Main class for marker detection. More...

#include <markerdetector_impl.h>

Classes
struct	marker_analyzer

class	Queue

struct	ThresAndDetectRectTASK

Public Types
typedef Marker	MarkerCandidate

Public Member Functions
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 ()

MarkerDetector::Params &	getParameters ()

MarkerDetector::Params	getParameters () const

cv::Mat	getThresholdedImage (uint32_t idx=0)

void	loadParamsFromFile (const std::string &path)

	MarkerDetector_Impl ()

	MarkerDetector_Impl (int dict_type, float error_correction_rate=0)

	MarkerDetector_Impl (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 MarkerDetector::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_Impl ()

Private Types
enum	ThreadTasks { THRESHOLD_TASK, ENCLOSE_TASK, EXIT_TASK }

Private Member Functions
void	addToImageHist (cv::Mat &im, std::vector< float > &hist)

void	buildPyramid (std::vector< cv::Mat > &imagePyramid, const cv::Mat &grey, int minSize)

void	cornerUpsample (std::vector< Marker > &MarkerCanditates, cv::Size lowResImageSize)

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

void	distortPoints (std::vector< cv::Point2f > in, std::vector< cv::Point2f > &out, const cv::Mat &camMatrix, const cv::Mat &distCoeff)

void	draw (cv::Mat out, const std::vector< Marker > &markers)

void	drawAllContours (cv::Mat input, std::vector< std::vector< cv::Point >> &contours)

void	drawApproxCurve (cv::Mat &in, std::vector< cv::Point > &approxCurve, cv::Scalar color, int thickness=1)

void	drawContour (cv::Mat &in, std::vector< cv::Point > &contour, cv::Scalar)

void	enlargeMarkerCandidate (MarkerCandidate &cand, int fact=1)

void	filter_ambiguous_query (std::vector< cv::DMatch > &matches)

cv::Point2f	getCrossPoint (const cv::Point3f &line1, const cv::Point3f &line2)

int	getMarkerWarpSize ()

int	getMinMarkerSizePix (cv::Size orginput_imageSize) const

void	interpolate2Dline (const std::vector< cv::Point2f > &inPoints, cv::Point3f &outLine)

template<typename T >
void	joinVectors (std::vector< std::vector< T >> &vv, std::vector< T > &v, bool clearv=false)

int	Otsu (std::vector< float > &hist)

int	perimeter (const std::vector< cv::Point2f > &a)

float	pointSqdist (cv::Point &p, cv::Point2f &p2)

std::vector< aruco::MarkerCandidate >	prefilterCandidates (std::vector< MarkerCandidate > &candidates, cv::Size orgImageSize)

void	refineCornerWithContourLines (aruco::Marker &marker, cv::Mat cameraMatrix=cv::Mat(), cv::Mat distCoef=cv::Mat())

template<typename T >
void	removeElements (std::vector< T > &vinout, const std::vector< bool > &toRemove)

std::vector< aruco::MarkerCandidate >	thresholdAndDetectRectangles (const cv::Mat &image)

std::vector< aruco::MarkerCandidate >	thresholdAndDetectRectangles (const cv::Mat &input, int thres_param1, int thres_param2, bool erode, cv::Mat &auxThresImage)

void	thresholdAndDetectRectangles_thread ()

Private Attributes
std::vector< MarkerCandidate >	_candidates_wcontour

MarkerDetector::Params	_params

std::vector< Marker >	_prevMarkers

Queue< ThresAndDetectRectTASK >	_tasks

std::vector< cv::Mat >	_thres_Images

float	_tooNearDistance = -1

std::vector< std::vector< MarkerCandidate > >	_vcandidates

cv::Mat	grey

std::vector< cv::Mat >	imagePyramid

std::map< int, int >	marker_ndetections

cv::Ptr< MarkerLabeler >	markerIdDetector

cv::Mat	thres

Friends
class	MarkerDetector

Detailed Description

Main class for marker detection.

Definition at line 41 of file markerdetector_impl.h.

Member Typedef Documentation

◆ MarkerCandidate

typedef Marker aruco::MarkerDetector_Impl::MarkerCandidate

Definition at line 229 of file markerdetector_impl.h.

Member Enumeration Documentation

◆ ThreadTasks

enum aruco::MarkerDetector_Impl::ThreadTasks

private

Enumerator
THRESHOLD_TASK
ENCLOSE_TASK
EXIT_TASK

Definition at line 361 of file markerdetector_impl.h.

Constructor & Destructor Documentation

◆ MarkerDetector_Impl() [1/3]

aruco::MarkerDetector_Impl::MarkerDetector_Impl ( )

See

Definition at line 49 of file markerdetector_impl.cpp.

◆ MarkerDetector_Impl() [2/3]

aruco::MarkerDetector_Impl::MarkerDetector_Impl	(	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_impl.cpp.

◆ MarkerDetector_Impl() [3/3]

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

Definition at line 71 of file markerdetector_impl.cpp.

◆ ~MarkerDetector_Impl()

aruco::MarkerDetector_Impl::~MarkerDetector_Impl ( )

Definition at line 83 of file markerdetector_impl.cpp.

Member Function Documentation

◆ addToImageHist()

void aruco::MarkerDetector_Impl::addToImageHist	(	cv::Mat &	im,
		std::vector< float > &	hist
	)

private

Definition at line 729 of file markerdetector_impl.cpp.

◆ buildPyramid()

void aruco::MarkerDetector_Impl::buildPyramid	(	std::vector< cv::Mat > &	imagePyramid,
		const cv::Mat &	grey,
		int	minSize
	)

private

Definition at line 174 of file markerdetector_impl.cpp.

◆ cornerUpsample() [1/2]

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

private

Definition at line 1789 of file markerdetector_impl.cpp.

◆ cornerUpsample() [2/2]

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

private

Definition at line 1837 of file markerdetector_impl.cpp.

◆ detect() [1/4]

std::vector< aruco::Marker > aruco::MarkerDetector_Impl::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 118 of file markerdetector_impl.cpp.

◆ detect() [2/4]

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

Definition at line 125 of file markerdetector_impl.cpp.

◆ detect() [3/4]

void aruco::MarkerDetector_Impl::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 141 of file markerdetector_impl.cpp.

◆ detect() [4/4]

void aruco::MarkerDetector_Impl::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 distorsion coefficient. If set Mat() if is assumed no camera distorion
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

CREATE LOW RESOLUTION IMAGE IN WHICH MARKERS WILL BE DETECTED

THRESHOLD IMAGES AND DETECT INITIAL RECTANGLES

CANDIDATE CLASSIFICATION: Decide which candidates are really markers

MARKER Tracking

REMOVAL OF DUPLICATED

CORNER REFINEMENT IF REQUIRED /////////////////////////////////////////////////////////////////// refine the corner location if enclosed markers and we did not do it via upsampling

MARKER POSE ESTIMATION

detect the position of detected markers if desired

save for tracking

Definition at line 781 of file markerdetector_impl.cpp.

◆ distortPoints()

void aruco::MarkerDetector_Impl::distortPoints	(	std::vector< cv::Point2f >	in,
		std::vector< cv::Point2f > &	out,
		const cv::Mat &	camMatrix,
		const cv::Mat &	distCoeff
	)

private

Definition at line 1686 of file markerdetector_impl.cpp.

◆ draw()

void aruco::MarkerDetector_Impl::draw	(	cv::Mat	out,
		const std::vector< Marker > &	markers
	)

private

Definition at line 1632 of file markerdetector_impl.cpp.

◆ drawAllContours()

void aruco::MarkerDetector_Impl::drawAllContours	(	cv::Mat	input,
		std::vector< std::vector< cv::Point >> &	contours
	)

private

Definition at line 1599 of file markerdetector_impl.cpp.

◆ drawApproxCurve()

void aruco::MarkerDetector_Impl::drawApproxCurve	(	cv::Mat &	in,
		std::vector< cv::Point > &	approxCurve,
		cv::Scalar	color,
		int	thickness = `1`
	)

private

Definition at line 1618 of file markerdetector_impl.cpp.

◆ drawContour()

void aruco::MarkerDetector_Impl::drawContour	(	cv::Mat &	in,
		std::vector< cv::Point > &	contour,
		cv::Scalar
	)

private

Definition at line 1610 of file markerdetector_impl.cpp.

◆ enlargeMarkerCandidate()

void aruco::MarkerDetector_Impl::enlargeMarkerCandidate	(	MarkerCandidate &	cand,
		int	fact = `1`
	)

private

Definition at line 1344 of file markerdetector_impl.cpp.

◆ filter_ambiguous_query()

void aruco::MarkerDetector_Impl::filter_ambiguous_query ( std::vector< cv::DMatch > & matches )

private

Definition at line 1743 of file markerdetector_impl.cpp.

◆ fromStream()

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

Definition at line 1731 of file markerdetector_impl.cpp.

◆ getCandidates()

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

inline

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

Definition at line 235 of file markerdetector_impl.h.

◆ getCrossPoint()

Point2f aruco::MarkerDetector_Impl::getCrossPoint	(	const cv::Point3f &	line1,
		const cv::Point3f &	line2
	)

private

Definition at line 1532 of file markerdetector_impl.cpp.

◆ getDetectionMode()

DetectionMode aruco::MarkerDetector_Impl::getDetectionMode ( )

returns current detection mode

Definition at line 104 of file markerdetector_impl.cpp.

◆ getImagePyramid()

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

inline

Definition at line 257 of file markerdetector_impl.h.

◆ getMarkerLabeler()

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

inline

Definition at line 225 of file markerdetector_impl.h.

◆ getMarkerWarpSize()

int aruco::MarkerDetector_Impl::getMarkerWarpSize ( )

private

Definition at line 159 of file markerdetector_impl.cpp.

◆ getMinMarkerSizePix()

int aruco::MarkerDetector_Impl::getMinMarkerSizePix ( cv::Size orginput_imageSize ) const

private

Definition at line 1414 of file markerdetector_impl.cpp.

◆ getParameters() [1/2]

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

inline

Returns operating params

Definition at line 171 of file markerdetector_impl.h.

◆ getParameters() [2/2]

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

inline

Returns operating params

Definition at line 165 of file markerdetector_impl.h.

◆ getThresholdedImage()

cv::Mat aruco::MarkerDetector_Impl::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 1673 of file markerdetector_impl.cpp.

◆ interpolate2Dline()

void aruco::MarkerDetector_Impl::interpolate2Dline	(	const std::vector< cv::Point2f > &	inPoints,
		cv::Point3f &	outLine
	)

private

Definition at line 1474 of file markerdetector_impl.cpp.

◆ joinVectors()

template<typename T >

void aruco::MarkerDetector_Impl::joinVectors	(	std::vector< std::vector< T >> &	vv,
		std::vector< T > &	v,
		bool	clearv = `false`
	)

inlineprivate

Definition at line 313 of file markerdetector_impl.h.

◆ loadParamsFromFile()

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

Loads the configuration from a file.

Loads the configuration from a file

Definition at line 1715 of file markerdetector_impl.cpp.

◆ Otsu()

int aruco::MarkerDetector_Impl::Otsu ( std::vector< float > & hist )

private

Definition at line 739 of file markerdetector_impl.cpp.

◆ perimeter()

int aruco::MarkerDetector_Impl::perimeter ( const std::vector< cv::Point2f > & a )

private

Definition at line 1459 of file markerdetector_impl.cpp.

◆ pointSqdist()

float aruco::MarkerDetector_Impl::pointSqdist	(	cv::Point &	p,
		cv::Point2f &	p2
	)

inlineprivate

Definition at line 416 of file markerdetector_impl.h.

◆ prefilterCandidates()

vector< MarkerDetector_Impl::MarkerCandidate > aruco::MarkerDetector_Impl::prefilterCandidates	(	std::vector< MarkerCandidate > &	candidates,
		cv::Size	orgImageSize
	)

private

CANDIDATE PREFILTERING- Merge and Remove candidates so that only reliable ones are returned /////////////////////////////////////////////////////////////////////////////// sort the points in anti-clockwise order

remove these elements which corners are too close to each other

mark for removal the element of the pair with smaller perimeter

find these too near borders and remove them

Definition at line 641 of file markerdetector_impl.cpp.

◆ refineCornerWithContourLines()

void aruco::MarkerDetector_Impl::refineCornerWithContourLines	(	aruco::Marker &	marker,
		cv::Mat	cameraMatrix = `cv::Mat()`,
		cv::Mat	distCoef = `cv::Mat()`
	)

private

Definition at line 1243 of file markerdetector_impl.cpp.

◆ removeElements()

template<typename T >

void aruco::MarkerDetector_Impl::removeElements	(	std::vector< T > &	vinout,
		const std::vector< bool > &	toRemove
	)

inlineprivate

Given a vector vinout with elements and a boolean vector indicating the lements from it to remove, this function remove the elements

Parameters

vinout
toRemove

Definition at line 295 of file markerdetector_impl.h.

◆ saveParamsToFile()

void aruco::MarkerDetector_Impl::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 1705 of file markerdetector_impl.cpp.

◆ setDetectionMode()

void aruco::MarkerDetector_Impl::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 99 of file markerdetector_impl.cpp.

◆ setDictionary() [1/2]

void aruco::MarkerDetector_Impl::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 1649 of file markerdetector_impl.cpp.

◆ setDictionary() [2/2]

void aruco::MarkerDetector_Impl::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_Impl::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 1644 of file markerdetector_impl.cpp.

◆ setParameters()

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

Definition at line 87 of file markerdetector_impl.cpp.

◆ thresholdAndDetectRectangles() [1/2]

vector< aruco::MarkerDetector_Impl::MarkerCandidate > aruco::MarkerDetector_Impl::thresholdAndDetectRectangles ( const cv::Mat & image )

private

Definition at line 556 of file markerdetector_impl.cpp.

◆ thresholdAndDetectRectangles() [2/2]

vector< MarkerDetector_Impl::MarkerCandidate > aruco::MarkerDetector_Impl::thresholdAndDetectRectangles	(	const cv::Mat &	input,
		int	thres_param1,
		int	thres_param2,
		bool	enclosed,
		cv::Mat &	auxThresImage
	)

private

kpts.erase(std::remove_if(kpts.begin(),kpts.end(), [ ](const cv::KeyPoint &kp){return kp.class_id==0;}), kpts.end());

for each contour, analyze if it is a paralelepiped likely to be the marker

Definition at line 422 of file markerdetector_impl.cpp.

◆ thresholdAndDetectRectangles_thread()

void aruco::MarkerDetector_Impl::thresholdAndDetectRectangles_thread ( )

private

Definition at line 540 of file markerdetector_impl.cpp.

◆ toStream()

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

Definition at line 1724 of file markerdetector_impl.cpp.

◆ warp()

bool aruco::MarkerDetector_Impl::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

Definition at line 1433 of file markerdetector_impl.cpp.

Friends And Related Function Documentation

◆ MarkerDetector

friend class MarkerDetector

friend

Definition at line 43 of file markerdetector_impl.h.

Member Data Documentation

◆ _candidates_wcontour

std::vector<MarkerCandidate> aruco::MarkerDetector_Impl::_candidates_wcontour

private

Definition at line 347 of file markerdetector_impl.h.

◆ _params

MarkerDetector::Params aruco::MarkerDetector_Impl::_params

private

Definition at line 268 of file markerdetector_impl.h.

◆ _prevMarkers

std::vector<Marker> aruco::MarkerDetector_Impl::_prevMarkers

private

Definition at line 348 of file markerdetector_impl.h.

◆ _tasks

Queue<ThresAndDetectRectTASK> aruco::MarkerDetector_Impl::_tasks

private

Definition at line 412 of file markerdetector_impl.h.

◆ _thres_Images

std::vector<cv::Mat> aruco::MarkerDetector_Impl::_thres_Images

private

Definition at line 344 of file markerdetector_impl.h.

◆ _tooNearDistance

float aruco::MarkerDetector_Impl::_tooNearDistance = -1

private

Definition at line 423 of file markerdetector_impl.h.

◆ _vcandidates

std::vector<std::vector<MarkerCandidate> > aruco::MarkerDetector_Impl::_vcandidates

private

Definition at line 345 of file markerdetector_impl.h.

◆ grey

cv::Mat aruco::MarkerDetector_Impl::grey

private

Definition at line 271 of file markerdetector_impl.h.

◆ imagePyramid

std::vector<cv::Mat> aruco::MarkerDetector_Impl::imagePyramid

private

Definition at line 322 of file markerdetector_impl.h.

◆ marker_ndetections

std::map<int, int> aruco::MarkerDetector_Impl::marker_ndetections

private

Definition at line 349 of file markerdetector_impl.h.

◆ markerIdDetector

cv::Ptr<MarkerLabeler> aruco::MarkerDetector_Impl::markerIdDetector

private

Definition at line 273 of file markerdetector_impl.h.

◆ thres

cv::Mat aruco::MarkerDetector_Impl::thres

private

Definition at line 271 of file markerdetector_impl.h.

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

Classes

Public Types

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ MarkerCandidate

Member Enumeration Documentation

◆ ThreadTasks

Constructor & Destructor Documentation

◆ MarkerDetector_Impl() [1/3]

◆ MarkerDetector_Impl() [2/3]

◆ MarkerDetector_Impl() [3/3]

◆ ~MarkerDetector_Impl()

Member Function Documentation

◆ addToImageHist()

◆ buildPyramid()

◆ cornerUpsample() [1/2]

◆ cornerUpsample() [2/2]

◆ detect() [1/4]

◆ detect() [2/4]

◆ detect() [3/4]

◆ detect() [4/4]

◆ distortPoints()

◆ draw()

◆ drawAllContours()

◆ drawApproxCurve()

◆ drawContour()

◆ enlargeMarkerCandidate()

◆ filter_ambiguous_query()

◆ fromStream()

◆ getCandidates()

◆ getCrossPoint()

◆ getDetectionMode()

◆ getImagePyramid()

◆ getMarkerLabeler()

◆ getMarkerWarpSize()

◆ getMinMarkerSizePix()

◆ getParameters() [1/2]

◆ getParameters() [2/2]

◆ getThresholdedImage()

◆ interpolate2Dline()

◆ joinVectors()

◆ loadParamsFromFile()

◆ Otsu()

◆ perimeter()

◆ pointSqdist()

◆ prefilterCandidates()

◆ refineCornerWithContourLines()

◆ removeElements()

◆ 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()

◆ thresholdAndDetectRectangles() [1/2]

◆ thresholdAndDetectRectangles() [2/2]

◆ thresholdAndDetectRectangles_thread()

◆ toStream()

◆ warp()

Friends And Related Function Documentation

◆ MarkerDetector

Member Data Documentation

◆ _candidates_wcontour

◆ _params

◆ _prevMarkers

◆ _tasks

◆ _thres_Images

◆ _tooNearDistance

◆ _vcandidates

◆ grey

◆ imagePyramid

◆ marker_ndetections

◆ markerIdDetector

◆ thres