Handle hamming distance param

multisense_ros/cfg/multisense.cfg

@@ -348,6 +348,7 @@ for feature_name, feature in SupportedFeatures.__members__.items():
                                              gen.const("tagStandard52h13", str_t, "tagStandard52h13", "tagStandard52h13")],
                                 "Available apriltag families")
             gen.add("apriltag_family", str_t, 0, "Apriltag family to detect", "tagStandard52h13", edit_method=apriltag_family_enum)
+            gen.add("apriltag_max_hamming", int_t, 0, "The maximum hamming correction that will be applied while detecting codes (value of 1 causes the detector to pause for a while)", 0, 0, 1)
             gen.add("apriltag_quad_detection_blur_sigma", double_t, 0, "Sigma of the Gaussian blur applied to the image before quad_detection, specified in full resolution pixels. Kernel size = 4*sigma, rounded up to the next odd number. (<0.5 results in no blur)", 0.75, 0.0, 5.0)
             gen.add("apriltag_quad_detection_decimate", double_t, 0, "Amount to decimate image before detecting quads. Values < 1.0. (0.5 decimation reduces height/width by half)", 1.0, 0.0, 1.0)
             gen.add("apriltag_min_border_width", int_t, 0, "Minimum border width that can be considered a valid tag. Used to filter contours based on area and perimeter. Units are in undecimated image pixels.", 5, 0, 10)

multisense_ros/msg/AprilTagDetection.msg

@@ -1,5 +1,5 @@
 # The family of the tag
-uint64 family
+string family
 
 # The ID of the tag
 uint32 id

multisense_ros/src/reconfigure.cpp

@@ -878,6 +878,7 @@ template<class T> void Reconfigure::configureApriltagParams(const T& dyn)
     crl::multisense::system::ApriltagParams params;
 
     params.family = dyn.apriltag_family;
+    params.max_hamming = dyn.apriltag_max_hamming;
     params.quad_detection_blur_sigma = dyn.apriltag_quad_detection_blur_sigma;
     params.quad_detection_decimate = dyn.apriltag_quad_detection_decimate;
     params.min_border_width = dyn.apriltag_min_border_width;