CopterExpress/clover
1
0
Fork 0
mirror of https://github.com/CopterExpress/clover.git synced 2026-06-05 17:19:35 +00:00
Code Issues Packages Projects Releases Wiki Activity

aruco_pose nodelet cleanup (#239)

Browse Source 
* aruco_pose: Unhardcode contour refinement

Besides, this was basically a no-op anyway, since dynamic parameters
overwrote that anyway.

* aruco_pose: Late-construct objects that use ROS

* aruco_map: Don't create/store node handle

* aruco_pose: Don't assume dist_coeffs size

* aruco_pose: more const == more better

* aruco_pose: Be more obvious about changing variables

* aruco_pose: Fix building for Kinetic

* aruco_pose: Remove global add_definitions
This commit is contained in:
Alexey Rogachevskiy
2020-05-30 01:59:51 +03:00
committed by GitHub
parent c5e954b56a
commit 998796045c
4 changed files with 43 additions and 48 deletions
Download Patch File Download Diff File Expand all files Collapse all files

44
aruco_pose/src/aruco_map.cpp
View File

@@ -58,7 +58,6 @@ typedef message_filters::sync_policies::ExactTime<Image, CameraInfo, MarkerArray
class ArucoMap : public nodelet::Nodelet {
private:
ros::NodeHandle nh_, nh_priv_;
ros::Publisher img_pub_, pose_pub_, markers_pub_, vis_markers_pub_;
image_transport::Publisher debug_pub_;
message_filters::Subscriber<Image> image_sub_;
@@ -83,8 +82,8 @@ private:
public:
virtual void onInit()
{
nh_ = getNodeHandle();
nh_priv_ = getPrivateNodeHandle();
ros::NodeHandle &nh_ = getNodeHandle();
ros::NodeHandle &nh_priv_ = getPrivateNodeHandle();
image_transport::ImageTransport it_priv(nh_priv_);
@@ -96,19 +95,18 @@ public:
board_->dictionary = cv::aruco::getPredefinedDictionary(
static_cast<cv::aruco::PREDEFINED_DICTIONARY_NAME>(nh_priv_.param("dictionary", 2)));
camera_matrix_ = cv::Mat::zeros(3, 3, CV_64F);
dist_coeffs_ = cv::Mat::zeros(8, 1, CV_64F);
std::string type, map;
nh_priv_.param<std::string>("type", type, "map");
nh_priv_.param<std::string>("frame_id", transform_.child_frame_id, "aruco_map");
nh_priv_.param<std::string>("known_tilt", known_tilt_, "");
nh_priv_.param("auto_flip", auto_flip_, false);
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_, "");
type = nh_priv_.param<std::string>("type", "map");
transform_.child_frame_id = nh_priv_.param<std::string>("frame_id", "aruco_map");
known_tilt_ = nh_priv_.param<std::string>("known_tilt", "");
auto_flip_ = nh_priv_.param("auto_flip", false);
image_width_ = nh_priv_.param("image_width" , 2000);
image_height_ = nh_priv_.param("image_height", 2000);
image_margin_ = nh_priv_.param("image_margin", 200);
image_axis_ = nh_priv_.param("image_axis", true);
markers_parent_frame_ = nh_priv_.param<std::string>("markers/frame_id", transform_.child_frame_id);
markers_frame_ = nh_priv_.param<std::string>("markers/child_frame_id_prefix", "");
// createStripLine();
@@ -116,7 +114,7 @@ public:
param(nh_priv_, "map", map);
loadMap(map);
} else if (type == "gridboard") {
createGridBoard();
createGridBoard(nh_priv_);
} else {
NODELET_FATAL("unknown type: %s", type.c_str());
ros::shutdown();
@@ -331,7 +329,7 @@ publish_debug:
NODELET_INFO("loading %s complete (%d markers)", filename.c_str(), static_cast<int>(board_->ids.size()));
}
void createGridBoard()
void createGridBoard(ros::NodeHandle& nh)
{
NODELET_INFO("generate gridboard");
NODELET_WARN("gridboard maps are deprecated");
@@ -339,15 +337,15 @@ publish_debug:
int markers_x, markers_y, first_marker;
double markers_side, markers_sep_x, markers_sep_y;
std::vector<int> marker_ids;
nh_priv_.param<int>("markers_x", markers_x, 10);
nh_priv_.param<int>("markers_y", markers_y, 10);
nh_priv_.param<int>("first_marker", first_marker, 0);
markers_x = nh.param("markers_x", 10);
markers_y = nh.param("markers_y", 10);
first_marker = nh.param("first_marker", 0);
param(nh_priv_, "markers_side", markers_side);
param(nh_priv_, "markers_sep_x", markers_sep_x);
param(nh_priv_, "markers_sep_y", markers_sep_y);
param(nh, "markers_side", markers_side);
param(nh, "markers_sep_x", markers_sep_x);
param(nh, "markers_sep_y", markers_sep_y);
if (nh_priv_.getParam("marker_ids", marker_ids)) {
if (nh.getParam("marker_ids", marker_ids)) {
if ((unsigned int)(markers_x * markers_y) != marker_ids.size()) {
NODELET_FATAL("~marker_ids length should be equal to ~markers_x * ~markers_y");
ros::shutdown();