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aruco_map: add image_axis parameter for drawing axis on ~image topic

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This commit is contained in:
Oleg Kalachev
2019-08-01 04:06:18 +03:00
parent 47bc3b90da
commit 60fd4f9c0f
3 changed files with 24 additions and 6 deletions
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8
aruco_pose/src/aruco_map.cpp
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@@ -77,7 +77,7 @@ private:
visualization_msgs::MarkerArray vis_array_;
std::string known_tilt_, map_, markers_frame_, markers_parent_frame_;
int image_width_, image_height_, image_margin_;
bool auto_flip_;
bool auto_flip_, image_axis_;
public:
virtual void onInit()
@@ -104,6 +104,7 @@ public:
nh_priv_.param("image_width", image_width_, 2000);
nh_priv_.param("image_height", image_height_, 2000);
nh_priv_.param("image_margin", image_margin_, 200);
nh_priv_.param("image_axis", image_axis_, true);
nh_priv_.param<std::string>("markers/frame_id", markers_parent_frame_, transform_.child_frame_id);
nh_priv_.param<std::string>("markers/child_frame_id_prefix", markers_frame_, "");
@@ -481,14 +482,15 @@ publish_debug:
cv_bridge::CvImage msg;
if (!board_->ids.empty()) {
_drawPlanarBoard(board_, size, image, image_margin_, 1);
_drawPlanarBoard(board_, size, image, image_margin_, 1, image_axis_);
msg.encoding = image_axis_ ? sensor_msgs::image_encodings::RGB8 : sensor_msgs::image_encodings::MONO8;
} else {
// empty map
image.create(size, CV_8UC1);
image.setTo(cv::Scalar::all(255));
msg.encoding = sensor_msgs::image_encodings::MONO8;
}
msg.encoding = sensor_msgs::image_encodings::MONO8;
msg.image = image;
img_pub_.publish(msg.toImageMsg());
}