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aruco_map: Try to fix frame drawing bug

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`cv::aruco::drawAxis` would attempt to draw detected frame origin even when it's behind the camera. This resulted in an invalid, flipped frame displayed in `/aruco_map/debug`.

This commit prevents drawing frame axis if the frame origin (projected to the screen space) is behind the screen plane.
This commit is contained in:
sfalexrog
2019-03-20 16:14:29 +03:00
parent 03584e410b
commit acec09192b
3 changed files with 690 additions and 1 deletions
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2
aruco_pose/src/aruco_map.cpp
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@@ -217,7 +217,7 @@ publish_debug:
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
_drawAxis(mat, camera_matrix_, dist_coeffs_, rvec, tvec, 1.0); // draw board axis
}
cv_bridge::CvImage out_msg;
out_msg.header.frame_id = image->header.frame_id;