aruco_marker_recognition::MarkerDetection Class Reference

This class is used to detect markers in an image using the aruco-library. More...

#include <marker_detection.h>

Public Types
enum	CameraId { cam_left, cam_right }

Public Member Functions
std::vector< aruco::Marker >	detect (const cv::Mat &image, CameraId id, const ArucoMarkerRecognitionConfig &config)
	Detects markers in the given image with the camera parameters of the camera with the given id. More...
	MarkerDetection ()
	The default constructor of this class. More...
	MarkerDetection (double marker_size)
	The constructor of this class. More...
void	setCameraParameters (const sensor_msgs::CameraInfo &cam_params_left, const sensor_msgs::CameraInfo &cam_params_right)
	Set the camera parameters of the two cameras. More...

Private Attributes
aruco::CameraParameters	cam_params_left_
aruco::CameraParameters	cam_params_right_
double	DEFAULT_MARKER_SIZE = 0.1
double	marker_size_

Detailed Description

This class is used to detect markers in an image using the aruco-library.

Definition at line 33 of file marker_detection.h.

Member Enumeration Documentation

enum aruco_marker_recognition::MarkerDetection::CameraId

An enum describing the ids of the two cameras

Enumerator
cam_left
cam_right

Definition at line 53 of file marker_detection.h.

Constructor & Destructor Documentation

aruco_marker_recognition::MarkerDetection::MarkerDetection ( )

inline

The default constructor of this class.

Definition at line 58 of file marker_detection.h.

aruco_marker_recognition::MarkerDetection::MarkerDetection

(

double

marker_size

)

The constructor of this class.

Parameters

marker_size

The size of the used markers in meters

Definition at line 26 of file marker_detection.cpp.

Member Function Documentation

std::vector< aruco::Marker > aruco_marker_recognition::MarkerDetection::detect	(	const cv::Mat &	image,
		CameraId	id,
		const ArucoMarkerRecognitionConfig &	config
	)

Detects markers in the given image with the camera parameters of the camera with the given id.

Parameters

image	The image the markers are detected in
id	The id of the camera the given image was fetched from (specified in the enum CameraId)

Returns

A list containing the detected markers

Definition at line 30 of file marker_detection.cpp.

void aruco_marker_recognition::MarkerDetection::setCameraParameters	(	const sensor_msgs::CameraInfo &	cam_params_left,
		const sensor_msgs::CameraInfo &	cam_params_right
	)

Set the camera parameters of the two cameras.

Parameters

cam_params_left	The parameters of the left camera
cam_params_right	The parameters of the right camera

Definition at line 73 of file marker_detection.cpp.

Member Data Documentation

aruco::CameraParameters aruco_marker_recognition::MarkerDetection::cam_params_left_

private

The camera parameters of the left camera

Definition at line 45 of file marker_detection.h.

aruco::CameraParameters aruco_marker_recognition::MarkerDetection::cam_params_right_

private

The camera parameters of the right camera

Definition at line 48 of file marker_detection.h.

double aruco_marker_recognition::MarkerDetection::DEFAULT_MARKER_SIZE = 0.1

private

The default marker size in meters

Definition at line 39 of file marker_detection.h.

double aruco_marker_recognition::MarkerDetection::marker_size_

private

The custom marker size in meters

Definition at line 42 of file marker_detection.h.

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

• marker_detection.h
• marker_detection.cpp