From 7d36f634b56a66c6dacee8909092d18112d7abc9 Mon Sep 17 00:00:00 2001 From: fherrero <fherrero@iri.upc.edu> Date: Tue, 22 Jun 2021 12:21:04 +0200 Subject: [PATCH] Add launch to detect inverted ar markers --- launch/adc_ar_detector_inverse.launch | 23 +++++++++++++++++++++++ 1 file changed, 23 insertions(+) create mode 100644 launch/adc_ar_detector_inverse.launch diff --git a/launch/adc_ar_detector_inverse.launch b/launch/adc_ar_detector_inverse.launch new file mode 100644 index 0000000..7b5331f --- /dev/null +++ b/launch/adc_ar_detector_inverse.launch @@ -0,0 +1,23 @@ +<?xml version="1.0" encoding="UTF-8"?> +<launch> + <arg name="car_name" default="adc_car"/> + <arg name="marker_size" default="5.0"/> + + <node name="ar_track_alvar_inverse" + pkg="ar_track_alvar" + type="individualMarkersNoKinect" + respawn="false" + output="screen"> + <param name="marker_size" type="double" value="$(arg marker_size)" /> + <param name="max_new_marker_error" type="double" value="0.08" /> + <param name="max_track_error" type="double" value="0.2" /> + <param name="output_frame" type="string" value="$(arg car_name)/front_camera_uvc_camera_optical" /> + <remap from="/camera_image" to="$(arg car_name)/sensors/basler_camera_inverse/image_raw" /> + <remap from="/camera_info" to="$(arg car_name)/sensors/basler_camera_inverse/camera_info" /> + </node> + + <include file="$(find iri_image_inverter)/launch/node.launch"> + <arg name="image_in_topic" value="/$(arg car_name)/sensors/basler_camera/image_raw"/> + <arg name="image_out_topic" value="/$(arg car_name)/sensors/basler_camera_inverse/image_raw"/> + </include> +</launch> -- GitLab