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. More...

Private Member Functions
void	configCallback (ArucoMarkerRecognitionConfig &config_, uint32_t level)
	The callback function which is called when the configuration file has changed. More...

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. More...

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. More...

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. More...

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. More...

cv::Mat	drawMarkers (const cv::Mat &image, const std::vector< aruco::Marker > &markers)
	Draws recognized markers and their id into an image. More...

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. More...

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. More...

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

Processes the request to stop the marker recognition

Parameters

req	The request message
res	The correlated response message

Returns: True, to indicate that the request was successful

Definition at line 100 of file aruco_marker_recognition.cpp.

Member Data Documentation

ros::Publisher aruco_marker_recognition::ArucoMarkerRecognition::asr_objects_pub_

private

Definition at line 116 of file aruco_marker_recognition.h.

ArucoMarkerRecognitionConfig aruco_marker_recognition::ArucoMarkerRecognition::config_

private

The configuration file containing the dynamic parameters of this system

Definition at line 101 of file aruco_marker_recognition.h.

MarkerDetection aruco_marker_recognition::ArucoMarkerRecognition::detector_

private

The detector used to recognize the markers in an image

Definition at line 110 of file aruco_marker_recognition.h.

ros::ServiceServer aruco_marker_recognition::ArucoMarkerRecognition::get_recognizer_service_

private

The servers of the provided services

Definition at line 94 of file aruco_marker_recognition.h.

std::string aruco_marker_recognition::ArucoMarkerRecognition::image_left_cam_info_topic_

private

The topic of the left camera parameters

Definition at line 76 of file aruco_marker_recognition.h.

message_filters::Subscriber<sensor_msgs::CameraInfo> aruco_marker_recognition::ArucoMarkerRecognition::image_left_param_sub_

private

Definition at line 90 of file aruco_marker_recognition.h.

message_filters::Subscriber<sensor_msgs::Image> aruco_marker_recognition::ArucoMarkerRecognition::image_left_sub_

private

The ros subscribers

Definition at line 88 of file aruco_marker_recognition.h.

std::string aruco_marker_recognition::ArucoMarkerRecognition::image_left_topic_

private

The topic of the left camera image

Definition at line 70 of file aruco_marker_recognition.h.

std::string aruco_marker_recognition::ArucoMarkerRecognition::image_right_cam_info_topic_

private

The topic of the right camera parameters

Definition at line 79 of file aruco_marker_recognition.h.

message_filters::Subscriber<sensor_msgs::CameraInfo> aruco_marker_recognition::ArucoMarkerRecognition::image_right_param_sub_

private

Definition at line 91 of file aruco_marker_recognition.h.

message_filters::Subscriber<sensor_msgs::Image> aruco_marker_recognition::ArucoMarkerRecognition::image_right_sub_

private

Definition at line 89 of file aruco_marker_recognition.h.

std::string aruco_marker_recognition::ArucoMarkerRecognition::image_right_topic_

private

The topic of the right camera image

Definition at line 73 of file aruco_marker_recognition.h.

ros::Publisher aruco_marker_recognition::ArucoMarkerRecognition::left_markers_img_pub_

private

The ros publishers

Definition at line 113 of file aruco_marker_recognition.h.

double aruco_marker_recognition::ArucoMarkerRecognition::marker_size_

private

The size of the used markers in meters

Definition at line 85 of file aruco_marker_recognition.h.

ros::NodeHandle aruco_marker_recognition::ArucoMarkerRecognition::nh_

private

Ros' interface for creating subscribers, publishers, etc.

Definition at line 82 of file aruco_marker_recognition.h.

ros::ServiceClient aruco_marker_recognition::ArucoMarkerRecognition::object_mesh_service_client_

private

The client used to contact the object database service

Definition at line 104 of file aruco_marker_recognition.h.

bool aruco_marker_recognition::ArucoMarkerRecognition::recognition_paused_

private

A bool value indicating whether the recognition is paused or running

Definition at line 122 of file aruco_marker_recognition.h.

std::string aruco_marker_recognition::ArucoMarkerRecognition::recognizer_name_

private

The name of this recognizer

Definition at line 119 of file aruco_marker_recognition.h.

dynamic_reconfigure::Server<ArucoMarkerRecognitionConfig> aruco_marker_recognition::ArucoMarkerRecognition::reconfigure_server_

private

Dynamic reconfigure server which keeps track of the callback function

Definition at line 98 of file aruco_marker_recognition.h.

ros::ServiceServer aruco_marker_recognition::ArucoMarkerRecognition::release_recognizer_service_

private

Definition at line 95 of file aruco_marker_recognition.h.

ros::Publisher aruco_marker_recognition::ArucoMarkerRecognition::right_markers_img_pub_

private

Definition at line 114 of file aruco_marker_recognition.h.

boost::shared_ptr<ApproximateSync> aruco_marker_recognition::ArucoMarkerRecognition::sync_policy_

private

The policy the subscribers are synced with

Definition at line 107 of file aruco_marker_recognition.h.

bool aruco_marker_recognition::ArucoMarkerRecognition::use_stereo_

private

Definition at line 67 of file aruco_marker_recognition.h.

ros::Publisher aruco_marker_recognition::ArucoMarkerRecognition::vis_markers_pub_

private

Definition at line 115 of file aruco_marker_recognition.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation