aruco_marker_recognition::MarkerDetection Class Reference

This class is used to detect markers in an image using the aruco-library. More...

#include <marker_detection.h>

List of all members.

Public Types
enum	CameraId { cam_left, cam_right }
Public Member Functions
std::vector< aruco::Marker >	detect (const cv::Mat &image, CameraId id, const ArucoMarkerRecognitionConfig &config)
	Detects markers in the given image with the camera parameters of the camera with the given id.
	MarkerDetection ()
	The default constructor of this class.
	MarkerDetection (double marker_size)
	The constructor of this class.
void	setCameraParameters (const sensor_msgs::CameraInfo &cam_params_left, const sensor_msgs::CameraInfo &cam_params_right)
	Set the camera parameters of the two cameras.
Private Attributes
aruco::CameraParameters	cam_params_left_
aruco::CameraParameters	cam_params_right_
double	DEFAULT_MARKER_SIZE = 0.1
double	marker_size_

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Detailed Description

This class is used to detect markers in an image using the aruco-library.

Definition at line 33 of file marker_detection.h.

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Member Enumeration Documentation

enum aruco_marker_recognition::MarkerDetection::CameraId

An enum describing the ids of the two cameras

Enumerator:

cam_left
cam_right

Definition at line 53 of file marker_detection.h.

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Constructor & Destructor Documentation

aruco_marker_recognition::MarkerDetection::MarkerDetection

(

)

[inline]

The default constructor of this class.

Definition at line 58 of file marker_detection.h.

aruco_marker_recognition::MarkerDetection::MarkerDetection

(

double

marker_size

)

The constructor of this class.

Parameters:

marker_size

The size of the used markers in meters

Definition at line 26 of file marker_detection.cpp.

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Member Function Documentation

std::vector< aruco::Marker > aruco_marker_recognition::MarkerDetection::detect	(	const cv::Mat &	image,
		CameraId	id,
		const ArucoMarkerRecognitionConfig &	config
	)

Detects markers in the given image with the camera parameters of the camera with the given id.

Parameters:

image	The image the markers are detected in
id	The id of the camera the given image was fetched from (specified in the enum CameraId)

Returns:

A list containing the detected markers

Definition at line 30 of file marker_detection.cpp.

void aruco_marker_recognition::MarkerDetection::setCameraParameters	(	const sensor_msgs::CameraInfo &	cam_params_left,
		const sensor_msgs::CameraInfo &	cam_params_right
	)

Set the camera parameters of the two cameras.

Parameters:

cam_params_left	The parameters of the left camera
cam_params_right	The parameters of the right camera

Definition at line 73 of file marker_detection.cpp.

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Member Data Documentation

aruco::CameraParameters aruco_marker_recognition::MarkerDetection::cam_params_left_ [private]

The camera parameters of the left camera

Definition at line 45 of file marker_detection.h.

aruco::CameraParameters aruco_marker_recognition::MarkerDetection::cam_params_right_ [private]

The camera parameters of the right camera

Definition at line 48 of file marker_detection.h.

double aruco_marker_recognition::MarkerDetection::DEFAULT_MARKER_SIZE = 0.1 [private]

The default marker size in meters

Definition at line 39 of file marker_detection.h.

double aruco_marker_recognition::MarkerDetection::marker_size_ [private]

The custom marker size in meters

Definition at line 42 of file marker_detection.h.

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

• marker_detection.h
• marker_detection.cpp