From 09fdc07884204be01f2bfa61f61cb4d915777ced Mon Sep 17 00:00:00 2001
From: Anton Tetov <anton@tetov.se>
Date: Wed, 4 Sep 2024 15:49:07 +0200
Subject: [PATCH] missing charuco_id

---
 launch/detect_charuco.launch | 26 ++++++++++++++++++++++++++
 launch/eye_in_hand.launch    | 24 ------------------------
 2 files changed, 26 insertions(+), 24 deletions(-)

diff --git a/launch/detect_charuco.launch b/launch/detect_charuco.launch
index 1dfd12f..5e99d7b 100644
--- a/launch/detect_charuco.launch
+++ b/launch/detect_charuco.launch
@@ -12,6 +12,32 @@
     <arg name="number_of_squares_in_x" value="14" />
     <arg name="number_of_squares_in_y" value="9" />
     <arg name="number_of_markers" value="63" />
+    <!-- enum  	cv::aruco::PredefinedDictionaryType {
+           cv::aruco::DICT_4X4_50 = 0 ,
+           cv::aruco::DICT_4X4_100 ,
+           cv::aruco::DICT_4X4_250 ,
+           cv::aruco::DICT_4X4_1000 ,
+           cv::aruco::DICT_5X5_50 ,
+           cv::aruco::DICT_5X5_100 ,
+           cv::aruco::DICT_5X5_250 ,
+           cv::aruco::DICT_5X5_1000 ,
+           cv::aruco::DICT_6X6_50 ,
+           cv::aruco::DICT_6X6_100 ,
+           cv::aruco::DICT_6X6_250 ,
+           cv::aruco::DICT_6X6_1000 ,
+           cv::aruco::DICT_7X7_50 ,
+           cv::aruco::DICT_7X7_100 ,
+           cv::aruco::DICT_7X7_250 ,
+           cv::aruco::DICT_7X7_1000 ,
+           cv::aruco::DICT_ARUCO_ORIGINAL ,
+           cv::aruco::DICT_APRILTAG_16h5 ,
+           cv::aruco::DICT_APRILTAG_25h9 ,
+           cv::aruco::DICT_APRILTAG_36h10 ,
+           cv::aruco::DICT_APRILTAG_36h11 ,
+           cv::aruco::DICT_ARUCO_MIP_36h12
+      } 
+    -->
+    <arg name="dictionary_id" value="4" />
     <arg name="image_topic" value="$(arg camera_ns)/image_raw" />
     <arg name="camera_info_topic" value="$(arg camera_ns)/camera_info" />
   </include>
diff --git a/launch/eye_in_hand.launch b/launch/eye_in_hand.launch
index ec8964c..0ddf385 100644
--- a/launch/eye_in_hand.launch
+++ b/launch/eye_in_hand.launch
@@ -3,30 +3,6 @@
   xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
   xsi:noNamespaceSchemaLocation="https://gist.githubusercontent.com/nalt/dfa2abc9d2e3ae4feb82ca5608090387/raw/roslaunch.xsd">
 
-  <!-- enum  	cv::aruco::PredefinedDictionaryType {
-  cv::aruco::DICT_4X4_50 = 0 ,
-  cv::aruco::DICT_4X4_100 ,
-  cv::aruco::DICT_4X4_250 ,
-  cv::aruco::DICT_4X4_1000 ,
-  cv::aruco::DICT_5X5_50 ,
-  cv::aruco::DICT_5X5_100 ,
-  cv::aruco::DICT_5X5_250 ,
-  cv::aruco::DICT_5X5_1000 ,
-  cv::aruco::DICT_6X6_50 ,
-  cv::aruco::DICT_6X6_100 ,
-  cv::aruco::DICT_6X6_250 ,
-  cv::aruco::DICT_6X6_1000 ,
-  cv::aruco::DICT_7X7_50 ,
-  cv::aruco::DICT_7X7_100 ,
-  cv::aruco::DICT_7X7_250 ,
-  cv::aruco::DICT_7X7_1000 ,
-  cv::aruco::DICT_ARUCO_ORIGINAL ,
-  cv::aruco::DICT_APRILTAG_16h5 ,
-  cv::aruco::DICT_APRILTAG_25h9 ,
-  cv::aruco::DICT_APRILTAG_36h10 ,
-  cv::aruco::DICT_APRILTAG_36h11 ,
-  cv::aruco::DICT_ARUCO_MIP_36h12
-} -->
 
   <arg name="board" default="large" />