Classes | Public Member Functions | Private Member Functions | Private Attributes | Static Private Attributes
aruco_mapping::ArucoMapping Class Reference

Client class for Aruco mapping. More...

#include <aruco_mapping.h>

List of all members.

Classes

struct  MarkerInfo
 Struct to keep marker information. More...

Public Member Functions

 ArucoMapping (ros::NodeHandle *nh)
 Construct a client for EZN64 USB control.
void imageCallback (const sensor_msgs::ImageConstPtr &original_image)
 Callback function to handle image processing.
 ~ArucoMapping ()

Private Member Functions

tf::Transform arucoMarker2Tf (const aruco::Marker &marker)
 Compute TF from marker detector result.
bool parseCalibrationFile (std::string filename)
 Function to parse data from calibration file.
bool processImage (cv::Mat input_image, cv::Mat output_image)
 Process actual image, detect markers and compute poses.
void publishMarker (geometry_msgs::Pose markerPose, int MarkerID, int rank)
 Function to publish all known markers for visualization purposes.
void publishTfs (bool world_option)
 Function to publish all known TFs.

Private Attributes

aruco::CameraParameters aruco_calib_params_
tf::TransformBroadcaster broadcaster_
std::string calib_filename_
int closest_camera_index_
bool first_marker_detected_
tf::TransformListenerlistener_
int lowest_marker_id_
int marker_counter_
int marker_counter_previous_
ros::Publisher marker_msg_pub_
 Publisher of aruco_mapping::ArucoMarker custom message.
float marker_size_
ros::Publisher marker_visualization_pub_
 Publisher of visualization_msgs::Marker message to "aruco_markers" topic.
std::vector< MarkerInfomarkers_
 Container holding MarkerInfo data about all detected markers.
int num_of_markers_
bool roi_allowed_
int roi_h_
int roi_w_
int roi_x_
int roi_y_
std::string space_type_
geometry_msgs::Pose world_position_geometry_msg_
 Actual Pose of camera with respect to world's origin.
tf::StampedTransform world_position_transform_
 Actual TF of camera with respect to world's origin.

Static Private Attributes

static const double BROADCAST_WAIT_INTERVAL = 0.0001
static const int CV_WAIT_KEY = 10
static const int CV_WINDOW_MARKER_LINE_WIDTH = 2
static const double INIT_MIN_SIZE_VALUE = 1000000
static const double RVIZ_MARKER_COLOR_A = 1.0
static const double RVIZ_MARKER_COLOR_B = 1.0
static const double RVIZ_MARKER_COLOR_G = 1.0
static const double RVIZ_MARKER_COLOR_R = 1.0
static const double RVIZ_MARKER_HEIGHT = 0.01
static const double RVIZ_MARKER_LIFETIME = 0.2
static const double THIS_IS_FIRST_MARKER = -2
static const double WAIT_FOR_TRANSFORM_INTERVAL = 2.0

Detailed Description

Client class for Aruco mapping.

Definition at line 67 of file aruco_mapping.h.


Constructor & Destructor Documentation

Construct a client for EZN64 USB control.

Definition at line 42 of file aruco_mapping.cpp.

Definition at line 108 of file aruco_mapping.cpp.


Member Function Documentation

Compute TF from marker detector result.

Definition at line 715 of file aruco_mapping.cpp.

void aruco_mapping::ArucoMapping::imageCallback ( const sensor_msgs::ImageConstPtr &  original_image)

Callback function to handle image processing.

Definition at line 159 of file aruco_mapping.cpp.

bool aruco_mapping::ArucoMapping::parseCalibrationFile ( std::string  filename) [private]

Function to parse data from calibration file.

Definition at line 114 of file aruco_mapping.cpp.

bool aruco_mapping::ArucoMapping::processImage ( cv::Mat  input_image,
cv::Mat  output_image 
) [private]

Process actual image, detect markers and compute poses.

Definition at line 190 of file aruco_mapping.cpp.

void aruco_mapping::ArucoMapping::publishMarker ( geometry_msgs::Pose  markerPose,
int  MarkerID,
int  rank 
) [private]

Function to publish all known markers for visualization purposes.

Definition at line 678 of file aruco_mapping.cpp.

void aruco_mapping::ArucoMapping::publishTfs ( bool  world_option) [private]

Function to publish all known TFs.

Definition at line 638 of file aruco_mapping.cpp.


Member Data Documentation

Definition at line 139 of file aruco_mapping.h.

const double aruco_mapping::ArucoMapping::BROADCAST_WAIT_INTERVAL = 0.0001 [static, private]

Definition at line 155 of file aruco_mapping.h.

Definition at line 148 of file aruco_mapping.h.

Definition at line 120 of file aruco_mapping.h.

Definition at line 143 of file aruco_mapping.h.

const int aruco_mapping::ArucoMapping::CV_WAIT_KEY = 10 [static, private]

Definition at line 151 of file aruco_mapping.h.

Definition at line 152 of file aruco_mapping.h.

Definition at line 145 of file aruco_mapping.h.

const double aruco_mapping::ArucoMapping::INIT_MIN_SIZE_VALUE = 1000000 [static, private]

Definition at line 156 of file aruco_mapping.h.

Definition at line 147 of file aruco_mapping.h.

Definition at line 144 of file aruco_mapping.h.

Definition at line 141 of file aruco_mapping.h.

Definition at line 142 of file aruco_mapping.h.

Publisher of aruco_mapping::ArucoMarker custom message.

Definition at line 111 of file aruco_mapping.h.

Definition at line 122 of file aruco_mapping.h.

Publisher of visualization_msgs::Marker message to "aruco_markers" topic.

Definition at line 108 of file aruco_mapping.h.

Container holding MarkerInfo data about all detected markers.

Definition at line 131 of file aruco_mapping.h.

Definition at line 123 of file aruco_mapping.h.

Definition at line 124 of file aruco_mapping.h.

Definition at line 128 of file aruco_mapping.h.

Definition at line 127 of file aruco_mapping.h.

Definition at line 125 of file aruco_mapping.h.

Definition at line 126 of file aruco_mapping.h.

const double aruco_mapping::ArucoMapping::RVIZ_MARKER_COLOR_A = 1.0 [static, private]

Definition at line 163 of file aruco_mapping.h.

const double aruco_mapping::ArucoMapping::RVIZ_MARKER_COLOR_B = 1.0 [static, private]

Definition at line 162 of file aruco_mapping.h.

const double aruco_mapping::ArucoMapping::RVIZ_MARKER_COLOR_G = 1.0 [static, private]

Definition at line 161 of file aruco_mapping.h.

const double aruco_mapping::ArucoMapping::RVIZ_MARKER_COLOR_R = 1.0 [static, private]

Definition at line 160 of file aruco_mapping.h.

const double aruco_mapping::ArucoMapping::RVIZ_MARKER_HEIGHT = 0.01 [static, private]

Definition at line 158 of file aruco_mapping.h.

const double aruco_mapping::ArucoMapping::RVIZ_MARKER_LIFETIME = 0.2 [static, private]

Definition at line 159 of file aruco_mapping.h.

Definition at line 121 of file aruco_mapping.h.

const double aruco_mapping::ArucoMapping::THIS_IS_FIRST_MARKER = -2 [static, private]

Definition at line 165 of file aruco_mapping.h.

const double aruco_mapping::ArucoMapping::WAIT_FOR_TRANSFORM_INTERVAL = 2.0 [static, private]

Definition at line 154 of file aruco_mapping.h.

Actual Pose of camera with respect to world's origin.

Definition at line 137 of file aruco_mapping.h.

Actual TF of camera with respect to world's origin.

Definition at line 134 of file aruco_mapping.h.


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


aruco_mapping
Author(s): Jan Bacik
autogenerated on Thu Jun 6 2019 21:48:04