FiducialsNode Class Reference

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
int	prev_detected_count
bool	publish_images
bool	publishFiducialTf
ros::ServiceServer	service_enable_detections
bool	verbose
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::FiducialsNode

(

)

Definition at line 591 of file aruco_detect.cpp.

Member Function Documentation

camInfoCallback()

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

private

Definition at line 307 of file aruco_detect.cpp.

configCallback()

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

private

Definition at line 257 of file aruco_detect.cpp.

enableDetectionsCallback()

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

private

Definition at line 573 of file aruco_detect.cpp.

estimatePoseSingleMarkers()

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 223 of file aruco_detect.cpp.

handleIgnoreString()

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

private

Definition at line 540 of file aruco_detect.cpp.

ignoreCallback()

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

private

Definition at line 300 of file aruco_detect.cpp.

imageCallback()

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

private

Definition at line 332 of file aruco_detect.cpp.

poseEstimateCallback()

void FiducialsNode::poseEstimateCallback ( const FiducialArrayConstPtr &  msg )

private

Definition at line 397 of file aruco_detect.cpp.

Member Data Documentation

broadcaster

tf2_ros::TransformBroadcaster FiducialsNode::broadcaster

private

Definition at line 86 of file aruco_detect.cpp.

callbackType

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

private

Definition at line 141 of file aruco_detect.cpp.

cameraMatrix

cv::Mat FiducialsNode::cameraMatrix

private

Definition at line 105 of file aruco_detect.cpp.

caminfo_sub

ros::Subscriber FiducialsNode::caminfo_sub

private

Definition at line 81 of file aruco_detect.cpp.

configServer

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

private

Definition at line 140 of file aruco_detect.cpp.

corners

vector<vector <Point2f> > FiducialsNode::corners

private

Definition at line 101 of file aruco_detect.cpp.

cv_ptr

cv_bridge::CvImagePtr FiducialsNode::cv_ptr

private

Definition at line 103 of file aruco_detect.cpp.

detectorParams

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

private

Definition at line 119 of file aruco_detect.cpp.

dictionary

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

private

Definition at line 120 of file aruco_detect.cpp.

distortionCoeffs

cv::Mat FiducialsNode::distortionCoeffs

private

Definition at line 106 of file aruco_detect.cpp.

doPoseEstimation

bool FiducialsNode::doPoseEstimation

private

Definition at line 98 of file aruco_detect.cpp.

enable_detections

bool FiducialsNode::enable_detections

private

Definition at line 92 of file aruco_detect.cpp.

fiducial_len

double FiducialsNode::fiducial_len

private

Definition at line 96 of file aruco_detect.cpp.

fiducialLens

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

private

Definition at line 110 of file aruco_detect.cpp.

frameId

std::string FiducialsNode::frameId

private

Definition at line 108 of file aruco_detect.cpp.

frameNum

int FiducialsNode::frameNum

private

Definition at line 107 of file aruco_detect.cpp.

haveCamInfo

bool FiducialsNode::haveCamInfo

private

Definition at line 99 of file aruco_detect.cpp.

ids

vector<int> FiducialsNode::ids

private

Definition at line 102 of file aruco_detect.cpp.

ignore_sub

ros::Subscriber FiducialsNode::ignore_sub

private

Definition at line 83 of file aruco_detect.cpp.

ignoreIds

std::vector<int> FiducialsNode::ignoreIds

private

Definition at line 109 of file aruco_detect.cpp.

image_pub

image_transport::Publisher FiducialsNode::image_pub

private

Definition at line 114 of file aruco_detect.cpp.

img_sub

image_transport::Subscriber FiducialsNode::img_sub

private

Definition at line 85 of file aruco_detect.cpp.

it

image_transport::ImageTransport FiducialsNode::it

private

Definition at line 84 of file aruco_detect.cpp.

nh

ros::NodeHandle FiducialsNode::nh

private

Definition at line 111 of file aruco_detect.cpp.

pnh

ros::NodeHandle FiducialsNode::pnh

private

Definition at line 112 of file aruco_detect.cpp.

pose_pub

ros::Publisher FiducialsNode::pose_pub

private

Definition at line 79 of file aruco_detect.cpp.

prev_detected_count

int FiducialsNode::prev_detected_count

private

Definition at line 117 of file aruco_detect.cpp.

publish_images

bool FiducialsNode::publish_images

private

Definition at line 91 of file aruco_detect.cpp.

publishFiducialTf

bool FiducialsNode::publishFiducialTf

private

Definition at line 100 of file aruco_detect.cpp.

service_enable_detections

ros::ServiceServer FiducialsNode::service_enable_detections

private

Definition at line 88 of file aruco_detect.cpp.

verbose

bool FiducialsNode::verbose

private

Definition at line 94 of file aruco_detect.cpp.

vertices_pub

ros::Publisher FiducialsNode::vertices_pub

private

Definition at line 78 of file aruco_detect.cpp.

vertices_sub

ros::Subscriber FiducialsNode::vertices_sub

private

Definition at line 82 of file aruco_detect.cpp.

vis_msgs

bool FiducialsNode::vis_msgs

private

Definition at line 93 of file aruco_detect.cpp.

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

• aruco_detect.cpp