Namespaces
	aruco_private

Classes
class	CameraParameters
	Parameters of the camera. More...

class	CvDrawingUtils
	A set of functions to draw in opencv images. More...

class	Debug

class	Dictionary

class	DictionaryBased

class	FractalDetector

class	FractalMarker

class	FractalMarkerLabeler

class	FractalMarkerSet

class	FractalPoseTracker

class	LevMarq

class	Marker

class	Marker3DInfo

class	MarkerDetector
	Main class for marker detection. More...

class	MarkerDetector_Impl
	Main class for marker detection. More...

class	MarkerLabeler

class	MarkerMap
	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...

class	MarkerMapPoseTracker

class	MarkerPoseTracker

struct	PicoFlann_KeyPointAdapter

struct	ScopedTimerEvents

struct	ScopeTimer

struct	Timer

Typedefs
typedef Marker	MarkerCandidate

Enumerations
enum	CornerRefinementMethod : int { CORNER_SUBPIX = 0, CORNER_LINES = 1, CORNER_NONE = 2 }

enum	DetectionMode : int { DM_NORMAL = 0, DM_FAST = 1, DM_VIDEO_FAST = 2 }
	The DetectionMode enum defines the different possibilities for detection. 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: More...

Functions
template<typename T >
double	__aruco_solve_pnp (const std::vector< cv::Point3f > &p3d, const std::vector< cv::Point2f > &p2d, const cv::Mat &cam_matrix, const cv::Mat &dist, cv::Mat &r_io, cv::Mat &t_io)

void	__glGetModelViewMatrix (double modelview_matrix[16], const cv::Mat &Rvec, const cv::Mat &Tvec)

void	__OgreGetPoseParameters (double position[3], double orientation[4], const cv::Mat &Rvec, const cv::Mat &Tvec)

std::string	__pf_aruco_methodName (std::string prettyFunction)

void	assignClass (const cv::Mat &im, std::vector< cv::KeyPoint > &kpoints, float sizeNorm=0.f, int wsize=5)
	assignClass More...

double	getHubberMonoWeight (double SqErr, double Information)

cv::Mat	getRTMatrix (const cv::Mat &R_, const cv::Mat &T_, int forceType)

int	hamm_distance (uint64_t a, uint64_t b)

double	hubber (double e, double _delta)

double	hubberMono (double e)

void	impl_assignClass_fast (const cv::Mat &im, std::vector< cv::KeyPoint > &kpoints, bool norm, int wsize)

void	kcornerSubPix (const cv::Mat image, std::vector< cv::KeyPoint > &kpoints)

void	kfilter (std::vector< cv::KeyPoint > &kpoints)

std::ostream &	operator<< (std::ostream &str, const CameraParameters &cp)

std::istream &	operator>> (std::istream &str, CameraParameters &cp)

void	print (cv::Point3f p, std::string cad)

std::vector< cv::Mat >	solvePnP (const std::vector< cv::Point3f > &objPoints, const std::vector< cv::Point2f > &imgPoints, cv::InputArray cameraMatrix, cv::InputArray distCoeffs)

void	solvePnP (const std::vector< cv::Point3f > &objPoints, const std::vector< cv::Point2f > &imgPoints, cv::InputArray cameraMatrix, cv::InputArray distCoeffs, cv::Mat &rvec, cv::Mat &tvec)

vector< cv::Mat >	solvePnP (const vector< cv::Point3f > &objPoints, const std::vector< cv::Point2f > &imgPoints, cv::InputArray cameraMatrix, cv::InputArray distCoeffs)

void	solvePnP (const vector< cv::Point3f > &objPoints, const std::vector< cv::Point2f > &imgPoints, cv::InputArray cameraMatrix, cv::InputArray distCoeffs, cv::Mat &rvec, cv::Mat &tvec)

std::vector< std::pair< cv::Mat, double > >	solvePnP_ (const std::vector< cv::Point3f > &objPoints, const std::vector< cv::Point2f > &imgPoints, cv::InputArray cameraMatrix, cv::InputArray distCoeffs)

ARUCO_EXPORT std::vector< std::pair< cv::Mat, double > >	solvePnP_ (float size, const std::vector< cv::Point2f > &imgPoints, cv::InputArray cameraMatrix, cv::InputArray distCoeffs)

Variables
auto	rotate

Detailed Description

This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation version 3 of the License.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see https://www.gnu.org/licenses/.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.

THIS SOFTWARE IS PROVIDED BY Rafael Muñoz Salinas ''AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Rafael Muñoz Salinas OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

The views and conclusions contained in the software and documentation are those of the authors and should not be interpreted as representing official policies, either expressed or implied, of Rafael Muñoz Salinas.

Typedef Documentation

◆ MarkerCandidate

typedef Marker aruco::MarkerCandidate

Definition at line 84 of file markerdetector.h.

Enumeration Type Documentation

◆ CornerRefinementMethod

enum aruco::CornerRefinementMethod : int

Method employed to refine the estimation of the corners

CORNER_SUBPIX: uses subpixel refinement implemented in opencv
CORNER_LINES: uses all the pixels in the corner border to estimate the 4 lines of the square. Then estimate the point in which they intersect. In seems that it more robust to noise. However, it only works if input image is not resized. So, the value minMarkerSize will be set to 0.
CORNER_NONE: Does no refinement of the corner. Again, it requires minMakerSize to be 0

Enumerator
CORNER_SUBPIX
CORNER_LINES
CORNER_NONE

Definition at line 74 of file markerdetector.h.

◆ DetectionMode

enum aruco::DetectionMode : int

The DetectionMode enum defines the different possibilities for detection. 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.

Enumerator
DM_NORMAL
DM_FAST
DM_VIDEO_FAST

Definition at line 60 of file markerdetector.h.

Function Documentation

◆ __aruco_solve_pnp()

template<typename T >

double aruco::__aruco_solve_pnp	(	const std::vector< cv::Point3f > &	p3d,
		const std::vector< cv::Point2f > &	p2d,
		const cv::Mat &	cam_matrix,
		const cv::Mat &	dist,
		cv::Mat &	r_io,
		cv::Mat &	t_io
	)

Definition at line 288 of file posetracker.cpp.

◆ __glGetModelViewMatrix()

void aruco::__glGetModelViewMatrix	(	double	modelview_matrix[16],
		const cv::Mat &	Rvec,
		const cv::Mat &	Tvec
	)

Definition at line 162 of file markermap.cpp.

◆ __OgreGetPoseParameters()

void aruco::__OgreGetPoseParameters	(	double	position[3],
		double	orientation[4],
		const cv::Mat &	Rvec,
		const cv::Mat &	Tvec
	)

Definition at line 219 of file markermap.cpp.

◆ __pf_aruco_methodName()

std::string aruco::__pf_aruco_methodName ( std::string prettyFunction )

inline

Definition at line 261 of file timers.h.

◆ assignClass()

void aruco::assignClass	(	const cv::Mat &	im,
		std::vector< cv::KeyPoint > &	kpoints,
		float	sizeNorm = `0.f`,
		int	wsize = `5`
	)

assignClass

classification of the corners

Parameters

im	image used in the classification
kpoints	to classify
sizeNorm.	Is it necessary to transform keypoints? When keypoints have as reference the center of image(0,0), it is necessary to provide the fractal marker size
wsize.	Window size

Definition at line 82 of file fractalposetracker.cpp.

◆ getHubberMonoWeight()

double aruco::getHubberMonoWeight	(	double	SqErr,
		double	Information
	)

inline

Definition at line 283 of file posetracker.cpp.

◆ getRTMatrix()

cv::Mat aruco::getRTMatrix	(	const cv::Mat &	R_,
		const cv::Mat &	T_,
		int	forceType
	)

Definition at line 33 of file ippe.cpp.

◆ hamm_distance()

int aruco::hamm_distance	(	uint64_t	a,
		uint64_t	b
	)

Definition at line 76 of file dictionary_based.cpp.

◆ hubber()

double aruco::hubber	(	double	e,
		double	_delta
	)

inline

Definition at line 255 of file posetracker.cpp.

◆ hubberMono()

double aruco::hubberMono ( double e )

inline

Definition at line 271 of file posetracker.cpp.

◆ impl_assignClass_fast()

void aruco::impl_assignClass_fast	(	const cv::Mat &	im,
		std::vector< cv::KeyPoint > &	kpoints,
		bool	norm,
		int	wsize
	)

Definition at line 198 of file markerdetector_impl.cpp.

◆ kcornerSubPix()

void aruco::kcornerSubPix	(	const cv::Mat	image,
		std::vector< cv::KeyPoint > &	kpoints
	)

Definition at line 17 of file fractalposetracker.cpp.

◆ kfilter()

void aruco::kfilter ( std::vector< cv::KeyPoint > & kpoints )

Definition at line 40 of file fractalposetracker.cpp.

◆ operator<<()

std::ostream& aruco::operator<<	(	std::ostream &	str,
		const CameraParameters &	cp
	)

Definition at line 528 of file cameraparameters.cpp.

◆ operator>>()

std::istream& aruco::operator>>	(	std::istream &	str,
		CameraParameters &	cp
	)

Definition at line 541 of file cameraparameters.cpp.

◆ print()

void aruco::print	(	cv::Point3f	p,
		std::string	cad
	)

Definition at line 310 of file marker.cpp.

◆ solvePnP() [1/4]

std::vector<cv::Mat> aruco::solvePnP	(	const std::vector< cv::Point3f > &	objPoints,
		const std::vector< cv::Point2f > &	imgPoints,
		cv::InputArray	cameraMatrix,
		cv::InputArray	distCoeffs
	)

Definition at line 88 of file ippe.cpp.

◆ solvePnP() [2/4]

void aruco::solvePnP	(	const std::vector< cv::Point3f > &	objPoints,
		const std::vector< cv::Point2f > &	imgPoints,
		cv::InputArray	cameraMatrix,
		cv::InputArray	distCoeffs,
		cv::Mat &	rvec,
		cv::Mat &	tvec
	)

Definition at line 103 of file ippe.cpp.

◆ solvePnP() [3/4]

vector<cv::Mat> aruco::solvePnP	(	const vector< cv::Point3f > &	objPoints,
		const std::vector< cv::Point2f > &	imgPoints,
		cv::InputArray	cameraMatrix,
		cv::InputArray	distCoeffs
	)

Definition at line 88 of file ippe.cpp.

◆ solvePnP() [4/4]

void aruco::solvePnP	(	const vector< cv::Point3f > &	objPoints,
		const std::vector< cv::Point2f > &	imgPoints,
		cv::InputArray	cameraMatrix,
		cv::InputArray	distCoeffs,
		cv::Mat &	rvec,
		cv::Mat &	tvec
	)

Definition at line 103 of file ippe.cpp.

◆ solvePnP_() [1/2]

std::vector< std::pair< cv::Mat, double > > aruco::solvePnP_	(	const std::vector< cv::Point3f > &	objPoints,
		const std::vector< cv::Point2f > &	imgPoints,
		cv::InputArray	cameraMatrix,
		cv::InputArray	distCoeffs
	)

Definition at line 132 of file ippe.cpp.

◆ solvePnP_() [2/2]

std::vector< std::pair< cv::Mat, double > > aruco::solvePnP_	(	float	size,
		const std::vector< cv::Point2f > &	imgPoints,
		cv::InputArray	cameraMatrix,
		cv::InputArray	distCoeffs
	)

Definition at line 115 of file ippe.cpp.

Variable Documentation

◆ rotate

auto aruco::rotate

Initial value:

= [](const cv::Mat &m)
{
  cv::Mat out;
  m.copyTo(out);
  for (int i = 0; i < m.rows; i++)
  {
    for (int j = 0; j < m.cols; j++)
    {
      out.at<char>(i, j) = m.at<char>(m.cols - j - 1, i);
    }
  }
  return out;
}

Definition at line 526 of file fractalmarkerset.cpp.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

◆ MarkerCandidate

Enumeration Type Documentation

◆ CornerRefinementMethod

◆ DetectionMode

Function Documentation

◆ __aruco_solve_pnp()

◆ __glGetModelViewMatrix()

◆ __OgreGetPoseParameters()

◆ __pf_aruco_methodName()

◆ assignClass()

◆ getHubberMonoWeight()

◆ getRTMatrix()

◆ hamm_distance()

◆ hubber()

◆ hubberMono()

◆ impl_assignClass_fast()

◆ kcornerSubPix()

◆ kfilter()

◆ operator<<()

◆ operator>>()

◆ print()

◆ solvePnP() [1/4]

◆ solvePnP() [2/4]

◆ solvePnP() [3/4]

◆ solvePnP() [4/4]

◆ solvePnP_() [1/2]

◆ solvePnP_() [2/2]

Variable Documentation

◆ rotate