Commit 92cc12b6 authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
Browse files

Updated documentation

parent 39727756
## Description
The iri_adc_tag_localization_filter project description
This node is intended to filter [ar_track_alvar](http://wiki.ros.org/ar_track_alvar) detections. The filters developed are the following ones:
- **Range filter**: Defines a maximum distance to take into account an ar tag detection.
- **Confidence filter**: Defines a minimum confidence to take into account an ar tag detection. *NOTE: the ar_track_alvar node doesn't fill this parameter*.
- **ID filter**: It filters any ar tag detection with a different ID than the enabled ones.
- **Time persistance filter**: Filter that checks that an ar tag detection is detected a minimum number of times on the same region. The region is defined with a range and angular window from the last detection.
# ROS Interface
### Topic publishers
- ~**tag_features** (visualization_msgs/MarkerArray.msg)
- ~**landmarks** (iri_adc_msgs/landmark_array.msg)
- ~**features** (iri_adc_msgs/feature_array.msg): Output topic with the ar tag detections filtered.
- ~**vis_features** (visualization_msgs/MarkerArray.msg): Output visualization for debugging purposes.
### Topic subscribers
- ~**ar_tag_detections** (ar_track_alvar_msgs/AlvarMarkers.msg)
- ~**ar_tag_detections** (ar_track_alvar_msgs/AlvarMarkers.msg): Incoming ar tag detections.
### Parameters
##### General
- ~**rate** (Double; default: 10.0; min: 0.1; max: 1000) The main node thread loop rate in Hz.
- ~**publish_visualization** (Bool; default: False) Boolean to publish or not visualization markers.
##### Range filter
- ~**range_filter_en** (Bool; default: False) Boolean to filter detections by range.
- ~**detection_max_range** (Double; default: 3.0; min: 1.0; max: 12.0) Max range to take into account a detection.
##### Confidence filter
- ~**confidence_filter_en** (Bool; default: False) Boolean to filter detections by confidence.
- ~**detection_min_confidence** (Integer; default: 126; min: 1; max: 255) Min confidence to take into account a detection.
##### ID filter
- ~**id_filter_en** (Bool; default: False) Boolean to filter detections by tag id.
- ~**ids_enabled** (String) Comma separated ids enabled.
##### Time persistance filter
- ~**time_persistance_filter_en** (Bool; default: False) Boolean to filter detections by time persistance.
- ~**time_persistance_filter_orientation_en** (Bool; default: False) Boolean to add orientation filter to time persistance filter.
- ~**time_persistance_alpha_window** (Double; default: 0.035; min: 0.01; max: 0.07) Angle window to search around the last detection on following inputs.
- ~**time_persistance_range_window** (Double; default: 0.1; min: 0.01; max: 0.3) Range window to search around the last detection on following inputs.
- ~**time_persistance_orientation_th** (Double; default: 0.3; min: 0.01; max: 0.8) Maximum orientation diff from the last detection on following inputs.
- ~**time_persistance_min_detections** (Integer; default: 5; min: 1; max: 15) Min confidence to take into account a detection.
## Installation
......@@ -35,7 +58,16 @@ catkin_make
## How to use it
- Standalone test
This node provides a basic launch file named **node.launch** intended to be included on a general launch file with the following arguments:
- *node_name*: Node's name.
- *output*: ROS output parameter.
- *launch_prefix*: Node's launch prefix.
- *config_file*: Path to the configuration file.
- *robot_name*: Robot namespace.
- *ar_input_topic*: Incoming ar tag detections topic name.
- *features_output_topic*: Output topic.
It also provides an example of launch file named **test.launch**. It can be launch with the following command:
`roslaunch iri_adc_tag_localization_filter test.launch`
......@@ -48,4 +80,4 @@ This package is distributed in the hope that it will be useful, but without any
In no event unless required by applicable law the author will be liable to you for damages, including any general, special, incidental or consequential damages arising out of the use or inability to use the program (including but not limited to loss of data or data being rendered inaccurate or losses sustained by you or third parties or a failure of the program to operate with any other programs), even if the author has been advised of the possibility of such damages.
You should have received a copy of the GNU Lesser General Public License along with this program. If not, see <http://www.gnu.org/licenses/>
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You should have received a copy of the GNU Lesser General Public License along with this program. If not, see <http://www.gnu.org/licenses/>
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