markerdetector.h
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00001 /*****************************
00002 Copyright 2011 Rafael Muñoz Salinas. All rights reserved.
00003 
00004 Redistribution and use in source and binary forms, with or without modification, are
00005 permitted provided that the following conditions are met:
00006 
00007    1. Redistributions of source code must retain the above copyright notice, this list of
00008       conditions and the following disclaimer.
00009 
00010    2. Redistributions in binary form must reproduce the above copyright notice, this list
00011       of conditions and the following disclaimer in the documentation and/or other materials
00012       provided with the distribution.
00013 
00014 THIS SOFTWARE IS PROVIDED BY Rafael Muñoz Salinas ''AS IS'' AND ANY EXPRESS OR IMPLIED
00015 WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
00016 FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Rafael Muñoz Salinas OR
00017 CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00018 CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00019 SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
00020 ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
00021 NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
00022 ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00023 
00024 The views and conclusions contained in the software and documentation are those of the
00025 authors and should not be interpreted as representing official policies, either expressed
00026 or implied, of Rafael Muñoz Salinas.
00027 ********************************/
00028 #ifndef _ARUCO_MarkerDetector_H
00029 #define _ARUCO_MarkerDetector_H
00030 #include <opencv2/opencv.hpp>
00031 #include <cstdio>
00032 #include <iostream>
00033 #include <aruco/cameraparameters.h>
00034 #include <aruco/exports.h>
00035 #include <aruco/marker.h>
00036 using namespace std;
00037 
00038 namespace aruco
00039 {
00040 
00044 class ARUCO_EXPORTS  MarkerDetector
00045 {
00046   //Represent a candidate to be a maker
00047   class MarkerCandidate: public Marker{
00048   public:
00049     MarkerCandidate(): idx(-1) {}
00050     MarkerCandidate(const Marker &M): Marker(M), idx(-1) {}
00051     MarkerCandidate(const  MarkerCandidate &M): Marker(M), contour(M.contour), idx(M.idx) {}
00052     MarkerCandidate & operator=(const MarkerCandidate &M){
00053       Marker::operator=(M);
00054       contour=M.contour;
00055       idx=M.idx;
00056       return *this;
00057     }
00058     
00059     vector<cv::Point> contour;//all the points of its contour
00060     int idx;//index position in the global contour list
00061   };
00062 public:
00063 
00067     MarkerDetector();
00068 
00071     ~MarkerDetector();
00072 
00084     void detect(const cv::Mat &input, std::vector<Marker> &detectedMarkers, cv::Mat camMatrix=cv::Mat(), cv::Mat distCoeff=cv::Mat(), float markerSizeMeters=-1, bool setYPerpendicular=true) throw (cv::Exception);
00095     void detect(const cv::Mat &input, std::vector<Marker> &detectedMarkers, CameraParameters camParams, float markerSizeMeters=-1, bool setYPerpendicular=true) throw (cv::Exception);
00096 
00100     enum ThresholdMethods {FIXED_THRES,ADPT_THRES,CANNY};
00101 
00102 
00103 
00106     void setThresholdMethod(ThresholdMethods m) {
00107         _thresMethod=m;
00108     }
00111     ThresholdMethods getThresholdMethod()const {
00112         return _thresMethod;
00113     }
00120     void setThresholdParams(double param1,double param2) {
00121         _thresParam1=param1;
00122         _thresParam2=param2;
00123     }
00130     void getThresholdParams(double &param1,double &param2)const {
00131         param1=_thresParam1;
00132         param2=_thresParam2;
00133     }
00134 
00135 
00139     const cv::Mat & getThresholdedImage() {
00140         return thres;
00141     }
00144     enum CornerRefinementMethod {NONE,HARRIS,SUBPIX,LINES};
00147     void setCornerRefinementMethod(CornerRefinementMethod method) {
00148         _cornerMethod=method;
00149     }
00152     CornerRefinementMethod getCornerRefinementMethod()const {
00153         return _cornerMethod;
00154     }
00161     void setMinMaxSize(float min=0.03,float max=0.5)throw(cv::Exception);
00162     
00168     void getMinMaxSize(float &min,float &max){min=_minSize;max=_maxSize;}
00169     
00173     void enableErosion(bool enable){_doErosion=enable;}
00174 
00182     void setDesiredSpeed(int val);
00185     int getDesiredSpeed()const {
00186         return _speed;
00187     }
00188 
00204     void setMakerDetectorFunction(int (* markerdetector_func)(const cv::Mat &in,int &nRotations) ) {
00205         markerIdDetector_ptrfunc=markerdetector_func;
00206     }
00207 
00214     void pyrDown(unsigned int level){pyrdown_level=level;}
00215 
00220 
00224     void thresHold(int method,const cv::Mat &grey,cv::Mat &thresImg,double param1=-1,double param2=-1)throw(cv::Exception);
00229     void detectRectangles(const cv::Mat &thresImg,vector<std::vector<cv::Point2f> > & candidates);
00230 
00233     const vector<std::vector<cv::Point2f> > &getCandidates() {
00234         return _candidates;
00235     }
00236 
00244     bool warp(cv::Mat &in,cv::Mat &out,cv::Size size, std::vector<cv::Point2f> points)throw (cv::Exception);
00245     
00246     
00247     
00251     void refineCandidateLines(MarkerCandidate &candidate);    
00252     
00253     
00267     static void glGetProjectionMatrix( CameraParameters &  CamMatrix,cv::Size orgImgSize, cv::Size size,double proj_matrix[16],double gnear,double gfar,bool invert=false   )throw(cv::Exception);
00268 
00269 private:
00270 
00271     bool _enableCylinderWarp;
00272     bool warp_cylinder ( cv::Mat &in,cv::Mat &out,cv::Size size, MarkerCandidate& mc ) throw ( cv::Exception );
00277     void detectRectangles(const cv::Mat &thresImg,vector<MarkerCandidate> & candidates);
00278     //Current threshold method
00279     ThresholdMethods _thresMethod;
00280     //Threshold parameters
00281     double _thresParam1,_thresParam2;
00282     //Current corner method
00283     CornerRefinementMethod _cornerMethod;
00284     //minimum and maximum size of a contour lenght
00285     float _minSize,_maxSize;
00286     //Speed control
00287     int _speed;
00288     int _markerWarpSize;
00289     bool _doErosion;
00290     //vectr of candidates to be markers. This is a vector with a set of rectangles that have no valid id
00291     vector<std::vector<cv::Point2f> > _candidates;
00292     //level of image reduction
00293     int pyrdown_level;
00294     //Images
00295     cv::Mat grey,thres,thres2,reduced;
00296     //pointer to the function that analizes a rectangular region so as to detect its internal marker
00297     int (* markerIdDetector_ptrfunc)(const cv::Mat &in,int &nRotations);
00298 
00301     bool isInto(cv::Mat &contour,std::vector<cv::Point2f> &b);
00304     int perimeter(std::vector<cv::Point2f> &a);
00305 
00306     
00307 //     //GL routines
00308 // 
00309 //     static void argConvGLcpara2( double cparam[3][4], int width, int height, double gnear, double gfar, double m[16], bool invert )throw(cv::Exception);
00310 //     static int  arParamDecompMat( double source[3][4], double cpara[3][4], double trans[3][4] )throw(cv::Exception);
00311 //     static double norm( double a, double b, double c );
00312 //     static double dot(  double a1, double a2, double a3,
00313 //                         double b1, double b2, double b3 );
00314 // 
00315 
00316     //detection of the
00317     void findBestCornerInRegion_harris(const cv::Mat  & grey,vector<cv::Point2f> &  Corners,int blockSize);
00318    
00319     
00320     // auxiliar functions to perform LINES refinement
00321     void interpolate2Dline( const vector< cv::Point > &inPoints, cv::Point3f &outLine);
00322     cv::Point2f getCrossPoint(const cv::Point3f& line1, const cv::Point3f& line2);      
00323     
00324     
00330     template<typename T>
00331     void removeElements(vector<T> & vinout,const vector<bool> &toRemove)
00332     {
00333        //remove the invalid ones by setting the valid in the positions left by the invalids
00334       size_t indexValid=0;
00335       for (size_t i=0;i<toRemove.size();i++) {
00336         if (!toRemove[i]) {
00337             if (indexValid!=i) vinout[indexValid]=vinout[i];
00338             indexValid++;
00339         }
00340       }
00341       vinout.resize(indexValid);
00342     }
00343 
00344     //graphical debug
00345     void drawApproxCurve(cv::Mat &in,std::vector<cv::Point>  &approxCurve ,cv::Scalar color);
00346     void drawContour(cv::Mat &in,std::vector<cv::Point>  &contour,cv::Scalar  );
00347     void drawAllContours(cv::Mat input, std::vector<std::vector<cv::Point> > &contours);
00348     void draw(cv::Mat out,const std::vector<Marker> &markers );
00349 
00350 };
00351 
00352 
00353 
00354 
00355 };
00356 #endif


aruco
Author(s): Rafael Muñoz Salinas , Bence Magyar
autogenerated on Wed Jul 26 2017 02:17:20