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aruco_pose: add length to Marker message

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This commit is contained in:
Oleg Kalachev
2019-03-02 23:51:42 +03:00
parent 23516b0fc1
commit 7a56a7b231
3 changed files with 6 additions and 0 deletions
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1
aruco_pose/msg/Marker.msg
View File

@@ -1,4 +1,5 @@
uint32 id
float32 length
geometry_msgs/Pose pose
Point2D c1
Point2D c2

1
aruco_pose/src/aruco_detect.cpp
View File

@@ -169,6 +169,7 @@ private:
for (unsigned int i = 0; i < ids.size(); i++) {
marker.id = ids[i];
marker.length = getMarkerLength(marker.id);
fillCorners(marker, corners[i]);
if (estimate_poses_) {

4
aruco_pose/test/basic.py
View File

@@ -22,6 +22,7 @@ class TestArucoPose(unittest.TestCase):
assert markers.header.frame_id == 'main_camera_optical'
assert markers.markers[0].id == 2
assert markers.markers[0].length == approx(0.33)
assert markers.markers[0].pose.position.x == approx(0.36706567854)
assert markers.markers[0].pose.position.y == approx(0.290484516644)
assert markers.markers[0].pose.position.z == approx(2.18787602301)
@@ -39,6 +40,7 @@ class TestArucoPose(unittest.TestCase):
assert markers.markers[0].c4.y == approx(429.442260742)
assert markers.markers[3].id == 3
assert markers.markers[3].length == approx(0.1)
assert markers.markers[3].pose.position.x == approx(-0.1805169666)
assert markers.markers[3].pose.position.y == approx(-0.200697302327)
assert markers.markers[3].pose.position.z == approx(0.585767514823)
@@ -56,7 +58,9 @@ class TestArucoPose(unittest.TestCase):
assert markers.markers[3].c4.y == approx(143.442276001)
assert markers.markers[1].id == 1
assert markers.markers[1].length == approx(0.33)
assert markers.markers[2].id == 4
assert markers.markers[2].length == approx(0.33)
def test_visualization(self):
vis = rospy.wait_for_message('aruco_detect/visualization', VisMarkerArray, timeout=5)