MarkerDetector.h

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/*
Copyright (c) 2010-2019, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

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.
    * Neither the name of the Universite de Sherbrooke nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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#ifndef CORELIB_INCLUDE_RTABMAP_CORE_MARKERDETECTOR_H_
#define CORELIB_INCLUDE_RTABMAP_CORE_MARKERDETECTOR_H_

#include <rtabmap/core/Parameters.h>
#include <rtabmap/core/CameraModel.h>
#include <opencv2/opencv_modules.hpp>

#ifdef HAVE_OPENCV_ARUCO
#include <opencv2/aruco.hpp>
#endif

namespace rtabmap {

class MarkerDetector {
public:
        MarkerDetector(const ParametersMap & parameters = ParametersMap());
        virtual ~MarkerDetector();
        void parseParameters(const ParametersMap & parameters);
        std::map<int, Transform> detect(const cv::Mat & image, const CameraModel & model, const cv::Mat & depth = cv::Mat(), float * estimatedMarkerLength = 0, cv::Mat * imageWithDetections = 0);

private:
#ifdef HAVE_OPENCV_ARUCO
        cv::Ptr<cv::aruco::DetectorParameters> detectorParams_;
        float markerLength_;
        float maxDepthError_;
        float maxRange_;
        float minRange_;
        int dictionaryId_;
        cv::Ptr<cv::aruco::Dictionary> dictionary_;
#endif
};

} /* namespace rtabmap */

#endif /* CORELIB_INCLUDE_RTABMAP_CORE_MARKERDETECTOR_H_ */