handeye_target_aruco.h

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/* Author: Yu Yan */
 
#pragma once
 
#include <vector>
#include <moveit/handeye_calibration_target/handeye_target_base.h>
 
// opencv
#include <opencv2/aruco.hpp>
 
namespace moveit_handeye_calibration
{
class HandEyeArucoTarget : public HandEyeTargetBase
{
public:
  HandEyeArucoTarget();
  ~HandEyeArucoTarget() = default;
 
  virtual bool initialize() override;
 
  virtual bool createTargetImage(cv::Mat& image) const override;
 
  virtual bool detectTargetPose(cv::Mat& image) override;
 
protected:
  virtual bool setTargetIntrinsicParams(int markers_x, int markers_y, int marker_size, int separation, int border_bits,
                                        const std::string& dictionary_id);
 
  virtual bool setTargetDimension(double marker_measured_size, double marker_measured_separation);
 
private:
  // Predefined dictionary map
  std::map<std::string, cv::aruco::PREDEFINED_DICTIONARY_NAME> marker_dictionaries_;
 
  // Target intrinsic params
  int markers_x_;                                        // Number of markers along X axis
  int markers_y_;                                        // Number of markers along Y axis
  int marker_size_;                                      // Marker size in pixels
  int separation_;                                       // Marker separation distance in pixels
  int border_bits_;                                      // Margin of boarder in bits
  cv::aruco::PREDEFINED_DICTIONARY_NAME dictionary_id_;  // Marker dictionary id
 
  // Target real dimensions in meters
  double marker_size_real_;        // Printed marker size
  double marker_separation_real_;  // Printed marker separation distance
 
  std::mutex aruco_mutex_;
};
 
}  // namespace moveit_handeye_calibration