From 9a8202422eaf0f2b05d9ac657efc957c03a9486b Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 1 Mar 2019 12:38:07 +0300 Subject: [PATCH] aruco_pose: draw detected markers in aruco_map/debug topic --- aruco_pose/src/aruco_map.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/aruco_pose/src/aruco_map.cpp b/aruco_pose/src/aruco_map.cpp index f8e5645d..45b14d27 100644 --- a/aruco_pose/src/aruco_map.cpp +++ b/aruco_pose/src/aruco_map.cpp @@ -216,6 +216,7 @@ publish_debug: // publish debug image (even if no map detected) if (debug_pub_.getNumSubscribers() > 0) { Mat mat = cv_bridge::toCvCopy(image, "bgr8")->image; // copy image as we're planning to modify it + cv::aruco::drawDetectedMarkers(mat, corners, ids); // draw detected markers if (valid) { cv::aruco::drawAxis(mat, camera_matrix_, dist_coeffs_, rvec, tvec, 1.0); // draw board axis }