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Camera Aruco Tags Dectection

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SirBlobby
2026-02-12 15:53:36 -05:00
parent 92da41138b
commit c91ea920a8
20 changed files with 688 additions and 470 deletions
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49
worlds/uav_ugv_search.sdf
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@@ -175,50 +175,19 @@
</collision>
</link>
<!-- Landing pad on top (bright orange, easy to spot from air) -->
<link name="landing_pad">
<!-- ArUco landing tag on top -->
<link name="aruco_tag">
<pose>0 0 0.26 0 0 0</pose>
<visual name="pad">
<geometry><box><size>0.5 0.5 0.01</size></box></geometry>
<material>
<ambient>1.0 0.5 0.0 1</ambient>
<diffuse>1.0 0.5 0.0 1</diffuse>
<emissive>0.5 0.25 0.0 1</emissive>
</material>
</visual>
</link>
<!-- H marker on landing pad (white) -->
<link name="h_marker_bar1">
<pose>0 0 0.27 0 0 0</pose>
<visual name="hbar">
<geometry><box><size>0.3 0.04 0.005</size></box></geometry>
<visual name="aruco_visual">
<geometry><box><size>0.4 0.4 0.005</size></box></geometry>
<material>
<ambient>1 1 1 1</ambient>
<diffuse>1 1 1 1</diffuse>
<emissive>1 1 1 0.8</emissive>
</material>
</visual>
</link>
<link name="h_marker_left">
<pose>-0.12 0 0.27 0 0 0</pose>
<visual name="hleft">
<geometry><box><size>0.04 0.25 0.005</size></box></geometry>
<material>
<ambient>1 1 1 1</ambient>
<diffuse>1 1 1 1</diffuse>
<emissive>1 1 1 0.8</emissive>
</material>
</visual>
</link>
<link name="h_marker_right">
<pose>0.12 0 0.27 0 0 0</pose>
<visual name="hright">
<geometry><box><size>0.04 0.25 0.005</size></box></geometry>
<material>
<ambient>1 1 1 1</ambient>
<diffuse>1 1 1 1</diffuse>
<emissive>1 1 1 0.8</emissive>
<pbr>
<metal>
<albedo_map>tags/land_tag.jpg</albedo_map>
</metal>
</pbr>
</material>
</visual>
</link>