This class detects AR boards Version 1.2 There are two modes for board detection. First, the old way. (You first detect markers with MarkerDetector and then call to detect in this class. More...

#include <boarddetector.h>

Public Member Functions
	BoardDetector (bool setYPerpendicular=false)
float	detect (const cv::Mat &im) throw (cv::Exception)
float	detect (const vector< Marker > &detectedMarkers, const BoardConfiguration &BConf, Board &Bdetected, cv::Mat camMatrix=cv::Mat(), cv::Mat distCoeff=cv::Mat(), float markerSizeMeters=-1) throw (cv::Exception)
float	detect (const vector< Marker > &detectedMarkers, const BoardConfiguration &BConf, Board &Bdetected, const CameraParameters &cp, float markerSizeMeters=-1) throw (cv::Exception)
float	get_repj_err_thres () const
Board &	getDetectedBoard ()
vector< Marker > &	getDetectedMarkers ()
MarkerDetector &	getMarkerDetector ()
bool	isYPerpendicular ()
void	set_repj_err_thres (float Repj_err_thres)
void	setParams (const BoardConfiguration &bc, const CameraParameters &cp, float markerSizeMeters=-1)
void	setParams (const BoardConfiguration &bc)
void	setYPerpendicular (bool enable)
void	setYPerperdicular (bool enable)
Static Public Member Functions
static Board	detect (const cv::Mat &Image, const BoardConfiguration &bc, const CameraParameters &cp, float markerSizeMeters=-1)
Private Member Functions
void	rotateXAxis (cv::Mat &rotation)
Private Attributes
bool	_areParamsSet
BoardConfiguration	_bconf
Board	_boardDetected
CameraParameters	_camParams
float	_markerSize
MarkerDetector	_mdetector
bool	_setYPerpendicular
vector< Marker >	_vmarkers
float	repj_err_thres

Detailed Description

This class detects AR boards Version 1.2 There are two modes for board detection. First, the old way. (You first detect markers with MarkerDetector and then call to detect in this class.

Second: New mode, marker detection is included in the class

  CameraParameters CP;
  CP.readFromFile(path_cp)
  BoardConfiguration BC;
  BC.readFromFile(path_bc);
  BoardDetector BD;
  BD.setParams(BC,CP); //or only BD.setParams(BC)
  //capture image
  cv::Mat im;
  capture_image(im);
  
  float prob=BD.detect(im);
  if (prob>0.3) 
        CvDrawingUtils::draw3DAxis(im,BD.getDetectedBoard(),CP);

Definition at line 65 of file boarddetector.h.

Constructor & Destructor Documentation

aruco::BoardDetector::BoardDetector ( bool setYPerpendicular = false )

See discussion in

See also:: enableRotateXAxis. Do not change unless you know what you are doing

Definition at line 41 of file boarddetector.cpp.

Member Function Documentation

float aruco::BoardDetector::detect ( const cv::Mat & im ) throw (cv::Exception)

Detect markers, and then, look for the board indicated in setParams()

Returns:: value indicating the likelihood of having found the marker

Definition at line 68 of file boarddetector.cpp.

float aruco::BoardDetector::detect	(	const vector< Marker > &	detectedMarkers,
		const BoardConfiguration &	BConf,
		Board &	Bdetected,
		cv::Mat	camMatrix = `cv::Mat()`,
		cv::Mat	distCoeff = `cv::Mat()`,
		float	markerSizeMeters = `-1`
	)		throw (cv::Exception)

Given the markers detected, determines if there is the board passed

Parameters:

detectedMarkers	result provided by aruco::ArMarkerDetector
BConf	the board you want to see if is present
Bdetected	output information of the detected board
camMatrix	camera matrix with intrinsics
distCoeff	camera distorsion coeff
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

Returns:: value indicating the likelihood of having found the marker

float aruco::BoardDetector::detect	(	const vector< Marker > &	detectedMarkers,
		const BoardConfiguration &	BConf,
		Board &	Bdetected,
		const CameraParameters &	cp,
		float	markerSizeMeters = `-1`
	)		throw (cv::Exception)

Definition at line 82 of file boarddetector.cpp.

Board aruco::BoardDetector::detect	(	const cv::Mat &	Image,
		const BoardConfiguration &	bc,
		const CameraParameters &	cp,
		float	markerSizeMeters = `-1`
	)		`[static]`

Static version (all in one). Detects the board indicated

Parameters:

Image	input image
bc	the board you want to see if is present
cp	camera parameters
markerSizeMeters	size of the marker sides expressed in meters (not needed in the board is expressed in meters)

Returns:: Board detected

Static version (all in one)

Definition at line 221 of file boarddetector.cpp.

float aruco::BoardDetector::get_repj_err_thres ( ) const [inline]

Definition at line 134 of file boarddetector.h.

Board& aruco::BoardDetector::getDetectedBoard ( ) [inline]

Returns a reference to the board detected

Definition at line 86 of file boarddetector.h.

vector<Marker>& aruco::BoardDetector::getDetectedMarkers ( ) [inline]

Returns the vector of markers detected

Definition at line 92 of file boarddetector.h.

MarkerDetector& aruco::BoardDetector::getMarkerDetector ( ) [inline]

Returns a reference to the internal marker detector

Definition at line 89 of file boarddetector.h.

bool aruco::BoardDetector::isYPerpendicular ( ) [inline]

Definition at line 127 of file boarddetector.h.

void aruco::BoardDetector::rotateXAxis ( cv::Mat & rotation ) [private]

Definition at line 202 of file boarddetector.cpp.

void aruco::BoardDetector::set_repj_err_thres ( float Repj_err_thres ) [inline]

Sets the threshold for reprjection test. Pixels that after estimating the camera location projects 'repj_err_thres' pixels farther from its original location are discarded as outliers. By default it is set to -1, meaning that not reprojection test is performed

Definition at line 133 of file boarddetector.h.

void aruco::BoardDetector::setParams	(	const BoardConfiguration &	bc,
		const CameraParameters &	cp,
		float	markerSizeMeters = `-1`
	)

Use if you plan to let this class to perform marker detection too

Definition at line 49 of file boarddetector.cpp.

void aruco::BoardDetector::setParams ( const BoardConfiguration & bc )

Definition at line 59 of file boarddetector.cpp.

void aruco::BoardDetector::setYPerpendicular ( bool enable ) [inline]

By default, the Y axis is set to point up. However this is not the default operation mode of opencv, which produces the Z axis pointing up instead. So, to achieve this change, we have to rotate the X axis.

Definition at line 125 of file boarddetector.h.

void aruco::BoardDetector::setYPerperdicular ( bool enable ) [inline]

Definition at line 126 of file boarddetector.h.