aruco_mapping::ArucoMapping Class Reference

Client class for Aruco mapping. More...

#include <aruco_mapping.h>

List of all members.

Classes
struct	MarkerInfo
	Struct to keep marker information. More...
Public Member Functions
	ArucoMapping (ros::NodeHandle *nh)
	Construct a client for EZN64 USB control.
void	imageCallback (const sensor_msgs::ImageConstPtr &original_image)
	Callback function to handle image processing.
	~ArucoMapping ()
Private Member Functions
tf::Transform	arucoMarker2Tf (const aruco::Marker &marker)
	Compute TF from marker detector result.
bool	parseCalibrationFile (std::string filename)
	Function to parse data from calibration file.
bool	processImage (cv::Mat input_image, cv::Mat output_image)
	Process actual image, detect markers and compute poses.
void	publishMarker (geometry_msgs::Pose markerPose, int MarkerID, int rank)
	Function to publish all known markers for visualization purposes.
void	publishTfs (bool world_option)
	Function to publish all known TFs.
Private Attributes
aruco::CameraParameters	aruco_calib_params_
tf::TransformBroadcaster	broadcaster_
std::string	calib_filename_
int	closest_camera_index_
bool	first_marker_detected_
tf::TransformListener *	listener_
int	lowest_marker_id_
int	marker_counter_
int	marker_counter_previous_
ros::Publisher	marker_msg_pub_
	Publisher of aruco_mapping::ArucoMarker custom message.
float	marker_size_
ros::Publisher	marker_visualization_pub_
	Publisher of visualization_msgs::Marker message to "aruco_markers" topic.
std::vector< MarkerInfo >	markers_
	Container holding MarkerInfo data about all detected markers.
int	num_of_markers_
bool	roi_allowed_
int	roi_h_
int	roi_w_
int	roi_x_
int	roi_y_
std::string	space_type_
geometry_msgs::Pose	world_position_geometry_msg_
	Actual Pose of camera with respect to world's origin.
tf::StampedTransform	world_position_transform_
	Actual TF of camera with respect to world's origin.
Static Private Attributes
static const double	BROADCAST_WAIT_INTERVAL = 0.0001
static const int	CV_WAIT_KEY = 10
static const int	CV_WINDOW_MARKER_LINE_WIDTH = 2
static const double	INIT_MIN_SIZE_VALUE = 1000000
static const double	RVIZ_MARKER_COLOR_A = 1.0
static const double	RVIZ_MARKER_COLOR_B = 1.0
static const double	RVIZ_MARKER_COLOR_G = 1.0
static const double	RVIZ_MARKER_COLOR_R = 1.0
static const double	RVIZ_MARKER_HEIGHT = 0.01
static const double	RVIZ_MARKER_LIFETIME = 0.2
static const double	THIS_IS_FIRST_MARKER = -2
static const double	WAIT_FOR_TRANSFORM_INTERVAL = 2.0

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Detailed Description

Client class for Aruco mapping.

Definition at line 67 of file aruco_mapping.h.

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Constructor & Destructor Documentation

aruco_mapping::ArucoMapping::ArucoMapping

(

ros::NodeHandle *

nh

)

Construct a client for EZN64 USB control.

Definition at line 42 of file aruco_mapping.cpp.

aruco_mapping::ArucoMapping::~ArucoMapping

(

)

Definition at line 108 of file aruco_mapping.cpp.

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Member Function Documentation

tf::Transform aruco_mapping::ArucoMapping::arucoMarker2Tf

(

const aruco::Marker &

marker

)

[private]

Compute TF from marker detector result.

Definition at line 715 of file aruco_mapping.cpp.

void aruco_mapping::ArucoMapping::imageCallback

(

const sensor_msgs::ImageConstPtr &

original_image

)

Callback function to handle image processing.

Definition at line 159 of file aruco_mapping.cpp.

bool aruco_mapping::ArucoMapping::parseCalibrationFile

(

std::string

filename

)

[private]

Function to parse data from calibration file.

Definition at line 114 of file aruco_mapping.cpp.

bool aruco_mapping::ArucoMapping::processImage	(	cv::Mat	input_image,
		cv::Mat	output_image
	)		[private]

Process actual image, detect markers and compute poses.

Definition at line 190 of file aruco_mapping.cpp.

void aruco_mapping::ArucoMapping::publishMarker	(	geometry_msgs::Pose	markerPose,
		int	MarkerID,
		int	rank
	)		[private]

Function to publish all known markers for visualization purposes.

Definition at line 678 of file aruco_mapping.cpp.

void aruco_mapping::ArucoMapping::publishTfs

(

bool

world_option

)

[private]

Function to publish all known TFs.

Definition at line 638 of file aruco_mapping.cpp.

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Member Data Documentation

aruco::CameraParameters aruco_mapping::ArucoMapping::aruco_calib_params_ [private]

Definition at line 139 of file aruco_mapping.h.

const double aruco_mapping::ArucoMapping::BROADCAST_WAIT_INTERVAL = 0.0001 [static, private]

Definition at line 155 of file aruco_mapping.h.

tf::TransformBroadcaster aruco_mapping::ArucoMapping::broadcaster_ [private]

Definition at line 148 of file aruco_mapping.h.

std::string aruco_mapping::ArucoMapping::calib_filename_ [private]

Definition at line 120 of file aruco_mapping.h.

int aruco_mapping::ArucoMapping::closest_camera_index_ [private]

Definition at line 143 of file aruco_mapping.h.

const int aruco_mapping::ArucoMapping::CV_WAIT_KEY = 10 [static, private]

Definition at line 151 of file aruco_mapping.h.

const int aruco_mapping::ArucoMapping::CV_WINDOW_MARKER_LINE_WIDTH = 2 [static, private]

Definition at line 152 of file aruco_mapping.h.

bool aruco_mapping::ArucoMapping::first_marker_detected_ [private]

Definition at line 145 of file aruco_mapping.h.

const double aruco_mapping::ArucoMapping::INIT_MIN_SIZE_VALUE = 1000000 [static, private]

Definition at line 156 of file aruco_mapping.h.

tf::TransformListener* aruco_mapping::ArucoMapping::listener_ [private]

Definition at line 147 of file aruco_mapping.h.

int aruco_mapping::ArucoMapping::lowest_marker_id_ [private]

Definition at line 144 of file aruco_mapping.h.

int aruco_mapping::ArucoMapping::marker_counter_ [private]

Definition at line 141 of file aruco_mapping.h.

int aruco_mapping::ArucoMapping::marker_counter_previous_ [private]

Definition at line 142 of file aruco_mapping.h.

ros::Publisher aruco_mapping::ArucoMapping::marker_msg_pub_ [private]

Publisher of aruco_mapping::ArucoMarker custom message.

Definition at line 111 of file aruco_mapping.h.

float aruco_mapping::ArucoMapping::marker_size_ [private]

Definition at line 122 of file aruco_mapping.h.

ros::Publisher aruco_mapping::ArucoMapping::marker_visualization_pub_ [private]

Publisher of visualization_msgs::Marker message to "aruco_markers" topic.

Definition at line 108 of file aruco_mapping.h.

std::vector<MarkerInfo> aruco_mapping::ArucoMapping::markers_ [private]

Container holding MarkerInfo data about all detected markers.

Definition at line 131 of file aruco_mapping.h.

int aruco_mapping::ArucoMapping::num_of_markers_ [private]

Definition at line 123 of file aruco_mapping.h.

bool aruco_mapping::ArucoMapping::roi_allowed_ [private]

Definition at line 124 of file aruco_mapping.h.

int aruco_mapping::ArucoMapping::roi_h_ [private]

Definition at line 128 of file aruco_mapping.h.

int aruco_mapping::ArucoMapping::roi_w_ [private]

Definition at line 127 of file aruco_mapping.h.

int aruco_mapping::ArucoMapping::roi_x_ [private]

Definition at line 125 of file aruco_mapping.h.

int aruco_mapping::ArucoMapping::roi_y_ [private]

Definition at line 126 of file aruco_mapping.h.

const double aruco_mapping::ArucoMapping::RVIZ_MARKER_COLOR_A = 1.0 [static, private]

Definition at line 163 of file aruco_mapping.h.

const double aruco_mapping::ArucoMapping::RVIZ_MARKER_COLOR_B = 1.0 [static, private]

Definition at line 162 of file aruco_mapping.h.

const double aruco_mapping::ArucoMapping::RVIZ_MARKER_COLOR_G = 1.0 [static, private]

Definition at line 161 of file aruco_mapping.h.

const double aruco_mapping::ArucoMapping::RVIZ_MARKER_COLOR_R = 1.0 [static, private]

Definition at line 160 of file aruco_mapping.h.

const double aruco_mapping::ArucoMapping::RVIZ_MARKER_HEIGHT = 0.01 [static, private]

Definition at line 158 of file aruco_mapping.h.

const double aruco_mapping::ArucoMapping::RVIZ_MARKER_LIFETIME = 0.2 [static, private]

Definition at line 159 of file aruco_mapping.h.

std::string aruco_mapping::ArucoMapping::space_type_ [private]

Definition at line 121 of file aruco_mapping.h.

const double aruco_mapping::ArucoMapping::THIS_IS_FIRST_MARKER = -2 [static, private]

Definition at line 165 of file aruco_mapping.h.

const double aruco_mapping::ArucoMapping::WAIT_FOR_TRANSFORM_INTERVAL = 2.0 [static, private]

Definition at line 154 of file aruco_mapping.h.

geometry_msgs::Pose aruco_mapping::ArucoMapping::world_position_geometry_msg_ [private]

Actual Pose of camera with respect to world's origin.

Definition at line 137 of file aruco_mapping.h.

tf::StampedTransform aruco_mapping::ArucoMapping::world_position_transform_ [private]

Actual TF of camera with respect to world's origin.

Definition at line 134 of file aruco_mapping.h.

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The documentation for this class was generated from the following files:

• aruco_mapping.h
• aruco_mapping.cpp