marker.h
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00001 /*****************************
00002 Copyright 2011 Rafael Muñoz Salinas. All rights reserved.
00003 
00004 Redistribution and use in source and binary forms, with or without modification, are
00005 permitted provided that the following conditions are met:
00006 
00007    1. Redistributions of source code must retain the above copyright notice, this list of
00008       conditions and the following disclaimer.
00009 
00010    2. Redistributions in binary form must reproduce the above copyright notice, this list
00011       of conditions and the following disclaimer in the documentation and/or other materials
00012       provided with the distribution.
00013 
00014 THIS SOFTWARE IS PROVIDED BY Rafael Muñoz Salinas ''AS IS'' AND ANY EXPRESS OR IMPLIED
00015 WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
00016 FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Rafael Muñoz Salinas OR
00017 CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00018 CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00019 SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
00020 ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
00021 NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
00022 ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00023 
00024 The views and conclusions contained in the software and documentation are those of the
00025 authors and should not be interpreted as representing official policies, either expressed
00026 or implied, of Rafael Muñoz Salinas.
00027 ********************************/
00028 #ifndef _Aruco_Marker_H
00029 #define _Aruco_Marker_H
00030 #include <vector>
00031 #include <iostream>
00032 #include <opencv2/core/core.hpp>
00033 #include "exports.h"
00034 #include "cameraparameters.h"
00035 using namespace std;
00036 namespace aruco {
00041 class ARUCO_EXPORTS Marker : public std::vector< cv::Point2f > {
00042   public:
00043     // id of  the marker
00044     int id;
00045     // size of the markers sides in meters
00046     float ssize;
00047     // matrices of rotation and translation respect to the camera
00048     cv::Mat Rvec, Tvec;
00049 
00052     Marker();
00055     Marker(const Marker &M);
00058     Marker(const std::vector< cv::Point2f > &corners, int _id = -1);
00061     ~Marker() {}
00064     bool isValid() const { return id != -1 && size() == 4; }
00065 
00068     void draw(cv::Mat &in, cv::Scalar color, int lineWidth = 1, bool writeId = true) const;
00069 
00075     void calculateExtrinsics(float markerSize, const CameraParameters &CP, bool setYPerpendicular = true) throw(cv::Exception);
00082     void calculateExtrinsics(float markerSize, cv::Mat CameraMatrix, cv::Mat Distorsion = cv::Mat(), bool setYPerpendicular = true) throw(cv::Exception);
00083 
00087     void glGetModelViewMatrix(double modelview_matrix[16]) throw(cv::Exception);
00088 
00099     void OgreGetPoseParameters(double position[3], double orientation[4]) throw(cv::Exception);
00100 
00103     cv::Point2f getCenter() const;
00106     float getPerimeter() const;
00109     float getArea() const;
00114     friend bool operator<(const Marker &M1, const Marker &M2) { return M1.id < M2.id; }
00117     friend ostream &operator<<(ostream &str, const Marker &M) {
00118         str << M.id << "=";
00119         for (int i = 0; i < 4; i++)
00120             str << "(" << M[i].x << "," << M[i].y << ") ";
00121         str << "Txyz=";
00122         for (int i = 0; i < 3; i++)
00123             str << M.Tvec.ptr< float >(0)[i] << " ";
00124         str << "Rxyz=";
00125         for (int i = 0; i < 3; i++)
00126             str << M.Rvec.ptr< float >(0)[i] << " ";
00127 
00128         return str;
00129     }
00130 
00131 
00132   private:
00133     void rotateXAxis(cv::Mat &rotation);
00134 };
00135 }
00136 #endif


asr_aruco_marker_recognition
Author(s): Allgeyer Tobias, Meißner Pascal, Qattan Mohamad
autogenerated on Thu Jun 6 2019 21:14:12