add-tagCustom48h12Families

AprilRobotics · Nov 1, 2019 · 188ac33 · 188ac33
1 parent b95f161
commit 188ac33
Show file tree

Hide file tree

Showing 2 changed files with 13 additions and 1 deletion.
diff --git a/apriltag_ros/config/settings.yaml b/apriltag_ros/config/settings.yaml
@@ -1,7 +1,7 @@
 # AprilTag 3 code parameters
 # Find descriptions in apriltag/include/apriltag.h:struct apriltag_detector
 #                      apriltag/include/apriltag.h:struct apriltag_family
-tag_family:        'tag36h11' # options: tagStandard52h13, tagStandard41h12, tag36h11, tag25h9, tag16h5
+tag_family:        'tag36h11' # options: tagStandard52h13, tagStandard41h12, tag36h11, tag25h9, tag16h5, tagCustom48h12
 tag_threads:       2          # default: 2
 tag_decimate:      1.0        # default: 1.0
 tag_blur:          0.0        # default: 0.0

diff --git a/apriltag_ros/src/common_functions.cpp b/apriltag_ros/src/common_functions.cpp
@@ -38,6 +38,7 @@
 #include "tag36h11.h"
 #include "tag25h9.h"
 #include "tag16h5.h"
+#include "tagCustom48h12.h"
 
 namespace apriltag_ros
 {
@@ -123,6 +124,10 @@ TagDetector::TagDetector(ros::NodeHandle pnh) :
   {
     tf_ = tag16h5_create();
   }
+  else if (family_ == "tagCustom48h12")
+  {
+    tf_ = tagCustom48h12_create();
+  }
   else
   {
     ROS_WARN("Invalid tag family specified! Aborting");
@@ -177,6 +182,13 @@ TagDetector::~TagDetector() {
   {
     tag16h5_destroy(tf_);
   }
+  else if (family_ == "tagCustom48h12")
+  {
+    tagCustom48h12_destroy(tf_);
+  }
+
+
+
 }
 
 AprilTagDetectionArray TagDetector::detectTags (