christianrauch / apriltag_ros

ROS2 node for AprilTag detection
MIT License
163 stars 96 forks source link

publish debug image? #25

Closed berndpfrommer closed 10 months ago

berndpfrommer commented 10 months ago

Hi! Nice work with the apriltag detector node for ROS2! I'd love to ditch my duplication-of-effort here in favor of your node, in particular since yours is already in rosdistro. The one feature I'm missing though is a debug image. I find that very helpful so I was wondering if you were open to a PR that implements something like the picture below? The drawing is fairly lightweight and happens only when there is a subscription to the debug image.

image

christianrauch commented 10 months ago

When I created the tag detection node, I decided to move the optional visualisation into a separate node to keep the detection node minimal.

The visualisation node can be found here: https://github.com/christianrauch/apriltag_viz. It's a composable node that can be loaded into the same node manager. It essentially subscribes to the image and the tag detections and then publishes an image with the tags as overlay.

berndpfrommer commented 10 months ago

Ok, thanks for clarifying! Will you release that node as a package as well?

christianrauch commented 10 months ago

I did not plan to release the visualiser to bloom.

berndpfrommer commented 10 months ago

ok