From 351b33cc5ffe815d9156987f1536f42e285d658f Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Fri, 6 Mar 2020 02:04:19 +0300
Subject: [PATCH] genmap.py: make top-left by default (#220)

* genmap.py: make top-left by default

* docs: make top left by default in genmap

* genmap.py: fix usage string
---
 aruco_pose/src/genmap.py | 21 +++++++++++----------
 docs/en/aruco_map.md     |  2 +-
 docs/ru/aruco_map.md     |  2 +-
 3 files changed, 13 insertions(+), 12 deletions(-)

diff --git a/aruco_pose/src/genmap.py b/aruco_pose/src/genmap.py
index 0bc6fbca..25898887 100755
--- a/aruco_pose/src/genmap.py
+++ b/aruco_pose/src/genmap.py
@@ -13,17 +13,18 @@
 Generate map file for aruco_map nodelet.
 
 Usage:
-  genmap.py <length> <x> <y> <dist_x> <dist_y> <first> [--top-left]
+  genmap.py <length> <x> <y> <dist_x> <dist_y> <first> [--top-left | --bottom-left]
   genmap.py (-h | --help)
 
 Options:
-  <length>    Marker side length
-  <x>         Marker count along X axis
-  <y>         Marker count along Y axis
-  <dist_x>    Distance between markers along X axis
-  <dist_y>    Distance between markers along Y axis
-  <first>     First marker ID
-  --top-left  First marker is on top-left (not bottom-left)
+  <length>       Marker side length
+  <x>            Marker count along X axis
+  <y>            Marker count along Y axis
+  <dist_x>       Distance between markers along X axis
+  <dist_y>       Distance between markers along Y axis
+  <first>        First marker ID
+  --top-left     First marker is on top-left (default)
+  --bottom-left  First marker is on bottom-left
 """
 
 from __future__ import print_function
@@ -39,7 +40,7 @@ markers_x = int(arguments['<x>'])
 markers_y = int(arguments['<y>'])
 dist_x = float(arguments['<dist_x>'])
 dist_y = float(arguments['<dist_y>'])
-top_left = arguments['--top-left']
+bottom_left = arguments['--bottom-left']
 
 max_y = (markers_y - 1) * dist_y
 
@@ -47,7 +48,7 @@ for y in range(markers_y):
     for x in range(markers_x):
         pos_x = x * dist_x
         pos_y = y * dist_y
-        if top_left:
+        if not bottom_left:
             pos_y = max_y - pos_y
         print('{}\t{}\t{}\t{}\t{}\t{}\t{}\t{}\t'.format(first, length, pos_x, pos_y, 0, 0, 0, 0))
         first += 1
diff --git a/docs/en/aruco_map.md b/docs/en/aruco_map.md
index a17d758d..c515db42 100644
--- a/docs/en/aruco_map.md
+++ b/docs/en/aruco_map.md
@@ -53,7 +53,7 @@ Grid maps may be generated using the `genmap.py` script:
 rosrun aruco_pose genmap.py length x y dist_x dist_y first > ~/catkin_ws/src/clever/aruco_pose/map/test_map.txt
 ```
 
-`length` is the size of each marker, `x` is the marker count along the *x* axis, `y` is the marker count along the *y* axis, `dist_x` is the distance between the centers of adjacent markers along the *x* axis, `dist_y` is the distance between the centers of the *y* axis, `first` is the ID of the first marker (bottom left marker, unless `--top-left` is specified), `test_map.txt` is the name of the generated map file. The optional `--top-left` parameter changes the numbering of markers, making the top left marker the first one.
+`length` is the size of each marker, `x` is the marker count along the *x* axis, `y` is the marker count along the *y* axis, `dist_x` is the distance between the centers of adjacent markers along the *x* axis, `dist_y` is the distance between the centers of the *y* axis, `first` is the ID of the first marker (top left marker, unless `--bottom-left` is specified), `test_map.txt` is the name of the generated map file. The optional `--bottom-left` parameter changes the numbering of markers, making the bottom left marker the first one.
 
 Usage example:
 
diff --git a/docs/ru/aruco_map.md b/docs/ru/aruco_map.md
index 94daffc1..5d50254d 100644
--- a/docs/ru/aruco_map.md
+++ b/docs/ru/aruco_map.md
@@ -53,7 +53,7 @@ id_маркера размер_маркера x y z угол_z угол_y уго
 rosrun aruco_pose genmap.py length x y dist_x dist_y first > ~/catkin_ws/src/clever/aruco_pose/map/test_map.txt
 ```
 
-Где `length` – размер маркера, `x` – количество маркеров по оси *x*, `y` - количество маркеров по оси *y*, `dist_x` – расстояние между центрами маркеров по оси *x*, `y` – расстояние между центрами маркеров по оси *y*, `first` – ID первого (левого нижнего) маркера, `test_map.txt` – название файла с картой. Дополнительный ключ `--top-left` позволяет нумеровать маркеры с левого верхнего угла.
+Где `length` – размер маркера, `x` – количество маркеров по оси *x*, `y` - количество маркеров по оси *y*, `dist_x` – расстояние между центрами маркеров по оси *x*, `y` – расстояние между центрами маркеров по оси *y*, `first` – ID первого (левого нижнего) маркера, `test_map.txt` – название файла с картой. Дополнительный ключ `--bottom-left` позволяет нумеровать маркеры с левого нижнего угла.
 
 Пример: