reverted ROS2 parameters refine and debug back to int and renamed ref…

…ine to refine-edges
MihailV1989 · Sep 27, 2022 · 127d864 · 127d864
1 parent aa4614d
commit 127d864
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Showing 3 changed files with 7 additions and 5 deletions.
diff --git a/cfg/tags_36h11.yaml b/cfg/tags_36h11.yaml
@@ -11,9 +11,10 @@ apriltag:
             threads: 1          # number of threads
             decimate: 1.0       # decimate resolution for quad detection
             blur: 0.0           # sigma of Gaussian blur for quad detection
-            refine: true        # snap to strong gradients
+            refine-edges: true        # snap to strong gradients
             sharpening: 0.25    # sharpening of decoded images
             debug: false        # write additional debugging images to current working directory
+            refine-pose: false  # increase the accuracy of the extracted pose
 
         # optional list of tags
         tag:

diff --git a/launch/tag_36h11_all.launch.py b/launch/tag_36h11_all.launch.py
@@ -8,7 +8,8 @@
     "family": "36h11",
     "size": 0.162,
     "max_hamming": 0,
-    "z_up": True
+    "z_up": True,
+    "refine-pose": False        # increase the accuracy of the extracted pose
 }
 
 def generate_launch_description():

diff --git a/src/AprilTagNode.cpp b/src/AprilTagNode.cpp
@@ -176,9 +176,9 @@ AprilTagNode::AprilTagNode(const rclcpp::NodeOptions& options)
     declare_parameter("detector.threads", td->nthreads, descr("number of threads"));
     declare_parameter("detector.decimate", td->quad_decimate, descr("decimate resolution for quad detection"));
     declare_parameter("detector.blur", td->quad_sigma, descr("sigma of Gaussian blur for quad detection"));
-    declare_parameter<bool>("detector.refine", td->refine_edges, descr("snap to strong gradients"));
+    declare_parameter<int>("detector.refine-edges", td->refine_edges, descr("snap to strong gradients"));
     declare_parameter("detector.sharpening", td->decode_sharpening, descr("sharpening of decoded images"));
-    declare_parameter<bool>("detector.debug", td->debug, descr("write additional debugging images to working directory"));
+    declare_parameter<int>("detector.debug", td->debug, descr("write additional debugging images to working directory"));
 
     declare_parameter<int>("max_hamming", 0, descr("reject detections with more corrected bits than allowed"));
     declare_parameter("profile", false, descr("print profiling information to stdout"));
@@ -290,7 +290,7 @@ AprilTagNode::onParameter(const std::vector<rclcpp::Parameter>& parameters)
         IF("detector.threads", td->nthreads)
         IF("detector.decimate", td->quad_decimate)
         IF("detector.blur", td->quad_sigma)
-        IF("detector.refine", td->refine_edges)
+        IF("detector.refine-edges", td->refine_edges)
         IF("detector.sharpening", td->decode_sharpening)
         IF("detector.debug", td->debug)
         IF("max_hamming", max_hamming)