29 #include <opencv2/aruco.hpp>
36 #include <VisionX/interface/components/ArMarkerLocalizerInterface.h>
59 ,
virtual public ArMarkerLocalizerInterface
92 visionx::ArMarkerLocalizationResultList localizeAllMarkersInternal();
99 std::atomic<float> markerSize = 40.0;
100 int dictionary = cv::aruco::DICT_ARUCO_ORIGINAL;
102 std::string referenceFrame =
"DepthCamera";
103 std::string agentName =
"Armar6";
104 std::string imageProviderName =
"ImageProvider";
107 std::vector<float> extraDistortionCoeffs;
109 std::atomic_bool visuEnabled =
false;
121 CByteImage** cameraImages;
122 cv::Mat cameraMatrix, distortionCoeffs;
124 cv::Ptr<cv::aruco::DetectorParameters> arucoParameters =
new cv::aruco::DetectorParameters();
125 cv::Ptr<cv::aruco::Dictionary> arucoDictionary =
new cv::aruco::Dictionary();
127 std::mutex resultMutex;
128 visionx::ArMarkerLocalizationResultList lastLocalizationResult;