From 92c0eaf6fc319667e087bd0b43599cdb204f988f Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Tue, 22 Jun 2021 12:26:42 +0200
Subject: [PATCH] Update ar marker inverse launch
---
launch/adc_ar_detector_inverse.launch | 16 ++++++++++------
1 file changed, 10 insertions(+), 6 deletions(-)
diff --git a/launch/adc_ar_detector_inverse.launch b/launch/adc_ar_detector_inverse.launch
index 7b5331f..90d0c55 100644
--- a/launch/adc_ar_detector_inverse.launch
+++ b/launch/adc_ar_detector_inverse.launch
@@ -1,23 +1,27 @@
<?xml version="1.0" encoding="UTF-8"?>
<launch>
<arg name="car_name" default="adc_car"/>
- <arg name="marker_size" default="5.0"/>
+ <arg name="marker_size" default="5.0"/>
+ <arg name="marker_margin" default="1.0"/>
+ <include file="$(find iri_image_inverter)/launch/node.launch">
+ <arg name="node_name" value="iri_image_inverter_basler"/>
+ <arg name="image_in_topic" value="/$(arg car_name)/sensors/basler_camera/image_raw"/>
+ <arg name="image_out_topic" value="/$(arg car_name)/sensors/basler_camera_inverse/image_raw"/>
+ </include>
+
<node name="ar_track_alvar_inverse"
pkg="ar_track_alvar"
type="individualMarkersNoKinect"
respawn="false"
output="screen">
<param name="marker_size" type="double" value="$(arg marker_size)" />
+ <param name="marker_margin" type="double" value="$(arg marker_margin)" />
<param name="max_new_marker_error" type="double" value="0.08" />
<param name="max_track_error" type="double" value="0.2" />
<param name="output_frame" type="string" value="$(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>
--
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