ar_sys Namespace Reference

Functions
aruco::CameraParameters	getCamParams (const sensor_msgs::CameraInfo &cam_info, bool useRectifiedParameters)
	getCamParams gets the camera intrinsics from a CameraInfo message and copies them to ar_sys own data structure
tf::Transform	getTf (const cv::Mat &Rvec, const cv::Mat &Tvec)
	getTf converts OpenCV coordinates to ROS Transform

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Function Documentation

aruco::CameraParameters ar_sys::getCamParams	(	const sensor_msgs::CameraInfo &	cam_info,
		bool	useRectifiedParameters
	)

getCamParams gets the camera intrinsics from a CameraInfo message and copies them to ar_sys 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 15 of file utils.cpp.

tf::Transform ar_sys::getTf	(	const cv::Mat &	Rvec,
		const cv::Mat &	Tvec
	)

getTf converts OpenCV coordinates to ROS Transform

Parameters:

Rvec
Tvec

Returns:

tf::Transform

/* Fixed the rotation to meet the ROS system /* Doing a basic rotation around X with theta=PI /* By Sahloul /* See http://en.wikipedia.org/wiki/Rotation_matrix for details

Definition at line 44 of file utils.cpp.