Public Member Functions | Static Public Member Functions | Private Member Functions | Private Attributes | List of all members
aruco::BoardDetector Class Reference

This class detects AR boards Version 1.2 There are two modes for board detection. First, the old way. (You first detect markers with MarkerDetector and then call to detect in this class. More...

#include <boarddetector.h>

Public Member Functions

 BoardDetector (bool setYPerpendicular=false)
 
float detect (const cv::Mat &im) throw (cv::Exception)
 
float detect (const vector< Marker > &detectedMarkers, const BoardConfiguration &BConf, Board &Bdetected, cv::Mat camMatrix=cv::Mat(), cv::Mat distCoeff=cv::Mat(), float markerSizeMeters=-1) throw (cv::Exception)
 
float detect (const vector< Marker > &detectedMarkers, const BoardConfiguration &BConf, Board &Bdetected, const CameraParameters &cp, float markerSizeMeters=-1) throw (cv::Exception)
 
float get_repj_err_thres () const
 
BoardgetDetectedBoard ()
 
vector< Marker > & getDetectedMarkers ()
 
MarkerDetectorgetMarkerDetector ()
 
bool isYPerpendicular ()
 
void set_repj_err_thres (float Repj_err_thres)
 
void setParams (const BoardConfiguration &bc, const CameraParameters &cp, float markerSizeMeters=-1)
 
void setParams (const BoardConfiguration &bc)
 
void setYPerpendicular (bool enable)
 
void setYPerperdicular (bool enable)
 

Static Public Member Functions

static Board detect (const cv::Mat &Image, const BoardConfiguration &bc, const CameraParameters &cp, float markerSizeMeters=-1)
 

Private Member Functions

void rotateXAxis (cv::Mat &rotation)
 

Private Attributes

bool _areParamsSet
 
BoardConfiguration _bconf
 
Board _boardDetected
 
CameraParameters _camParams
 
float _markerSize
 
MarkerDetector _mdetector
 
bool _setYPerpendicular
 
vector< Marker_vmarkers
 
float repj_err_thres
 

Detailed Description

This class detects AR boards Version 1.2 There are two modes for board detection. First, the old way. (You first detect markers with MarkerDetector and then call to detect in this class.

Second: New mode, marker detection is included in the class

CameraParameters CP;
CP.readFromFile(path_cp)
BoardConfiguration BC;
BC.readFromFile(path_bc);
BD.setParams(BC,CP); //or only BD.setParams(BC)
//capture image
cv::Mat im;
capture_image(im);
float prob=BD.detect(im);
if (prob>0.3)
CvDrawingUtils::draw3DAxis(im,BD.getDetectedBoard(),CP);

Definition at line 64 of file boarddetector.h.

Constructor & Destructor Documentation

aruco::BoardDetector::BoardDetector ( bool  setYPerpendicular = false)

See discussion in

See also
enableRotateXAxis. Do not change unless you know what you are doing

Definition at line 41 of file boarddetector.cpp.

Member Function Documentation

float aruco::BoardDetector::detect ( const cv::Mat &  im)
throw (cv::Exception
)

Detect markers, and then, look for the board indicated in setParams()

Returns
value indicating the likelihood of having found the marker

Definition at line 68 of file boarddetector.cpp.

float aruco::BoardDetector::detect ( const vector< Marker > &  detectedMarkers,
const BoardConfiguration BConf,
Board Bdetected,
cv::Mat  camMatrix = cv::Mat(),
cv::Mat  distCoeff = cv::Mat(),
float  markerSizeMeters = -1 
)
throw (cv::Exception
)

Given the markers detected, determines if there is the board passed

Parameters
detectedMarkersresult provided by aruco::ArMarkerDetector
BConfthe board you want to see if is present
Bdetectedoutput information of the detected board
camMatrixcamera matrix with intrinsics
distCoeffcamera distorsion coeff
camMatrixintrinsic camera information.
distCoeffcamera distorsion coefficient. If set Mat() if is assumed no camera distorion
markerSizeMeterssize of the marker sides expressed in meters
Returns
value indicating the likelihood of having found the marker
float aruco::BoardDetector::detect ( const vector< Marker > &  detectedMarkers,
const BoardConfiguration BConf,
Board Bdetected,
const CameraParameters cp,
float  markerSizeMeters = -1 
)
throw (cv::Exception
)

Definition at line 83 of file boarddetector.cpp.

Board aruco::BoardDetector::detect ( const cv::Mat &  Image,
const BoardConfiguration bc,
const CameraParameters cp,
float  markerSizeMeters = -1 
)
static

Static version (all in one). Detects the board indicated

Parameters
Imageinput image
bcthe board you want to see if is present
cpcamera parameters
markerSizeMeterssize of the marker sides expressed in meters (not needed in the board is expressed in meters)
Returns
Board detected

Static version (all in one)

Definition at line 231 of file boarddetector.cpp.

float aruco::BoardDetector::get_repj_err_thres ( ) const
inline

Definition at line 134 of file boarddetector.h.

Board& aruco::BoardDetector::getDetectedBoard ( )
inline

Returns a reference to the board detected

Definition at line 84 of file boarddetector.h.

vector< Marker >& aruco::BoardDetector::getDetectedMarkers ( )
inline

Returns the vector of markers detected

Definition at line 90 of file boarddetector.h.

MarkerDetector& aruco::BoardDetector::getMarkerDetector ( )
inline

Returns a reference to the internal marker detector

Definition at line 87 of file boarddetector.h.

bool aruco::BoardDetector::isYPerpendicular ( )
inline

Definition at line 127 of file boarddetector.h.

void aruco::BoardDetector::rotateXAxis ( cv::Mat &  rotation)
private

Definition at line 213 of file boarddetector.cpp.

void aruco::BoardDetector::set_repj_err_thres ( float  Repj_err_thres)
inline

Sets the threshold for reprjection test. Pixels that after estimating the camera location projects 'repj_err_thres' pixels farther from its original location are discarded as outliers. By default it is set to -1, meaning that not reprojection test is performed

Definition at line 133 of file boarddetector.h.

void aruco::BoardDetector::setParams ( const BoardConfiguration bc,
const CameraParameters cp,
float  markerSizeMeters = -1 
)

Use if you plan to let this class to perform marker detection too

Definition at line 49 of file boarddetector.cpp.

void aruco::BoardDetector::setParams ( const BoardConfiguration bc)

Definition at line 59 of file boarddetector.cpp.

void aruco::BoardDetector::setYPerpendicular ( bool  enable)
inline

By default, the Y axis is set to point up. However this is not the default operation mode of opencv, which produces the Z axis pointing up instead. So, to achieve this change, we have to rotate the X axis.

Definition at line 125 of file boarddetector.h.

void aruco::BoardDetector::setYPerperdicular ( bool  enable)
inline

Definition at line 126 of file boarddetector.h.

Member Data Documentation

bool aruco::BoardDetector::_areParamsSet
private

Definition at line 142 of file boarddetector.h.

BoardConfiguration aruco::BoardDetector::_bconf
private

Definition at line 143 of file boarddetector.h.

Board aruco::BoardDetector::_boardDetected
private

Definition at line 144 of file boarddetector.h.

CameraParameters aruco::BoardDetector::_camParams
private

Definition at line 146 of file boarddetector.h.

float aruco::BoardDetector::_markerSize
private

Definition at line 145 of file boarddetector.h.

MarkerDetector aruco::BoardDetector::_mdetector
private

Definition at line 147 of file boarddetector.h.

bool aruco::BoardDetector::_setYPerpendicular
private

Definition at line 139 of file boarddetector.h.

vector< Marker > aruco::BoardDetector::_vmarkers
private

Definition at line 148 of file boarddetector.h.

float aruco::BoardDetector::repj_err_thres
private

Definition at line 145 of file boarddetector.h.


The documentation for this class was generated from the following files:


asr_aruco_marker_recognition
Author(s): Allgeyer Tobias, Mei├čner Pascal, Qattan Mohamad
autogenerated on Mon Jun 10 2019 12:40:22