Public Member Functions
	FiducialsNode ()

Private Member Functions
void	camInfoCallback (const sensor_msgs::CameraInfo::ConstPtr &msg)

void	configCallback (aruco_detect::DetectorParamsConfig &config, uint32_t level)

bool	enableDetectionsCallback (std_srvs::SetBool::Request &req, std_srvs::SetBool::Response &res)

void	estimatePoseSingleMarkers (float markerLength, const cv::Mat &cameraMatrix, const cv::Mat &distCoeffs, vector< Vec3d > &rvecs, vector< Vec3d > &tvecs, vector< double > &reprojectionError)

void	handleIgnoreString (const std::string &str)

void	ignoreCallback (const std_msgs::String &msg)

void	imageCallback (const sensor_msgs::ImageConstPtr &msg)

void	poseEstimateCallback (const FiducialArrayConstPtr &msg)

Private Attributes
tf2_ros::TransformBroadcaster	broadcaster

dynamic_reconfigure::Server< aruco_detect::DetectorParamsConfig >::CallbackType	callbackType

cv::Mat	cameraMatrix

ros::Subscriber	caminfo_sub

dynamic_reconfigure::Server< aruco_detect::DetectorParamsConfig >	configServer

vector< vector< Point2f > >	corners

cv_bridge::CvImagePtr	cv_ptr

cv::Ptr< aruco::DetectorParameters >	detectorParams

cv::Ptr< aruco::Dictionary >	dictionary

cv::Mat	distortionCoeffs

bool	doPoseEstimation

bool	enable_detections

double	fiducial_len

std::map< int, double >	fiducialLens

std::string	frameId

int	frameNum

bool	haveCamInfo

vector< int >	ids

ros::Subscriber	ignore_sub

std::vector< int >	ignoreIds

image_transport::Publisher	image_pub

image_transport::Subscriber	img_sub

image_transport::ImageTransport	it

ros::NodeHandle	nh

ros::NodeHandle	pnh

ros::Publisher	pose_pub

bool	publish_images

bool	publishFiducialTf

ros::ServiceServer	service_enable_detections

ros::Publisher	vertices_pub

ros::Subscriber	vertices_sub

bool	vis_msgs

Detailed Description

Definition at line 76 of file aruco_detect.cpp.

Constructor & Destructor Documentation

FiducialsNode::FiducialsNode ( )

Definition at line 570 of file aruco_detect.cpp.

Member Function Documentation

void FiducialsNode::camInfoCallback ( const sensor_msgs::CameraInfo::ConstPtr & msg )

private

Definition at line 303 of file aruco_detect.cpp.

void FiducialsNode::configCallback	(	aruco_detect::DetectorParamsConfig &	config,
		uint32_t	level
	)

private

Definition at line 253 of file aruco_detect.cpp.

bool FiducialsNode::enableDetectionsCallback	(	std_srvs::SetBool::Request &	req,
		std_srvs::SetBool::Response &	res
	)

private

Definition at line 552 of file aruco_detect.cpp.

void FiducialsNode::estimatePoseSingleMarkers	(	float	markerLength,
		const cv::Mat &	cameraMatrix,
		const cv::Mat &	distCoeffs,
		vector< Vec3d > &	rvecs,
		vector< Vec3d > &	tvecs,
		vector< double > &	reprojectionError
	)

private

Definition at line 219 of file aruco_detect.cpp.

void FiducialsNode::handleIgnoreString ( const std::string & str )

private

Definition at line 519 of file aruco_detect.cpp.

void FiducialsNode::ignoreCallback ( const std_msgs::String & msg )

private

Definition at line 296 of file aruco_detect.cpp.

void FiducialsNode::imageCallback ( const sensor_msgs::ImageConstPtr & msg )

private

Definition at line 328 of file aruco_detect.cpp.

void FiducialsNode::poseEstimateCallback ( const FiducialArrayConstPtr & msg )

private

Definition at line 384 of file aruco_detect.cpp.

Member Data Documentation

tf2_ros::TransformBroadcaster FiducialsNode::broadcaster

private

Definition at line 86 of file aruco_detect.cpp.

dynamic_reconfigure::Server<aruco_detect::DetectorParamsConfig>::CallbackType FiducialsNode::callbackType

private

Definition at line 137 of file aruco_detect.cpp.

cv::Mat FiducialsNode::cameraMatrix

private

Definition at line 104 of file aruco_detect.cpp.

ros::Subscriber FiducialsNode::caminfo_sub

private

Definition at line 81 of file aruco_detect.cpp.

dynamic_reconfigure::Server<aruco_detect::DetectorParamsConfig> FiducialsNode::configServer

private

Definition at line 136 of file aruco_detect.cpp.

vector<vector <Point2f> > FiducialsNode::corners

private

Definition at line 100 of file aruco_detect.cpp.

cv_bridge::CvImagePtr FiducialsNode::cv_ptr

private

Definition at line 102 of file aruco_detect.cpp.

cv::Ptr<aruco::DetectorParameters> FiducialsNode::detectorParams

private

Definition at line 115 of file aruco_detect.cpp.

cv::Ptr<aruco::Dictionary> FiducialsNode::dictionary

private

Definition at line 116 of file aruco_detect.cpp.

cv::Mat FiducialsNode::distortionCoeffs

private

Definition at line 105 of file aruco_detect.cpp.

bool FiducialsNode::doPoseEstimation

private

Definition at line 97 of file aruco_detect.cpp.

bool FiducialsNode::enable_detections

private

Definition at line 92 of file aruco_detect.cpp.

double FiducialsNode::fiducial_len

private

Definition at line 95 of file aruco_detect.cpp.

std::map<int, double> FiducialsNode::fiducialLens

private

Definition at line 109 of file aruco_detect.cpp.

std::string FiducialsNode::frameId

private

Definition at line 107 of file aruco_detect.cpp.

int FiducialsNode::frameNum

private

Definition at line 106 of file aruco_detect.cpp.

bool FiducialsNode::haveCamInfo

private

Definition at line 98 of file aruco_detect.cpp.

vector<int> FiducialsNode::ids

private

Definition at line 101 of file aruco_detect.cpp.

ros::Subscriber FiducialsNode::ignore_sub

private

Definition at line 83 of file aruco_detect.cpp.

std::vector<int> FiducialsNode::ignoreIds

private

Definition at line 108 of file aruco_detect.cpp.

image_transport::Publisher FiducialsNode::image_pub

private

Definition at line 113 of file aruco_detect.cpp.

image_transport::Subscriber FiducialsNode::img_sub

private

Definition at line 85 of file aruco_detect.cpp.

image_transport::ImageTransport FiducialsNode::it

private

Definition at line 84 of file aruco_detect.cpp.

ros::NodeHandle FiducialsNode::nh

private

Definition at line 110 of file aruco_detect.cpp.

ros::NodeHandle FiducialsNode::pnh

private

Definition at line 111 of file aruco_detect.cpp.

ros::Publisher FiducialsNode::pose_pub

private

Definition at line 79 of file aruco_detect.cpp.

bool FiducialsNode::publish_images

private

Definition at line 91 of file aruco_detect.cpp.

bool FiducialsNode::publishFiducialTf

private

Definition at line 99 of file aruco_detect.cpp.

ros::ServiceServer FiducialsNode::service_enable_detections

private

Definition at line 88 of file aruco_detect.cpp.

ros::Publisher FiducialsNode::vertices_pub

private

Definition at line 78 of file aruco_detect.cpp.

ros::Subscriber FiducialsNode::vertices_sub

private

Definition at line 82 of file aruco_detect.cpp.

bool FiducialsNode::vis_msgs

private

Definition at line 93 of file aruco_detect.cpp.

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

aruco_detect.cpp

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation