This class represents a marker. It is a vector of the fours corners ot the marker. More...

#include <marker.h>

Inheritance diagram for aruco::Marker:

Public Member Functions
void	calculateExtrinsics (float markerSize, const CameraParameters &CP, bool setYPerperdicular=true) throw (cv::Exception)
void	calculateExtrinsics (float markerSize, cv::Mat CameraMatrix, cv::Mat Distorsion=cv::Mat(), bool setYPerperdicular=true) throw (cv::Exception)
void	draw (cv::Mat &in, cv::Scalar color, int lineWidth=1, bool writeId=true) const
void	draw_size (cv::Mat &in, cv::Scalar color, int lineWidth=1, bool writeId=true) const
float	getArea () const
cv::Point2f	getCenter () const
float	getPerimeter () const
void	glGetModelViewMatrix (double modelview_matrix[16]) throw (cv::Exception)
bool	isValid () const
	Marker ()
	Marker (const Marker &M)
	Marker (const std::vector< cv::Point2f > &corners, int _id=-1)
	Marker (const std::vector< cv::Point2f > &corners, int _id=-1, float _ssize=-1)
void	OgreGetPoseParameters (double position[3], double orientation[4]) throw (cv::Exception)
	~Marker ()
Public Attributes
int	id
cv::Point	marker_center_img
cv::Point3f	marker_world_position
cv::Mat	Rvec
float	ssize
cv::Mat	Tvec
Private Member Functions
void	rotateXAxis (cv::Mat &rotation)
Friends
bool	operator< (const Marker &M1, const Marker &M2)
ostream &	operator<< (ostream &str, const Marker &M)

Detailed Description

This class represents a marker. It is a vector of the fours corners ot the marker.

Definition at line 41 of file marker.h.

Constructor & Destructor Documentation

aruco::Marker::Marker ( )

Definition at line 38 of file marker.cpp.

aruco::Marker::Marker ( const Marker & M )

Copy_from constructer

Definition at line 50 of file marker.cpp.

aruco::Marker::Marker	(	const std::vector< cv::Point2f > &	corners,
		int	_id = `-1`
	)

Definition at line 62 of file marker.cpp.

aruco::Marker::Marker	(	const std::vector< cv::Point2f > &	corners,
		int	_id = `-1`,
		float	_ssize = `-1`
	)

(tc)

(tc) Constructer with marker size

Definition at line 77 of file marker.cpp.

aruco::Marker::~Marker ( ) [inline]

Definition at line 74 of file marker.h.

Member Function Documentation

void aruco::Marker::calculateExtrinsics	(	float	markerSize,
		const CameraParameters &	CP,
		bool	setYPerperdicular = `true`
	)		throw (cv::Exception)

Calculates the extrinsics (Rvec and Tvec) of the marker with respect to the camera

Parameters:

markerSize	size of the marker side expressed in meters
CP	parmeters of the camera
setYPerperdicular	If set the Y axis will be perpendicular to the surface. Otherwise, it will be the Z axis

Definition at line 297 of file marker.cpp.

void aruco::Marker::calculateExtrinsics	(	float	markerSize,
		cv::Mat	CameraMatrix,
		cv::Mat	Distorsion = `cv::Mat()`,
		bool	setYPerperdicular = `true`
	)		throw (cv::Exception)

Calculates the extrinsics (Rvec and Tvec) of the marker with respect to the camera

Parameters:

markerSize	size of the marker side expressed in meters
CameraMatrix	matrix with camera parameters (fx,fy,cx,cy)
Distorsion	matrix with distorsion parameters (k1,k2,p1,p2)
setYPerperdicular	If set the Y axis will be perpendicular to the surface. Otherwise, it will be the Z axis

Definition at line 308 of file marker.cpp.

void aruco::Marker::draw	(	cv::Mat &	in,
		cv::Scalar	color,
		int	lineWidth = `1`,
		bool	writeId = `true`
	)		const

Draws this marker in the input image

Definition at line 239 of file marker.cpp.

void aruco::Marker::draw_size	(	cv::Mat &	in,
		cv::Scalar	color,
		int	lineWidth = `1`,
		bool	writeId = `true`
	)		const

(tc) Draws this marker in the input image (with size)

Definition at line 268 of file marker.cpp.

float aruco::Marker::getArea ( ) const

Returns the area

Definition at line 388 of file marker.cpp.

cv::Point2f aruco::Marker::getCenter ( ) const

Returns the centroid of the marker

Definition at line 374 of file marker.cpp.

float aruco::Marker::getPerimeter ( ) const

Returns the perimeter of the marker

Definition at line 404 of file marker.cpp.

void aruco::Marker::glGetModelViewMatrix ( double modelview_matrix[16] ) throw (cv::Exception)

Given the extrinsic camera parameters returns the GL_MODELVIEW matrix for opengl. Setting this matrix, the reference coordinate system will be set in this marker

Definition at line 92 of file marker.cpp.

bool aruco::Marker::isValid ( ) const [inline]

Indicates if this object is valid

Definition at line 77 of file marker.h.

void aruco::Marker::OgreGetPoseParameters	(	double	position[3],
		double	orientation[4]
	)		throw (cv::Exception)

Returns position vector and orientation quaternion for an Ogre scene node or entity. Use: ... Ogre::Vector3 ogrePos (position[0], position[1], position[2]); Ogre::Quaternion ogreOrient (orientation[0], orientation[1], orientation[2], orientation[3]); mySceneNode->setPosition( ogrePos ); mySceneNode->setOrientation( ogreOrient ); ...

Definition at line 148 of file marker.cpp.

void aruco::Marker::rotateXAxis ( cv::Mat & rotation ) [private]

Definition at line 353 of file marker.cpp.