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Tag family parameter #8

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merged 1 commit into from
Jul 6, 2016
Merged

Tag family parameter #8

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7 changes: 5 additions & 2 deletions apriltags_ros/launch/example.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -3,10 +3,13 @@
<!-- Remap topic required by the node to custom topics -->
<remap from="image_rect" to="image_rect" />
<remap from="camera_info" to="camera_info" />

<!-- Optional: Subscribe to the compressed stream-->
<param name="image_transport" type="str" value="compressed" />


<!-- Select the tag family: 16h5, 25h7, 25h9, 36h9, or 36h11(default) -->
<param name="tag_family" type="str" value="36h11" />

<!-- Describe the tags -->
<rosparam param="tag_descriptions">[
{id: 0, size: 0.163513},
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27 changes: 25 additions & 2 deletions apriltags_ros/src/apriltag_detector.cpp
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Expand Up @@ -32,8 +32,31 @@ AprilTagDetector::AprilTagDetector(ros::NodeHandle& nh, ros::NodeHandle& pnh): i
sensor_frame_id_ = "";
}

AprilTags::TagCodes tag_codes = AprilTags::tagCodes36h11;
tag_detector_= boost::shared_ptr<AprilTags::TagDetector>(new AprilTags::TagDetector(tag_codes));
std::string tag_family;
pnh.param<std::string>("tag_family", tag_family, "36h11");

const AprilTags::TagCodes* tag_codes;
if(tag_family == "16h5"){
tag_codes = &AprilTags::tagCodes16h5;
}
else if(tag_family == "25h7"){
tag_codes = &AprilTags::tagCodes25h7;
}
else if(tag_family == "25h9"){
tag_codes = &AprilTags::tagCodes25h9;
}
else if(tag_family == "36h9"){
tag_codes = &AprilTags::tagCodes36h9;
}
else if(tag_family == "36h11"){
tag_codes = &AprilTags::tagCodes36h11;
}
else{
ROS_WARN("Invalid tag family specified; defaulting to 36h11");
tag_codes = &AprilTags::tagCodes36h11;
}

tag_detector_= boost::shared_ptr<AprilTags::TagDetector>(new AprilTags::TagDetector(*tag_codes));
image_sub_ = it_.subscribeCamera("image_rect", 1, &AprilTagDetector::imageCb, this);
image_pub_ = it_.advertise("tag_detections_image", 1);
detections_pub_ = nh.advertise<AprilTagDetectionArray>("tag_detections", 1);
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