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tag_world

This package contains models needed to simulate tags that are used for visual tracking. To create the files I used blender and did the following:

  • Download newest Blender (I'm using 2.79)
  • Open blender
  • Open the world tab on the right.
  • Select Environmental Lighting
  • Change from Object Mode to Edit Mode in the bottom left toolbar (tab)
  • Change from vertex selection to face selection in the bottom toolbar (ctrl tab)
  • Select a face (right click)
  • Unwrap (U->unwrap)
  • Select material tab from the circle tab on the right
  • Click the plus to add a new material slot
  • Click New to create a new material
  • Click Assign to assign the material to the face
  • Change to the texture tab (right of the circle tab)
  • Create a new one
  • Change Type to 'Image or Movie'
  • Under 'Image' select Open
  • Select your image
  • Hit F12 to render the image and see the texture
  • Hit ESC to exit the rendering
  • Repeat until all faces have their own materials with textures
  • Click the top left icon and select Info
  • File->Export (Collada .dae)
  • Open the saved .dae file.
  • Edit 'ambient' values to be 1 1 1 1
  • Edit lines to:

Hopefully you don't need to do that, as the .dae files can be edited to replace the images, as well as to resize the tag.

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ROS package that loads AR tags in Gazebo

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