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clover: Use saner min marker perimeter rate

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Alexey Rogachevskiy
2020-05-03 15:13:48 +03:00
parent 80b35d3b90
commit 9487522992
1 changed files with 3 additions and 1 deletions
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4
clover/launch/aruco.launch
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@@ -10,11 +10,13 @@
<remap from="image_raw" to="main_camera/image_raw"/>
<remap from="camera_info" to="main_camera/camera_info"/>
<remap from="map_markers" to="aruco_map/markers" if="$(arg aruco_map)"/>
<param name="cornerRefinementMethod" value="2"/>
<param name="estimate_poses" value="true"/>
<param name="send_tf" value="true"/>
<param name="known_tilt" value="map"/>
<param name="length" value="0.33"/>
<!-- aruco detector parameters -->
<param name="cornerRefinementMethod" value="2"/> <!-- contour refinement -->
<param name="minMarkerPerimeterRate" value="0.075"/> <!-- 0.075 for 320x240, 0.0375 for 640x480 -->
</node>
<!-- aruco_map: estimate aruco map pose -->