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aruco::MarkerDetector Class Reference

Main class for marker detection. More...

#include <markerdetector.h>

Classes

class  MarkerCandidate
 

Public Types

enum  CornerRefinementMethod { NONE, HARRIS, SUBPIX, LINES }
 
enum  ThresholdMethods { FIXED_THRES, ADPT_THRES, CANNY }
 

Public Member Functions

void detect (const cv::Mat &input, std::vector< Marker > &detectedMarkers, cv::Mat camMatrix=cv::Mat(), cv::Mat distCoeff=cv::Mat(), float markerSizeMeters=-1, bool setYPerperdicular=false) throw (cv::Exception)
 
void detect (const cv::Mat &input, std::vector< Marker > &detectedMarkers, CameraParameters camParams, float markerSizeMeters=-1, bool setYPerperdicular=false) throw (cv::Exception)
 
void detectRectangles (const cv::Mat &thresImg, vector< std::vector< cv::Point2f > > &candidates)
 
void enableErosion (bool enable)
 
void enableLockedCornersMethod (bool enable)
 
const vector< std::vector< cv::Point2f > > & getCandidates ()
 
CornerRefinementMethod getCornerRefinementMethod () const
 
int getDesiredSpeed () const
 
void getMinMaxSize (float &min, float &max)
 
const cv::Mat & getThresholdedImage ()
 
ThresholdMethods getThresholdMethod () const
 
void getThresholdParams (double &param1, double &param2) const
 
int getWarpSize () const
 
 MarkerDetector ()
 
void pyrDown (unsigned int level)
 
void refineCandidateLines (MarkerCandidate &candidate, const cv::Mat &camMatrix, const cv::Mat &distCoeff)
 
void setCornerRefinementMethod (CornerRefinementMethod method)
 
void setDesiredSpeed (int val)
 
void setMakerDetectorFunction (int(*markerdetector_func)(const cv::Mat &in, int &nRotations))
 
void setMinMaxSize (float min=0.03, float max=0.5) throw (cv::Exception)
 
void setThresholdMethod (ThresholdMethods m)
 
void setThresholdParamRange (size_t r1=0, size_t r2=0)
 
void setThresholdParams (double param1, double param2)
 
void setWarpSize (int val) throw (cv::Exception)
 
void thresHold (int method, const cv::Mat &grey, cv::Mat &thresImg, double param1=-1, double param2=-1) throw (cv::Exception)
 
bool warp (cv::Mat &in, cv::Mat &out, cv::Size size, std::vector< cv::Point2f > points) throw (cv::Exception)
 
 ~MarkerDetector ()
 

Static Public Member Functions

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)
 

Private Member Functions

void detectRectangles (vector< cv::Mat > &vimages, vector< MarkerCandidate > &candidates)
 
void distortPoints (vector< cv::Point2f > in, vector< cv::Point2f > &out, const cv::Mat &camMatrix, const cv::Mat &distCoeff)
 
void draw (cv::Mat out, const std::vector< Marker > &markers)
 
void drawAllContours (cv::Mat input, std::vector< std::vector< cv::Point > > &contours)
 
void drawApproxCurve (cv::Mat &in, std::vector< cv::Point > &approxCurve, cv::Scalar color)
 
void drawContour (cv::Mat &in, std::vector< cv::Point > &contour, cv::Scalar)
 
void findBestCornerInRegion_harris (const cv::Mat &grey, vector< cv::Point2f > &Corners, int blockSize)
 
void findCornerMaxima (vector< cv::Point2f > &Corners, const cv::Mat &grey, int wsize)
 
cv::Point2f getCrossPoint (const cv::Point3f &line1, const cv::Point3f &line2)
 
void interpolate2Dline (const vector< cv::Point2f > &inPoints, cv::Point3f &outLine)
 
bool isInto (cv::Mat &contour, std::vector< cv::Point2f > &b)
 
template<typename T >
void joinVectors (vector< vector< T > > &vv, vector< T > &v, bool clearv=false)
 
int perimeter (std::vector< cv::Point2f > &a)
 
template<typename T >
void removeElements (vector< T > &vinout, const vector< bool > &toRemove)
 
bool warp_cylinder (cv::Mat &in, cv::Mat &out, cv::Size size, MarkerCandidate &mc) throw (cv::Exception)
 

Private Attributes

float _borderDistThres
 
vector< std::vector< cv::Point2f > > _candidates
 
CornerRefinementMethod _cornerMethod
 
int _markerWarpSize
 
float _maxSize
 
float _minSize
 
int _speed
 
ThresholdMethods _thresMethod
 
double _thresParam1
 
double _thresParam1_range
 
double _thresParam2
 
bool _useLockedCorners
 
cv::Mat grey
 
int(* markerIdDetector_ptrfunc )(const cv::Mat &in, int &nRotations)
 
cv::Mat thres
 

Detailed Description

Main class for marker detection.

Definition at line 43 of file markerdetector.h.

Member Enumeration Documentation

Methods for corner refinement

Enumerator
NONE 
HARRIS 
SUBPIX 
LINES 

Definition at line 162 of file markerdetector.h.

This set the type of thresholding methods available

Enumerator
FIXED_THRES 
ADPT_THRES 
CANNY 

Definition at line 103 of file markerdetector.h.

Constructor & Destructor Documentation

aruco::MarkerDetector::MarkerDetector ( )

See

Definition at line 50 of file markerdetector.cpp.

aruco::MarkerDetector::~MarkerDetector ( )

Definition at line 72 of file markerdetector.cpp.

Member Function Documentation

void aruco::MarkerDetector::detect ( const cv::Mat &  input,
std::vector< Marker > &  detectedMarkers,
cv::Mat  camMatrix = cv::Mat(),
cv::Mat  distCoeff = cv::Mat(),
float  markerSizeMeters = -1,
bool  setYPerperdicular = false 
)
throw (cv::Exception
)

Detects the markers in the image passed

If you provide information about the camera parameters and the size of the marker, then, the extrinsics of the markers are detected

Parameters
inputinput color image
detectedMarkersoutput vector with the markers detected
camMatrixintrinsic camera information.
distCoeffcamera distorsion coefficient. If set Mat() if is assumed no camera distorion
markerSizeMeterssize of the marker sides expressed in meters
setYPerperdicularIf set the Y axis will be perpendicular to the surface. Otherwise, it will be the Z axis
void aruco::MarkerDetector::detect ( const cv::Mat &  input,
std::vector< Marker > &  detectedMarkers,
CameraParameters  camParams,
float  markerSizeMeters = -1,
bool  setYPerperdicular = false 
)
throw (cv::Exception
)

Detects the markers in the image passed

If you provide information about the camera parameters and the size of the marker, then, the extrinsics of the markers are detected

Parameters
inputinput color image
detectedMarkersoutput vector with the markers detected
camParamsCamera parameters
markerSizeMeterssize of the marker sides expressed in meters
setYPerperdicularIf set the Y axis will be perpendicular to the surface. Otherwise, it will be the Z axis

Definition at line 108 of file markerdetector.cpp.

void aruco::MarkerDetector::detectRectangles ( const cv::Mat &  thresImg,
vector< std::vector< cv::Point2f > > &  candidates 
)

Detection of candidates to be markers, i.e., rectangles. This function returns in candidates all the rectangles found in a thresolded image

Definition at line 261 of file markerdetector.cpp.

void aruco::MarkerDetector::detectRectangles ( vector< cv::Mat > &  vimages,
vector< MarkerCandidate > &  candidates 
)
private

Detection of candidates to be markers, i.e., rectangles. This function returns in candidates all the rectangles found in a thresolded image

for each contour, analyze if it is a paralelepiped likely to be the marker

sort the points in anti-clockwise order

remove these elements which corners are too close to each other

Definition at line 272 of file markerdetector.cpp.

void aruco::MarkerDetector::distortPoints ( vector< cv::Point2f >  in,
vector< cv::Point2f > &  out,
const cv::Mat &  camMatrix,
const cv::Mat &  distCoeff 
)
private

Definition at line 914 of file markerdetector.cpp.

void aruco::MarkerDetector::draw ( cv::Mat  out,
const std::vector< Marker > &  markers 
)
private

Definition at line 961 of file markerdetector.cpp.

void aruco::MarkerDetector::drawAllContours ( cv::Mat  input,
std::vector< std::vector< cv::Point > > &  contours 
)
private

Definition at line 935 of file markerdetector.cpp.

void aruco::MarkerDetector::drawApproxCurve ( cv::Mat &  in,
std::vector< cv::Point > &  approxCurve,
cv::Scalar  color 
)
private

Definition at line 949 of file markerdetector.cpp.

void aruco::MarkerDetector::drawContour ( cv::Mat &  in,
std::vector< cv::Point > &  contour,
cv::Scalar   
)
private

Definition at line 943 of file markerdetector.cpp.

void aruco::MarkerDetector::enableErosion ( bool  enable)
inline

Deprecated!!!

Enables/Disables erosion process that is REQUIRED for chessboard like boards. By default, this property is enabled

Definition at line 192 of file markerdetector.h.

void aruco::MarkerDetector::enableLockedCornersMethod ( bool  enable)

This method assumes that the markers may have some of its corners joined either to another marker in a chessboard like pattern) or to a rectangle. This is the case in which the subpixel refinement method in opencv work best.

Enabling this does not force you to use locked corners, normals markers will be detected also. However, when using locked corners, enabling this option will increase robustness in detection at the cost of higher computational time. , Note for developer: Enabling this option forces a call to findCornerMaxima

Definition at line 117 of file markerdetector.cpp.

void aruco::MarkerDetector::findBestCornerInRegion_harris ( const cv::Mat &  grey,
vector< cv::Point2f > &  Corners,
int  blockSize 
)
private

Definition at line 754 of file markerdetector.cpp.

void aruco::MarkerDetector::findCornerMaxima ( vector< cv::Point2f > &  Corners,
const cv::Mat &  grey,
int  wsize 
)
private

Definition at line 1040 of file markerdetector.cpp.

const vector< std::vector< cv::Point2f > >& aruco::MarkerDetector::getCandidates ( )
inline

Returns a list candidates to be markers (rectangles), for which no valid id was found after calling detectRectangles

Definition at line 261 of file markerdetector.h.

CornerRefinementMethod aruco::MarkerDetector::getCornerRefinementMethod ( ) const
inline

Definition at line 168 of file markerdetector.h.

Point2f aruco::MarkerDetector::getCrossPoint ( const cv::Point3f &  line1,
const cv::Point3f &  line2 
)
private

Definition at line 891 of file markerdetector.cpp.

int aruco::MarkerDetector::getDesiredSpeed ( ) const
inline

Definition at line 204 of file markerdetector.h.

void aruco::MarkerDetector::getMinMaxSize ( float &  min,
float &  max 
)
inline

reads the min and max sizes employed

Parameters
minoutput size of the contour to consider a possible marker as valid (0,1]
maxoutput size of the contour to consider a possible marker as valid [0,1)

Definition at line 182 of file markerdetector.h.

const cv::Mat& aruco::MarkerDetector::getThresholdedImage ( )
inline

Returns a reference to the internal image thresholded. It is for visualization purposes and to adjust manually the parameters

Definition at line 159 of file markerdetector.h.

ThresholdMethods aruco::MarkerDetector::getThresholdMethod ( ) const
inline

Returns the current threshold method

Definition at line 112 of file markerdetector.h.

void aruco::MarkerDetector::getThresholdParams ( double &  param1,
double &  param2 
) const
inline

Set the parameters of the threshold method We are currently using the Adptive threshold ee opencv doc of adaptiveThreshold for more info param1: blockSize of the pixel neighborhood that is used to calculate a threshold value for the pixel param2: The constant subtracted from the mean or weighted mean

Definition at line 150 of file markerdetector.h.

int aruco::MarkerDetector::getWarpSize ( ) const
inline

Definition at line 214 of file markerdetector.h.

void aruco::MarkerDetector::glGetProjectionMatrix ( CameraParameters CamMatrix,
cv::Size  orgImgSize,
cv::Size  size,
double  proj_matrix[16],
double  gnear,
double  gfar,
bool  invert = false 
)
throw (cv::Exception
)
static

DEPRECATED!!! Use the member function in CameraParameters

Given the intrinsic camera parameters returns the GL_PROJECTION matrix for opengl. PLease NOTE that when using OpenGL, it is assumed no camera distorsion! So, if it is not true, you should have undistor image

Parameters
CamMatrixarameters of the camera specified.
orgImgSizesize of the original image
sizeof the image/window where to render (can be different from the real camera image). Please not that it must be related to CamMatrix
proj_matrixoutput projection matrix to give to opengl
gnear,gfarvisible rendering range
invertindicates if the output projection matrix has to yield a horizontally inverted image because image data has not been stored in the order of glDrawPixels: bottom-to-top.

Definition at line 1001 of file markerdetector.cpp.

void aruco::MarkerDetector::interpolate2Dline ( const vector< cv::Point2f > &  inPoints,
cv::Point3f &  outLine 
)
private

Definition at line 837 of file markerdetector.cpp.

bool aruco::MarkerDetector::isInto ( cv::Mat &  contour,
std::vector< cv::Point2f > &  b 
)
private

Definition at line 727 of file markerdetector.cpp.

template<typename T >
void aruco::MarkerDetector::joinVectors ( vector< vector< T > > &  vv,
vector< T > &  v,
bool  clearv = false 
)
inlineprivate

Definition at line 383 of file markerdetector.h.

int aruco::MarkerDetector::perimeter ( std::vector< cv::Point2f > &  a)
private

Definition at line 740 of file markerdetector.cpp.

void aruco::MarkerDetector::pyrDown ( unsigned int  level)
inline

Deprecated

Use an smaller version of the input image for marker detection. If your marker is small enough, you can employ an smaller image to perform the detection without noticeable reduction in the precision. Internally, we are performing a pyrdown operation

Parameters
levelnumber of times the image size is divided by 2. Internally, we are performing a pyrdown.

Definition at line 242 of file markerdetector.h.

void aruco::MarkerDetector::refineCandidateLines ( MarkerDetector::MarkerCandidate candidate,
const cv::Mat &  camMatrix,
const cv::Mat &  distCoeff 
)

Refine MarkerCandidate Corner using LINES method

Parameters
candidatecandidate to refine corners

Definition at line 764 of file markerdetector.cpp.

template<typename T >
void aruco::MarkerDetector::removeElements ( vector< T > &  vinout,
const vector< bool > &  toRemove 
)
inlineprivate

Given a vector vinout with elements and a boolean vector indicating the lements from it to remove, this function remove the elements

Parameters
vinout
toRemove

Definition at line 359 of file markerdetector.h.

void aruco::MarkerDetector::setCornerRefinementMethod ( CornerRefinementMethod  method)
inline

Definition at line 165 of file markerdetector.h.

void aruco::MarkerDetector::setDesiredSpeed ( int  val)

Specifies a value to indicate the required speed for the internal processes. If you need maximum speed (at the cost of a lower detection rate), use the value 3, If you rather a more precise and slow detection, set it to 0.

Actually, the main differences are that in highspeed mode, we employ setCornerRefinementMethod(NONE) and internally, we use a small canonical image to detect the marker. In low speed mode, we use setCornerRefinementMethod(HARRIS) and a bigger size for the canonical marker image

Definition at line 80 of file markerdetector.cpp.

void aruco::MarkerDetector::setMakerDetectorFunction ( int(*)(const cv::Mat &in, int &nRotations)  markerdetector_func)
inline

Allows to specify the function that identifies a marker. Therefore, you can create your own type of markers different from these employed by default in the library. The marker function must have the following structure:

int myMarkerIdentifier(const cv::Mat &in,int &nRotations);

The marker function receives the image 'in' with the region that migh contain one of your markers. These are the rectangular regions with black in the image.

As output your marker function must indicate the following information. First, the output parameter nRotations must indicate how many times the marker must be rotated clockwise 90 deg to be in its ideal position. (The way you would see it when you print it). This is employed to know always which is the corner that acts as reference system. Second, the function must return -1 if the image does not contains one of your markers, and its id otherwise.

Definition at line 232 of file markerdetector.h.

void aruco::MarkerDetector::setMinMaxSize ( float  min = 0.03,
float  max = 0.5 
)
throw (cv::Exception
)

Specifies the min and max sizes of the markers as a fraction of the image size. By size we mean the maximum of cols and rows.

Parameters
minsize of the contour to consider a possible marker as valid (0,1]
maxsize of the contour to consider a possible marker as valid [0,1)

Definition at line 1015 of file markerdetector.cpp.

void aruco::MarkerDetector::setThresholdMethod ( ThresholdMethods  m)
inline

Sets the threshold method

Definition at line 109 of file markerdetector.h.

void aruco::MarkerDetector::setThresholdParamRange ( size_t  r1 = 0,
size_t  r2 = 0 
)
inline

Allows for a parallel search of several values of the param1 simultaneously (in different threads) The param r1 the indicates how many values around the current value of param1 are evaluated. In other words if r1>0, param1 is searched in range [param1- r1 ,param1+ r1 ]

r2 unused yet. Added in case of future need.

Definition at line 130 of file markerdetector.h.

void aruco::MarkerDetector::setThresholdParams ( double  param1,
double  param2 
)
inline

Set the parameters of the threshold method We are currently using the Adptive threshold ee opencv doc of adaptiveThreshold for more info

Parameters
param1blockSize of the pixel neighborhood that is used to calculate a threshold value for the pixel
param2The constant subtracted from the mean or weighted mean

Definition at line 119 of file markerdetector.h.

void aruco::MarkerDetector::setWarpSize ( int  val)
throw (cv::Exception
)

Specifies the size for the canonical marker image. A big value makes the detection slower than a small value. Minimun value is 10. Default value is 56.

Definition at line 1033 of file markerdetector.cpp.

void aruco::MarkerDetector::thresHold ( int  method,
const cv::Mat &  grey,
cv::Mat &  thresImg,
double  param1 = -1,
double  param2 = -1 
)
throw (cv::Exception
)

Methods you may not need

Thesde methods do the hard work. They have been set public in case you want to do customizations

Thesholds the passed image with the specified method.

Definition at line 422 of file markerdetector.cpp.

bool aruco::MarkerDetector::warp ( cv::Mat &  in,
cv::Mat &  out,
cv::Size  size,
std::vector< cv::Point2f >  points 
)
throw (cv::Exception
)

Given the iput image with markers, creates an output image with it in the canonical position

Parameters
ininput image
outimage with the marker
sizeof out
points4 corners of the marker in the image in
Returns
true if the operation succeed

Definition at line 464 of file markerdetector.cpp.

bool aruco::MarkerDetector::warp_cylinder ( cv::Mat &  in,
cv::Mat &  out,
cv::Size  size,
MarkerCandidate mc 
)
throw (cv::Exception
)
private

Definition at line 579 of file markerdetector.cpp.

Member Data Documentation

float aruco::MarkerDetector::_borderDistThres
private

Definition at line 319 of file markerdetector.h.

vector< std::vector< cv::Point2f > > aruco::MarkerDetector::_candidates
private

Definition at line 321 of file markerdetector.h.

CornerRefinementMethod aruco::MarkerDetector::_cornerMethod
private

Definition at line 309 of file markerdetector.h.

int aruco::MarkerDetector::_markerWarpSize
private

Definition at line 318 of file markerdetector.h.

float aruco::MarkerDetector::_maxSize
private

Definition at line 311 of file markerdetector.h.

float aruco::MarkerDetector::_minSize
private

Definition at line 311 of file markerdetector.h.

int aruco::MarkerDetector::_speed
private

Definition at line 317 of file markerdetector.h.

ThresholdMethods aruco::MarkerDetector::_thresMethod
private

Definition at line 305 of file markerdetector.h.

double aruco::MarkerDetector::_thresParam1
private

Definition at line 307 of file markerdetector.h.

double aruco::MarkerDetector::_thresParam1_range
private

Definition at line 307 of file markerdetector.h.

double aruco::MarkerDetector::_thresParam2
private

Definition at line 307 of file markerdetector.h.

bool aruco::MarkerDetector::_useLockedCorners
private

Definition at line 314 of file markerdetector.h.

cv::Mat aruco::MarkerDetector::grey
private

Definition at line 323 of file markerdetector.h.

int(* aruco::MarkerDetector::markerIdDetector_ptrfunc) (const cv::Mat &in, int &nRotations)
private

Definition at line 325 of file markerdetector.h.

cv::Mat aruco::MarkerDetector::thres
private

Definition at line 323 of file markerdetector.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