Fix orientation changes in aruco 3.0.0

aruco_ros/src/aruco_ros_utils.cpp

@@ -10,7 +10,7 @@ aruco::CameraParameters aruco_ros::rosCameraInfo2ArucoCamParams(const sensor_msg
 {
     cv::Mat cameraMatrix(3, 3, CV_64FC1);
     cv::Mat distorsionCoeff(4, 1, CV_64FC1);
-    cv::Size size(cam_info.height, cam_info.width);
+    cv::Size size(cam_info.width, cam_info.height);
 
     if ( useRectifiedParameters )
     {
@@ -52,21 +52,6 @@ tf::Transform aruco_ros::arucoMarker2Tf(const aruco::Marker &marker)
     cv::Mat tran64;
     marker.Tvec.convertTo(tran64, CV_64FC1);
 
-    cv::Mat rotate_to_ros(3, 3, CV_64FC1);
-    // -1 0 0
-    // 0 0 1
-    // 0 1 0
-    rotate_to_ros.at<double>(0,0) = -1.0;
-    rotate_to_ros.at<double>(0,1) = 0.0;
-    rotate_to_ros.at<double>(0,2) = 0.0;
-    rotate_to_ros.at<double>(1,0) = 0.0;
-    rotate_to_ros.at<double>(1,1) = 0.0;
-    rotate_to_ros.at<double>(1,2) = 1.0;
-    rotate_to_ros.at<double>(2,0) = 0.0;
-    rotate_to_ros.at<double>(2,1) = 1.0;
-    rotate_to_ros.at<double>(2,2) = 0.0;
-    rot = rot*rotate_to_ros.t();
-
     tf::Matrix3x3 tf_rot(rot.at<double>(0,0), rot.at<double>(0,1), rot.at<double>(0,2),
                          rot.at<double>(1,0), rot.at<double>(1,1), rot.at<double>(1,2),
                          rot.at<double>(2,0), rot.at<double>(2,1), rot.at<double>(2,2));

aruco_ros/src/simple_double.cpp

@@ -96,7 +96,7 @@ void image_callback(const sensor_msgs::ImageConstPtr& msg)
       //detection results will go into "markers"
       markers.clear();
       //Ok, let's detect
-      mDetector.detect(inImage, markers, camParam, marker_size);
+      mDetector.detect(inImage, markers, camParam, marker_size, false);
       //for each marker, draw info and its boundaries in the image
       for(unsigned int i=0; i<markers.size(); ++i)
       {

aruco_ros/src/simple_single.cpp

@@ -276,8 +276,8 @@ class ArucoSimple
             visMarker.action = visualization_msgs::Marker::ADD;
             visMarker.pose = poseMsg.pose;
             visMarker.scale.x = marker_size;
-            visMarker.scale.y = 0.001;
-            visMarker.scale.z = marker_size;
+            visMarker.scale.y = marker_size;
+            visMarker.scale.z = 0.001;
             visMarker.color.r = 1.0;
             visMarker.color.g = 0;
             visMarker.color.b = 0;