marker_detection.h

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#ifndef MARKER_DETECTION_H
#define MARKER_DETECTION_H

#include "aruco/aruco.h"
#include <geometry_msgs/Pose.h>
#include <sensor_msgs/CameraInfo.h>
#include <asr_aruco_marker_recognition/ArucoMarkerRecognitionConfig.h>

namespace aruco_marker_recognition {

using namespace asr_aruco_marker_recognition;

class MarkerDetection {


private:

    double DEFAULT_MARKER_SIZE = 0.1;

    double marker_size_;

    aruco::CameraParameters cam_params_left_;

    aruco::CameraParameters cam_params_right_;


public:
    enum CameraId { cam_left, cam_right };

    MarkerDetection() : MarkerDetection(DEFAULT_MARKER_SIZE) {}

    MarkerDetection(double marker_size);

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

    void setCameraParameters(const sensor_msgs::CameraInfo &cam_params_left, const sensor_msgs::CameraInfo &cam_params_right);
};

}


#endif