Vision Landing 2

[kripper]

• Implements AprilTags
• Supports multiple markers pointing to a relative Landing Point (not necessarily placed on a marker center). This also prevents bouncing between marker centers.
• Adds a JSON config file (but old config file has not been migrated yet).
• Kills the track_targets sub process if vision_landing crashes.
• Implements alternative input using a named pipe frame grabber
• Many bug fixes

[fnoop]

This is great thanks :)
I would normally expect to see something like this broken up into smaller PRs because otherwise it's hard to review/merge/revert, but in this case might be difficult to do so. I'll have a closer look as soon as I can, thanks very much for all the work :)

[kripper]

You're welcome.
track_targets.cpp has minimal changes.
The main implementation is in appiltag-detector.cpp

[fnoop]

So does appiltag-detector.cpp deprecate the python vision_landing altogether? There is quite a lot of testing and prior bugfixing/testing/drones-smashing-into-walls knowledge that has gone into it.

[kripper]

No. The python "front end" is still used to receive the tracked data from the detector "back end".
I kept everything backwards compatible, since my goal is to build a community working with one single project. I'm now bringing more people to this and related projects.
The Aruco code is also still there. Actually, we are using the same camera parameters loaded with the Aruco library for the AprilTags.

We are now dealing with your "Psycho Wasp Syndrome" issue (BTW, why this name?):
RosettaDrone/rosettadrone#132

Also take a look here:
mavlink/mavlink#1943

There are references to EKF implementations and maths.

[fnoop]

@kripper - I've just noticed that vision_landing is marked as GPL3 which is a mistake - all goodrobots code is supposed to be MIT. I'm going to relicense the code, so if you would like to re-fork and patch after the relicensing that's your choice obviously. Generally more permissive licensing is better, at least from our point of view :)

[kripper]

Ok

[kripper]

Added --get-offset and more instruciones in the README.
"Vision Landing 2" is now part of the RosettaDrone community.