parameterize marker size

ros-perception · Feb 7, 2024 · 0d65635 · 0d65635
1 parent fbf5c36
commit 0d65635
Show file tree

Hide file tree

Showing 2 changed files with 3 additions and 1 deletion.
diff --git a/image_proc/include/image_proc/track_marker.hpp b/image_proc/include/image_proc/track_marker.hpp
@@ -57,6 +57,7 @@ class TrackMarkerNode : public rclcpp::Node
 
   int queue_size_;
   int marker_id_;
+  double marker_size_;
   std::string image_topic_;
   rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr pub_;
 

diff --git a/image_proc/src/track_marker.cpp b/image_proc/src/track_marker.cpp
@@ -58,6 +58,7 @@ TrackMarkerNode::TrackMarkerNode(const rclcpp::NodeOptions & options)
 
   // Declare parameters before we setup any publishers or subscribers
   marker_id_ = this->declare_parameter("marker_id", 1);
+  marker_size_ = this->declare_parameter("marker_size", 0.05);
 
   detector_params_ = cv::aruco::DetectorParameters::create();
   dictionary_ = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250);
@@ -119,7 +120,7 @@ void TrackMarkerNode::imageCb(
 
       // Estimate pose
       std::vector<cv::Vec3d> rvecs, tvecs;
-      cv::aruco::estimatePoseSingleMarkers(corners, 0.05, intrinsics, dist_coeffs, rvecs, tvecs);
+      cv::aruco::estimatePoseSingleMarkers(corners, marker_size_, intrinsics, dist_coeffs, rvecs, tvecs);
 
       // Publish pose of marker
       geometry_msgs::msg::PoseStamped pose;