#include <handeye_target_charuco.h>

Inheritance diagram for moveit_handeye_calibration::HandEyeCharucoTarget:

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...

	HandEyeCharucoTarget ()

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

	~HandEyeCharucoTarget ()=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 board_size_meters, double marker_size_meters)

virtual bool	setTargetIntrinsicParams (int markers_x, int markers_y, int marker_size_pixels, int square_size_pixels, int border_size_bits, int margin_size_pixels, const std::string &dictionary_id)

Private Attributes
double	board_size_meters_

int	border_size_bits_

std::mutex	charuco_mutex_

cv::aruco::PREDEFINED_DICTIONARY_NAME	dictionary_id_

int	margin_size_pixels_

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

double	marker_size_meters_

int	marker_size_pixels_

int	square_size_pixels_

int	squares_x_

int	squares_y_

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_charuco.h.

Constructor & Destructor Documentation

◆ HandEyeCharucoTarget()

moveit_handeye_calibration::HandEyeCharucoTarget::HandEyeCharucoTarget ( )

Definition at line 84 of file handeye_target_charuco.cpp.

◆ ~HandEyeCharucoTarget()

moveit_handeye_calibration::HandEyeCharucoTarget::~HandEyeCharucoTarget ( )

default

Member Function Documentation

◆ createTargetImage()

bool moveit_handeye_calibration::HandEyeCharucoTarget::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 186 of file handeye_target_charuco.cpp.

◆ detectTargetPose()

bool moveit_handeye_calibration::HandEyeCharucoTarget::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 213 of file handeye_target_charuco.cpp.

◆ initialize()

bool moveit_handeye_calibration::HandEyeCharucoTarget::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 102 of file handeye_target_charuco.cpp.

◆ setTargetDimension()

bool moveit_handeye_calibration::HandEyeCharucoTarget::setTargetDimension	(	double	board_size_meters,
		double	marker_size_meters
	)

protectedvirtual

Definition at line 163 of file handeye_target_charuco.cpp.

◆ setTargetIntrinsicParams()

bool moveit_handeye_calibration::HandEyeCharucoTarget::setTargetIntrinsicParams	(	int	markers_x,
		int	markers_y,
		int	marker_size_pixels,
		int	square_size_pixels,
		int	border_size_bits,
		int	margin_size_pixels,
		const std::string &	dictionary_id
	)

protectedvirtual

Definition at line 129 of file handeye_target_charuco.cpp.

Member Data Documentation

◆ board_size_meters_

double moveit_handeye_calibration::HandEyeCharucoTarget::board_size_meters_

private

Definition at line 143 of file handeye_target_charuco.h.

◆ border_size_bits_

int moveit_handeye_calibration::HandEyeCharucoTarget::border_size_bits_

private

Definition at line 138 of file handeye_target_charuco.h.

◆ charuco_mutex_

std::mutex moveit_handeye_calibration::HandEyeCharucoTarget::charuco_mutex_

private

Definition at line 146 of file handeye_target_charuco.h.

◆ dictionary_id_

cv::aruco::PREDEFINED_DICTIONARY_NAME moveit_handeye_calibration::HandEyeCharucoTarget::dictionary_id_

private

Definition at line 140 of file handeye_target_charuco.h.

◆ margin_size_pixels_

int moveit_handeye_calibration::HandEyeCharucoTarget::margin_size_pixels_

private

Definition at line 139 of file handeye_target_charuco.h.

◆ marker_dictionaries_

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

private

Definition at line 131 of file handeye_target_charuco.h.

◆ marker_size_meters_

double moveit_handeye_calibration::HandEyeCharucoTarget::marker_size_meters_

private

Definition at line 144 of file handeye_target_charuco.h.

◆ marker_size_pixels_

int moveit_handeye_calibration::HandEyeCharucoTarget::marker_size_pixels_

private

Definition at line 136 of file handeye_target_charuco.h.

◆ square_size_pixels_

int moveit_handeye_calibration::HandEyeCharucoTarget::square_size_pixels_

private

Definition at line 137 of file handeye_target_charuco.h.

◆ squares_x_

int moveit_handeye_calibration::HandEyeCharucoTarget::squares_x_

private

Definition at line 134 of file handeye_target_charuco.h.

◆ squares_y_

int moveit_handeye_calibration::HandEyeCharucoTarget::squares_y_

private

Definition at line 135 of file handeye_target_charuco.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

◆ HandEyeCharucoTarget()

◆ ~HandEyeCharucoTarget()

Member Function Documentation

◆ createTargetImage()

◆ detectTargetPose()

◆ initialize()

◆ setTargetDimension()

◆ setTargetIntrinsicParams()

Member Data Documentation

◆ board_size_meters_

◆ border_size_bits_

◆ charuco_mutex_

◆ dictionary_id_

◆ margin_size_pixels_

◆ marker_dictionaries_

◆ marker_size_meters_

◆ marker_size_pixels_

◆ square_size_pixels_

◆ squares_x_

◆ squares_y_