Program Listing for File detector_impl.hpp
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// -*-c++-*---------------------------------------------------------------------------------------
// Copyright 2024 Bernd Pfrommer <bernd.pfrommer@gmail.com>
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef APRILTAG_DETECTOR_UMICH__DETECTOR_IMPL_HPP_
#define APRILTAG_DETECTOR_UMICH__DETECTOR_IMPL_HPP_
#include <apriltag_msgs/msg/april_tag_detection_array.hpp>
#include <rclcpp/rclcpp.hpp>
#include <string>
namespace cv
{
class Mat;
}
namespace apriltag_detector_umich
{
class DetectorImpl
{
public:
using ApriltagArray = apriltag_msgs::msg::AprilTagDetectionArray;
DetectorImpl();
~DetectorImpl();
void detect(const cv::Mat & imgMsg, ApriltagArray * tags);
void setFamily(const std::string & fam);
void setDecimateFactor(double);
void setQuadSigma(double);
void setNumberOfThreads(int);
void setMaxAllowedHammingDistance(int);
const std::string & getFamily() const { return (family_); }
private:
void makeDetector();
void destroyDetector();
void resetDetector();
// ------------------------ variables ------------------------------
std::string family_{"tf36h11"};
int max_allowed_hamming_distance_{0};
void * tag_family_{nullptr};
void * detector_{nullptr};
};
} // namespace apriltag_detector_umich
#endif // APRILTAG_DETECTOR_UMICH__DETECTOR_IMPL_HPP_