#include <common_functions.h>

Public Member Functions
void	addImagePoints (apriltag_detection_t *detection, std::vector< cv::Point2d > &imagePoints) const

void	addObjectPoints (double s, cv::Matx44d T_oi, std::vector< cv::Point3d > &objectPoints) const

AprilTagDetectionArray	detectTags (const cv_bridge::CvImagePtr &image, const sensor_msgs::CameraInfoConstPtr &camera_info)

void	drawDetections (cv_bridge::CvImagePtr image)

bool	findStandaloneTagDescription (int id, StandaloneTagDescription *&descriptionContainer, bool printWarning=true)

bool	get_publish_tf () const

Eigen::Matrix4d	getRelativeTransform (std::vector< cv::Point3d > objectPoints, std::vector< cv::Point2d > imagePoints, double fx, double fy, double cx, double cy) const

geometry_msgs::PoseWithCovarianceStamped	makeTagPose (const Eigen::Matrix4d &transform, const Eigen::Quaternion< double > rot_quaternion, const std_msgs::Header &header)

std::map< int, StandaloneTagDescription >	parseStandaloneTags (XmlRpc::XmlRpcValue &standalone_tag_descriptions)

std::vector< TagBundleDescription >	parseTagBundles (XmlRpc::XmlRpcValue &tag_bundles)

	TagDetector (ros::NodeHandle pnh)

double	xmlRpcGetDouble (XmlRpc::XmlRpcValue &xmlValue, std::string field) const

double	xmlRpcGetDoubleWithDefault (XmlRpc::XmlRpcValue &xmlValue, std::string field, double defaultValue) const

	~TagDetector ()

Private Member Functions
void	removeDuplicates ()

Static Private Member Functions
static int	idComparison (const void first, const void second)

Private Attributes
double	blur_

std::string	camera_tf_frame_

int	debug_

double	decimate_

zarray_t *	detections_

std::string	family_

int	max_hamming_distance_ = 2

bool	publish_tf_

int	refine_edges_

bool	remove_duplicates_

bool	run_quietly_

std::map< int, StandaloneTagDescription >	standalone_tag_descriptions_

std::vector< TagBundleDescription >	tag_bundle_descriptions_

apriltag_detector_t *	td_

apriltag_family_t *	tf_

tf::TransformBroadcaster	tf_pub_

int	threads_

Detailed Description

Definition at line 155 of file common_functions.h.

Constructor & Destructor Documentation

apriltag_ros::TagDetector::TagDetector ( ros::NodeHandle pnh )

Definition at line 48 of file common_functions.cpp.

apriltag_ros::TagDetector::~TagDetector ( )

Definition at line 168 of file common_functions.cpp.

Member Function Documentation

void apriltag_ros::TagDetector::addImagePoints	(	apriltag_detection_t *	detection,
		std::vector< cv::Point2d > &	imagePoints
	)		const

Definition at line 471 of file common_functions.cpp.

void apriltag_ros::TagDetector::addObjectPoints	(	double	s,
		cv::Matx44d	T_oi,
		std::vector< cv::Point3d > &	objectPoints
	)		const

Definition at line 460 of file common_functions.cpp.

AprilTagDetectionArray apriltag_ros::TagDetector::detectTags	(	const cv_bridge::CvImagePtr &	image,
		const sensor_msgs::CameraInfoConstPtr &	camera_info
	)

Definition at line 210 of file common_functions.cpp.

void apriltag_ros::TagDetector::drawDetections ( cv_bridge::CvImagePtr image )

Definition at line 538 of file common_functions.cpp.

bool apriltag_ros::TagDetector::findStandaloneTagDescription	(	int	id,
		StandaloneTagDescription *&	descriptionContainer,
		bool	printWarning = `true`
	)

Definition at line 780 of file common_functions.cpp.

bool apriltag_ros::TagDetector::get_publish_tf ( ) const

inline

Definition at line 239 of file common_functions.h.

Eigen::Matrix4d apriltag_ros::TagDetector::getRelativeTransform	(	std::vector< cv::Point3d >	objectPoints,
		std::vector< cv::Point2d >	imagePoints,
		double	fx,
		double	fy,
		double	cx,
		double	cy
	)		const

Definition at line 491 of file common_functions.cpp.

int apriltag_ros::TagDetector::idComparison	(	const void *	first,
		const void *	second
	)

staticprivate

Definition at line 409 of file common_functions.cpp.

geometry_msgs::PoseWithCovarianceStamped apriltag_ros::TagDetector::makeTagPose	(	const Eigen::Matrix4d &	transform,
		const Eigen::Quaternion< double >	rot_quaternion,
		const std_msgs::Header &	header
	)

Definition at line 520 of file common_functions.cpp.

std::map< int, StandaloneTagDescription > apriltag_ros::TagDetector::parseStandaloneTags ( XmlRpc::XmlRpcValue & standalone_tag_descriptions )

Definition at line 602 of file common_functions.cpp.

std::vector< TagBundleDescription > apriltag_ros::TagDetector::parseTagBundles ( XmlRpc::XmlRpcValue & tag_bundles )

Definition at line 657 of file common_functions.cpp.

void apriltag_ros::TagDetector::removeDuplicates ( )

private

Definition at line 416 of file common_functions.cpp.

double apriltag_ros::TagDetector::xmlRpcGetDouble	(	XmlRpc::XmlRpcValue &	xmlValue,
		std::string	field
	)		const

Definition at line 740 of file common_functions.cpp.

double apriltag_ros::TagDetector::xmlRpcGetDoubleWithDefault	(	XmlRpc::XmlRpcValue &	xmlValue,
		std::string	field,
		double	defaultValue
	)		const

Definition at line 756 of file common_functions.cpp.

Member Data Documentation

double apriltag_ros::TagDetector::blur_

private

Definition at line 168 of file common_functions.h.

std::string apriltag_ros::TagDetector::camera_tf_frame_

private

Definition at line 187 of file common_functions.h.

int apriltag_ros::TagDetector::debug_

private

Definition at line 170 of file common_functions.h.

double apriltag_ros::TagDetector::decimate_

private

Definition at line 167 of file common_functions.h.

zarray_t* apriltag_ros::TagDetector::detections_

private

Definition at line 178 of file common_functions.h.

std::string apriltag_ros::TagDetector::family_

private

Definition at line 165 of file common_functions.h.

int apriltag_ros::TagDetector::max_hamming_distance_ = 2

private

Definition at line 171 of file common_functions.h.

bool apriltag_ros::TagDetector::publish_tf_

private

Definition at line 185 of file common_functions.h.

int apriltag_ros::TagDetector::refine_edges_

private

Definition at line 169 of file common_functions.h.

bool apriltag_ros::TagDetector::remove_duplicates_

private

Definition at line 183 of file common_functions.h.

bool apriltag_ros::TagDetector::run_quietly_

private

Definition at line 184 of file common_functions.h.

std::map<int, StandaloneTagDescription> apriltag_ros::TagDetector::standalone_tag_descriptions_

private

Definition at line 181 of file common_functions.h.

std::vector<TagBundleDescription > apriltag_ros::TagDetector::tag_bundle_descriptions_

private

Definition at line 182 of file common_functions.h.

apriltag_detector_t* apriltag_ros::TagDetector::td_

private

Definition at line 177 of file common_functions.h.

apriltag_family_t* apriltag_ros::TagDetector::tf_

private

Definition at line 176 of file common_functions.h.

tf::TransformBroadcaster apriltag_ros::TagDetector::tf_pub_

private

Definition at line 186 of file common_functions.h.

int apriltag_ros::TagDetector::threads_

private

Definition at line 166 of file common_functions.h.

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

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation