This is the base class of the marker recognition system used for creating the ros environment and controlling the recognition processes. More...

#include <aruco_marker_recognition.h>

Public Member Functions
	ArucoMarkerRecognition ()
	The constructor of this class.
Private Member Functions
void	configCallback (ArucoMarkerRecognitionConfig &config_, uint32_t level)
	The callback function which is called when the configuration file has changed.
visualization_msgs::Marker	createArrowMarker (int id, const geometry_msgs::Pose &pose, const string &frame_id, bool isNsX=false)
	Create a ros marker from a given pose of a found marker.
asr_msgs::AsrObject	createAsrObject (const geometry_msgs::Pose &pose, const std::string &object_type, const string &frame_id, const std::string &mesh_res="")
	Create a asr_object from a given marker pose.
visualization_msgs::Marker	createMeshMarker (int id, const geometry_msgs::Pose &pose, const std::string &mesh_res, const string &frame_id)
	Create a ros marker from a given pose of a found marker.
visualization_msgs::Marker	createSquareMarker (int id, const geometry_msgs::Pose &pose, const string &frame_id)
	Create a ros marker from a given pose of a found marker.
cv::Mat	drawMarkers (const cv::Mat &image, const std::vector< aruco::Marker > &markers)
	Draws recognized markers and their id into an image.
std::map< int, geometry_msgs::Pose >	getMarkerPoses (const std::vector< aruco::Marker > &left_markers)
std::map< int, geometry_msgs::Pose >	getMarkerPoses (const std::vector< aruco::Marker > &left_markers, const std::vector< aruco::Marker > &right_markers, const ivt_bridge::IvtStereoCalibration &ivtCalib)
	Calculates poses from corresponding found markers of the right and left image.
void	imageCallback (const sensor_msgs::ImageConstPtr &input_img_left, const sensor_msgs::ImageConstPtr &input_img_right, const sensor_msgs::CameraInfoConstPtr &cam_info_left, const sensor_msgs::CameraInfoConstPtr &cam_info_right)
	The ros callback which is called when new images are received.
bool	processGetRecognizerRequest (GetRecognizer::Request &req, GetRecognizer::Response &res)
bool	processReleaseRecognizerRequest (ReleaseRecognizer::Request &req, ReleaseRecognizer::Response &res)
Private Attributes
ros::Publisher	asr_objects_pub_
ArucoMarkerRecognitionConfig	config_
MarkerDetection	detector_
ros::ServiceServer	get_recognizer_service_
std::string	image_left_cam_info_topic_
message_filters::Subscriber < sensor_msgs::CameraInfo >	image_left_param_sub_
message_filters::Subscriber < sensor_msgs::Image >	image_left_sub_
std::string	image_left_topic_
std::string	image_right_cam_info_topic_
message_filters::Subscriber < sensor_msgs::CameraInfo >	image_right_param_sub_
message_filters::Subscriber < sensor_msgs::Image >	image_right_sub_
std::string	image_right_topic_
ros::Publisher	left_markers_img_pub_
double	marker_size_
ros::NodeHandle	nh_
ros::ServiceClient	object_mesh_service_client_
bool	recognition_paused_
std::string	recognizer_name_
dynamic_reconfigure::Server < ArucoMarkerRecognitionConfig >	reconfigure_server_
ros::ServiceServer	release_recognizer_service_
ros::Publisher	right_markers_img_pub_
boost::shared_ptr < ApproximateSync >	sync_policy_
bool	use_stereo_
ros::Publisher	vis_markers_pub_

Detailed Description

This is the base class of the marker recognition system used for creating the ros environment and controlling the recognition processes.

Definition at line 62 of file aruco_marker_recognition.h.

Constructor & Destructor Documentation

aruco_marker_recognition::ArucoMarkerRecognition::ArucoMarkerRecognition ( )

The constructor of this class.

Definition at line 32 of file aruco_marker_recognition.cpp.

Member Function Documentation

void aruco_marker_recognition::ArucoMarkerRecognition::configCallback	(	ArucoMarkerRecognitionConfig &	config_,
		uint32_t	level
	)		`[private]`

The callback function which is called when the configuration file has changed.

Parameters:

config	The updated configuration
level	The level which is the result of ORing together all of level values of the parameters that have changed

Definition at line 183 of file aruco_marker_recognition.cpp.

visualization_msgs::Marker aruco_marker_recognition::ArucoMarkerRecognition::createArrowMarker	(	int	id,
		const geometry_msgs::Pose &	pose,
		const string &	frame_id,
		bool	isNsX = `false`
	)		`[private]`

Create a ros marker from a given pose of a found marker.

Parameters:

id	The id of the found marker
pose	The pose of the found marker
frame_id	The id of the frame the marker pose is relative to
isNsX	Determine if the ns is a "X" ns or not

Returns:: The created ros marker

Definition at line 346 of file aruco_marker_recognition.cpp.

asr_msgs::AsrObject aruco_marker_recognition::ArucoMarkerRecognition::createAsrObject	(	const geometry_msgs::Pose &	pose,
		const std::string &	object_type,
		const string &	frame_id,
		const std::string &	mesh_res = `""`
	)		`[private]`

Create a asr_object from a given marker pose.

Parameters:

pose	The pose of the marker
object_type	The type of the object corresponding to the found marker provided by the object_database
frame_id	The id of the frame the marker pose is relative to
mesh_res	The markers' corresponding mesh resource provided by the object_database

Returns:: The created asr_object

Definition at line 400 of file aruco_marker_recognition.cpp.

visualization_msgs::Marker aruco_marker_recognition::ArucoMarkerRecognition::createMeshMarker	(	int	id,
		const geometry_msgs::Pose &	pose,
		const std::string &	mesh_res,
		const string &	frame_id
	)		`[private]`

Create a ros marker from a given pose of a found marker.

Parameters:

id	The id of the found marker
pose	The pose of the found marker
mesh_res	The markers' corresponding mesh resource provided by the object_database
frame_id	The id of the frame the marker pose is relative to

Returns:: The created ros marker

Definition at line 377 of file aruco_marker_recognition.cpp.

visualization_msgs::Marker aruco_marker_recognition::ArucoMarkerRecognition::createSquareMarker	(	int	id,
		const geometry_msgs::Pose &	pose,
		const string &	frame_id
	)		`[private]`

Create a ros marker from a given pose of a found marker.

Parameters:

id	The id of the found marker
pose	The pose of the found marker
frame_id	The id of the frame the marker pose is relative to

Returns:: The created ros marker

Definition at line 325 of file aruco_marker_recognition.cpp.

cv::Mat aruco_marker_recognition::ArucoMarkerRecognition::drawMarkers	(	const cv::Mat &	image,
		const std::vector< aruco::Marker > &	markers
	)		`[private]`

Draws recognized markers and their id into an image.

Parameters:

image	The image to draw the markers into
markers	The markers to draw

Returns:: The input image with the drawn markers

Definition at line 187 of file aruco_marker_recognition.cpp.

std::map< int, geometry_msgs::Pose > aruco_marker_recognition::ArucoMarkerRecognition::getMarkerPoses ( const std::vector< aruco::Marker > & left_markers ) [private]

Definition at line 195 of file aruco_marker_recognition.cpp.

std::map< int, geometry_msgs::Pose > aruco_marker_recognition::ArucoMarkerRecognition::getMarkerPoses	(	const std::vector< aruco::Marker > &	left_markers,
		const std::vector< aruco::Marker > &	right_markers,
		const ivt_bridge::IvtStereoCalibration &	ivtCalib
	)		`[private]`

Calculates poses from corresponding found markers of the right and left image.

Parameters:

left_markers	The markers found in the left image
right_markers	The markers found in the right image
ivtCalib	The calibration information of the used stereo camera system

Returns:: A map containing pairs of marker ids and their found poses

Definition at line 237 of file aruco_marker_recognition.cpp.

void aruco_marker_recognition::ArucoMarkerRecognition::imageCallback	(	const sensor_msgs::ImageConstPtr &	input_img_left,
		const sensor_msgs::ImageConstPtr &	input_img_right,
		const sensor_msgs::CameraInfoConstPtr &	cam_info_left,
		const sensor_msgs::CameraInfoConstPtr &	cam_info_right
	)		`[private]`

The ros callback which is called when new images are received.

Parameters:

input_img_left	The image of the left camera
input_img_right	The image of the right camera
cam_info_left	The camera parameters of the left camera
cam_info_right	The camera parameters of the right camera

Definition at line 107 of file aruco_marker_recognition.cpp.

bool aruco_marker_recognition::ArucoMarkerRecognition::processGetRecognizerRequest	(	GetRecognizer::Request &	req,
		GetRecognizer::Response &	res
	)		`[private]`

Processes the request to recognize markers

Parameters:

req	The request message
res	The correlated response message

Returns:: True, to indicate that the request was successful

Definition at line 93 of file aruco_marker_recognition.cpp.

bool aruco_marker_recognition::ArucoMarkerRecognition::processReleaseRecognizerRequest	(	ReleaseRecognizer::Request &	req,
		ReleaseRecognizer::Response &	res
	)		`[private]`