#include <marker.h>

Inheritance diagram for aruco::Marker:

Public Member Functions
void	calculateExtrinsics (float markerSize, const CameraParameters &CP, bool setYPerpendicular=true)

void	calculateExtrinsics (float markerSize, cv::Mat CameraMatrix, cv::Mat Distorsion=cv::Mat(), cv::Mat Extrinsics=cv::Mat(), bool setYPerpendicular=true, bool correctFisheye=false)

void	copyTo (Marker &m) const

void	draw (cv::Mat &in, cv::Scalar color=cv::Scalar(0, 0, 255), int lineWidth=-1, bool writeId=true, bool writeInfo=false) const

void	fromStream (std::istream &str)

vector< cv::Point3f >	get3DPoints () const

float	getArea () const

cv::Point2f	getCenter () const

float	getPerimeter () const

float	getRadius () const

cv::Mat	getTransformMatrix () const

void	glGetModelViewMatrix (double modelview_matrix[16])

bool	isPoseValid () const

bool	isValid () const

	Marker ()

	Marker (const Marker &M)

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

	Marker (int id)

void	OgreGetPoseParameters (double position[3], double orientation[4])

Marker &	operator= (const Marker &m)

bool	operator== (const Marker &m) const

void	toStream (std::ostream &str) const

	~Marker ()

Static Public Member Functions
static vector< cv::Point3f >	get3DPoints (float msize)

Public Attributes
vector< cv::Point >	contourPoints

std::string	dict_info

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)

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

Detailed Description

Definition at line 35 of file marker.h.

Constructor & Destructor Documentation

◆ Marker() [1/4]

aruco::Marker::Marker ( )

Definition at line 35 of file marker.cpp.

◆ Marker() [2/4]

aruco::Marker::Marker ( int id )

Definition at line 47 of file marker.cpp.

◆ Marker() [3/4]

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

Definition at line 59 of file marker.cpp.

◆ Marker() [4/4]

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

Definition at line 67 of file marker.cpp.

◆ ~Marker()

aruco::Marker::~Marker ( )

inline

Definition at line 63 of file marker.h.

Member Function Documentation

◆ calculateExtrinsics() [1/2]

void aruco::Marker::calculateExtrinsics	(	float	markerSize,
		const CameraParameters &	CP,
		bool	setYPerpendicular = `true`
	)

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 301 of file marker.cpp.

◆ calculateExtrinsics() [2/2]

void aruco::Marker::calculateExtrinsics	(	float	markerSize,
		cv::Mat	CameraMatrix,
		cv::Mat	Distorsion = `cv::Mat()`,
		cv::Mat	Extrinsics = `cv::Mat()`,
		bool	setYPerpendicular = `true`,
		bool	correctFisheye = `false`
	)

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)
Distortion	matrix with distortion parameters (k1, k2, p1, p2)
setYPerpendicular	If set the Y axis will be perpendicular to the surface. Otherwise, it will be the Z axis
correctFisheye	Correct fisheye distortion

Definition at line 316 of file marker.cpp.

◆ copyTo()

void aruco::Marker::copyTo ( Marker & m ) const

Definition at line 78 of file marker.cpp.

◆ draw()

void aruco::Marker::draw	(	cv::Mat &	in,
		cv::Scalar	color = `cv::Scalar(0, 0, 255)`,
		int	lineWidth = `-1`,
		bool	writeId = `true`,
		bool	writeInfo = `false`
	)		const

Draws this marker in the input image

Definition at line 249 of file marker.cpp.

◆ fromStream()

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

Definition at line 452 of file marker.cpp.

◆ get3DPoints() [1/2]

vector<cv::Point3f> aruco::Marker::get3DPoints ( ) const

inline

Definition at line 178 of file marker.h.

◆ get3DPoints() [2/2]

std::vector< cv::Point3f > aruco::Marker::get3DPoints ( float msize )

static

Definition at line 359 of file marker.cpp.

◆ getArea()

float aruco::Marker::getArea ( ) const

Returns the area

Definition at line 406 of file marker.cpp.

◆ getCenter()

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

Returns the centroid of the marker

Definition at line 391 of file marker.cpp.

◆ getPerimeter()

float aruco::Marker::getPerimeter ( ) const

Returns the perimeter of the marker

Definition at line 420 of file marker.cpp.

◆ getRadius()

float aruco::Marker::getRadius ( ) const

Returns radius of enclosing circle

Definition at line 485 of file marker.cpp.

◆ getTransformMatrix()

cv::Mat aruco::Marker::getTransformMatrix ( ) const

Definition at line 475 of file marker.cpp.

◆ glGetModelViewMatrix()

void aruco::Marker::glGetModelViewMatrix ( double modelview_matrix[16] )

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 102 of file marker.cpp.

◆ isPoseValid()

bool aruco::Marker::isPoseValid ( ) const

inline

Definition at line 73 of file marker.h.

◆ isValid()

bool aruco::Marker::isValid ( ) const

inline

Indicates if this object is valid

Definition at line 68 of file marker.h.

◆ OgreGetPoseParameters()

void aruco::Marker::OgreGetPoseParameters	(	double	position[3],
		double	orientation[4]
	)

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 159 of file marker.cpp.

◆ operator=()

Marker & aruco::Marker::operator= ( const Marker & m )

compares ids

Definition at line 94 of file marker.cpp.

◆ operator==()

bool aruco::Marker::operator== ( const Marker & m ) const

inline

compares ids

Definition at line 134 of file marker.h.

◆ rotateXAxis()

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

private

Definition at line 372 of file marker.cpp.

◆ toStream()

void aruco::Marker::toStream ( std::ostream & str ) const

Definition at line 431 of file marker.cpp.

Friends And Related Function Documentation

◆ operator<

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

friend

Definition at line 146 of file marker.h.

◆ operator<<

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

friend

Definition at line 152 of file marker.h.

Member Data Documentation

◆ contourPoints

vector<cv::Point> aruco::Marker::contourPoints

Definition at line 47 of file marker.h.

◆ dict_info

std::string aruco::Marker::dict_info

Definition at line 45 of file marker.h.

◆ id

int aruco::Marker::id

Definition at line 39 of file marker.h.

◆ Rvec

cv::Mat aruco::Marker::Rvec

Definition at line 43 of file marker.h.

◆ ssize

float aruco::Marker::ssize

Definition at line 41 of file marker.h.

◆ Tvec

cv::Mat aruco::Marker::Tvec

Definition at line 43 of file marker.h.

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

Public Member Functions

Static Public Member Functions

Public Attributes

Private Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ Marker() [1/4]

◆ Marker() [2/4]

◆ Marker() [3/4]

◆ Marker() [4/4]

◆ ~Marker()

Member Function Documentation

◆ calculateExtrinsics() [1/2]

◆ calculateExtrinsics() [2/2]

◆ copyTo()

◆ draw()

◆ fromStream()

◆ get3DPoints() [1/2]

◆ get3DPoints() [2/2]

◆ getArea()

◆ getCenter()

◆ getPerimeter()

◆ getRadius()

◆ getTransformMatrix()

◆ glGetModelViewMatrix()

◆ isPoseValid()

◆ isValid()

◆ OgreGetPoseParameters()

◆ operator=()

◆ operator==()

◆ rotateXAxis()

◆ toStream()

Friends And Related Function Documentation

◆ operator<

◆ operator<<

Member Data Documentation

◆ contourPoints

◆ dict_info

◆ id

◆ Rvec

◆ ssize

◆ Tvec