.. _program_listing_file__tmp_ws_src_aruco_opencv_aruco_opencv_include_aruco_opencv_parameters.hpp: Program Listing for File parameters.hpp ======================================= |exhale_lsh| :ref:`Return to documentation for file ` (``/tmp/ws/src/aruco_opencv/aruco_opencv/include/aruco_opencv/parameters.hpp``) .. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS .. code-block:: cpp // Copyright 2022 Kell Ideas sp. z o.o. // // Permission is hereby granted, free of charge, to any person obtaining a copy // of this software and associated documentation files (the "Software"), to deal // in the Software without restriction, including without limitation the rights // to use, copy, modify, merge, publish, distribute, sublicense, and/or sell // copies of the Software, and to permit persons to whom the Software is // furnished to do so, subject to the following conditions: // // The above copyright notice and this permission notice shall be included in // all copies or substantial portions of the Software. // // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL // THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN // THE SOFTWARE. #pragma once #include #include #include "rclcpp/rclcpp.hpp" #include "rclcpp_lifecycle/lifecycle_node.hpp" namespace aruco_opencv { template inline void declare_param( NodeT && node, std::string param_name, T default_value, bool dynamic = false) { rcl_interfaces::msg::ParameterDescriptor descriptor; descriptor.read_only = !dynamic; node.declare_parameter(param_name, rclcpp::ParameterValue(default_value), descriptor); } template inline void get_param( NodeT && node, std::string param_name, T & out_value, std::string log_info = "") { node.get_parameter(param_name, out_value); if (!log_info.empty()) { RCLCPP_INFO_STREAM(node.get_logger(), log_info << out_value); } } template inline void declare_param_int_range( NodeT && node, std::string param_name, int default_value, int min_value, int max_value) { rcl_interfaces::msg::ParameterDescriptor descriptor; auto range = rcl_interfaces::msg::IntegerRange(); range.from_value = min_value; range.to_value = max_value; descriptor.integer_range.push_back(range); node.declare_parameter(param_name, default_value, descriptor); } template inline void declare_param_double_range( NodeT && node, std::string param_name, double default_value, double min_value, double max_value) { rcl_interfaces::msg::ParameterDescriptor descriptor; auto range = rcl_interfaces::msg::FloatingPointRange(); range.from_value = min_value; range.to_value = max_value; descriptor.floating_point_range.push_back(range); node.declare_parameter(param_name, default_value, descriptor); } template inline void declare_aruco_parameters(NodeT && node) { declare_param_int_range(node, "aruco.adaptiveThreshWinSizeMin", 3, 3, 100); declare_param_int_range(node, "aruco.adaptiveThreshWinSizeMax", 23, 3, 100); declare_param_int_range(node, "aruco.adaptiveThreshWinSizeStep", 10, 1, 100); declare_param_double_range(node, "aruco.adaptiveThreshConstant", 7.0, 0.0, 100.0); declare_param_double_range(node, "aruco.minMarkerPerimeterRate", 0.03, 0.0, 4.0); declare_param_double_range(node, "aruco.maxMarkerPerimeterRate", 4.0, 0.0, 4.0); declare_param_double_range(node, "aruco.polygonalApproxAccuracyRate", 0.03, 0.0, 0.3); declare_param_double_range(node, "aruco.minCornerDistanceRate", 0.05, 0.0, 0.25); declare_param_int_range(node, "aruco.minDistanceToBorder", 3, 0, 100); declare_param_double_range(node, "aruco.minMarkerDistanceRate", 0.05, 0.0, 0.25); declare_param_int_range(node, "aruco.markerBorderBits", 1, 1, 3); declare_param_int_range(node, "aruco.perspectiveRemovePixelPerCell", 4, 1, 20); declare_param_double_range(node, "aruco.perspectiveRemoveIgnoredMarginPerCell", 0.13, 0.0, 0.5); declare_param_double_range(node, "aruco.maxErroneousBitsInBorderRate", 0.35, 0.0, 1.0); declare_param_double_range(node, "aruco.minOtsuStdDev", 5.0, 0.0, 30.0); declare_param_double_range(node, "aruco.errorCorrectionRate", 0.6, 0.0, 1.0); declare_param_int_range(node, "aruco.cornerRefinementMethod", 2, 0, 2); declare_param_int_range(node, "aruco.cornerRefinementWinSize", 5, 2, 10); declare_param_int_range(node, "aruco.cornerRefinementMaxIterations", 30, 1, 100); declare_param_double_range(node, "aruco.cornerRefinementMinAccuracy", 0.1, 0.01, 1.0); } template void retrieve_aruco_parameters( NodeT && node, cv::Ptr & detector_parameters, bool log_values = false) { node.get_parameter( "aruco.adaptiveThreshWinSizeMin", detector_parameters->adaptiveThreshWinSizeMin); node.get_parameter( "aruco.adaptiveThreshWinSizeMax", detector_parameters->adaptiveThreshWinSizeMax); node.get_parameter( "aruco.adaptiveThreshWinSizeStep", detector_parameters->adaptiveThreshWinSizeStep); node.get_parameter( "aruco.adaptiveThreshConstant", detector_parameters->adaptiveThreshConstant); node.get_parameter( "aruco.minMarkerPerimeterRate", detector_parameters->minMarkerPerimeterRate); node.get_parameter( "aruco.maxMarkerPerimeterRate", detector_parameters->maxMarkerPerimeterRate); node.get_parameter( "aruco.polygonalApproxAccuracyRate", detector_parameters->polygonalApproxAccuracyRate); node.get_parameter( "aruco.minCornerDistanceRate", detector_parameters->minCornerDistanceRate); node.get_parameter( "aruco.minDistanceToBorder", detector_parameters->minDistanceToBorder); node.get_parameter( "aruco.minMarkerDistanceRate", detector_parameters->minMarkerDistanceRate); node.get_parameter( "aruco.markerBorderBits", detector_parameters->markerBorderBits); node.get_parameter( "aruco.perspectiveRemovePixelPerCell", detector_parameters->perspectiveRemovePixelPerCell); node.get_parameter( "aruco.perspectiveRemoveIgnoredMarginPerCell", detector_parameters->perspectiveRemoveIgnoredMarginPerCell); node.get_parameter( "aruco.maxErroneousBitsInBorderRate", detector_parameters->maxErroneousBitsInBorderRate); node.get_parameter( "aruco.minOtsuStdDev", detector_parameters->minOtsuStdDev); node.get_parameter( "aruco.errorCorrectionRate", detector_parameters->errorCorrectionRate); node.get_parameter( "aruco.cornerRefinementMethod", detector_parameters->cornerRefinementMethod); node.get_parameter( "aruco.cornerRefinementWinSize", detector_parameters->cornerRefinementWinSize); node.get_parameter( "aruco.cornerRefinementMaxIterations", detector_parameters->cornerRefinementMaxIterations); node.get_parameter( "aruco.cornerRefinementMinAccuracy", detector_parameters->cornerRefinementMinAccuracy); if (log_values) { RCLCPP_INFO_STREAM( node.get_logger(), " * adaptiveThreshWinSizeMin: " << detector_parameters->adaptiveThreshWinSizeMin); RCLCPP_INFO_STREAM( node.get_logger(), " * adaptiveThreshWinSizeMax: " << detector_parameters->adaptiveThreshWinSizeMax); RCLCPP_INFO_STREAM( node.get_logger(), " * adaptiveThreshWinSizeStep: " << detector_parameters->adaptiveThreshWinSizeStep); RCLCPP_INFO_STREAM( node.get_logger(), " * adaptiveThreshConstant: " << detector_parameters->adaptiveThreshConstant); RCLCPP_INFO_STREAM( node.get_logger(), " * minMarkerPerimeterRate: " << detector_parameters->minMarkerPerimeterRate); RCLCPP_INFO_STREAM( node.get_logger(), " * maxMarkerPerimeterRate: " << detector_parameters->maxMarkerPerimeterRate); RCLCPP_INFO_STREAM( node.get_logger(), " * polygonalApproxAccuracyRate: " << detector_parameters->polygonalApproxAccuracyRate); RCLCPP_INFO_STREAM( node.get_logger(), " * minCornerDistanceRate: " << detector_parameters->minCornerDistanceRate); RCLCPP_INFO_STREAM( node.get_logger(), " * minDistanceToBorder: " << detector_parameters->minDistanceToBorder); RCLCPP_INFO_STREAM( node.get_logger(), " * minMarkerDistanceRate: " << detector_parameters->minMarkerDistanceRate); RCLCPP_INFO_STREAM( node.get_logger(), " * markerBorderBits: " << detector_parameters->markerBorderBits); RCLCPP_INFO_STREAM( node.get_logger(), " * perspectiveRemovePixelPerCell: " << detector_parameters->perspectiveRemovePixelPerCell); RCLCPP_INFO_STREAM( node.get_logger(), " * perspectiveRemoveIgnoredMarginPerCell: " << detector_parameters->perspectiveRemoveIgnoredMarginPerCell); RCLCPP_INFO_STREAM( node.get_logger(), " * maxErroneousBitsInBorderRate: " << detector_parameters->maxErroneousBitsInBorderRate); RCLCPP_INFO_STREAM( node.get_logger(), " * minOtsuStdDev: " << detector_parameters->minOtsuStdDev); RCLCPP_INFO_STREAM( node.get_logger(), " * errorCorrectionRate: " << detector_parameters->errorCorrectionRate); std::map crmethod = {{0, "NONE"}, {1, "SUBPIX"}, {2, "CONTOUR"}}; RCLCPP_INFO_STREAM( node.get_logger(), " * cornerRefinementMethod: " << detector_parameters->cornerRefinementMethod << " (" << crmethod[detector_parameters->cornerRefinementMethod] << ")"); RCLCPP_INFO_STREAM( node.get_logger(), " * cornerRefinementWinSize: " << detector_parameters->cornerRefinementWinSize); RCLCPP_INFO_STREAM( node.get_logger(), " * cornerRefinementMaxIterations: " << detector_parameters->cornerRefinementMaxIterations); RCLCPP_INFO_STREAM( node.get_logger(), " * cornerRefinementMinAccuracy: " << detector_parameters->cornerRefinementMinAccuracy); } } } // namespace aruco_opencv