This class defines a set of markers whose locations are attached to a common reference system, i.e., they do not move wrt each other. A MarkerMap contains several markers so that they are more robustly detected. More...

#include <markermap.h>

Inheritance diagram for aruco::MarkerMap:

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Public Types
enum	Marker3DInfoType { NONE = -1, PIX = 0, METERS = 1 }

Public Member Functions
pair< cv::Mat, cv::Mat >	calculateExtrinsics (const std::vector< aruco::Marker > &markers, float markerSize, cv::Mat CameraMatrix, cv::Mat Distorsion) throw (cv::Exception)

MarkerMap	convertToMeters (float markerSize) throw (cv::Exception)

void	fromStream (std::istream &str)

std::string	getDictionary () const

void	getIdList (vector< int > &ids, bool append=true) const

cv::Mat	getImage (float METER2PIX=0) const throw (cv::Exception)

int	getIndexOfMarkerId (int id) const

std::vector< int >	getIndices (vector< aruco::Marker > &markers)

const Marker3DInfo &	getMarker3DInfo (int id) const throw (cv::Exception)

bool	isExpressedInMeters () const

bool	isExpressedInPixels () const

	MarkerMap ()

	MarkerMap (string filePath) throw (cv::Exception)

void	readFromFile (string sfile) throw (cv::Exception)

void	saveToFile (string sfile) throw (cv::Exception)

void	setDictionary (std::string d)

void	toStream (std::ostream &str)

Public Attributes
int	mInfoType

Private Member Functions
void	readFromFile (cv::FileStorage &fs) throw (cv::Exception)

void	saveToFile (cv::FileStorage &fs) throw (cv::Exception)

Private Attributes
std::string	dictionary

Detailed Description

This class defines a set of markers whose locations are attached to a common reference system, i.e., they do not move wrt each other. A MarkerMap contains several markers so that they are more robustly detected.

A MarkerMap is only a list of the id of the markers along with the position of their corners. A MarkerMap may have information about the dictionary the markers belongs to

See also: getDictionary()

The position of the corners can be specified either in pixels (in a non-specific size) or in meters. The first is the typical case in which you generate the image of board and the print it. Since you do not know in advance the real size of the markers, their corners are specified in pixels, and then, the translation to meters can be made once you know the real size.

On the other hand, you may want to have the information of your boards in meters. The MarkerMap allows you to do so.

The point is in the mInfoType variable. It can be either PIX or METERS according to your needs.

Definition at line 71 of file markermap.h.

Member Enumeration Documentation

◆ Marker3DInfoType

enum aruco::MarkerMap::Marker3DInfoType

Enumerator
NONE
PIX
METERS

Definition at line 135 of file markermap.h.

Constructor & Destructor Documentation

◆ MarkerMap() [1/2]

aruco::MarkerMap::MarkerMap ( )

Definition at line 43 of file markermap.cpp.

◆ MarkerMap() [2/2]

aruco::MarkerMap::MarkerMap	(	string	filePath	)
throw	(	cv::Exception
	)

Loads from file

Parameters

filePath to the config file

Definition at line 48 of file markermap.cpp.

Member Function Documentation

◆ calculateExtrinsics()

pair< cv::Mat, cv::Mat > aruco::MarkerMap::calculateExtrinsics	(	const std::vector< aruco::Marker > &	markers,
		float	markerSize,
		cv::Mat	CameraMatrix,
		cv::Mat	Distorsion
	)
throw	(	cv::Exception
	)

Definition at line 389 of file markermap.cpp.

◆ convertToMeters()

MarkerMap aruco::MarkerMap::convertToMeters	(	float	markerSize	)
throw	(	cv::Exception
	)

converts the passed board into meters

Definition at line 297 of file markermap.cpp.

◆ fromStream()

void aruco::MarkerMap::fromStream ( std::istream & str )

Definition at line 384 of file markermap.cpp.

◆ getDictionary()

std::string aruco::MarkerMap::getDictionary ( ) const

inline

Definition at line 132 of file markermap.h.

◆ getIdList()

void aruco::MarkerMap::getIdList	(	std::vector< int > &	ids,
		bool	append = `true`
	)		const

Set in the list passed the set of the ids

Definition at line 290 of file markermap.cpp.

◆ getImage()

cv::Mat aruco::MarkerMap::getImage	(	float	METER2PIX = `0`	)	const
throw	(	cv::Exception
	)

Returns an image of this to be printed. This object must be in pixels

See also: isExpressedInPixels(). If not,please provide the METER2PIX conversion parameter

Definition at line 314 of file markermap.cpp.

◆ getIndexOfMarkerId()

int aruco::MarkerMap::getIndexOfMarkerId ( int id ) const

Returns the index of the marker (in this object) with id indicated, if is in the vector

Definition at line 131 of file markermap.cpp.

◆ getIndices()

std::vector< int > aruco::MarkerMap::getIndices ( vector< aruco::Marker > & markers )

Definition at line 364 of file markermap.cpp.

◆ getMarker3DInfo()

const Marker3DInfo & aruco::MarkerMap::getMarker3DInfo	(	int	id	)	const
throw	(	cv::Exception
	)

Returns the Info of the marker with id specified. If not in the set, throws exception

Definition at line 141 of file markermap.cpp.

◆ isExpressedInMeters()

bool aruco::MarkerMap::isExpressedInMeters ( ) const

inline

Indicates if the corners are expressed in meters

Definition at line 87 of file markermap.h.

◆ isExpressedInPixels()

bool aruco::MarkerMap::isExpressedInPixels ( ) const

inline

Indicates if the corners are expressed in meters

Definition at line 90 of file markermap.h.

◆ readFromFile() [1/2]

void aruco::MarkerMap::readFromFile	(	string	sfile	)
throw	(	cv::Exception
	)

Reads board info from a file

Definition at line 89 of file markermap.cpp.

◆ readFromFile() [2/2]

void aruco::MarkerMap::readFromFile	(	cv::FileStorage &	fs	)
throw	(	cv::Exception
	)

private

Reads board info from a file

Definition at line 101 of file markermap.cpp.

◆ saveToFile() [1/2]

void aruco::MarkerMap::saveToFile	(	string	sfile	)
throw	(	cv::Exception
	)

Saves the board info to a file

Definition at line 58 of file markermap.cpp.

◆ saveToFile() [2/2]

void aruco::MarkerMap::saveToFile	(	cv::FileStorage &	fs	)
throw	(	cv::Exception
	)

private

Saves the board info to a file

Definition at line 65 of file markermap.cpp.

◆ setDictionary()

void aruco::MarkerMap::setDictionary ( std::string d )

inline

Definition at line 141 of file markermap.h.

◆ toStream()

void aruco::MarkerMap::toStream ( std::ostream & str )

Definition at line 378 of file markermap.cpp.

Member Data Documentation

◆ dictionary

std::string aruco::MarkerMap::dictionary

private

Definition at line 148 of file markermap.h.

◆ mInfoType

int aruco::MarkerMap::mInfoType

Definition at line 145 of file markermap.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

◆ Marker3DInfoType

Constructor & Destructor Documentation

◆ MarkerMap() [1/2]

◆ MarkerMap() [2/2]

Member Function Documentation

◆ calculateExtrinsics()

◆ convertToMeters()

◆ fromStream()

◆ getDictionary()

◆ getIdList()

◆ getImage()

◆ getIndexOfMarkerId()

◆ getIndices()

◆ getMarker3DInfo()

◆ isExpressedInMeters()

◆ isExpressedInPixels()

◆ readFromFile() [1/2]

◆ readFromFile() [2/2]

◆ saveToFile() [1/2]

◆ saveToFile() [2/2]

◆ setDictionary()

◆ toStream()

Member Data Documentation

◆ dictionary

◆ mInfoType