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aruco_detect: add 'enabled' dynamic param

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This commit is contained in:
Oleg Kalachev
2020-11-24 22:34:12 +03:00
parent 3702ed0c86
commit 3d5c51a42e
2 changed files with 6 additions and 0 deletions
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2
aruco_pose/cfg/DetectorParams.cfg
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@@ -8,6 +8,8 @@ p = cv2.aruco.DetectorParameters_create()
gen = ParameterGenerator()
gen.add("enabled", bool_t, 0, "if detection enabled", True)
gen.add("adaptiveThreshConstant", double_t, 0,
"Constant for adaptive thresholding before finding contours",
p.adaptiveThreshConstant, 0, 100)

4
aruco_pose/src/aruco_detect.cpp
View File

@@ -62,6 +62,7 @@ private:
std::unique_ptr<tf2_ros::Buffer> tf_buffer_;
std::unique_ptr<tf2_ros::TransformListener> tf_listener_;
std::shared_ptr<dynamic_reconfigure::Server<aruco_pose::DetectorConfig>> dyn_srv_;
bool enabled_ = true;
cv::Ptr<cv::aruco::Dictionary> dictionary_;
cv::Ptr<cv::aruco::DetectorParameters> parameters_;
image_transport::Publisher debug_pub_;
@@ -128,6 +129,8 @@ public:
private:
void imageCallback(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs::CameraInfoConstPtr &cinfo)
{
if (!enabled_) return;
Mat image = cv_bridge::toCvShare(msg, "bgr8")->image;
vector<int> ids;
@@ -356,6 +359,7 @@ private:
void paramCallback(aruco_pose::DetectorConfig &config, uint32_t level)
{
enabled_ = config.enabled;
parameters_->adaptiveThreshConstant = config.adaptiveThreshConstant;
parameters_->adaptiveThreshWinSizeMin = config.adaptiveThreshWinSizeMin;
parameters_->adaptiveThreshWinSizeMax = config.adaptiveThreshWinSizeMax;