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Update kalibr_create_target_pdf #753

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3 changes: 2 additions & 1 deletion aslam_offline_calibration/kalibr/python/kalibr_create_target_pdf
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Original file line number Diff line number Diff line change
Expand Up @@ -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)')
Expand All @@ -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:
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