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, 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

float	getArea () const

cv::Point2f	getCenter () const

float	getPerimeter () const

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

bool	isValid () const

	Marker ()

	Marker (const Marker &M)

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

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

	~Marker ()

Public Attributes
int	id

cv::Mat	Rvec

float	ssize

cv::Mat	Tvec

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

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

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 marker.h.

Constructor & Destructor Documentation

◆ Marker() [1/3]

aruco::Marker::Marker ( )

Definition at line 40 of file marker.cpp.

◆ Marker() [2/3]

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

Definition at line 51 of file marker.cpp.

◆ Marker() [3/3]

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

Definition at line 61 of file marker.cpp.

◆ ~Marker()

aruco::Marker::~Marker ( )

inline

Definition at line 61 of file marker.h.

Member Function Documentation

◆ calculateExtrinsics() [1/2]

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 marker.cpp.

◆ calculateExtrinsics() [2/2]

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 252 of file marker.cpp.

◆ draw()

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

Draws this marker in the input image

Definition at line 215 of file marker.cpp.

◆ getArea()

float aruco::Marker::getArea ( ) const

Returns the area

Definition at line 331 of file marker.cpp.

◆ getCenter()

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

Returns the centroid of the marker

Definition at line 318 of file marker.cpp.

◆ getPerimeter()

float aruco::Marker::getPerimeter ( ) const

Returns the perimeter of the marker

Definition at line 344 of file marker.cpp.

◆ glGetModelViewMatrix()

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 73 of file marker.cpp.

◆ isValid()

bool aruco::Marker::isValid ( ) const

inline

Indicates if this object is valid

Definition at line 64 of file marker.h.

◆ OgreGetPoseParameters()

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 marker.cpp.

◆ rotateXAxis()

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

private

Definition at line 298 of file marker.cpp.

Friends And Related Function Documentation

◆ operator<

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

friend

Definition at line 114 of file marker.h.

◆ operator<<

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

friend

Definition at line 117 of file marker.h.

Member Data Documentation

◆ id

int aruco::Marker::id

Definition at line 44 of file marker.h.

◆ Rvec

cv::Mat aruco::Marker::Rvec

Definition at line 48 of file marker.h.

◆ ssize

float aruco::Marker::ssize

Definition at line 46 of file marker.h.

◆ Tvec

cv::Mat aruco::Marker::Tvec