Taha/aruco test

src/assistive_launch/config/paper_depth_processor.yaml

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+layout_json_path: "$(find assistive_launch)/vision_parameters/letter_aruco_grid_3x4_60mm_gap8mm_layout.json"
+
+detection_topic_name: "paper_tag_detections"
+camera_info_topic_name: "/nuc/rgb/camera_info"
+depth_image_topic_name: "/nuc/depth_to_rgb/image_raw"
+
+depth_observation_topic_name: "paper_tag_depth_observations"
+mask_topic_name: "paper_sheet_mask"
+point_cloud_topic_name: "paper_sheet_points"
+camera_frame_id: ""
+
+depth_unit_scale: 0.001
+depth_max_age_sec: 0.15
+depth_patch_radius_px: 2
+plane_fit_stride_px: 2
+plane_fit_min_points: 20
+sheet_depth_margin_m: 0.04
+point_cloud_stride_px: 4
+min_support_ratio: 0.15
+mask_morph_kernel_px: 5

src/assistive_launch/config/paper_grid_rviz.yaml

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+layout_json_path: "$(find assistive_launch)/vision_parameters/letter_aruco_grid_3x4_60mm_gap8mm_layout.json"
+
+image_topic_name: "/nuc/rgb/image_raw"
+camera_info_topic_name: "/nuc/rgb/camera_info"
+camera_frame_id: ""
+target_frame_id: ""
+depth_image_topic_name: "/nuc/depth_to_rgb/image_raw"   # or your aligned depth topic
+use_depth_for_3d_points: true
+depth_unit_scale: 0.001 
+depth_max_age_sec: 0.15
+depth_patch_radius_px: 2
+
+aruco_dict_name: "DICT_4X4_50"
+# Minimum detected tags needed to publish the deformable surface.
+min_markers_for_surface: 4
+# Maximum per-tag reprojection error in pixels for accepting tag 3D pose.
+pnp_reprojection_error: 3.0
+tf_lookup_timeout_sec: 0.05
+
+marker_topic_name: "paper_grid_markers"
+pose_topic_name: "paper_grid_pose"
+
+publish_debug_image: true
+debug_image_topic_name: "paper_grid_debug_image"
+
+grid_line_width: 0.003
+outline_line_width: 0.006
+surface_alpha: 0.12
+point_scale: 0.012
+text_height: 0.03
+text_z_offset: 0.01
+normal_length: 0.05
+normal_line_width: 0.003

src/assistive_launch/config/paper_surface_estimator.yaml

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+layout_json_path: "$(find assistive_launch)/vision_parameters/letter_aruco_grid_3x4_60mm_gap8mm_layout.json"
+
+input_pose_topic_name: "paper_tag_poses"
+output_pose_topic_name: "paper_surface_state"
+
+measurement_weight: 1.0
+temporal_weight: 0.3
+edge_weight: 0.35
+smoothness_weight: 0.15
+
+prediction_variance_growth: 1.5
+missing_position_variance_step: 2.5e-4
+missing_orientation_variance_step: 5.0e-3

src/assistive_launch/config/paper_surface_rviz.yaml

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+layout_json_path: "$(find assistive_launch)/vision_parameters/letter_aruco_grid_3x4_60mm_gap8mm_layout.json"
+
+pose_topic_name: "paper_surface_state"
+marker_topic_name: "paper_surface_markers"
+
+grid_line_width: 0.003
+outline_line_width: 0.006
+surface_alpha: 0.12
+predicted_surface_alpha_scale: 0.55
+
+point_scale: 0.012
+predicted_point_scale: 0.018
+uncertainty_scale_gain: 0.12
+
+text_height: 0.03
+text_z_offset: 0.01
+normal_length: 0.05
+normal_line_width: 0.003

src/assistive_launch/config/paper_tag_detector.yaml

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+layout_json_path: "$(find assistive_launch)/vision_parameters/letter_aruco_grid_3x4_60mm_gap8mm_layout.json"
+
+image_topic_name: "/nuc/rgb/image_raw"
+detection_topic_name: "paper_tag_detections"
+
+publish_debug_image: true
+debug_image_topic_name: "paper_tag_debug_image"
+
+aruco_dict_name: "DICT_4X4_50"
+min_tag_area_px: 0.0
+quality_half_area_px: 2500.0

src/assistive_launch/config/paper_tag_pose_fuser.yaml

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+layout_json_path: "$(find assistive_launch)/vision_parameters/letter_aruco_grid_3x4_60mm_gap8mm_layout.json"
+
+detection_topic_name: "paper_tag_detections"
+depth_observation_topic_name: "paper_tag_depth_observations"
+pose_topic_name: "paper_tag_poses"
+
+camera_info_topic_name: "/nuc/rgb/camera_info"
+camera_frame_id: ""
+target_frame_id: ""
+
+use_depth_observations: true
+depth_observation_max_age_sec: 0.15
+depth_image_topic_name: ""
+use_depth_refinement: true
+depth_unit_scale: 0.001
+depth_max_age_sec: 0.15
+depth_patch_radius_px: 2
+plane_fit_stride_px: 2
+plane_fit_min_points: 20
+
+tf_lookup_timeout_sec: 0.05
+pnp_reprojection_error: 3.0
+
+base_position_variance: 1.0e-5
+base_orientation_variance: 2.5e-3
+range_position_variance_scale: 0.03
+angle_position_variance_scale: 0.08
+range_orientation_variance_scale: 0.05
+angle_orientation_variance_scale: 0.2
+depth_fused_variance_scale: 0.6