Main class for marker detection. More...

#include <markerdetector.h>

Classes
class	MarkerCandidate

Public Types
enum	CornerRefinementMethod { NONE, HARRIS, SUBPIX, LINES, NONE, HARRIS, SUBPIX, LINES }

enum	CornerRefinementMethod { NONE, HARRIS, SUBPIX, LINES, NONE, HARRIS, SUBPIX, LINES }

enum	ThresholdMethods { FIXED_THRES, ADPT_THRES, CANNY, FIXED_THRES, ADPT_THRES, CANNY }

enum	ThresholdMethods { FIXED_THRES, ADPT_THRES, CANNY, 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 setYPerpendicular=true) throw (cv::Exception)

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)

void	detect (const cv::Mat &input, std::vector< Marker > &detectedMarkers, CameraParameters camParams, float markerSizeMeters=-1, bool setYPerpendicular=true) throw (cv::Exception)

void	detect (const cv::Mat &input, std::vector< Marker > &detectedMarkers, CameraParameters camParams, float markerSizeMeters=-1, bool setYPerpendicular=true) throw (cv::Exception)

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

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

void	enableErosion (bool enable)

void	enableErosion (bool enable)

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

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

CornerRefinementMethod	getCornerRefinementMethod () const

CornerRefinementMethod	getCornerRefinementMethod () const

int	getDesiredSpeed () const

int	getDesiredSpeed () const

void	getMinMaxSize (float &min, float &max)

void	getMinMaxSize (float &min, float &max)

const cv::Mat &	getThresholdedImage ()

const cv::Mat &	getThresholdedImage ()

ThresholdMethods	getThresholdMethod () const

ThresholdMethods	getThresholdMethod () const

void	getThresholdParams (double &param1, double &param2) const

void	getThresholdParams (double &param1, double &param2) const

	MarkerDetector ()

	MarkerDetector ()

void	pyrDown (unsigned int level)

void	pyrDown (unsigned int level)

void	refineCandidateLines (MarkerCandidate &candidate)

void	refineCandidateLines (MarkerCandidate &candidate)

void	setCornerRefinementMethod (CornerRefinementMethod method)

void	setCornerRefinementMethod (CornerRefinementMethod method)

void	setDesiredSpeed (int val)

void	setDesiredSpeed (int val)

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

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

void	setThresholdMethod (ThresholdMethods m)

void	setThresholdMethod (ThresholdMethods m)

void	setThresholdParams (double param1, double param2)

void	setThresholdParams (double param1, double param2)

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

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

	~MarkerDetector ()

	~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)

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 (const cv::Mat &thresImg, vector< MarkerCandidate > &candidates)

void	detectRectangles (const cv::Mat &thresImg, vector< MarkerCandidate > &candidates)

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

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

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

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

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

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

void	interpolate2Dline (const vector< cv::Point > &inPoints, cv::Point3f &outLine)

void	interpolate2Dline (const vector< cv::Point > &inPoints, cv::Point3f &outLine)

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

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

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

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

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

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 )

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

Private Attributes
vector< std::vector< cv::Point2f > >	_candidates

CornerRefinementMethod	_cornerMethod

bool	_doErosion

bool	_enableCylinderWarp

int	_markerWarpSize

float	_maxSize

float	_minSize

int	_speed

ThresholdMethods	_thresMethod

double	_thresParam1

double	_thresParam2

cv::Mat	grey

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

int	pyrdown_level

cv::Mat	reduced

cv::Mat	thres

cv::Mat	thres2

Detailed Description

Main class for marker detection.

Definition at line 44 of file aruco/include/aruco/markerdetector.h.

Member Enumeration Documentation

enum aruco::MarkerDetector::CornerRefinementMethod

Methods for corner refinement

Enumerator
NONE
HARRIS
SUBPIX
LINES
NONE
HARRIS
SUBPIX
LINES

Definition at line 144 of file aruco/include/aruco/markerdetector.h.

enum aruco::MarkerDetector::CornerRefinementMethod

Methods for corner refinement

Enumerator
NONE
HARRIS
SUBPIX
LINES
NONE
HARRIS
SUBPIX
LINES

Definition at line 144 of file old/aruco/include/aruco/markerdetector.h.

enum aruco::MarkerDetector::ThresholdMethods

This set the type of thresholding methods available

Enumerator
FIXED_THRES
ADPT_THRES
CANNY
FIXED_THRES
ADPT_THRES
CANNY

Definition at line 100 of file old/aruco/include/aruco/markerdetector.h.

enum aruco::MarkerDetector::ThresholdMethods

This set the type of thresholding methods available

Enumerator
FIXED_THRES
ADPT_THRES
CANNY
FIXED_THRES
ADPT_THRES
CANNY

Definition at line 100 of file aruco/include/aruco/markerdetector.h.

Constructor & Destructor Documentation

aruco::MarkerDetector::MarkerDetector ( )

See

Definition at line 47 of file aruco/src/aruco/markerdetector.cpp.

aruco::MarkerDetector::~MarkerDetector ( )

Definition at line 68 of file aruco/src/aruco/markerdetector.cpp.

aruco::MarkerDetector::MarkerDetector ( )

See

aruco::MarkerDetector::~MarkerDetector ( )

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	setYPerpendicular = `true`
	)
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

input	input color image
detectedMarkers	output vector with the markers detected
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
setYPerpendicular	If 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,
		cv::Mat	camMatrix = `cv::Mat()`,
		cv::Mat	distCoeff = `cv::Mat()`,
		float	markerSizeMeters = `-1`,
		bool	setYPerpendicular = `true`
	)
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

input	input color image
detectedMarkers	output vector with the markers detected
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
setYPerpendicular	If 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	setYPerpendicular = `true`
	)
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

input	input color image
detectedMarkers	output vector with the markers detected
camParams	Camera parameters
markerSizeMeters	size of the marker sides expressed in meters
setYPerpendicular	If set the Y axis will be perpendicular to the surface. Otherwise, it will be the Z axis

Definition at line 108 of file aruco/src/aruco/markerdetector.cpp.

void aruco::MarkerDetector::detect	(	const cv::Mat &	input,
		std::vector< Marker > &	detectedMarkers,
		CameraParameters	camParams,
		float	markerSizeMeters = `-1`,
		bool	setYPerpendicular = `true`
	)
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

input	input color image
detectedMarkers	output vector with the markers detected
camParams	Camera parameters
markerSizeMeters	size of the marker sides expressed in meters
setYPerpendicular	If set the Y axis will be perpendicular to the surface. Otherwise, it will be the Z axis

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 262 of file aruco/src/aruco/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

void aruco::MarkerDetector::detectRectangles	(	const cv::Mat &	thresImg,
		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 whise corners are too close to each other

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

sort the points in anti-clockwise order

remove these elements whise corners are too close to each other

Definition at line 272 of file aruco/src/aruco/markerdetector.cpp.

void aruco::MarkerDetector::detectRectangles	(	const cv::Mat &	thresImg,
		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

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

private

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

private

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

private

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

private

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

private

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

private

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

private

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

private

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

inline

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

Definition at line 173 of file old/aruco/include/aruco/markerdetector.h.

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

inline

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

Definition at line 173 of file aruco/include/aruco/markerdetector.h.

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

private

Definition at line 728 of file aruco/src/aruco/markerdetector.cpp.

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

private

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 233 of file aruco/include/aruco/markerdetector.h.

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 233 of file old/aruco/include/aruco/markerdetector.h.

CornerRefinementMethod aruco::MarkerDetector::getCornerRefinementMethod ( ) const

inline

Definition at line 152 of file aruco/include/aruco/markerdetector.h.

CornerRefinementMethod aruco::MarkerDetector::getCornerRefinementMethod ( ) const

inline

Definition at line 152 of file old/aruco/include/aruco/markerdetector.h.

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

private

Definition at line 880 of file aruco/src/aruco/markerdetector.cpp.

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

private

int aruco::MarkerDetector::getDesiredSpeed ( ) const

inline

Definition at line 185 of file old/aruco/include/aruco/markerdetector.h.

int aruco::MarkerDetector::getDesiredSpeed ( ) const

inline

Definition at line 185 of file aruco/include/aruco/markerdetector.h.

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

inline

reads the min and max sizes employed

Parameters

min	output size of the contour to consider a possible marker as valid (0,1]
max	output size of the contour to consider a possible marker as valid [0,1)

Definition at line 168 of file aruco/include/aruco/markerdetector.h.

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

inline

reads the min and max sizes employed

Parameters

min	output size of the contour to consider a possible marker as valid (0,1]
max	output size of the contour to consider a possible marker as valid [0,1)

Definition at line 168 of file old/aruco/include/aruco/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 139 of file old/aruco/include/aruco/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 139 of file aruco/include/aruco/markerdetector.h.

ThresholdMethods aruco::MarkerDetector::getThresholdMethod ( ) const

inline

Returns the current threshold method

Definition at line 111 of file aruco/include/aruco/markerdetector.h.

ThresholdMethods aruco::MarkerDetector::getThresholdMethod ( ) const

inline

Returns the current threshold method

Definition at line 111 of file old/aruco/include/aruco/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 130 of file old/aruco/include/aruco/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 130 of file aruco/include/aruco/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

CamMatrix	arameters of the camera specified.
orgImgSize	size of the original image
size	of the image/window where to render (can be different from the real camera image). Please not that it must be related to CamMatrix
proj_matrix	output projection matrix to give to opengl
gnear,gfar	visible rendering range
invert	indicates 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 990 of file aruco/src/aruco/markerdetector.cpp.

static 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

CamMatrix	arameters of the camera specified.
orgImgSize	size of the original image
size	of the image/window where to render (can be different from the real camera image). Please not that it must be related to CamMatrix
proj_matrix	output projection matrix to give to opengl
gnear,gfar	visible rendering range
invert	indicates 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.

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

private

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

private

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

private

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

private

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

private

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

private

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

inline

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

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

Definition at line 214 of file aruco/include/aruco/markerdetector.h.

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

inline

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

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

Definition at line 214 of file old/aruco/include/aruco/markerdetector.h.

void aruco::MarkerDetector::refineCandidateLines ( MarkerCandidate & candidate )

Refine MarkerCandidate Corner using LINES method

Parameters

candidate candidate to refine corners

void aruco::MarkerDetector::refineCandidateLines ( MarkerDetector::MarkerCandidate & candidate )

Refine MarkerCandidate Corner using LINES method

Parameters

candidate candidate to refine corners

Definition at line 764 of file aruco/src/aruco/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 331 of file old/aruco/include/aruco/markerdetector.h.

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 331 of file aruco/include/aruco/markerdetector.h.

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

inline

Definition at line 147 of file aruco/include/aruco/markerdetector.h.

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

inline

Definition at line 147 of file old/aruco/include/aruco/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

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 79 of file aruco/src/aruco/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 204 of file old/aruco/include/aruco/markerdetector.h.

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 204 of file aruco/include/aruco/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

min	size of the contour to consider a possible marker as valid (0,1]
max	size of the contour to consider a possible marker as valid [0,1)

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

min	size of the contour to consider a possible marker as valid (0,1]
max	size of the contour to consider a possible marker as valid [0,1)

Definition at line 1004 of file aruco/src/aruco/markerdetector.cpp.

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

inline

Sets the threshold method

Definition at line 106 of file old/aruco/include/aruco/markerdetector.h.

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

inline

Sets the threshold method

Definition at line 106 of file aruco/include/aruco/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

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 120 of file aruco/include/aruco/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

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 120 of file old/aruco/include/aruco/markerdetector.h.

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.

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