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

Board &	getDetectedBoard ()

vector< Marker > &	getDetectedMarkers ()

MarkerDetector &	getMarkerDetector ()

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);
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 64 of file boarddetector.h.

Constructor & Destructor Documentation

◆ BoardDetector()

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

◆ detect() [1/4]

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.

◆ detect() [2/4]

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

◆ detect() [3/4]

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.

◆ detect() [4/4]

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

Image	input image
bc	the board you want to see if is present
cp	camera parameters
markerSizeMeters	size 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.

◆ get_repj_err_thres()

float aruco::BoardDetector::get_repj_err_thres ( ) const

inline

Definition at line 134 of file boarddetector.h.

◆ getDetectedBoard()

Board& aruco::BoardDetector::getDetectedBoard ( )

inline

Returns a reference to the board detected

Definition at line 84 of file boarddetector.h.

◆ getDetectedMarkers()

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

inline

Returns the vector of markers detected

Definition at line 90 of file boarddetector.h.

◆ getMarkerDetector()

MarkerDetector& aruco::BoardDetector::getMarkerDetector ( )

inline

Returns a reference to the internal marker detector

Definition at line 87 of file boarddetector.h.

◆ isYPerpendicular()

bool aruco::BoardDetector::isYPerpendicular ( )

inline

Definition at line 127 of file boarddetector.h.

◆ rotateXAxis()

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

private

Definition at line 213 of file boarddetector.cpp.

◆ set_repj_err_thres()

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.

◆ setParams() [1/2]

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.

◆ setParams() [2/2]

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

Definition at line 59 of file boarddetector.cpp.

◆ setYPerpendicular()

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.

◆ setYPerperdicular()

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

inline

Definition at line 126 of file boarddetector.h.

Member Data Documentation

◆ _areParamsSet

bool aruco::BoardDetector::_areParamsSet

private

Definition at line 142 of file boarddetector.h.

◆ _bconf

BoardConfiguration aruco::BoardDetector::_bconf

private

Definition at line 143 of file boarddetector.h.

◆ _boardDetected

Board aruco::BoardDetector::_boardDetected

private

Definition at line 144 of file boarddetector.h.

◆ _camParams

CameraParameters aruco::BoardDetector::_camParams

private

Definition at line 146 of file boarddetector.h.

◆ _markerSize

float aruco::BoardDetector::_markerSize

private

Definition at line 145 of file boarddetector.h.

◆ _mdetector

MarkerDetector aruco::BoardDetector::_mdetector

private

Definition at line 147 of file boarddetector.h.

◆ _setYPerpendicular

bool aruco::BoardDetector::_setYPerpendicular

private

Definition at line 139 of file boarddetector.h.

◆ _vmarkers

vector< Marker > aruco::BoardDetector::_vmarkers

private

Definition at line 148 of file boarddetector.h.

◆ repj_err_thres

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:

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ BoardDetector()

Member Function Documentation

◆ detect() [1/4]

◆ detect() [2/4]

◆ detect() [3/4]

◆ detect() [4/4]

◆ get_repj_err_thres()

◆ getDetectedBoard()

◆ getDetectedMarkers()

◆ getMarkerDetector()

◆ isYPerpendicular()

◆ rotateXAxis()

◆ set_repj_err_thres()

◆ setParams() [1/2]

◆ setParams() [2/2]

◆ setYPerpendicular()

◆ setYPerperdicular()

Member Data Documentation

◆ _areParamsSet

◆ _bconf

◆ _boardDetected

◆ _camParams

◆ _markerSize

◆ _mdetector

◆ _setYPerpendicular

◆ _vmarkers

◆ repj_err_thres