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adding optional default_tag_size_ param #18

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adding optional default_tag_size_ param #18

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4 changes: 3 additions & 1 deletion apriltags2_ros/include/apriltags2_ros/common_functions.h
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Original file line number Diff line number Diff line change
Expand Up @@ -179,8 +179,10 @@ class TagDetector
// Other members
std::map<int, StandaloneTagDescription> standalone_tag_descriptions_;
std::vector<TagBundleDescription > tag_bundle_descriptions_;
bool run_quietly_;
bool publish_tf_;
bool run_quietly_;
bool use_default_tag_size_;
double default_tag_size_;
tf::TransformBroadcaster tf_pub_;
std::string camera_tf_frame_;

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48 changes: 36 additions & 12 deletions apriltags2_ros/src/common_functions.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -96,6 +96,16 @@ TagDetector::TagDetector(ros::NodeHandle pnh) :
}
}

// Set an optional default_tag_size_ for tags not specified in parameters
if(pnh.getParam("default_tag_size", default_tag_size_))
{
use_default_tag_size_ = true;
}
else
{
use_default_tag_size_ = false;
}

// Define the tag family whose tags should be searched for in the camera
// images
if (family_ == "tag36h11")
Expand Down Expand Up @@ -244,21 +254,35 @@ AprilTagDetectionArray TagDetector::detectTags (
}

// Find this tag's description amongst the standalone tags
// Print warning when a tag was found that is neither part of a
// bundle nor standalone (thus it is a tag in the environment
// which the user specified no description for, or Apriltags
// misdetected a tag (bad ID or a false positive)).
// If default_tag_size_ is not set, print warning when a tag was
// found that is neither part of a bundle nor standalone (thus
// it is a tag in the environment which the user specified no
// description for, or Apriltags misdetected a tag (bad ID or
// a false positive)).
bool standalone_fail;
double tag_size;
std::string frame_name;
standalone_fail = !is_part_of_bundle and !use_default_tag_size_;
StandaloneTagDescription* standaloneDescription;
if (!findStandaloneTagDescription(tagID, standaloneDescription,
!is_part_of_bundle))
if (findStandaloneTagDescription(tagID, standaloneDescription,
standalone_fail))
{
continue;
tag_size = standaloneDescription->size();
frame_name = standaloneDescription->frame_name();
}
else if (use_default_tag_size_)
{
tag_size = default_tag_size_;
frame_name = camera_tf_frame_ + "_" +
boost::lexical_cast<std::string>(tagID);
}
else
{
continue;
}

//=================================================================
// The remainder of this for loop is concerned with standalone tag
// poses!
double tag_size = standaloneDescription->size();
// The remainder of this for loop is concerned with individual tag poses!

// Get estimated tag pose in the camera frame.
//
Expand Down Expand Up @@ -294,10 +318,10 @@ AprilTagDetectionArray TagDetector::detectTags (
// Add the detection to the back of the tag detection array
AprilTagDetection tag_detection;
tag_detection.pose = tag_pose;
tag_detection.id.push_back(detection->id);
tag_detection.id.push_back(tagID);
tag_detection.size.push_back(tag_size);
tag_detection_array.detections.push_back(tag_detection);
detection_names.push_back(standaloneDescription->frame_name());
detection_names.push_back(frame_name);
}

//=================================================================
Expand Down