Client class for Aruco mapping. More...

#include <aruco_mapping.h>

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

Public Member Functions
	ArucoMapping (ros::NodeHandle *nh)
	Construct a client for EZN64 USB control. More...

void	imageCallback (const sensor_msgs::ImageConstPtr &original_image)
	Callback function to handle image processing. More...

	~ArucoMapping ()

Private Member Functions
tf::Transform	arucoMarker2Tf (const aruco::Marker &marker)
	Compute TF from marker detector result. More...

bool	parseCalibrationFile (std::string filename)
	Function to parse data from calibration file. More...

bool	processImage (cv::Mat input_image, cv::Mat output_image)
	Process actual image, detect markers and compute poses. More...

void	publishMarker (geometry_msgs::Pose markerPose, int MarkerID, int rank)
	Function to publish all known markers for visualization purposes. More...

void	publishTfs (bool world_option)
	Function to publish all known TFs. More...

Private Attributes
aruco::CameraParameters	aruco_calib_params_

tf::TransformBroadcaster	broadcaster_

std::string	calib_filename_

int	closest_camera_index_

bool	first_marker_detected_

ros::Publisher	lidar_camera_calibration_rt
	Publisher of std::vector<double> message for tvec and rvec for lidar_camera_calibration. More...

tf::TransformListener *	listener_

int	lowest_marker_id_

int	marker_counter_

int	marker_counter_previous_

ros::Publisher	marker_msg_pub_
	Publisher of aruco_mapping::ArucoMarker custom message. More...

float	marker_size_

ros::Publisher	marker_visualization_pub_
	Publisher of visualization_msgs::Marker message to "aruco_markers" topic. More...

std::vector< MarkerInfo >	markers_
	Container holding MarkerInfo data about all detected markers. More...

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. More...

tf::StampedTransform	world_position_transform_
	Actual TF of camera with respect to world's origin. More...

Static Private Attributes
static constexpr double	BROADCAST_WAIT_INTERVAL = 0.0001

static const int	CV_WAIT_KEY = 10

static const int	CV_WINDOW_MARKER_LINE_WIDTH = 2

static constexpr double	INIT_MIN_SIZE_VALUE = 1000000

static constexpr double	RVIZ_MARKER_COLOR_A = 1.0

static constexpr double	RVIZ_MARKER_COLOR_B = 1.0

static constexpr double	RVIZ_MARKER_COLOR_G = 1.0

static constexpr double	RVIZ_MARKER_COLOR_R = 1.0

static constexpr double	RVIZ_MARKER_HEIGHT = 0.01

static constexpr double	RVIZ_MARKER_LIFETIME = 0.2

static constexpr double	THIS_IS_FIRST_MARKER = -2

static constexpr double	WAIT_FOR_TRANSFORM_INTERVAL = 2.0

Detailed Description

Client class for Aruco mapping.

Definition at line 70 of file aruco_mapping.h.

Constructor & Destructor Documentation

aruco_mapping::ArucoMapping::ArucoMapping ( ros::NodeHandle * nh )

Construct a client for EZN64 USB control.

Definition at line 43 of file aruco_mapping.cpp.

aruco_mapping::ArucoMapping::~ArucoMapping ( )

Definition at line 110 of file aruco_mapping.cpp.

Member Function Documentation

tf::Transform aruco_mapping::ArucoMapping::arucoMarker2Tf ( const aruco::Marker & marker )

private

Compute TF from marker detector result.

Definition at line 749 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 161 of file aruco_mapping.cpp.

bool aruco_mapping::ArucoMapping::parseCalibrationFile ( std::string filename )

private

Function to parse data from calibration file.

Definition at line 116 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 194 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 712 of file aruco_mapping.cpp.

void aruco_mapping::ArucoMapping::publishTfs ( bool world_option )

private

Function to publish all known TFs.

Definition at line 672 of file aruco_mapping.cpp.

Member Data Documentation

aruco::CameraParameters aruco_mapping::ArucoMapping::aruco_calib_params_

private

Definition at line 145 of file aruco_mapping.h.

constexpr double aruco_mapping::ArucoMapping::BROADCAST_WAIT_INTERVAL = 0.0001

staticprivate

Definition at line 161 of file aruco_mapping.h.

tf::TransformBroadcaster aruco_mapping::ArucoMapping::broadcaster_

private

Definition at line 154 of file aruco_mapping.h.

std::string aruco_mapping::ArucoMapping::calib_filename_

private

Definition at line 126 of file aruco_mapping.h.

int aruco_mapping::ArucoMapping::closest_camera_index_

private

Definition at line 149 of file aruco_mapping.h.

const int aruco_mapping::ArucoMapping::CV_WAIT_KEY = 10

staticprivate

Definition at line 157 of file aruco_mapping.h.

const int aruco_mapping::ArucoMapping::CV_WINDOW_MARKER_LINE_WIDTH = 2

staticprivate

Definition at line 158 of file aruco_mapping.h.

bool aruco_mapping::ArucoMapping::first_marker_detected_

private

Definition at line 151 of file aruco_mapping.h.

constexpr double aruco_mapping::ArucoMapping::INIT_MIN_SIZE_VALUE = 1000000

staticprivate

Definition at line 162 of file aruco_mapping.h.

ros::Publisher aruco_mapping::ArucoMapping::lidar_camera_calibration_rt

private

Publisher of std::vector<double> message for tvec and rvec for lidar_camera_calibration.

Definition at line 117 of file aruco_mapping.h.

tf::TransformListener* aruco_mapping::ArucoMapping::listener_

private

Definition at line 153 of file aruco_mapping.h.

int aruco_mapping::ArucoMapping::lowest_marker_id_

private

Definition at line 150 of file aruco_mapping.h.

int aruco_mapping::ArucoMapping::marker_counter_

private

Definition at line 147 of file aruco_mapping.h.

int aruco_mapping::ArucoMapping::marker_counter_previous_

private

Definition at line 148 of file aruco_mapping.h.

ros::Publisher aruco_mapping::ArucoMapping::marker_msg_pub_

private

Publisher of aruco_mapping::ArucoMarker custom message.

Definition at line 114 of file aruco_mapping.h.

float aruco_mapping::ArucoMapping::marker_size_

private

Definition at line 128 of file aruco_mapping.h.

ros::Publisher aruco_mapping::ArucoMapping::marker_visualization_pub_

private

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

Definition at line 111 of file aruco_mapping.h.

std::vector<MarkerInfo> aruco_mapping::ArucoMapping::markers_

private

Container holding MarkerInfo data about all detected markers.

Definition at line 137 of file aruco_mapping.h.

int aruco_mapping::ArucoMapping::num_of_markers_

private

Definition at line 129 of file aruco_mapping.h.

bool aruco_mapping::ArucoMapping::roi_allowed_

private

Definition at line 130 of file aruco_mapping.h.

int aruco_mapping::ArucoMapping::roi_h_

private

Definition at line 134 of file aruco_mapping.h.

int aruco_mapping::ArucoMapping::roi_w_

private

Definition at line 133 of file aruco_mapping.h.

int aruco_mapping::ArucoMapping::roi_x_

private

Definition at line 131 of file aruco_mapping.h.

int aruco_mapping::ArucoMapping::roi_y_

private

Definition at line 132 of file aruco_mapping.h.

constexpr double aruco_mapping::ArucoMapping::RVIZ_MARKER_COLOR_A = 1.0

staticprivate

Definition at line 169 of file aruco_mapping.h.

constexpr double aruco_mapping::ArucoMapping::RVIZ_MARKER_COLOR_B = 1.0

staticprivate

Definition at line 168 of file aruco_mapping.h.

constexpr double aruco_mapping::ArucoMapping::RVIZ_MARKER_COLOR_G = 1.0

staticprivate

Definition at line 167 of file aruco_mapping.h.

constexpr double aruco_mapping::ArucoMapping::RVIZ_MARKER_COLOR_R = 1.0

staticprivate

Definition at line 166 of file aruco_mapping.h.

constexpr double aruco_mapping::ArucoMapping::RVIZ_MARKER_HEIGHT = 0.01

staticprivate

Definition at line 164 of file aruco_mapping.h.

constexpr double aruco_mapping::ArucoMapping::RVIZ_MARKER_LIFETIME = 0.2

staticprivate

Definition at line 165 of file aruco_mapping.h.

std::string aruco_mapping::ArucoMapping::space_type_

private

Definition at line 127 of file aruco_mapping.h.

constexpr double aruco_mapping::ArucoMapping::THIS_IS_FIRST_MARKER = -2

staticprivate

Definition at line 171 of file aruco_mapping.h.

constexpr double aruco_mapping::ArucoMapping::WAIT_FOR_TRANSFORM_INTERVAL = 2.0

staticprivate

Definition at line 160 of file aruco_mapping.h.

geometry_msgs::Pose aruco_mapping::ArucoMapping::world_position_geometry_msg_

private

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

Definition at line 143 of file aruco_mapping.h.

tf::StampedTransform aruco_mapping::ArucoMapping::world_position_transform_

private

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

Definition at line 140 of file aruco_mapping.h.

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

Classes

Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation