aruco_ros Namespace Reference

Functions
tf::Transform	arucoMarker2Tf (const aruco::Marker &marker)
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)
aruco::CameraParameters	rosCameraInfo2ArucoCamParams (const sensor_msgs::CameraInfo &cam_info, bool useRectifiedParameters)
	rosCameraInfo2ArucoCamParams gets the camera intrinsics from a CameraInfo message and copies them to aruco_ros own data structure More...
visualization_msgs::Marker	visMarkerFromPose (const geometry_msgs::PoseStamped &pose, double marker_size, int marker_id=1)

Function Documentation

arucoMarker2Tf()

tf::Transform aruco_ros::arucoMarker2Tf

(

const aruco::Marker &

marker

)

Definition at line 59 of file aruco_ros_utils.cpp.

arucoMarker2Tf2()

tf2::Transform aruco_ros::arucoMarker2Tf2

(

const aruco::Marker &

marker

)

Definition at line 71 of file aruco_ros_utils.cpp.

detectMarkers()

std::vector< aruco::Marker > aruco_ros::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
	)

Definition at line 90 of file aruco_ros_utils.cpp.

rosCameraInfo2ArucoCamParams()

aruco::CameraParameters aruco_ros::rosCameraInfo2ArucoCamParams	(	const sensor_msgs::CameraInfo &	cam_info,
		bool	useRectifiedParameters
	)

rosCameraInfo2ArucoCamParams gets the camera intrinsics from a CameraInfo message and copies them to aruco_ros own data structure

Parameters

cam_info
useRectifiedParameters	if true, the intrinsics are taken from cam_info.P and the distortion parameters are set to 0. Otherwise, cam_info.K and cam_info.D are taken.

Returns

Definition at line 9 of file aruco_ros_utils.cpp.

visMarkerFromPose()

visualization_msgs::Marker aruco_ros::visMarkerFromPose	(	const geometry_msgs::PoseStamped &	pose,
		double	marker_size,
		int	marker_id = 1
	)

Definition at line 125 of file aruco_ros_utils.cpp.