CopterExpress/clover
1
0
Fork 0
mirror of https://github.com/CopterExpress/clover.git synced 2026-06-08 18:44:32 +00:00
Code Issues Packages Projects Releases Wiki Activity

Continue «fixing» weird bugs in aruco functions

Browse Source
This commit is contained in:
Oleg Kalachev
2017-12-10 03:08:39 +03:00
parent fc2c8168ac
commit 09dd32a6ce
2 changed files with 87 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
aruco_pose/src/aruco_pose.cpp
View File

@@ -91,6 +91,8 @@ cv::Ptr<cv::aruco::Board> createCustomBoard(int markersX, int markersY, float ma
return res;
}
#include "fix.cpp"
void ArucoPose::createBoard()
{
static auto map_image_pub = nh_priv_.advertise<sensor_msgs::Image>("map_image", 1, true);
@@ -129,7 +131,7 @@ void ArucoPose::createBoard()
}
// Publish map image for debugging
cv::aruco::drawPlanarBoard(board, cv::Size(2000, 2000), map_image, 50, 1);
_drawPlanarBoard(board, cv::Size(2000, 2000), map_image, 50, 1);
cv::cvtColor(map_image, map_image, CV_GRAY2BGR);
@@ -162,8 +164,6 @@ cv::Point3f ArucoPose::getObjPointsCenter(cv::Mat objPoints) {
return res;
}
#include "fix.cpp"
void ArucoPose::detect(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs::CameraInfoConstPtr &cinfo) {
cv::Mat image = cv_bridge::toCvShare(msg, "bgr8")->image;