Inheritance diagram for april.ros.TagPublisher:

Public Member Functions
GraphName	getDefaultNodeName ()
void	onStart (final ConnectedNode node)
Static Public Member Functions
static void	detectionToTagPose (TagDetection d, Transform transform, april_msgs.TagPose tag, MessageFactory msgFactory)
static BufferedImage	messageToBufferedImage (sensor_msgs.Image message)
static BufferedImage	messageToBufferedImageFast (sensor_msgs.Image message)
static Quaternion	projectionMatrixToQuaternion (double M[][])
static Transform	projectionMatrixToTransform (double M[][])
static Vector3	projectionMatrixToTranslationVector (double M[][])
static void	tagPoseToVisualizationMarker (april_msgs.TagPose tag, visualization_msgs.Marker marker, double tagVisMagnification, double tagSize, MessageFactory msgFactory)
static void	tagPoseToVisualizationText (april_msgs.TagPose tag, visualization_msgs.Marker marker)
Private Attributes
TagDetector	detector
boolean	focalLengthAvailable = false
double	focalLengthX
double	focalLengthY

Detailed Description

Definition at line 66 of file TagPublisher.java.

Member Function Documentation

static void april.ros.TagPublisher.detectionToTagPose	(	TagDetection	d,
		Transform	transform,
		april_msgs.TagPose	tag,
		MessageFactory	msgFactory
	)		`[inline, static]`

Definition at line 200 of file TagPublisher.java.

GraphName april.ros.TagPublisher.getDefaultNodeName ( ) [inline]

Definition at line 320 of file TagPublisher.java.

static BufferedImage april.ros.TagPublisher.messageToBufferedImage ( sensor_msgs.Image message ) [inline, static]

Simple but inefficient conversion of Image message to Buffered Image.

Definition at line 78 of file TagPublisher.java.

static BufferedImage april.ros.TagPublisher.messageToBufferedImageFast ( sensor_msgs.Image message ) [inline, static]

Efficient but channel flipped conversion of Image message to Buffered Image. The image message data stores data in 3 bytes as RGBRGBR...., which is not supported directly by BufferedImage. The only 3 byte representation supported by BufferedImage is 3BYTE_BGR. Since the tags are unaffected by color, we flip the R and B channels in this efficient copy.

TODO(10/2/2012): This has a bug, and the image appears shifted. Reverting to inefficient method for now

Definition at line 114 of file TagPublisher.java.

void april.ros.TagPublisher.onStart ( final ConnectedNode node ) [inline]

Definition at line 325 of file TagPublisher.java.

static Quaternion april.ros.TagPublisher.projectionMatrixToQuaternion ( double M[][] ) [inline, static]

Compute tag orientation as a Quaternion. Tag orientation is computed from the rotational component of the projection matrix. The methodology was taken from http://en.wikipedia.org/wiki/Rotation_matrix#Quaternion

Definition at line 153 of file TagPublisher.java.

static Transform april.ros.TagPublisher.projectionMatrixToTransform ( double M[][] ) [inline, static]

Compute the entire tag pose from the projection matrix

Definition at line 195 of file TagPublisher.java.

static Vector3 april.ros.TagPublisher.projectionMatrixToTranslationVector ( double M[][] ) [inline, static]

Compute tag location in the standard ROS frame convention for optical frames. Tag location is computed from the translational component of the projection matrix. To get more details about the frame convention, see REP 103 (http://www.ros.org/reps/rep-0103.html)

Definition at line 144 of file TagPublisher.java.

static void april.ros.TagPublisher.tagPoseToVisualizationMarker	(	april_msgs.TagPose	tag,
		visualization_msgs.Marker	marker,
		double	tagVisMagnification,
		double	tagSize,
		MessageFactory	msgFactory
	)		`[inline, static]`