.. _program_listing_file__tmp_ws_src_aruco_ros_aruco_ros_include_aruco_ros_aruco_ros_utils.hpp:

Program Listing for File aruco_ros_utils.hpp
============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_aruco_ros_aruco_ros_include_aruco_ros_aruco_ros_utils.hpp>` (``/tmp/ws/src/aruco_ros/aruco_ros/include/aruco_ros/aruco_ros_utils.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // NOLINT(legal/copyright)
   
   #ifndef ARUCO_ROS__ARUCO_ROS_UTILS_HPP_
   #define ARUCO_ROS__ARUCO_ROS_UTILS_HPP_
   
   #include <vector>
   
   #include "aruco/aruco.h"
   #include "geometry_msgs/msg/pose_stamped.hpp"
   #include "sensor_msgs/msg/camera_info.hpp"
   #include "sensor_msgs/msg/image.hpp"
   #include "tf2/LinearMath/Transform.h"
   #include "tf2/transform_datatypes.h"
   #include "visualization_msgs/msg/marker.hpp"
   
   namespace aruco_ros
   {
   aruco::CameraParameters rosCameraInfo2ArucoCamParams(
     const sensor_msgs::msg::CameraInfo & cam_info,
     bool useRectifiedParameters);
   
   tf2::Transform arucoMarker2Tf2(const aruco::Marker & marker);
   
   std::vector<aruco::Marker> detectMarkers(
     const cv::Mat & img,
     const aruco::CameraParameters & cam_params,
     float marker_size,
     aruco::MarkerDetector * detector = nullptr,
     bool normalize_ilumination = false, bool correct_fisheye = false);
   
   visualization_msgs::msg::Marker visMarkerFromPose(
     const geometry_msgs::msg::PoseStamped & pose,
     double marker_size, int marker_id = 1);
   
   }  // namespace aruco_ros
   
   #endif  // ARUCO_ROS__ARUCO_ROS_UTILS_HPP_