Pose_estimator ros node was used for testing video from camera. The testing data was shown below:
On the upper right, there was the image from camera, and on the bottom right , there was the detected landing pattern.
On the left, there was position data output from camera. From left to right were, x, y, z (in millimetre) and yaw (in radian). The result indicates that x and y have an error of +/- 1cm while z has an error of +/- 1mm for still camera.
The coordinate is build with origin of the centre of landing patter (i.e. #3), 3 ->2 for positive y axis and 3 -> 4 for positive x axis. It indicates the position of the centre of camera image.
Pose_estimator - roscopter bridge
After the communication bridge between pose_estimator and roscopter node was built in ROS, a test was made to confirm that the data reaches roscopter successfully from pose_estimator.
The window on the right shows the detection from pose_estimator node. It prints "Tick." if the landing pattern was detected by the camera. The window on the left shows the received messages in roscopter. As the above picture shows, roscopter node did receive message from pose_estimator node.
The picture above shows that messages in roscopter node were sent to the radio (window on the left) as landing pattern was detected (window on the right).
Up till August 5th, the whole communication bridge from camera to PX4 was built.
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