marker_detection.h
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00001 
00018 #ifndef MARKER_DETECTION_H
00019 #define MARKER_DETECTION_H
00020 
00021 #include "aruco/aruco.h"
00022 #include <geometry_msgs/Pose.h>
00023 #include <sensor_msgs/CameraInfo.h>
00024 #include <asr_aruco_marker_recognition/ArucoMarkerRecognitionConfig.h>
00025 
00026 namespace aruco_marker_recognition {
00027 
00028 using namespace asr_aruco_marker_recognition;
00029 
00033 class MarkerDetection {
00034 
00035 
00036 private:
00037 
00039     double DEFAULT_MARKER_SIZE = 0.1;
00040 
00042     double marker_size_;
00043 
00045     aruco::CameraParameters cam_params_left_;
00046 
00048     aruco::CameraParameters cam_params_right_;
00049 
00050 
00051 public:
00053     enum CameraId { cam_left, cam_right };
00054 
00058     MarkerDetection() : MarkerDetection(DEFAULT_MARKER_SIZE) {}
00059 
00064     MarkerDetection(double marker_size);
00065 
00072     std::vector<aruco::Marker> detect(const cv::Mat &image, CameraId id, const ArucoMarkerRecognitionConfig &config);
00073 
00079     void setCameraParameters(const sensor_msgs::CameraInfo &cam_params_left, const sensor_msgs::CameraInfo &cam_params_right);
00080 };
00081 
00082 }
00083 
00084 
00085 #endif
00086 
00087 


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