Main class for marker detection. More...

#include <markerdetector.h>

Classes
struct	Params

Public Types
enum	ThresMethod : int { THRES_ADAPTIVE = 0, THRES_AUTO_FIXED = 1 }

Public Member Functions
void	cornerUpsample (std::vector< Marker > &corners, cv::Size lowResImageSize)

void	cornerUpsample (std::vector< std::vector< cv::Point2f > > &corners, cv::Size lowResImageSize)

std::vector< aruco::Marker >	detect (const cv::Mat &input)

std::vector< aruco::Marker >	detect (const cv::Mat &input, const CameraParameters &camParams, float markerSizeMeters, bool setYPerperdicular=false, bool correctFisheye=false)

void	detect (const cv::Mat &input, std::vector< Marker > &detectedMarkers, CameraParameters camParams, float markerSizeMeters=-1, bool setYPerperdicular=false, bool correctFisheye=false)

void	detect (const cv::Mat &input, std::vector< Marker > &detectedMarkers, cv::Mat camMatrix=cv::Mat(), cv::Mat distCoeff=cv::Mat(), cv::Mat extrinsics=cv::Mat(), float markerSizeMeters=-1, bool setYPerperdicular=false, bool correctFisheye=false)

void	fromStream (std::istream &str)

std::vector< MarkerCandidate >	getCandidates () const

DetectionMode	getDetectionMode ()

std::vector< cv::Mat >	getImagePyramid ()

cv::Ptr< MarkerLabeler >	getMarkerLabeler ()

Params &	getParameters ()

Params	getParameters () const

cv::Mat	getThresholdedImage (uint32_t idx=0)

void	loadParamsFromFile (const std::string &path)

	MarkerDetector ()

	MarkerDetector (int dict_type, float error_correction_rate=0)

	MarkerDetector (std::string dict_type, float error_correction_rate=0)

void	saveParamsToFile (const std::string &path) const

void	setDetectionMode (DetectionMode dm, float minMarkerSize=0)

void	setDictionary (int dict_type, float error_correction_rate=0)
	setDictionary Specifies the dictionary you want to use for marker decoding More...

void	setDictionary (std::string dict_type, float error_correction_rate=0)

void	setMarkerLabeler (cv::Ptr< MarkerLabeler > detector)
	setMakerLabeler sets the labeler employed to analyze the squares and extract the inner binary code More...

void	setParameters (const Params &params)

void	toStream (std::ostream &str) const

bool	warp (cv::Mat &in, cv::Mat &out, cv::Size size, std::vector< cv::Point2f > points)

	~MarkerDetector ()

Private Attributes
MarkerDetector_Impl *	_impl

Friends
class	MarkerDetector_Impl

Detailed Description

Main class for marker detection.

Definition at line 91 of file markerdetector.h.

Member Enumeration Documentation

◆ ThresMethod

enum aruco::MarkerDetector::ThresMethod : int

Enumerator
THRES_ADAPTIVE
THRES_AUTO_FIXED

Definition at line 96 of file markerdetector.h.

Constructor & Destructor Documentation

◆ MarkerDetector() [1/3]

aruco::MarkerDetector::MarkerDetector ( )

See

Definition at line 49 of file markerdetector.cpp.

◆ MarkerDetector() [2/3]

aruco::MarkerDetector::MarkerDetector	(	int	dict_type,
		float	error_correction_rate = `0`
	)

Creates indicating the dictionary. See

See also: setDictionary for further details

Parameters

dict_type Dictionary employed. See

See also: setDictionary for further details

Parameters

error_correction_rate value indicating the correction error allowed. Is in range [0,1]. 0 means no correction at all. So an erroneous bit will result in discarding the marker. 1, mean full correction. The maximum number of bits that can be corrected depends on each ditionary. We recommend using values from 0 to 0.5. (in general, this will allow up to 3 bits or correction).

Definition at line 60 of file markerdetector.cpp.

◆ MarkerDetector() [3/3]

aruco::MarkerDetector::MarkerDetector	(	std::string	dict_type,
		float	error_correction_rate = `0`
	)

Definition at line 72 of file markerdetector.cpp.

◆ ~MarkerDetector()

aruco::MarkerDetector::~MarkerDetector ( )

Definition at line 85 of file markerdetector.cpp.

Member Function Documentation

◆ cornerUpsample() [1/2]

void aruco::MarkerDetector::cornerUpsample	(	std::vector< Marker > &	corners,
		cv::Size	lowResImageSize
	)

◆ cornerUpsample() [2/2]

void aruco::MarkerDetector::cornerUpsample	(	std::vector< std::vector< cv::Point2f > > &	corners,
		cv::Size	lowResImageSize
	)

Definition at line 456 of file markerdetector.cpp.

◆ detect() [1/4]

std::vector< aruco::Marker > aruco::MarkerDetector::detect ( const cv::Mat & input )

Detects the markers in the image passed

If you provide information about the camera parameters and the size of the marker, then, the extrinsics of the markers are detected

Parameters

input	input color image
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. If not specified this value, the extrinsics of the markers are not detected.
setYPerperdicular	If set the Y axis will be perpendicular to the surface. Otherwise, it will be the Z axis
correctFisheye	Correct fisheye distortion

Returns: vector with the detected markers

Definition at line 120 of file markerdetector.cpp.

◆ detect() [2/4]

std::vector< aruco::Marker > aruco::MarkerDetector::detect	(	const cv::Mat &	input,
		const CameraParameters &	camParams,
		float	markerSizeMeters,
		bool	setYPerperdicular = `false`,
		bool	correctFisheye = `false`
	)

Definition at line 125 of file markerdetector.cpp.

◆ detect() [3/4]

void aruco::MarkerDetector::detect	(	const cv::Mat &	input,
		std::vector< Marker > &	detectedMarkers,
		CameraParameters	camParams,
		float	markerSizeMeters = `-1`,
		bool	setYPerperdicular = `false`,
		bool	correctFisheye = `false`
	)

Detects the markers in the image passed

If you provide information about the camera parameters and the size of the marker, then, the extrinsics of the markers are detected

Parameters

input	input color image
detectedMarkers	output vector with the markers detected
camParams	Camera parameters
markerSizeMeters	size of the marker sides expressed in meters
setYPerperdicular	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 139 of file markerdetector.cpp.

◆ detect() [4/4]

void aruco::MarkerDetector::detect	(	const cv::Mat &	input,
		std::vector< Marker > &	detectedMarkers,
		cv::Mat	camMatrix = `cv::Mat()`,
		cv::Mat	distCoeff = `cv::Mat()`,
		cv::Mat	extrinsics = `cv::Mat()`,
		float	markerSizeMeters = `-1`,
		bool	setYPerperdicular = `false`,
		bool	correctFisheye = `false`
	)

Detects the markers in the image passed

If you provide information about the camera parameters and the size of the marker, then, the extrinsics of the markers are detected

NOTE: be sure that the camera matrix is for this image size. If you do not know what I am talking about, use functions above and not this one

Parameters

input	input color image
detectedMarkers	output vector with the markers detected
camMatrix	intrinsic camera information.
distCoeff	camera distortion coefficient. If set Mat() if is assumed no camera distortion
extrinsics	translation (tx,ty,tz) from right stereo camera to left. Empty if no stereo or left camera
markerSizeMeters	size of the marker sides expressed in meters
setYPerperdicular	If set the Y axis will be perpendicular to the surface. Otherwise, it will be the Z axis
correctFisheye	Correct fisheye distortion

◆ fromStream()

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

Definition at line 328 of file markerdetector.cpp.

◆ getCandidates()

std::vector< MarkerCandidate > aruco::MarkerDetector::getCandidates ( ) const

Returns a list candidates to be markers (rectangles), for which no valid id was found after calling detectRectangles

Definition at line 159 of file markerdetector.cpp.

◆ getDetectionMode()

DetectionMode aruco::MarkerDetector::getDetectionMode ( )

returns current detection mode

Definition at line 106 of file markerdetector.cpp.

◆ getImagePyramid()

std::vector< cv::Mat > aruco::MarkerDetector::getImagePyramid ( )

Definition at line 164 of file markerdetector.cpp.

◆ getMarkerLabeler()

cv::Ptr< MarkerLabeler > aruco::MarkerDetector::getMarkerLabeler ( )

Definition at line 168 of file markerdetector.cpp.

◆ getParameters() [1/2]

Params& aruco::MarkerDetector::getParameters ( )

Returns operating params

◆ getParameters() [2/2]

MarkerDetector::Params & aruco::MarkerDetector::getParameters ( ) const

Returns operating params

Definition at line 148 of file markerdetector.cpp.

◆ getThresholdedImage()

cv::Mat aruco::MarkerDetector::getThresholdedImage ( uint32_t idx = 0 )

Returns a reference to the internal image thresholded. Since there can be generated many of them, specify which

Definition at line 187 of file markerdetector.cpp.

◆ loadParamsFromFile()

void aruco::MarkerDetector::loadParamsFromFile ( const std::string & path )

Loads the configuration from a file.

Loads the configuration from a file

Definition at line 318 of file markerdetector.cpp.

◆ saveParamsToFile()

void aruco::MarkerDetector::saveParamsToFile ( const std::string & path ) const

Saves the configuration of the detector to a file.

Saves the configuration of the detector to a file

Definition at line 311 of file markerdetector.cpp.

◆ setDetectionMode()

void aruco::MarkerDetector::setDetectionMode	(	DetectionMode	dm,
		float	minMarkerSize = `0`
	)

Specifies the detection mode. We have preset three types of detection modes. These are ways to configure the internal parameters for the most typical situations. The modes are:

DM_NORMAL: In this mode, the full resolution image is employed for detection and slow threshold method. Use this method when you process individual images that are not part of a video sequence and you are not interested in speed.
DM_FAST: In this mode, there are two main improvements. First, image is threshold using a faster method using a global threshold. Also, the full resolution image is employed for detection, but, you could speed up detection even more by indicating a minimum size of the markers you will accept. This is set by the variable minMarkerSize which shoud be in range [0,1]. When it is 0, means that you do not set a limit in the size of the accepted markers. However, if you set 0.1, it means that markers smaller than 10% of the total image area, will not be detected. Then, the detection can be accelated up to orders of magnitude compared to the normal mode.
DM_VIDEO_FAST: This is similar to DM_FAST, but specially adapted to video processing. In that case, we assume that the observed markers when you call to detect() have a size similar to the ones observed in the previous frame. Then, the processing can be speeded up by employing smaller versions of the image automatically calculated.

Definition at line 101 of file markerdetector.cpp.

◆ setDictionary() [1/2]

void aruco::MarkerDetector::setDictionary	(	int	dict_type,
		float	error_correction_rate = `0`
	)

setDictionary Specifies the dictionary you want to use for marker decoding

Parameters

dict_type dictionary employed for decoding markers

See also: Dictionary

Parameters

error_correction_rate value indicating the correction error allowed. Is in range [0,1]. 0 means no correction at all. So an erroneous bit will result in discarding the marker. 1, mean full correction. The maximum number of bits that can be corrected depends on each ditionary. We recommend using values from 0 to 0.5. (in general, this will allow up to 3 bits or correction).

Definition at line 177 of file markerdetector.cpp.

◆ setDictionary() [2/2]

void aruco::MarkerDetector::setDictionary	(	std::string	dict_type,
		float	error_correction_rate = `0`
	)

Sets the dictionary to be employed. You can choose:ARUCO,//original aruco dictionary. By default ARUCO_MIP_25h7, ARUCO_MIP_16h3, ARUCO_MIP_36h12, **** recommended ARTAG,// ARTOOLKITPLUS, ARTOOLKITPLUSBCH,// TAG16h5,TAG25h7,TAG25h9,TAG36h11,TAG36h10//APRIL TAGS DICIONARIES CHILITAGS,//chili tags dictionary . NOT RECOMMENDED. It has distance 0. Markers 806 and 682 should not be used!!!

If dict_type is none of the above ones, it is assumed you mean a CUSTOM dicionary saved in a file

See also: Dictionary::loadFromFile Then, it tries to open it

◆ setMarkerLabeler()

void aruco::MarkerDetector::setMarkerLabeler ( cv::Ptr< MarkerLabeler > detector )

setMakerLabeler sets the labeler employed to analyze the squares and extract the inner binary code

returns the number of thresholed images available

Methods you may not need

Thesde methods do the hard work. They have been set public in case you want to do customizations

Parameters

detector

Definition at line 172 of file markerdetector.cpp.

◆ setParameters()

void aruco::MarkerDetector::setParameters ( const Params & params )

Definition at line 90 of file markerdetector.cpp.

◆ toStream()

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

Definition at line 323 of file markerdetector.cpp.

◆ warp()

bool aruco::MarkerDetector::warp	(	cv::Mat &	in,
		cv::Mat &	out,
		cv::Size	size,
		std::vector< cv::Point2f >	points
	)

Given the iput image with markers, creates an output image with it in the canonical position

Parameters

in	input image
out	image with the marker
size	of out
points	4 corners of the marker in the image in

Returns: true if the operation succeed

Friends And Related Function Documentation

◆ MarkerDetector_Impl

friend class MarkerDetector_Impl

friend

Definition at line 93 of file markerdetector.h.

Member Data Documentation

◆ _impl

MarkerDetector_Impl* aruco::MarkerDetector::_impl

private

Definition at line 460 of file markerdetector.h.

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

Classes

Public Types

Public Member Functions

Private Attributes

Friends

Detailed Description

Member Enumeration Documentation

◆ ThresMethod

Constructor & Destructor Documentation

◆ MarkerDetector() [1/3]

◆ MarkerDetector() [2/3]

◆ MarkerDetector() [3/3]

◆ ~MarkerDetector()

Member Function Documentation

◆ cornerUpsample() [1/2]

◆ cornerUpsample() [2/2]

◆ detect() [1/4]

◆ detect() [2/4]

◆ detect() [3/4]

◆ detect() [4/4]

◆ fromStream()

◆ getCandidates()

◆ getDetectionMode()

◆ getImagePyramid()

◆ getMarkerLabeler()

◆ getParameters() [1/2]

◆ getParameters() [2/2]

◆ getThresholdedImage()

◆ loadParamsFromFile()

◆ saveParamsToFile()

◆ setDetectionMode()

◆ setDictionary() [1/2]

◆ setDictionary() [2/2]

◆ setMarkerLabeler()

Thesde methods do the hard work. They have been set public in case you want to do customizations

◆ setParameters()

◆ toStream()

◆ warp()

Friends And Related Function Documentation

◆ MarkerDetector_Impl

Member Data Documentation

◆ _impl