Add pose-estimation and triangulation to slam2.py
Add pose-estimation and triangulation to slam2.py
Add calibration results for front and bottom cam of AR-Drone2, both using ROS-camera-calibration tool, as well as with my 'calibrate.py' tool. 'calibrate.py' gives best reprojection-error.
Fork 'ardrone_tutorials' from 'https://github.com/mikehamer/ardrone_tutorials/tree/422be4e4be72d6ec360c93939a1e9d420032ac72'.
Add controller mappings for the PS3 controller.
Add ROS program to take pictures of both front and bottom camera (not simultaneously).
Add ROS program to make videos (timestamped raw image sequence) of the drone's cam.
Add explanation of how to get the AR-Drone2 flying with ROS.
Demonstrate a synchronisation bug of 'image.header.frame_id' with 'image.data', testable with 'joystick_controller_takephoto.launch'. This is either a bug in the ROS->ardrone_SDK wrapper, or in ardrone_SDK itself.
Create relative pose calibration functionality for 'calibrate.py'.
Perform relative pose calibration for the AR-Drone2 front and bottom cameras. Results for 'normal' and 'HD' resolution are approx the same, and they match with the physical situation. Visual results are in 'triangulation_sandbox.blend'.
Add some captures of the drone while flying (only front cam), 'norlowres' using my ROS 'joystick_controller_takevideo.launch' program) and 'highres' (via USB). For the lowres 'drone1.zip' capture can be used to test loop-closure, while a big part of the lowres 'drone0.zip' and 'drone1.zip' captures can be used to do variable baseline stereo vision.