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Add ROS params to marker_publish.cpp #76

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Add ROS params to marker_publish.cpp #76

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Add ROS params to marker_publish.cpp 
- min_marker_size, max_marker_size
- threshold_param_1, threshold_param_2
- corner_refinement, threshold_meshod
@longjie0723
longjie0723 committed Oct 29, 2019
commit 80339a7c28e94f0d62de07ce7aaf1af15e2a7183
46 changes: 46 additions & 0 deletions aruco_ros/src/marker_publish.cpp
View file
Original file line number Diff line number Diff line change
@@ -61,6 +61,10 @@ class ArucoMarkerPublisher
std::string reference_frame_;
double marker_size_;
bool rotate_marker_axis_;
double min_marker_size_;
double max_marker_size_;
double threshold_param_1_;
double threshold_param_2_;

// ROS pub-sub
ros::NodeHandle nh_;
@@ -97,6 +101,11 @@ class ArucoMarkerPublisher
nh_.param<std::string>("reference_frame", reference_frame_, "");
nh_.param<std::string>("camera_frame", camera_frame_, "");
nh_.param<bool>("rotate_marker_axis", rotate_marker_axis_, true);
nh_.param<double>("min_marker_size", min_marker_size_, 0.015);
nh_.param<double>("max_marker_size", max_marker_size_, 0.08);
nh_.param<double>("threshold_param_1", threshold_param_1_, 7);
nh_.param<double>("threshold_param_2", threshold_param_2_, 7);

ROS_ASSERT(not (camera_frame_.empty() and not reference_frame_.empty()));
if(reference_frame_.empty())
reference_frame_ = camera_frame_;
@@ -106,6 +115,43 @@ class ArucoMarkerPublisher
camParam_ = aruco::CameraParameters();
}

std::string refinementMethod;
nh_.param<std::string>("corner_refinement", refinementMethod, "LINES");
if ( refinementMethod == "SUBPIX" )
mDetector_.setCornerRefinementMethod(aruco::MarkerDetector::SUBPIX);
else if ( refinementMethod == "HARRIS" )
mDetector_.setCornerRefinementMethod(aruco::MarkerDetector::HARRIS);
else if ( refinementMethod == "NONE" )
mDetector_.setCornerRefinementMethod(aruco::MarkerDetector::NONE);
else
mDetector_.setCornerRefinementMethod(aruco::MarkerDetector::LINES);

ROS_INFO_STREAM("Corner refinement method: " << mDetector_.getCornerRefinementMethod());

std::string thresholdMethod;
nh_.param<std::string>("threshold_method", thresholdMethod, "ADPT_THRES");
if ( thresholdMethod == "FIXED_THRES" )
mDetector_.setThresholdMethod(aruco::MarkerDetector::FIXED_THRES);
else if ( thresholdMethod == "ADPT_THRES" )
mDetector_.setThresholdMethod(aruco::MarkerDetector::ADPT_THRES);
else if ( thresholdMethod == "CANNY" )
mDetector_.setThresholdMethod(aruco::MarkerDetector::CANNY);
else
mDetector_.setThresholdMethod(aruco::MarkerDetector::ADPT_THRES);
ROS_INFO_STREAM("Threshold method: " << mDetector_.getThresholdMethod());

mDetector_.setThresholdParams(threshold_param_1_, threshold_param_2_);
double th1, th2;
mDetector_.getThresholdParams(th1, th2);
ROS_INFO_STREAM("Threshold parameter: " << " th1: " << th1 << " th2: " << th2);

mDetector_.setMinMaxSize(min_marker_size_, max_marker_size_);
float mins, maxs;
mDetector_.getMinMaxSize(mins, maxs);
ROS_INFO_STREAM("Marker size min: " << mins << " max: " << maxs);

ROS_INFO_STREAM("Desired speed: " << mDetector_.getDesiredSpeed());

image_pub_ = it_.advertise("result", 1);
debug_pub_ = it_.advertise("debug", 1);
marker_pub_ = nh_.advertise<aruco_msgs::MarkerArray>("markers", 100);