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 setYPerpendicular=true) throw (cv::Exception)

void	calculateExtrinsics (float markerSize, const CameraParameters &CP, bool setYPerpendicular=true) throw (cv::Exception)

void	calculateExtrinsics (float markerSize, cv::Mat CameraMatrix, cv::Mat Distorsion=cv::Mat(), bool setYPerpendicular=true) throw (cv::Exception)

void	calculateExtrinsics (float markerSize, cv::Mat CameraMatrix, cv::Mat Distorsion=cv::Mat(), bool setYPerpendicular=true) throw (cv::Exception)

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

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

float	getArea () const

float	getArea () const

cv::Point2f	getCenter () const

cv::Point2f	getCenter () const

float	getPerimeter () const

float	getPerimeter () const

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

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

bool	isValid () const

bool	isValid () const

	Marker ()

	Marker ()

	Marker (const Marker &M)

	Marker (const Marker &M)

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

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

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

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

	~Marker ()

	~Marker ()

Public Attributes
int	id

cv::Mat	Rvec

float	ssize

cv::Mat	Tvec

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

void	rotateXAxis (cv::Mat &rotation)

Friends
bool	operator< (const Marker &M1, const Marker &M2)

bool	operator< (const Marker &M1, const Marker &M2)

ostream &	operator<< (ostream &str, const Marker &M)

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 aruco/include/aruco/marker.h.

Constructor & Destructor Documentation

aruco::Marker::Marker ( )

Definition at line 38 of file aruco/src/aruco/marker.cpp.

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

Definition at line 50 of file aruco/src/aruco/marker.cpp.

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

Definition at line 61 of file aruco/src/aruco/marker.cpp.

aruco::Marker::~Marker ( )

inline

Definition at line 62 of file aruco/include/aruco/marker.h.

aruco::Marker::Marker ( )

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

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

aruco::Marker::~Marker ( )

inline

Definition at line 62 of file old/aruco/include/aruco/marker.h.

Member Function Documentation

void aruco::Marker::calculateExtrinsics	(	float	markerSize,
		const CameraParameters &	CP,
		bool	setYPerpendicular = `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
setYPerpendicular	If set the Y axis will be perpendicular to the surface. Otherwise, it will be the Z axis

Definition at line 242 of file aruco/src/aruco/marker.cpp.

void aruco::Marker::calculateExtrinsics	(	float	markerSize,
		const CameraParameters &	CP,
		bool	setYPerpendicular = `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
setYPerpendicular	If set the Y axis will be perpendicular to the surface. Otherwise, it will be the Z axis

void aruco::Marker::calculateExtrinsics	(	float	markerSize,
		cv::Mat	CameraMatrix,
		cv::Mat	Distorsion = `cv::Mat()`,
		bool	setYPerpendicular = `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)
setYPerpendicular	If set the Y axis will be perpendicular to the surface. Otherwise, it will be the Z axis

Definition at line 253 of file aruco/src/aruco/marker.cpp.

void aruco::Marker::calculateExtrinsics	(	float	markerSize,
		cv::Mat	CameraMatrix,
		cv::Mat	Distorsion = `cv::Mat()`,
		bool	setYPerpendicular = `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)
setYPerpendicular	If set the Y axis will be perpendicular to the surface. Otherwise, it will be the Z axis

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

Draws this marker in the input image

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

Draws this marker in the input image

float aruco::Marker::getArea ( ) const

Returns the area

Definition at line 321 of file aruco/src/aruco/marker.cpp.

float aruco::Marker::getArea ( ) const

Returns the area

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

Returns the centroid of the marker

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

Returns the centroid of the marker

Definition at line 309 of file aruco/src/aruco/marker.cpp.

float aruco::Marker::getPerimeter ( ) const

Returns the perimeter of the marker

Definition at line 334 of file aruco/src/aruco/marker.cpp.

float aruco::Marker::getPerimeter ( ) const

Returns the perimeter of the marker

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 74 of file aruco/src/aruco/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

bool aruco::Marker::isValid ( ) const

inline

Indicates if this object is valid

Definition at line 65 of file aruco/include/aruco/marker.h.

bool aruco::Marker::isValid ( ) const

inline

Indicates if this object is valid

Definition at line 65 of file old/aruco/include/aruco/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 ); ...

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 128 of file aruco/src/aruco/marker.cpp.

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

private

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

private