Program Listing for File aruco_ros_utils.hpp
↰ Return to documentation for file (include/aruco_ros/aruco_ros_utils.hpp
)
// NOLINT(legal/copyright)
#ifndef ARUCO_ROS__ARUCO_ROS_UTILS_HPP_
#define ARUCO_ROS__ARUCO_ROS_UTILS_HPP_
#include <vector>
#include "aruco/aruco.h"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "sensor_msgs/msg/camera_info.hpp"
#include "sensor_msgs/msg/image.hpp"
#include "tf2/LinearMath/Transform.h"
#include "tf2/transform_datatypes.h"
#include "visualization_msgs/msg/marker.hpp"
namespace aruco_ros
{
aruco::CameraParameters rosCameraInfo2ArucoCamParams(
const sensor_msgs::msg::CameraInfo & cam_info,
bool useRectifiedParameters);
tf2::Transform arucoMarker2Tf2(const aruco::Marker & marker);
std::vector<aruco::Marker> detectMarkers(
const cv::Mat & img,
const aruco::CameraParameters & cam_params,
float marker_size,
aruco::MarkerDetector * detector = nullptr,
bool normalize_ilumination = false, bool correct_fisheye = false);
visualization_msgs::msg::Marker visMarkerFromPose(
const geometry_msgs::msg::PoseStamped & pose,
double marker_size, int marker_id = 1);
} // namespace aruco_ros
#endif // ARUCO_ROS__ARUCO_ROS_UTILS_HPP_