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=true)

	BoardDetector (bool setYPerpendicular=true)

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

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, 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	detect (const vector< Marker > &detectedMarkers, const BoardConfiguration &BConf, Board &Bdetected, const CameraParameters &cp, float markerSizeMeters=-1) throw (cv::Exception)

Board &	getDetectedBoard ()

Board &	getDetectedBoard ()

vector< Marker > &	getDetectedMarkers ()

vector< Marker > &	getDetectedMarkers ()

MarkerDetector &	getMarkerDetector ()

MarkerDetector &	getMarkerDetector ()

void	setParams (const BoardConfiguration &bc, const CameraParameters &cp, float markerSizeMeters=-1)

void	setParams (const BoardConfiguration &bc, const CameraParameters &cp, float markerSizeMeters=-1)

void	setParams (const BoardConfiguration &bc)

void	setParams (const BoardConfiguration &bc)

void	setYPerpendicular (bool enable)

void	setYPerpendicular (bool enable)

Private Member Functions
void	rotateXAxis (cv::Mat &rotation)

void	rotateXAxis (cv::Mat &rotation)

Private Attributes
bool	_areParamsSet

BoardConfiguration	_bconf

Board	_boardDetected

CameraParameters	_camParams

float	_markerSize

MarkerDetector	_mdetector

bool	_setYPerpendicular

vector< Marker >	_vmarkers

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);
BoardDetector BD;
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 65 of file aruco/include/aruco/boarddetector.h.

Constructor & Destructor Documentation

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

See discussion in

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

Definition at line 41 of file aruco/src/aruco/boarddetector.cpp.

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

See discussion in

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

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 64 of file aruco/src/aruco/boarddetector.cpp.

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

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

detectedMarkers	result provided by aruco::ArMarkerDetector
BConf	the board you want to see if is present
Bdetected	output information of the detected board
camMatrix	camera matrix with intrinsics
distCoeff	camera distorsion coeff
camMatrix	intrinsic camera information.
distCoeff	camera distorsion coefficient. If set Mat() if is assumed no camera distorion
markerSizeMeters	size 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,
		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

detectedMarkers	result provided by aruco::ArMarkerDetector
BConf	the board you want to see if is present
Bdetected	output information of the detected board
camMatrix	camera matrix with intrinsics
distCoeff	camera distorsion coeff
camMatrix	intrinsic camera information.
distCoeff	camera distorsion coefficient. If set Mat() if is assumed no camera distorion
markerSizeMeters	size 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 76 of file aruco/src/aruco/boarddetector.cpp.

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

Board& aruco::BoardDetector::getDetectedBoard ( )

inline

Returns a reference to the board detected

Definition at line 86 of file aruco/include/aruco/boarddetector.h.

Board& aruco::BoardDetector::getDetectedBoard ( )

inline

Returns a reference to the board detected

Definition at line 86 of file old/aruco/include/aruco/boarddetector.h.

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

inline

Returns the vector of markers detected

Definition at line 92 of file old/aruco/include/aruco/boarddetector.h.

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

inline

Returns the vector of markers detected

Definition at line 92 of file aruco/include/aruco/boarddetector.h.

MarkerDetector& aruco::BoardDetector::getMarkerDetector ( )

inline

Returns a reference to the internal marker detector

Definition at line 89 of file old/aruco/include/aruco/boarddetector.h.

MarkerDetector& aruco::BoardDetector::getMarkerDetector ( )

inline

Returns a reference to the internal marker detector

Definition at line 89 of file aruco/include/aruco/boarddetector.h.

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

private

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

private

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 aruco/src/aruco/boarddetector.cpp.

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

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

Definition at line 57 of file aruco/src/aruco/boarddetector.cpp.

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

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 117 of file old/aruco/include/aruco/boarddetector.h.

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 117 of file aruco/include/aruco/boarddetector.h.