Program Listing for File track_marker.hpp
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#ifndef IMAGE_PROC__TRACK_MARKER_HPP_
#define IMAGE_PROC__TRACK_MARKER_HPP_
#include <memory>
#include <mutex>
#include <string>
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <image_transport/image_transport.hpp>
#include <opencv2/aruco.hpp>
#include <sensor_msgs/msg/camera_info.hpp>
#include <sensor_msgs/msg/image.hpp>
#include <rclcpp/rclcpp.hpp>
namespace image_proc
{
class TrackMarkerNode : public rclcpp::Node
{
public:
explicit TrackMarkerNode(const rclcpp::NodeOptions &);
private:
image_transport::CameraSubscriber sub_camera_;
int queue_size_;
int marker_id_;
double marker_size_;
std::string image_topic_;
rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr pub_;
cv::Ptr<cv::aruco::DetectorParameters> detector_params_;
cv::Ptr<cv::aruco::Dictionary> dictionary_;
void imageCb(
const sensor_msgs::msg::Image::ConstSharedPtr & image_msg,
const sensor_msgs::msg::CameraInfo::ConstSharedPtr & info_msg);
};
} // namespace image_proc
#endif // IMAGE_PROC__TRACK_MARKER_HPP_