marker_creator.cpp
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00001 
00019 #include "marker_creator.h"
00020 #include <ros_uri/ros_uri.hpp>
00021 #include <iostream>
00022 #include <fstream>
00023 #include <string>
00024 #include <opencv2/highgui/highgui.hpp>
00025 #include "aruco/arucofidmarkers.h"
00026 
00027 namespace aruco_marker_recognition {
00028 
00029 MarkerCreator::MarkerCreator() : nh_(NODE_NAME) {
00030     ROS_DEBUG_STREAM("Initialize parameters");
00031 
00032     nh_.getParam("marker_ids", marker_ids_);
00033     nh_.getParam("marker_pixel_size", marker_pixel_size_);
00034     nh_.getParam("output_rel_path", output_rel_path_);
00035 
00036     ROS_DEBUG_STREAM("Initializing done");
00037 
00038     createMarkers();
00039 }
00040 
00041 void MarkerCreator::createMarkers() {
00042     ROS_DEBUG_STREAM("Creating markers");
00043     std::string output_path = ros::package::getPath(PACKAGE_NAME) + output_rel_path_;
00044 
00045     for (int id : marker_ids_) {
00046         if (id >= 0 && id <= 1023) {
00047             std::ofstream marker_file;
00048             std::string marker_path = output_path + "marker_" + std::to_string(id) + ".png";
00049             marker_file.open (marker_path);
00050             if (marker_file.is_open()) {
00051                 marker_file.close();
00052                 cv::Mat marker = aruco::FiducidalMarkers::createMarkerImage(id, marker_pixel_size_, true, false);
00053                 cv::imwrite(marker_path, marker);
00054             } else {
00055                 ROS_ERROR_STREAM("Could not find the given output directory");
00056                 break;
00057             }
00058         } else {
00059             ROS_ERROR_STREAM("Can't create a marker with id " << id << " (only ids from 0-1023 are allowed");
00060         }
00061     }
00062 
00063     ROS_DEBUG_STREAM("Marker creation completed");
00064 
00065 }
00066 
00067 }
00068 
00069 int main(int argc, char** argv) {
00070 
00071     ros::init(argc, argv, "marker_creator");
00072 
00073     aruco_marker_recognition::MarkerCreator marker_creator;
00074 
00075     return 0;
00076 }


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