28 #include <experimental/memory>
30 #include <opencv2/aruco.hpp>
31 #include <VirtualRobot/VirtualRobot.h>
42 #include <VisionX/interface/components/ArMarkerLocalizerInterface.h>
65 ,
virtual public ArMarkerLocalizerInterface
100 visionx::ArMarkerLocalizationResultList localizeAllMarkersInternal();
107 std::atomic<float> markerSize = 40.0;
108 int dictionary = cv::aruco::DICT_ARUCO_ORIGINAL;
110 std::string referenceFrame =
"DepthCamera";
111 std::string agentName =
"Armar6";
112 std::string imageProviderName =
"ImageProvider";
114 std::size_t cameraIndex = 0;
117 std::vector<float> extraDistortionCoeffs;
119 std::atomic_bool visuEnabled =
false;
131 CByteImage** cameraImages;
132 cv::Mat cameraMatrix, distortionCoeffs;
134 cv::Ptr<cv::aruco::DetectorParameters> arucoParameters =
new cv::aruco::DetectorParameters();
135 cv::Ptr<cv::aruco::Dictionary> arucoDictionary =
new cv::aruco::Dictionary();
137 std::mutex resultMutex;
138 visionx::ArMarkerLocalizationResultList lastLocalizationResult;
141 template <
typename T>
144 template <
typename T>
147 obs_ptr<rw_plugin<armarx::armem::robot_state::VirtualRobotReader>> virtualRobotReaderPlugin =
151 VirtualRobot::RobotNodePtr referenceNode;