Added the marker detection to the image, pose and position #3
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marcoesposito1988
requested changes
May 31, 2021
| @@ -48,6 +51,9 @@ void CharucoBoardDetector::onImageImpl(const sensor_msgs::ImageConstPtr &img) { | |||
| boardDetected = cv::aruco::estimatePoseCharucoBoard( | |||
| charucoCorners, charucoIds, board, cameraParameters->cameraMatrix, | |||
| cameraParameters->distorsionCoeff, rvec, tvec); | |||
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| cv::aruco::drawDetectedCornersCharuco(image->image, charucoCorners, charucoIds, cv::Scalar(255, 0, 0)); | |||
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Can you move this next to the drawAxis, within the if?
| @@ -6,6 +6,7 @@ | |||
| #include <ros/ros.h> | |||
| #include <sensor_msgs/CameraInfo.h> | |||
| #include <sensor_msgs/Image.h> | |||
| #include <visualization_msgs/Marker.h> | |||
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Suggested change
| #include <visualization_msgs/Marker.h> |
This looks unnecessary
| @@ -1,7 +1,7 @@ | |||
| cmake_minimum_required(VERSION 2.8.12) | |||
| project(easy_aruco) | |||
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| find_package(catkin REQUIRED COMPONENTS sensor_msgs cv_bridge tf2_ros tf2_geometry_msgs) | |||
| find_package(catkin REQUIRED COMPONENTS sensor_msgs cv_bridge tf2_ros tf2_geometry_msgs visualization_msgs) | |||
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Suggested change
| find_package(catkin REQUIRED COMPONENTS sensor_msgs cv_bridge tf2_ros tf2_geometry_msgs visualization_msgs) | |
| find_package(catkin REQUIRED COMPONENTS sensor_msgs cv_bridge tf2_ros tf2_geometry_msgs) |
This looks unnecessary
| @@ -15,6 +15,7 @@ | |||
| <depend>sensor_msgs</depend> | |||
| <depend>tf2_ros</depend> | |||
| <depend>tf2_geometry_msgs</depend> | |||
| <depend>visualization_msgs</depend> | |||
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Suggested change
| <depend>visualization_msgs</depend> |
This looks unnecessary
| @@ -68,6 +74,21 @@ void CharucoBoardDetector::onImageImpl(const sensor_msgs::ImageConstPtr &img) { | |||
| cameraToBoardStamped.transform = tf2::toMsg(cameraToBoard); | |||
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| broadcaster->sendTransform(cameraToBoardStamped); | |||
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| geometry_msgs::Vector3Stamped positionMsg; | |||
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What is the use case for the position publisher? I think the user can listen to the pose and just take the translation part
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Hey Marco,
while I was using the repo, I needed to visualize the pose, position or the marker and also I visualized it on the image published. I thought it would be nice to add this into the code, this way people can directly subscribe to the topics from rviz. What do you think?