#include <handeye_target_aruco.h>

Inheritance diagram for moveit_handeye_calibration::HandEyeArucoTarget:

Public Member Functions
virtual bool	createTargetImage (cv::Mat &image) const override
	Create an target image, so that the target can be viewed and printed. More...

virtual bool	detectTargetPose (cv::Mat &image) override
	Given an image containing a target captured from a camera view point, get the target pose with respect to the camera optical frame. Target parameters and camera intrinsic parameters should be correctly set before calling this function. More...

	HandEyeArucoTarget ()

virtual bool	initialize () override
	Initialize handeye target. Call after setting the parameters. More...

	~HandEyeArucoTarget ()=default

Public Member Functions inherited from moveit_handeye_calibration::HandEyeTargetBase
virtual bool	areIntrinsicsReasonable ()
	Check that camera intrinsic parameters are reasonable. More...

geometry_msgs::Quaternion	convertToQuaternionROSMsg (const cv::Vec3d &input_rvect) const

geometry_msgs::Vector3	convertToVectorROSMsg (const cv::Vec3d &input_tvect) const

void	drawAxis (cv::InputOutputArray _image, cv::InputArray _cameraMatrix, cv::InputArray _distCoeffs, cv::InputArray _rvec, cv::InputArray _tvec, float length) const

virtual bool	getParameter (std::string name, double &value) const
	Get target parameter double value. More...

virtual bool	getParameter (std::string name, float &value) const
	Get target parameter float value. More...

virtual bool	getParameter (std::string name, int &value) const
	Get target parameter integer value. More...

virtual bool	getParameter (std::string name, std::string &value) const
	Get target parameter enum option, as string representation. More...

virtual std::vector< Parameter >	getParameters ()
	Get parameters relevant to this target. More...

virtual geometry_msgs::TransformStamped	getTransformStamped (const std::string &frame_id) const
	Get `TransformStamped` message from the target detection result, use for TF publish. More...

	HandEyeTargetBase ()

virtual bool	setCameraIntrinsicParams (const sensor_msgs::CameraInfoConstPtr &msg)
	Set camera intrinsic parameters, e.g. camera intrinsic matrix and distortion coefficients. More...

virtual bool	setParameter (std::string name, double value)
	Set target parameter to double value. More...

virtual bool	setParameter (std::string name, float value)
	Set target parameter to float value. More...

virtual bool	setParameter (std::string name, int value)
	Set target parameter to integer value. More...

virtual bool	setParameter (std::string name, std::string value)
	Set target enum parameter to option specified by string. More...

virtual	~HandEyeTargetBase ()=default

Protected Member Functions
virtual bool	setTargetDimension (double marker_measured_size, double marker_measured_separation)

virtual bool	setTargetIntrinsicParams (int markers_x, int markers_y, int marker_size, int separation, int border_bits, const std::string &dictionary_id)

Private Attributes
std::mutex	aruco_mutex_

int	border_bits_

cv::aruco::PREDEFINED_DICTIONARY_NAME	dictionary_id_

std::map< std::string, cv::aruco::PREDEFINED_DICTIONARY_NAME >	marker_dictionaries_

double	marker_separation_real_

int	marker_size_

double	marker_size_real_

int	markers_x_

int	markers_y_

int	separation_

Additional Inherited Members
Public Attributes inherited from moveit_handeye_calibration::HandEyeTargetBase
const std::map< std::string, std::size_t >	CAMERA_DISTORTION_MODELS_VECTOR_DIMENSIONS

const std::size_t	CAMERA_MATRIX_HEIGHT = 3

const std::size_t	CAMERA_MATRIX_VECTOR_DIMENSION = 9

const std::size_t	CAMERA_MATRIX_WIDTH = 3

const std::string	LOGNAME = "handeye_target_base"

Protected Attributes inherited from moveit_handeye_calibration::HandEyeTargetBase
std::mutex	base_mutex_

cv::Mat	camera_matrix_

cv::Mat	distortion_coeffs_

std::vector< Parameter >	parameters_

cv::Vec3d	rotation_vect_

bool	target_params_ready_

cv::Vec3d	translation_vect_

Detailed Description

Definition at line 79 of file handeye_target_aruco.h.

Constructor & Destructor Documentation

◆ HandEyeArucoTarget()

moveit_handeye_calibration::HandEyeArucoTarget::HandEyeArucoTarget ( )

Definition at line 84 of file handeye_target_aruco.cpp.

◆ ~HandEyeArucoTarget()

moveit_handeye_calibration::HandEyeArucoTarget::~HandEyeArucoTarget ( )

default

Member Function Documentation

◆ createTargetImage()

bool moveit_handeye_calibration::HandEyeArucoTarget::createTargetImage ( cv::Mat & image ) const

overridevirtual

Create an target image, so that the target can be viewed and printed.

Parameters

image Use for storing the created image.

Returns: True if no errors happen, false otherwise.

Implements moveit_handeye_calibration::HandEyeTargetBase.

Definition at line 176 of file handeye_target_aruco.cpp.

◆ detectTargetPose()

bool moveit_handeye_calibration::HandEyeArucoTarget::detectTargetPose ( cv::Mat & image )

overridevirtual

Given an image containing a target captured from a camera view point, get the target pose with respect to the camera optical frame. Target parameters and camera intrinsic parameters should be correctly set before calling this function.

Parameters

image Input image, assume a grayscale image.

Returns: True if no errors happen, false otherwise.

Implements moveit_handeye_calibration::HandEyeTargetBase.

Definition at line 201 of file handeye_target_aruco.cpp.

◆ initialize()

bool moveit_handeye_calibration::HandEyeArucoTarget::initialize ( )

overridevirtual

Initialize handeye target. Call after setting the parameters.

Returns: True if initialization was successful, false otherwise.

Implements moveit_handeye_calibration::HandEyeTargetBase.

Definition at line 101 of file handeye_target_aruco.cpp.

◆ setTargetDimension()

bool moveit_handeye_calibration::HandEyeArucoTarget::setTargetDimension	(	double	marker_measured_size,
		double	marker_measured_separation
	)

protectedvirtual

Definition at line 156 of file handeye_target_aruco.cpp.

◆ setTargetIntrinsicParams()

bool moveit_handeye_calibration::HandEyeArucoTarget::setTargetIntrinsicParams	(	int	markers_x,
		int	markers_y,
		int	marker_size,
		int	separation,
		int	border_bits,
		const std::string &	dictionary_id
	)

protectedvirtual

Definition at line 126 of file handeye_target_aruco.cpp.

Member Data Documentation

◆ aruco_mutex_

std::mutex moveit_handeye_calibration::HandEyeArucoTarget::aruco_mutex_

private

Definition at line 145 of file handeye_target_aruco.h.

◆ border_bits_

int moveit_handeye_calibration::HandEyeArucoTarget::border_bits_

private

Definition at line 138 of file handeye_target_aruco.h.

◆ dictionary_id_

cv::aruco::PREDEFINED_DICTIONARY_NAME moveit_handeye_calibration::HandEyeArucoTarget::dictionary_id_

private

Definition at line 139 of file handeye_target_aruco.h.

◆ marker_dictionaries_

std::map<std::string, cv::aruco::PREDEFINED_DICTIONARY_NAME> moveit_handeye_calibration::HandEyeArucoTarget::marker_dictionaries_

private

Definition at line 131 of file handeye_target_aruco.h.

◆ marker_separation_real_

double moveit_handeye_calibration::HandEyeArucoTarget::marker_separation_real_

private

Definition at line 143 of file handeye_target_aruco.h.

◆ marker_size_

int moveit_handeye_calibration::HandEyeArucoTarget::marker_size_

private

Definition at line 136 of file handeye_target_aruco.h.

◆ marker_size_real_

double moveit_handeye_calibration::HandEyeArucoTarget::marker_size_real_

private

Definition at line 142 of file handeye_target_aruco.h.

◆ markers_x_

int moveit_handeye_calibration::HandEyeArucoTarget::markers_x_

private

Definition at line 134 of file handeye_target_aruco.h.

◆ markers_y_

int moveit_handeye_calibration::HandEyeArucoTarget::markers_y_

private

Definition at line 135 of file handeye_target_aruco.h.

◆ separation_

int moveit_handeye_calibration::HandEyeArucoTarget::separation_

private

Definition at line 137 of file handeye_target_aruco.h.

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

Public Member Functions

Protected Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ HandEyeArucoTarget()

◆ ~HandEyeArucoTarget()

Member Function Documentation

◆ createTargetImage()

◆ detectTargetPose()

◆ initialize()

◆ setTargetDimension()

◆ setTargetIntrinsicParams()

Member Data Documentation

◆ aruco_mutex_

◆ border_bits_

◆ dictionary_id_

◆ marker_dictionaries_

◆ marker_separation_real_

◆ marker_size_

◆ marker_size_real_

◆ markers_x_

◆ markers_y_

◆ separation_