From 093dc971dc57309d02ffd4bbdc5ed2b9320ed87b Mon Sep 17 00:00:00 2001 From: richardrl <5181990+richardrl@users.noreply.github.com> Date: Sun, 27 Jul 2025 22:47:46 -0400 Subject: [PATCH] Update kalibr_create_target_pdf --- .../kalibr/python/kalibr_create_target_pdf | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/aslam_offline_calibration/kalibr/python/kalibr_create_target_pdf b/aslam_offline_calibration/kalibr/python/kalibr_create_target_pdf index 27e31dcc0..b69bb4789 100755 --- a/aslam_offline_calibration/kalibr/python/kalibr_create_target_pdf +++ b/aslam_offline_calibration/kalibr/python/kalibr_create_target_pdf @@ -180,6 +180,7 @@ if __name__ == "__main__": aprilOptions.add_argument('--tspace', type=float, default=0.3, dest='tagspacing', help='The space between the tags in fraction of the edge size [0..1] (default: %(default)s)') aprilOptions.add_argument('--tfam', default='t36h11', dest='tagfamiliy', help='Familiy of April tags {0} (default: %(default)s)'.format(list(AprilTagCodes.TagFamilies.keys()))) aprilOptions.add_argument('--skip-ids', default='', dest='skipIds', help='Space-separated list of tag ids to leave blank (default: none)') + aprilOptions.add_argument('--border-bits', default=1, dest='borderbits', help="Number of bits for border") checkerOptions = parser.add_argument_group('Checkerboard arguments') checkerOptions.add_argument('--csx', type=float, default=0.05, dest='chessSzX', help='The size of one chessboard square in x direction [m] (default: %(default)s)') @@ -203,7 +204,7 @@ if __name__ == "__main__": #draw the board if parsed.gridType == "apriltag": - generateAprilBoard(canvas, parsed.n_cols, parsed.n_rows, parsed.tsize, parsed.tagspacing, parsed.tagfamiliy, parsed.skipIds) + generateAprilBoard(canvas, parsed.n_cols, parsed.n_rows, parsed.tsize, parsed.tagspacing, parsed.tagfamiliy, parsed.skipIds, parsed.borderbits) elif parsed.gridType == "checkerboard": generateCheckerboard(c, parsed.n_cols, parsed.n_rows, parsed.chessSzX, parsed.chessSzY) else: