#include <fractalposetracker.h>

Public Member Functions
void	drawKeyPoints (const cv::Mat image, std::vector< cv::KeyPoint > kpoints, bool text=false, bool transf=false)
	image More...

cv::Mat	fractal_solve_ransac (int ninners, std::vector< std::pair< uint, std::vector< uint >>> inner_kpnt, std::vector< cv::KeyPoint > kpnts, uint32_t maxIter=500, float _minInliers=0.2f, float _thresInliers=0.7f)
	fractal_solve_ransac More...

bool	fractalInnerPose (const cv::Ptr< MarkerDetector > markerDetector, const std::vector< aruco::Marker > &markers, bool refinement=true)
	fractalInnerPose More...

	FractalPoseTracker ()

bool	fractalRefinement (const cv::Ptr< MarkerDetector > markerDetector, int markerWarpPix=10)
	fractalRefinement More...

FractalMarkerSet	getFractal ()

const std::vector< cv::Point3f >	getInner3d ()

const cv::Mat	getRvec () const

const cv::Mat	getTvec () const

bool	isPoseValid () const

bool	ROI (const std::vector< cv::Mat > imagePyramid, cv::Mat &img, std::vector< cv::Point2f > &innerPoints2d, cv::Point2f &offset, float &ratio)
	ROI. More...

void	setParams (const CameraParameters &cam_params, const FractalMarkerSet &msconf, const float markerSize=-1)
	setParams More...

Private Attributes
aruco::CameraParameters	_cam_params

FractalMarkerSet	_fractalMarker

std::map< int, float >	_id_area

std::map< int, std::vector< cv::Point3f > >	_id_innerp3d

std::map< int, double >	_id_radius

std::vector< cv::KeyPoint >	_innerkpoints

std::vector< cv::Point3f >	_innerp3d

picoflann::KdTreeIndex< 2, PicoFlann_KeyPointAdapter >	_kdtree

float	_preRadius = 0

cv::Mat	_rvec

cv::Mat	_tvec

Detailed Description

Definition at line 36 of file fractalposetracker.h.

Constructor & Destructor Documentation

◆ FractalPoseTracker()

aruco::FractalPoseTracker::FractalPoseTracker ( )

Definition at line 230 of file fractalposetracker.cpp.

Member Function Documentation

◆ drawKeyPoints()

void aruco::FractalPoseTracker::drawKeyPoints	(	const cv::Mat	image,
		std::vector< cv::KeyPoint >	kpoints,
		bool	text = `false`,
		bool	transf = `false`
	)

image

Draw keypoints

Parameters

kpoints
text
transf.	Is it necessary to transform keypoints? (-MarkerSize/2 .. MarkerSize/2) to (0 .. ImageSize)

Definition at line 1047 of file fractalposetracker.cpp.

◆ fractal_solve_ransac()

cv::Mat aruco::FractalPoseTracker::fractal_solve_ransac	(	int	ninners,
		std::vector< std::pair< uint, std::vector< uint >>>	inner_kpnt,
		std::vector< cv::KeyPoint >	kpnts,
		uint32_t	maxIter = `500`,
		float	_minInliers = `0.2f`,
		float	_thresInliers = `0.7f`
	)

fractal_solve_ransac

estimate the pose of the fractal marker. Method case 2, paper.

Parameters

ninners	(number of total inners points used)
inner_kpnt	matches (inner points - detected keypoints)
kpnts	keypoints
maxIter	maximum number of iterations
_minInliers	beta in paper
_thresInliers	alpha in paper

Returns: Mat best model homography.

Definition at line 900 of file fractalposetracker.cpp.

◆ fractalInnerPose()

bool aruco::FractalPoseTracker::fractalInnerPose	(	const cv::Ptr< MarkerDetector >	markerDetector,
		const std::vector< aruco::Marker > &	markers,
		bool	refinement = `true`
	)

fractalInnerPose

estimate the pose of the fractal marker.

Parameters

markerDetector
detected	markers
refinement,use	or not pose refinement. True by default.

Returns: true if the pose is estimated and false otherwise. If not estimated, the parameters m.Rvec and m.Tvec and not set.

Definition at line 552 of file fractalposetracker.cpp.

◆ fractalRefinement()

bool aruco::FractalPoseTracker::fractalRefinement	(	const cv::Ptr< MarkerDetector >	markerDetector,
		int	markerWarpPix = `10`
	)

fractalRefinement

Refinement of the internal points of the marker and pose estimation with these.

Parameters

markerDetector
markerWarpPix.	Optimal markerwarpPix used to select the image of the pyramid. Default value 10.

Returns: true if the pose is estimated and false otherwise. If not estimated, the parameters m.Rvec and m.Tvec and not set.

Definition at line 288 of file fractalposetracker.cpp.

◆ getFractal()

FractalMarkerSet aruco::FractalPoseTracker::getFractal ( )

inline

Definition at line 130 of file fractalposetracker.h.

◆ getInner3d()

const std::vector<cv::Point3f> aruco::FractalPoseTracker::getInner3d ( )

inline

Definition at line 119 of file fractalposetracker.h.

◆ getRvec()

const cv::Mat aruco::FractalPoseTracker::getRvec ( ) const

inline

Definition at line 107 of file fractalposetracker.h.

◆ getTvec()

const cv::Mat aruco::FractalPoseTracker::getTvec ( ) const

inline

Definition at line 113 of file fractalposetracker.h.

◆ isPoseValid()

bool aruco::FractalPoseTracker::isPoseValid ( ) const

inline

Definition at line 125 of file fractalposetracker.h.

◆ ROI()

bool aruco::FractalPoseTracker::ROI	(	const std::vector< cv::Mat >	imagePyramid,
		cv::Mat &	img,
		std::vector< cv::Point2f > &	innerPoints2d,
		cv::Point2f &	offset,
		float &	ratio
	)

ROI.

extraction of the region of the image where the marker is estimated to be based on the previous pose

Parameters

imagePyramid	set images
img	original image. The image is scaled according to the selected pyramid image.
innerPoints2d	collection fractal inner points. The points are scaled according to the selected pyramid image.
offset.	Position of the upper inner corner of the marker. The offset is scaled according to the selected pyramid image.
ratio	selected scaling factor

Definition at line 794 of file fractalposetracker.cpp.

◆ setParams()

void aruco::FractalPoseTracker::setParams	(	const CameraParameters &	cam_params,
		const FractalMarkerSet &	msconf,
		const float	markerSize = `-1`
	)

setParams

init fractlPoseTracker parameters

Parameters

cam_params	camera paremeters
msconf	FractalMarkerSet configuration
markerSize	FractalMarker size

Definition at line 234 of file fractalposetracker.cpp.

Member Data Documentation

◆ _cam_params

aruco::CameraParameters aruco::FractalPoseTracker::_cam_params

private

Definition at line 137 of file fractalposetracker.h.

◆ _fractalMarker

FractalMarkerSet aruco::FractalPoseTracker::_fractalMarker

private

Definition at line 136 of file fractalposetracker.h.

◆ _id_area

std::map<int, float> aruco::FractalPoseTracker::_id_area

private

Definition at line 144 of file fractalposetracker.h.

◆ _id_innerp3d

std::map<int, std::vector<cv::Point3f> > aruco::FractalPoseTracker::_id_innerp3d

private

Definition at line 139 of file fractalposetracker.h.

◆ _id_radius

std::map<int, double> aruco::FractalPoseTracker::_id_radius

private

Definition at line 143 of file fractalposetracker.h.

◆ _innerkpoints

std::vector<cv::KeyPoint> aruco::FractalPoseTracker::_innerkpoints

private

Definition at line 141 of file fractalposetracker.h.

◆ _innerp3d

std::vector<cv::Point3f> aruco::FractalPoseTracker::_innerp3d

private

Definition at line 140 of file fractalposetracker.h.

◆ _kdtree

picoflann::KdTreeIndex<2, PicoFlann_KeyPointAdapter> aruco::FractalPoseTracker::_kdtree

private

Definition at line 142 of file fractalposetracker.h.

◆ _preRadius

float aruco::FractalPoseTracker::_preRadius = 0

private

Definition at line 145 of file fractalposetracker.h.

◆ _rvec

cv::Mat aruco::FractalPoseTracker::_rvec

private

Definition at line 138 of file fractalposetracker.h.

◆ _tvec

cv::Mat aruco::FractalPoseTracker::_tvec

private

Definition at line 138 of file fractalposetracker.h.

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ FractalPoseTracker()

Member Function Documentation

◆ drawKeyPoints()

◆ fractal_solve_ransac()

◆ fractalInnerPose()

◆ fractalRefinement()

◆ getFractal()

◆ getInner3d()

◆ getRvec()

◆ getTvec()

◆ isPoseValid()

◆ ROI()

◆ setParams()

Member Data Documentation

◆ _cam_params

◆ _fractalMarker

◆ _id_area

◆ _id_innerp3d

◆ _id_radius

◆ _innerkpoints

◆ _innerp3d

◆ _kdtree

◆ _preRadius

◆ _rvec

◆ _tvec