marker_detection.h
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1 
18 #ifndef MARKER_DETECTION_H
19 #define MARKER_DETECTION_H
20 
21 #include "aruco/aruco.h"
22 #include <geometry_msgs/Pose.h>
23 #include <sensor_msgs/CameraInfo.h>
24 #include <asr_aruco_marker_recognition/ArucoMarkerRecognitionConfig.h>
25 
26 namespace aruco_marker_recognition {
27 
28 using namespace asr_aruco_marker_recognition;
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34 
35 
36 private:
37 
39  double DEFAULT_MARKER_SIZE = 0.1;
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42  double marker_size_;
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46 
49 
50 
51 public:
53  enum CameraId { cam_left, cam_right };
54 
58  MarkerDetection() : MarkerDetection(DEFAULT_MARKER_SIZE) {}
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64  MarkerDetection(double marker_size);
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72  std::vector<aruco::Marker> detect(const cv::Mat &image, CameraId id, const ArucoMarkerRecognitionConfig &config);
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79  void setCameraParameters(const sensor_msgs::CameraInfo &cam_params_left, const sensor_msgs::CameraInfo &cam_params_right);
80 };
81 
82 }
83 
84 
85 #endif
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This class is used to detect markers in an image using the aruco-library.
MarkerDetection()
The default constructor of this class.
Parameters of the camera.
static const double DEFAULT_MARKER_SIZE(0.05)


asr_aruco_marker_recognition
Author(s): Allgeyer Tobias, Meißner Pascal, Qattan Mohamad
autogenerated on Mon Feb 28 2022 21:41:30