calibration_ws
- source devel/setup.bash
- roslaunch ximea_ros_cam example_cam.launch
- ```
-
- - In a new window run the auto_calibration.launch in handeye mode
-
- ```shell
- cd ~/calibration_ws
- source devel/setup.bash
- roslaunch multi_calib_ros auto_calibration.launch hand_eye:=1
-
- ```
-Now the **camera to Tag** transform can be viewed by echoing the **tf** rostopic.
-
-- Getting the *end-effector to Tag* transform: Use the CAD of your April tag holder and Camera holder to obtain the transform.
-- As a sanity check for the calculation, the tag position derived from your **end-effector to Tag** transform and from **end-effector-camera-tag** transform chains should be exactly the same.
-
-#### 2.2.3 Calibration Process
-After properly setting up the Apriltag pose estimation pipeline(that includes image undistortion and publishing updated rectified camera matrix), the **camera to Tag** transform should be available to you.
-
-With the measurement of **camera to Tag** and **end-effector to Tag**, input them into
-[Jupyter Notebook for Hand-eye calibration](https://drive.google.com/file/d/1x8It3NmqM_Qm07OM-dieFRudrayFTtfS/view?usp=sharing) and get the **EE to Camera** transform matrix.
-
-#### 2.2.4 Result Checking
-As a sanity check for the calculation, the tag position derived from your **end-effector to Tag** transform and from **end-effector-camera-tag** transform chains should be exactly the same.
-
-## 3. Camera-laser extrinsics
-
-### 3.1 Hardware needed
-* UR5e robot arm
-* Camera holder([Example](https://drive.google.com/file/d/12sZWZGFeq9ehgpnKUAZS80BMfkZedMsY/view?usp=sharing))
-* **Laser On**
-* Laser calibration image([Example](https://drive.google.com/drive/folders/1YaM0gm-hhtI97vL1o1ijyLIKgfpJjhvY?usp=sharing))
-
-The extrinsics parameters between camera and laser is the 3D position of the
-laser plane in the camera reference frame, defined as $ax + by + cz + d = 0$. In
-order to determine the plane's position, we take sample points from this plane
-and then try to fit a 3D plane to these 3D points. We obtain sample points from
-images of a checkerboard where the laser stripe is projected onto the
-checkerboard. Since the checkerboard defines a 3D plane, we can get a 3D point
-position for each 2D laser point on the image, which is the intersection between
-the checkerboard plane and the line-of-sight ray.
-
-We first need to make sure that the laser stripe detection is working. The laser
-stripe detector basically performs an HSV filter with five parameters hue_min,
-hue_max, sat_min, val_min, and val_ratio, defining a 3D range filter H in \[hue_low,
-hue_high\], S in \[sat_low, 255\], and V in
-\[max(val_low, image_max_val * val_ratio), 255\]. Note that V range is dynamic
-and is set with every image.
-
-When using red laser and you want a hue range containing the hue=180 value,
-set hue_min > hue_max and the program will generate two separate hue ranges:
-one is \[hue_min, 180\] and the other is \[0, hue_max\].
-
-To set these parameters, first use `python scripts/im_saver.py [image_topic]` to
-save a couple of sample images, then use `python scripts/im_hsv_viewer.py
-[image_file]` to determine the HSV value of the laser stripe and set appropriate
-values for the threshold parameters. Load these values in a config file (todo
-give example config and dir), which will be used in the calibration later.
-
-To test these parameters, run `laser_stripe_detector` node with sample images
-and the config file. (**todo turn on lsd visualization**).
-
-In order to collect more image for laser calibration, please go to **cali_ws** and run the following code:
-
-First enable ximea driver:
-```shell
-cd ~/calibration_ws
-source devel/setup.bash
-roslaunch ximea_ros_cam example_cam.launch
-```
-
-Next enable the auto_calibration in the laser_cam mode:
-```shell
-cd ~/calibration_ws
-source devel/setup.bash
-roslaunch multi_calib_ros auto_calibration.launch directory:="[file position]" laser_cam:=1
-```
-
-Run **rqt** in different terminal
-
-```shell
-rqt
-```
-
-Go to Plugins -> Topics -> Message Publisher
-
-
-
-In the Message Publisher panel switch to the `/execution_status` topic
-
-
-
-Publish at a rate you want and the image will be captured automatically at that rate.
diff --git a/UR_arm_camera_calibration-main/apriltag_ros/LICENSE b/UR_arm_camera_calibration-main/apriltag_ros/LICENSE
deleted file mode 100644
index 09b1751..0000000
--- a/UR_arm_camera_calibration-main/apriltag_ros/LICENSE
+++ /dev/null
@@ -1,30 +0,0 @@
-BSD 2-Clause License
-
-Copyright (c) 2017, California Institute of Technology.
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-
-1. Redistributions of source code must retain the above copyright notice,
- this list of conditions and the following disclaimer.
-2. Redistributions in binary form must reproduce the above copyright notice,
- this list of conditions and the following disclaimer in the documentation
- and/or other materials provided with the distribution.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-POSSIBILITY OF SUCH DAMAGE.
-
-The views and conclusions contained in the software and documentation are
-those of the authors and should not be interpreted as representing official
-policies, either expressed or implied, of the California Institute of
-Technology.
diff --git a/UR_arm_camera_calibration-main/apriltag_ros/README.md b/UR_arm_camera_calibration-main/apriltag_ros/README.md
deleted file mode 100644
index 988140e..0000000
--- a/UR_arm_camera_calibration-main/apriltag_ros/README.md
+++ /dev/null
@@ -1,91 +0,0 @@
-# apriltag_ros
-
-`apriltag_ros` is a Robot Operating System (ROS) wrapper of the [AprilTag 3 visual fiducial detector](https://april.eecs.umich.edu/software/apriltag.html). For details and tutorials, please see the [ROS wiki](http://wiki.ros.org/apriltag_ros).
-
-`apriltag_ros` depends on the latest release of the [AprilTag library](https://github.com/AprilRobotics/apriltag). Clone it into your catkin workspace before building.
-
-**Authors**: Danylo Malyuta, Wolfgang Merkt
-
-**Maintainers**: [Danylo Malyuta](mailto:danylo.malyuta@gmail.com) ([Autonomous Control Laboratory](https://www.aa.washington.edu/research/acl), University of Washington), [Wolfgang Merkt](https://github.com/wxmerkt)
-
-## Quickstart
-
-Starting with a working ROS installation (Kinetic and Melodic are supported):
-```
-export ROS_DISTRO=melodic # Set this to your distro, e.g. kinetic or melodic
-source /opt/ros/$ROS_DISTRO/setup.bash # Source your ROS distro
-mkdir -p ~/catkin_ws/src # Make a new workspace
-cd ~/catkin_ws/src # Navigate to the source space
-git clone https://github.com/AprilRobotics/apriltag.git # Clone Apriltag library
-git clone https://github.com/AprilRobotics/apriltag_ros.git # Clone Apriltag ROS wrapper
-cd ~/catkin_ws # Navigate to the workspace
-rosdep install --from-paths src --ignore-src -r -y # Install any missing packages
-catkin build # Build all packages in the workspace (catkin_make_isolated will work also)
-```
-See the [ROS wiki](http://wiki.ros.org/apriltag_ros) for details and tutorials.
-
-## Tag Size Definition
-
-For a correct depth estimation (and hence the correct full pose) it is necessary to specify the tag size in config/tags.yaml correctly. In the [Wiki for the AprilTag Library](https://github.com/AprilRobotics/apriltag/wiki/AprilTag-User-Guide#pose-estimation) the correct interpretation of the term "tag size" is explained. The size is defined by the length of the black/white border between the complete black and white rectangle of any tag type. Note that for apriltag3 marker families this does not in fact correspond to the outside of the marker.
-
-Below is a visualization of the tag size (red arrow) to be specified for the most common tag classes:
-
-
-## Contributing
-
-Pull requests are welcome! Especially for the following areas:
-
-- Publishing of the AprilTag 3 algorithm intermediate images over a ROS image topic (which AprilTag 3 already generates when `tag_debug==1`)
-- Conversion of the bundle calibration script from MATLAB to Python
-- Extend calibration to support calibrating tags that cannot appear simultaneously with the master tag, but do appear simultaneously with other tags which themselves or via a similar relationship appear with the master tag (e.g. a bundle with the geometry of a cube - if the master is on one face, tags on the opposite face cannot currently be calibrated). This is basically "transform chaining" and potentially allows calibration of bundles with arbitrary geometry as long as a transform chain exists from any tag to the master tag
-- Supporting multiple tag family detection (currently all tags have to be of the same family). This means calling the detector once for each family. Because the core AprilTag 2 algorithm is the performance bottleneck, detection of `n` tag families will possibly decrease performance by `1/n` (tbd if this still holds for v3)
-
-## Changelog
-
-- In March 2019, the code was upgraded to AprilTag 3 and as thus the options `refine_pose`, `refine_decode`, and `black_border` were removed.
-
-## Copyright
-
-The source code in `apriltag_ros/` is original code that is the ROS wrapper itself, see the [LICENSE](https://github.com/AprilRobotics/apriltag_ros/blob/526b9455121ae0bb6b4c1c3db813f0fbdf78393c/LICENSE). It is inspired by [apriltags_ros](https://github.com/RIVeR-Lab/apriltags_ros) and provides a superset of its functionalities.
-
-If you use this code, please kindly inform [Danylo Malyuta](mailto:danylo.malyuta@gmail.com) (to maintain a list here of research works that have benefited from the code) and cite:
-
-- D. Malyuta, C. Brommer, D. Hentzen, T. Stastny, R. Siegwart, and R. Brockers, “[Long-duration fully autonomous operation of rotorcraft unmanned aerial systems for remote-sensing data acquisition](https://onlinelibrary.wiley.com/doi/abs/10.1002/rob.21898),” Journal of Field Robotics, p. arXiv:1908.06381, Aug. 2019.
-- C. Brommer, D. Malyuta, D. Hentzen, and R. Brockers, “[Long-duration autonomy for small rotorcraft UAS including recharging](https://ieeexplore.ieee.org/document/8594111),” in IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, p. arXiv:1810.05683, oct 2018.
-- J. Wang and E. Olson, "[AprilTag 2: Efficient and robust fiducial detection](http://ieeexplore.ieee.org/document/7759617/)," in ''Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)'', October 2016.
-
-```
-@article{Malyuta2019,
- doi = {10.1002/rob.21898},
- url = {https://doi.org/10.1002/rob.21898},
- pages = {arXiv:1908.06381},
- year = {2019},
- month = aug,
- publisher = {Wiley},
- author = {Danylo Malyuta and Christian Brommer and Daniel Hentzen and Thomas Stastny and Roland Siegwart and Roland Brockers},
- title = {Long-duration fully autonomous operation of rotorcraft unmanned aerial systems for remote-sensing data acquisition},
- journal = {Journal of Field Robotics}
-}
-@inproceedings{Brommer2018,
- doi = {10.1109/iros.2018.8594111},
- url = {https://doi.org/10.1109/iros.2018.8594111},
- pages = {arXiv:1810.05683},
- year = {2018},
- month = {oct},
- publisher = {{IEEE}},
- author = {Christian Brommer and Danylo Malyuta and Daniel Hentzen and Roland Brockers},
- title = {Long-Duration Autonomy for Small Rotorcraft {UAS} Including Recharging},
- booktitle = {{IEEE}/{RSJ} International Conference on Intelligent Robots and Systems}
-}
-@inproceedings{Wang2016,
- author = {Wang, John and Olson, Edwin},
- booktitle = {2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
- doi = {10.1109/IROS.2016.7759617},
- isbn = {978-1-5090-3762-9},
- month = {oct},
- pages = {4193--4198},
- publisher = {IEEE},
- title = {{AprilTag 2: Efficient and robust fiducial detection}},
- year = {2016}
-}
-```
diff --git a/UR_arm_camera_calibration-main/apriltag_ros/apriltag_ros/CHANGELOG.rst b/UR_arm_camera_calibration-main/apriltag_ros/apriltag_ros/CHANGELOG.rst
deleted file mode 100644
index 54420d4..0000000
--- a/UR_arm_camera_calibration-main/apriltag_ros/apriltag_ros/CHANGELOG.rst
+++ /dev/null
@@ -1,43 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package apriltag_ros
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-3.2.1 (2022-04-05)
-------------------
-* Fixed propagation of apriltag and Eigen headers and libraries (`#124 `_)
-* Drop old C++11 as it breaks with new log4cxx.
-* Contributors: Jochen Sprickerhof, Remo Diethelm, Wolfgang Merkt
-
-3.2.0 (2022-03-10)
-------------------
-* Add transport hint option (`#108 `_)
-* Move to using the apriltag CMake target (`#104 `_)
-* Set the tag's parent frame to the camera optical frame (`#101 `_)
-* Fix bug in K matrix in single_image_client (`#103 `_)
-* Add configurable max_hamming_distance for the AprilTag Detector (`#93 `_)
-* Introduce lazy processing for ContinuousDetector (`#80 `_)
-* Contributors: Akshay Prasad, Amal Nanavati, Christian Rauch, Hongzhuo Liang, Wolfgang Merkt
-
-3.1.2 (2020-07-15)
-------------------
-* Add support for tagCircle21h7, tagCircle49h12 (`#69 `_)
-* Add support for tagCustom48h12 (`#65 `_)
-* Contributors: Anthony Biviano, Kyle Saltmarsh, Wolfgang Merkt, kai wu
-
-3.1.1 (2019-10-07)
-------------------
-* Add support for tagStandard41h12 and tagStandard52h13 (`#63 `_, `#59 `_).
-* Add gray image input support (`#58 `_).
-* Contributors: Alexander Reimann, Moritz Zimmermann, Samuel Bachmann, Wolfgang Merkt
-
-3.1.0 (2019-05-25)
-------------------
-* Prepare for release (3.1) and fix catkin_lint errors
-* Upgrade to AprilTag 3, fix installation, and performance improvements (`#43 `_)
- Upgrade to AprilTag 3, fix installation, and performance improvements
-* Rename package to apriltag_ros
- - Relates to https://github.com/AprilRobotics/apriltag_ros/issues/45
-* Contributors: Wolfgang Merkt
-
-1.0.0 (2018-05-14)
-------------------
diff --git a/UR_arm_camera_calibration-main/apriltag_ros/apriltag_ros/CMakeLists.txt b/UR_arm_camera_calibration-main/apriltag_ros/apriltag_ros/CMakeLists.txt
deleted file mode 100644
index 8323712..0000000
--- a/UR_arm_camera_calibration-main/apriltag_ros/apriltag_ros/CMakeLists.txt
+++ /dev/null
@@ -1,157 +0,0 @@
-cmake_minimum_required(VERSION 3.0.2)
-project(apriltag_ros)
-
-find_package(catkin REQUIRED COMPONENTS
- cmake_modules
- cv_bridge
- geometry_msgs
- image_geometry
- image_transport
- message_generation
- nodelet
- pluginlib
- roscpp
- sensor_msgs
- std_msgs
- tf
-)
-
-find_package(Eigen3 REQUIRED)
-find_package(OpenCV REQUIRED)
-find_package(apriltag REQUIRED)
-
-# Set the build type. Options are:
-# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage
-# Debug : w/ debug symbols, w/o optimization
-# Release : w/o debug symbols, w/ optimization
-# RelWithDebInfo : w/ debug symbols, w/ optimization
-# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries
-# We default to 'Release' if none was specified
-IF(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
- MESSAGE(STATUS "Setting build type to 'Release' as none was specified.")
- SET(CMAKE_BUILD_TYPE Release CACHE STRING "Choose the build type" FORCE)
- SET_PROPERTY(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Coverage" "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
-ENDIF()
-
-
-add_compile_options("-O3" "-funsafe-loop-optimizations" "-fsee" "-funroll-loops" "-fno-math-errno" "-funsafe-math-optimizations" "-ffinite-math-only" "-fno-signed-zeros")
-
-# Note: These options have been turned off to allow for binary releases -
-# in local builds, they can be reactivated to achieve higher performance.
-# if("${CMAKE_SYSTEM_PROCESSOR}" MATCHES "x86_64" OR "x86_32")
-# message("enabling msse2 for x86_64 or x86_32 architecture")
-# set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=native -msse2 ")
-# endif()
-# if("${CMAKE_SYSTEM_PROCESSOR}" MATCHES "arm")
-# message("enabling -mfpu=neon -mfloat-abi=softfp for ARM architecture")
-# set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=armv7-a -mcpu=cortex-a9 -mfpu=neon -mtune=cortex-a9 -mvectorize-with-neon-quad -ffast-math ")
-# endif()
-
-add_message_files(
- FILES
- AprilTagDetection.msg
- AprilTagDetectionArray.msg
-)
-
-add_service_files(
- FILES
- AnalyzeSingleImage.srv
-)
-
-generate_messages(
- DEPENDENCIES
- geometry_msgs
- sensor_msgs
- std_msgs
-)
-
-# Extract the include directories and libraries from apriltag::apriltag as catkin_package() does not support modern cmake.
-get_target_property(apriltag_INCLUDE_DIRS apriltag::apriltag INTERFACE_INCLUDE_DIRECTORIES)
-get_target_property(apriltag_LIBRARIES apriltag::apriltag INTERFACE_LINK_LIBRARIES)
-
-catkin_package(
- INCLUDE_DIRS
- include
- ${EIGEN3_INCLUDE_DIRS}
- CATKIN_DEPENDS
- cv_bridge
- geometry_msgs
- image_transport
- message_runtime
- nodelet
- pluginlib
- roscpp
- sensor_msgs
- std_msgs
- tf
- DEPENDS
- apriltag
- OpenCV
- LIBRARIES
- ${PROJECT_NAME}_common
- ${PROJECT_NAME}_continuous_detector
- ${PROJECT_NAME}_single_image_detector
-)
-
-###########
-## Build ##
-###########
-
-include_directories(include
- ${catkin_INCLUDE_DIRS}
- ${EIGEN3_INCLUDE_DIRS}
- ${OpenCV_INCLUDE_DIRS}
-)
-
-add_library(${PROJECT_NAME}_common src/common_functions.cpp)
-add_dependencies(${PROJECT_NAME}_common ${PROJECT_NAME}_generate_messages_cpp)
-target_link_libraries(${PROJECT_NAME}_common ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} apriltag::apriltag)
-
-add_library(${PROJECT_NAME}_continuous_detector src/continuous_detector.cpp)
-target_link_libraries(${PROJECT_NAME}_continuous_detector ${PROJECT_NAME}_common ${catkin_LIBRARIES})
-
-add_library(${PROJECT_NAME}_single_image_detector src/single_image_detector.cpp)
-target_link_libraries(${PROJECT_NAME}_single_image_detector ${PROJECT_NAME}_common ${catkin_LIBRARIES})
-
-add_executable(${PROJECT_NAME}_continuous_node src/${PROJECT_NAME}_continuous_node.cpp)
-add_dependencies(${PROJECT_NAME}_continuous_node ${PROJECT_NAME}_generate_messages_cpp)
-target_link_libraries(${PROJECT_NAME}_continuous_node ${PROJECT_NAME}_continuous_detector ${catkin_LIBRARIES})
-
-add_executable(${PROJECT_NAME}_single_image_server_node src/${PROJECT_NAME}_single_image_server_node.cpp)
-add_dependencies(${PROJECT_NAME}_single_image_server_node ${PROJECT_NAME}_generate_messages_cpp)
-target_link_libraries(${PROJECT_NAME}_single_image_server_node ${PROJECT_NAME}_single_image_detector ${catkin_LIBRARIES})
-
-add_executable(${PROJECT_NAME}_single_image_client_node src/${PROJECT_NAME}_single_image_client_node.cpp)
-add_dependencies(${PROJECT_NAME}_single_image_client_node ${PROJECT_NAME}_generate_messages_cpp)
-target_link_libraries(${PROJECT_NAME}_single_image_client_node ${PROJECT_NAME}_common ${catkin_LIBRARIES})
-
-
-#############
-## Install ##
-#############
-
-install(DIRECTORY include/${PROJECT_NAME}/
- DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
- FILES_MATCHING PATTERN "*.h"
-)
-
-install(DIRECTORY config launch
- DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-)
-install(FILES nodelet_plugins.xml
- DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-)
-
-install(TARGETS
- ${PROJECT_NAME}_common
- ${PROJECT_NAME}_continuous_detector
- ${PROJECT_NAME}_continuous_node
- ${PROJECT_NAME}_single_image_client_node
- ${PROJECT_NAME}_single_image_detector
- ${PROJECT_NAME}_single_image_server_node
- RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
- ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
- LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-)
-
-install(PROGRAMS scripts/analyze_image DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
diff --git a/UR_arm_camera_calibration-main/apriltag_ros/apriltag_ros/config/settings.yaml b/UR_arm_camera_calibration-main/apriltag_ros/apriltag_ros/config/settings.yaml
deleted file mode 100644
index 77c36aa..0000000
--- a/UR_arm_camera_calibration-main/apriltag_ros/apriltag_ros/config/settings.yaml
+++ /dev/null
@@ -1,13 +0,0 @@
-# AprilTag 3 code parameters
-# Find descriptions in apriltag/include/apriltag.h:struct apriltag_detector
-# apriltag/include/apriltag.h:struct apriltag_family
-tag_family: 'tagStandard41h12' # 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
diff --git a/UR_arm_camera_calibration-main/apriltag_ros/apriltag_ros/config/tags.yaml b/UR_arm_camera_calibration-main/apriltag_ros/apriltag_ros/config/tags.yaml
deleted file mode 100644
index faf7533..0000000
--- a/UR_arm_camera_calibration-main/apriltag_ros/apriltag_ros/config/tags.yaml
+++ /dev/null
@@ -1,49 +0,0 @@
-# # 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: 5, size: 0.01833}
- ]
-# ## 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/UR_arm_camera_calibration-main/apriltag_ros/apriltag_ros/docs/tag_size_guide.svg b/UR_arm_camera_calibration-main/apriltag_ros/apriltag_ros/docs/tag_size_guide.svg
deleted file mode 100644
index 2dbda28..0000000
--- a/UR_arm_camera_calibration-main/apriltag_ros/apriltag_ros/docs/tag_size_guide.svg
+++ /dev/null
@@ -1,224 +0,0 @@
-
-
diff --git a/UR_arm_camera_calibration-main/apriltag_ros/apriltag_ros/include/apriltag_ros/common_functions.h b/UR_arm_camera_calibration-main/apriltag_ros/apriltag_ros/include/apriltag_ros/common_functions.h
deleted file mode 100644
index 4363fa1..0000000
--- a/UR_arm_camera_calibration-main/apriltag_ros/apriltag_ros/include/apriltag_ros/common_functions.h
+++ /dev/null
@@ -1,243 +0,0 @@
-/**
- * Copyright (c) 2017, California Institute of Technology.
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- * The views and conclusions contained in the software and documentation are
- * those of the authors and should not be interpreted as representing official
- * policies, either expressed or implied, of the California Institute of
- * Technology.
- *
- ** common_functions.h *********************************************************
- *
- * Wrapper classes for AprilTag standalone and bundle detection. Main function
- * is TagDetector::detectTags which wraps the call to core AprilTag 2
- * algorithm, apriltag_detector_detect().
- *
- * $Revision: 1.0 $
- * $Date: 2017/12/17 13:23:14 $
- * $Author: dmalyuta $
- *
- * Originator: Danylo Malyuta, JPL
- ******************************************************************************/
-
-#ifndef APRILTAG_ROS_COMMON_FUNCTIONS_H
-#define APRILTAG_ROS_COMMON_FUNCTIONS_H
-
-#include
-#include
-#include
-#include