Rotate tag by 90 to align x-axis with pr2 gripper

jsk-ros-pkg · Dec 14, 2024 · abd847b · abd847b
1 parent 4bd716c
commit abd847b
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Showing 2 changed files with 4 additions and 3 deletions.
diff --git a/jsk_pr2_robot/jsk_pr2_accessories/pr2_hand_apriltag/Makefile b/jsk_pr2_robot/jsk_pr2_accessories/pr2_hand_apriltag/Makefile
@@ -16,9 +16,9 @@ build/tag_plate.stl: tag_plate.scad
 	openscad -o $@ $<
 	echo "Generated $@"
 
-build/tag_with_margin.png: add_margin.py
+build/tag_with_margin.png: rotate_and_add_margin.py
 	mkdir -p build
-	python3 ./add_margin.py tag41_12_00000.png $@
+	python3 ./rotate_and_add_margin.py tag41_12_00000.png $@
 	echo "Generated $@"
 
 build/april_tag_print.pdf: april_tag_print.tex build/tag_with_margin.png

diff --git a/...cessories/pr2_hand_apriltag/add_margin.py → ...r2_hand_apriltag/rotate_and_add_margin.py b/...cessories/pr2_hand_apriltag/add_margin.py → ...r2_hand_apriltag/rotate_and_add_margin.py
@@ -10,7 +10,8 @@ def main():
     args = parser.parse_args()
 
     img = Image.open(args.input)
-
+    img = img.rotate(90)
+
     if img.width != img.height:
         raise ValueError("Input image must be square")