add calib proc in launch file

SymmetryLabs · Sep 11, 2014 · 5c7dba4 · 5c7dba4
1 parent d436e77
commit 5c7dba4
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Showing 2 changed files with 8 additions and 2 deletions.
diff --git a/launch/node.launch b/launch/node.launch
@@ -11,9 +11,10 @@
     <!-- Node Settings -->
     <arg name="output" default="screen"/>
     <arg name="respawn" default="false"/>
-    <arg name="proc" default="false"/>
+    <arg name="thermal_proc" default="false"/>
     <arg name="view" default="false"/>
     <arg name="calib" default="false"/>
+    <arg name="calib_proc" default="false"/>
 
     <!-- Node -->
     <node pkg="flir_gige" type="flir_gige_node" name="$(arg camera)"
@@ -33,6 +34,11 @@
         args="image:=/$(arg camera)/image_$(arg image)">
     </node>
 
+    <!--Calib proc-->
+    <node if="$(arg calib_proc)" pkg="flir_gige" type="calib_proc_node"
+        name="calib_proc" ns="$(arg camera)">
+    </node>
+
     <!-- Calib -->
     <group if="$(arg calib)">
         <arg name="pattern" default="chessboard"/>

diff --git a/src/calib_proc/calib_proc_node.cpp b/src/calib_proc/calib_proc_node.cpp
@@ -68,7 +68,7 @@ void CalibProcNode::ImageCb(const sensor_msgs::ImageConstPtr &image_msg) {
 
   // Detect circles grid
   cv::Mat display;
-  DetectAndDrawCriclesGrid(inverted, cv::Size(5, 4), display);
+  DetectAndDrawCriclesGrid(inverted, cv::Size(4, 5), display);
 
   cv::Mat calib(inverted);