Class ArucoDetector

Inheritance Relationships

Base Type

  • public rclcpp::Node

Class Documentation

class ArucoDetector : public rclcpp::Node

Inheritance diagram for perseus_vision::ArucoDetector:

1 perseus_vision::ArucoDetector perseus_vision::ArucoDetector 2 rclcpp::Node rclcpp::Node 1->2 public-inheritance

Collaboration diagram for perseus_vision::ArucoDetector:

1 perseus_vision::ArucoDetector perseus_vision::ArucoDetector 2 rclcpp::Node rclcpp::Node 1->2 public-inheritance

ROS2 node for detecting ArUco markers and estimating their 6-DoF poses.

Subscribes to raw or compressed camera images, detects ArUco markers using OpenCV, estimates marker poses via cv::solvePnP, and optionally publishes TF transforms, detection messages, annotated debug images, and rviz visualization markers. Also provides a service interface for on-demand detection queries and image capture.

Public Types

using DetectObjects = perseus_interfaces::srv::DetectObjects

Public Functions

ArucoDetector()

Constructs the node, declaring parameters and setting up subscribers, publishers, and the detection service.