aruco_marker_recognition.h
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00001 
00019 #ifndef ARUCO_MARKER_RECOGNITION_H
00020 #define ARUCO_MARKER_RECOGNITION_H
00021 
00022 #include <ros/ros.h>
00023 #include <sensor_msgs/Image.h>
00024 #include <message_filters/subscriber.h>
00025 #include <message_filters/synchronizer.h>
00026 #include <message_filters/sync_policies/approximate_time.h>
00027 #include <opencv2/highgui/highgui.hpp>
00028 #include <ivt_bridge/ivt_calibration.h>
00029 #include <visualization_msgs/MarkerArray.h>
00030 #include <asr_aruco_marker_recognition/GetRecognizer.h>
00031 #include <asr_aruco_marker_recognition/ReleaseRecognizer.h>
00032 #include <asr_object_database/ObjectMetaData.h>
00033 #include <asr_msgs/AsrObject.h>
00034 #include <dynamic_reconfigure/server.h>
00035 #include <asr_aruco_marker_recognition/ArucoMarkerRecognitionConfig.h>
00036 
00037 #include "marker_detection.h"
00038 
00039 namespace aruco_marker_recognition {
00040 
00041 using namespace asr_aruco_marker_recognition;
00042 
00044 const static std::string NODE_NAME("asr_aruco_marker_recognition");
00045 
00047 const static double DEFAULT_MARKER_SIZE(0.05);
00048 
00050 const static std::string GET_RECOGNIZER_SERVICE_NAME("get_recognizer");
00051 const static std::string RELEASE_RECOGNIZER_SERVICE_NAME("release_recognizer");
00052 
00054 const static std::string OBJECT_DB_SERVICE_META_DATA("/asr_object_database/object_meta_data");
00055 
00056 typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> ApproximatePolicy;
00057 typedef message_filters::Synchronizer<ApproximatePolicy> ApproximateSync;
00058 
00062 class ArucoMarkerRecognition {
00063 
00064 
00065 private:
00066 
00067     bool use_stereo_;
00068 
00070     std::string image_left_topic_;
00071 
00073     std::string image_right_topic_;
00074 
00076     std::string image_left_cam_info_topic_;
00077 
00079     std::string image_right_cam_info_topic_;
00080 
00082     ros::NodeHandle nh_;
00083 
00085     double marker_size_;
00086 
00088     message_filters::Subscriber<sensor_msgs::Image> image_left_sub_;
00089     message_filters::Subscriber<sensor_msgs::Image> image_right_sub_;
00090     message_filters::Subscriber<sensor_msgs::CameraInfo> image_left_param_sub_;
00091     message_filters::Subscriber<sensor_msgs::CameraInfo> image_right_param_sub_;
00092 
00094     ros::ServiceServer get_recognizer_service_;
00095     ros::ServiceServer release_recognizer_service_;
00096 
00098     dynamic_reconfigure::Server<ArucoMarkerRecognitionConfig> reconfigure_server_;
00099 
00101     ArucoMarkerRecognitionConfig config_;
00102 
00104     ros::ServiceClient object_mesh_service_client_;
00105 
00107     boost::shared_ptr<ApproximateSync> sync_policy_;
00108 
00110     MarkerDetection detector_;
00111 
00113     ros::Publisher left_markers_img_pub_;
00114     ros::Publisher right_markers_img_pub_;
00115     ros::Publisher vis_markers_pub_;
00116     ros::Publisher asr_objects_pub_;
00117 
00119     std::string recognizer_name_;
00120 
00122     bool recognition_paused_;
00123 
00124 
00131     bool processGetRecognizerRequest(GetRecognizer::Request &req, GetRecognizer::Response &res);
00132 
00139     bool processReleaseRecognizerRequest(ReleaseRecognizer::Request &req, ReleaseRecognizer::Response &res);
00140 
00148     void imageCallback(const sensor_msgs::ImageConstPtr& input_img_left, const sensor_msgs::ImageConstPtr& input_img_right, const sensor_msgs::CameraInfoConstPtr& cam_info_left, const sensor_msgs::CameraInfoConstPtr& cam_info_right);
00149 
00156     void configCallback(ArucoMarkerRecognitionConfig &config_, uint32_t level);
00157 
00164     cv::Mat drawMarkers(const cv::Mat &image, const std::vector<aruco::Marker> &markers);
00165 
00166     std::map<int, geometry_msgs::Pose> getMarkerPoses(const std::vector<aruco::Marker> &left_markers);
00167 
00175     std::map<int, geometry_msgs::Pose> getMarkerPoses(const std::vector<aruco::Marker> &left_markers, const std::vector<aruco::Marker> &right_markers, const ivt_bridge::IvtStereoCalibration &ivtCalib);
00176 
00177 
00185     visualization_msgs::Marker createSquareMarker(int id, const geometry_msgs::Pose &pose, const string &frame_id);
00186 
00195     visualization_msgs::Marker createArrowMarker(int id, const geometry_msgs::Pose &pose, const string &frame_id, bool isNsX = false);
00196 
00205     visualization_msgs::Marker createMeshMarker(int id, const geometry_msgs::Pose &pose, const std::string &mesh_res, const string &frame_id);
00206 
00215     asr_msgs::AsrObject createAsrObject(const geometry_msgs::Pose &pose, const std::string &object_type, const string &frame_id, const std::string &mesh_res = "");
00216 
00217 
00218 
00219 public:
00220 
00221 
00225     ArucoMarkerRecognition();
00226 };
00227 
00228 }
00229 
00230 
00231 #endif
00232 


asr_aruco_marker_recognition
Author(s): Allgeyer Tobias, Mei├čner Pascal, Qattan Mohamad
autogenerated on Thu Jun 6 2019 21:14:12