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aruco_map: parametrize output image width, height and margin

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This commit is contained in:
Oleg Kalachev
2019-02-16 22:47:21 +03:00
parent 2e1104fc0e
commit e72b520f30
1 changed files with 5 additions and 1 deletions
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6
aruco_pose/src/aruco_map.cpp
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@@ -61,6 +61,7 @@ private:
tf2_ros::TransformListener tf_listener_{tf_buffer_};
visualization_msgs::MarkerArray vis_array_;
std::string snap_orientation_;
int image_width_, image_height_, image_margin_;
bool has_camera_info_ = false;
public:
@@ -85,6 +86,9 @@ public:
nh_priv_.param<std::string>("name", map_name, "map");
nh_priv_.param<std::string>("frame_id", transform_.child_frame_id, "aruco_map");
nh_priv_.param<std::string>("snap_orientation", snap_orientation_, "");
nh_priv_.param("image_width", image_width_, 2000);
nh_priv_.param("image_height", image_height_, 2000);
nh_priv_.param("image_margin", image_margin_, 200);
createStripLine();
@@ -352,7 +356,7 @@ public:
{
cv::Mat image;
cv_bridge::CvImage msg;
drawPlanarBoard(board_, cv::Size(2000, 2000), image, 200, 1);
drawPlanarBoard(board_, cv::Size(image_width_, image_height_), image, image_margin_, 1);
cv::cvtColor(image, image, CV_GRAY2BGR);
msg.encoding = sensor_msgs::image_encodings::BGR8;