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Distance limit #136

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Distance limit #136

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d4a9b51
Distance limit
tugbakara Oct 21, 2022
70338cd
Distance limit
tugbakara Oct 21, 2022
139e040
Distance limit
tugbakara Oct 21, 2022
9324bdb
distance param
tugbakara Jun 23, 2024
7570cf7
Merge branch 'AprilRobotics:master' into distance-limit-pr
tugbakara Jun 23, 2024
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1 change: 1 addition & 0 deletions apriltag_ros/config/settings.yaml
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Expand Up @@ -11,3 +11,4 @@ max_hamming_dist: 2 # default: 2 (Tunable parameter with 2 being a goo
# Other parameters
publish_tf: true # default: false
transport_hint: "raw" # default: raw, see http://wiki.ros.org/image_transport#Known_Transport_Packages for options
detection_distance: 1.0
1 change: 1 addition & 0 deletions apriltag_ros/include/apriltag_ros/common_functions.h
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Expand Up @@ -164,6 +164,7 @@ class TagDetector

// AprilTag 2 code's attributes
std::string family_;
double detection_distance_;
int threads_;
double decimate_;
double blur_;
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7 changes: 5 additions & 2 deletions apriltag_ros/src/common_functions.cpp
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Expand Up @@ -16,7 +16,7 @@
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* CbONSEQUETIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
Expand Down Expand Up @@ -53,7 +53,8 @@ TagDetector::TagDetector(ros::NodeHandle pnh) :
refine_edges_(getAprilTagOption<int>(pnh, "tag_refine_edges", 1)),
debug_(getAprilTagOption<int>(pnh, "tag_debug", 0)),
max_hamming_distance_(getAprilTagOption<int>(pnh, "max_hamming_dist", 2)),
publish_tf_(getAprilTagOption<bool>(pnh, "publish_tf", false))
publish_tf_(getAprilTagOption<bool>(pnh, "publish_tf", false)),
detection_distance_(getAprilTagOption<double>(pnh,"detection_distance",1.0))
{
// Parse standalone tag descriptions specified by user (stored on ROS
// parameter server)
Expand Down Expand Up @@ -352,6 +353,8 @@ AprilTagDetectionArray TagDetector::detectTags (
tag_detection.pose = tag_pose;
tag_detection.id.push_back(detection->id);
tag_detection.size.push_back(tag_size);
// This pr chooses the distance limit to push detection array, default selection 1.0 meter.
if (tag_detection.pose.pose.pose.position.z < detection_distance_)
tag_detection_array.detections.push_back(tag_detection);
detection_names.push_back(standaloneDescription->frame_name());
}
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