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aruco_detect: consider markers size from markers map

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`use_map_markers` parameter added
This commit is contained in:
Oleg Kalachev
2022-10-30 22:28:33 +06:00
parent 070c23be53
commit 0b62f677af
1 changed files with 7 additions and 1 deletions
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8
aruco_pose/src/aruco_detect.cpp
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@@ -71,7 +71,7 @@ private:
ros::Publisher markers_pub_, vis_markers_pub_;
ros::Subscriber map_markers_sub_;
ros::ServiceServer set_markers_srv_;
bool estimate_poses_, send_tf_, auto_flip_;
bool estimate_poses_, send_tf_, auto_flip_, use_map_markers_;
double length_;
ros::Duration transform_timeout_;
std::unordered_map<int, double> length_override_;
@@ -95,6 +95,7 @@ public:
dictionary = nh_priv_.param("dictionary", 2);
estimate_poses_ = nh_priv_.param("estimate_poses", true);
send_tf_ = nh_priv_.param("send_tf", true);
use_map_markers_ = nh_priv_.param("use_map_markers", true);
if (estimate_poses_ && !nh_priv_.getParam("length", length_)) {
NODELET_FATAL("can't estimate marker's poses as ~length parameter is not defined");
ros::shutdown();
@@ -395,6 +396,11 @@ private:
map_markers_ids_.clear();
for (auto const& marker : msg.markers) {
map_markers_ids_.insert(marker.id);
if (use_map_markers_) {
if (length_override_.find(marker.id) == length_override_.end()) {
length_override_[marker.id] = marker.length;
}
}
}
}