aruco::MarkerDetector Class Reference

Main class for marker detection. More...

#include <markerdetector.h>

Public Types
enum	ThresholdMethods { FIXED_THRES, ADPT_THRES, CANNY }
Public Member Functions
void	detect (cv::Mat &input, std::vector< Marker > &detectedMarkers, CameraParameters camParams=CameraParameters(), float markerSizeMeters=-1) throw (cv::Exception)
void	detect (cv::Mat &input, std::vector< Marker > &detectedMarkers, cv::Mat camMatrix=cv::Mat(), cv::Mat distCoeff=cv::Mat(), float markerSizeMeters=-1) throw (cv::Exception)
cv::Mat &	getThresholdedImage ()
ThresholdMethods	getThresholdMethod () const
void	getThresholdParams (double &param1, double &param2) const
	MarkerDetector ()
void	setThresholdMethod (ThresholdMethods m)
void	setThresholdParams (double param1, double param2)
	~MarkerDetector ()
Static Public Member Functions
static void	glGetProjectionMatrix (CameraParameters &CamMatrix, cv::Size orgImgSize, cv::Size size, double proj_matrix[16], double gnear, double gfar, bool invert=false) throw (cv::Exception)
Private Member Functions
bool	correctHammMarker (cv::Mat &bits)
void	draw (cv::Mat out, const std::vector< Marker > &markers)
void	drawAllContours (cv::Mat input)
void	drawApproxCurve (cv::Mat &in, std::vector< cv::Point > &approxCurve, cv::Scalar color)
void	drawContour (cv::Mat &in, std::vector< cv::Point > &contour, cv::Scalar)
int	getMarkerId (cv::Mat &in, int &nRotations)
int	hammDistMarker (cv::Mat bits)
bool	isInto (cv::Mat &contour, std::vector< cv::Point2f > &b)
int	mat2id (cv::Mat &bits)
int	perimeter (std::vector< cv::Point2f > &a)
template<typename T >
void	printMat (CvMat *M, std::string info="")
template<typename T >
void	printMat (cv::Mat M, std::string info="")
cv::Mat	rotate (cv::Mat in)
void	thresHold (int method, cv::Mat &grey, cv::Mat &out)
void	warp (cv::Mat &in, cv::Mat &out, cv::Size size, std::vector< cv::Point2f > points) throw (cv::Exception)
Static Private Member Functions
static void	argConvGLcpara2 (double cparam[3][4], int width, int height, double gnear, double gfar, double m[16], bool invert) throw (cv::Exception)
static int	arParamDecompMat (double source[3][4], double cpara[3][4], double trans[3][4]) throw (cv::Exception)
static double	dot (double a1, double a2, double a3, double b1, double b2, double b3)
static double	norm (double a, double b, double c)
Private Attributes
ThresholdMethods	_thresMethod
double	_thresParam1
double	_thresParam2
std::vector< std::vector < cv::Point > >	contours2
cv::Mat	grey
std::vector< cv::Vec4i >	hierarchy2
cv::Mat	thres
cv::Mat	thres2

Detailed Description

Main class for marker detection.

Definition at line 17 of file markerdetector.h.

Member Enumeration Documentation

enum aruco::MarkerDetector::ThresholdMethods

This set the type of thresholding methods available

Enumerator:

FIXED_THRES
ADPT_THRES
CANNY

Definition at line 54 of file markerdetector.h.

Constructor & Destructor Documentation

aruco::MarkerDetector::MarkerDetector ( )

Definition at line 18 of file markerdetector.cpp.

aruco::MarkerDetector::~MarkerDetector ( )

Definition at line 30 of file markerdetector.cpp.

Member Function Documentation

void aruco::MarkerDetector::argConvGLcpara2	(	double	cparam[3][4],
		int	width,
		int	height,
		double	gnear,
		double	gfar,
		double	m[16],
		bool	invert
	)			throw (cv::Exception) `[static, private]`

Definition at line 664 of file markerdetector.cpp.

int aruco::MarkerDetector::arParamDecompMat	(	double	source[3][4],
		double	cpara[3][4],
		double	trans[3][4]
	)			throw (cv::Exception) `[static, private]`

Definition at line 730 of file markerdetector.cpp.

bool aruco::MarkerDetector::correctHammMarker ( cv::Mat & bits ) [private]

Correct errors in the markers

void aruco::MarkerDetector::detect	(	cv::Mat &	input,
		std::vector< Marker > &	detectedMarkers,
		CameraParameters	camParams = `CameraParameters()`,
		float	markerSizeMeters = `-1`
	)			throw (cv::Exception)

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

Definition at line 35 of file markerdetector.cpp.

void aruco::MarkerDetector::detect	(	cv::Mat &	input,
		std::vector< Marker > &	detectedMarkers,
		cv::Mat	camMatrix = `cv::Mat()`,
		cv::Mat	distCoeff = `cv::Mat()`,
		float	markerSizeMeters = `-1`
	)			throw (cv::Exception)

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
	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

double aruco::MarkerDetector::dot	(	double	a1,
		double	a2,
		double	a3,
		double	b1,
		double	b2,
		double	b3
	)			`[static, private]`

Definition at line 812 of file markerdetector.cpp.

void aruco::MarkerDetector::draw	(	cv::Mat	out,
		const std::vector< Marker > &	markers
	)			`[private]`

void aruco::MarkerDetector::drawAllContours ( cv::Mat input ) [private]

void aruco::MarkerDetector::drawApproxCurve	(	cv::Mat &	in,
		std::vector< cv::Point > &	approxCurve,
		cv::Scalar	color
	)			`[private]`

void aruco::MarkerDetector::drawContour	(	cv::Mat &	in,
		std::vector< cv::Point > &	contour,
		cv::Scalar
	)			`[private]`

int aruco::MarkerDetector::getMarkerId	(	cv::Mat &	in,
		int &	nRotations
	)			`[private]`

nRotations number of 90deg rotations in clowise direction needed to set the marker in correct position

cv::Mat& aruco::MarkerDetector::getThresholdedImage ( ) [inline]

Returns a reference to the internal image thresholded. It is for visualization purposes and to adjust manually the parameters

Definition at line 91 of file markerdetector.h.

ThresholdMethods aruco::MarkerDetector::getThresholdMethod ( ) const [inline]

Returns the current threshold method

Definition at line 63 of file markerdetector.h.

void aruco::MarkerDetector::getThresholdParams	(	double &	param1,
		double &	param2
	)			const `[inline]`

Set the parameters of the threshold method We are currently using the Adptive threshold ee opencv doc of adaptiveThreshold for more info param1: blockSize of the pixel neighborhood that is used to calculate a threshold value for the pixel param2: The constant subtracted from the mean or weighted mean

Definition at line 82 of file markerdetector.h.

static void aruco::MarkerDetector::glGetProjectionMatrix	(	CameraParameters &	CamMatrix,
		cv::Size	orgImgSize,
		cv::Size	size,
		double	proj_matrix[16],
		double	gnear,
		double	gfar,
		bool	invert = `false`
	)			throw (cv::Exception) `[static]`

Given the intrinsic camera parameters returns the GL_PROJECTION matrix for opengl. PLease NOTE that when using OpenGL, it is assumed no camera distorsion! So, if it is not true, you should have undistor image

Parameters:

	CamMatrix	arameters of the camera specified.
	orgImgSize	size of the original image
	size	of the image/window where to render (can be different from the real camera image). Please not that it must be related to CamMatrix
	proj_matrix	output projection matrix to give to opengl
	gnear,gfar,:	visible rendering range
	invert,:	indicates if the output projection matrix has to yield a horizontally inverted image because image data has not been stored in the order of glDrawPixels: bottom-to-top.

int aruco::MarkerDetector::hammDistMarker ( cv::Mat bits ) [private]

bool aruco::MarkerDetector::isInto	(	cv::Mat &	contour,
		std::vector< cv::Point2f > &	b
	)			`[private]`

int aruco::MarkerDetector::mat2id ( cv::Mat & bits ) [private]

double aruco::MarkerDetector::norm	(	double	a,
		double	b,
		double	c
	)			`[static, private]`

Definition at line 807 of file markerdetector.cpp.

int aruco::MarkerDetector::perimeter ( std::vector< cv::Point2f > & a ) [private]

template<typename T >

void aruco::MarkerDetector::printMat	(	CvMat *	M,
		std::string	info = `""`
	)			`[inline, private]`

Definition at line 175 of file markerdetector.h.

template<typename T >

void aruco::MarkerDetector::printMat	(	cv::Mat	M,
		std::string	info = `""`
	)			`[inline, private]`

Definition at line 157 of file markerdetector.h.

cv::Mat aruco::MarkerDetector::rotate ( cv::Mat in ) [private]

void aruco::MarkerDetector::setThresholdMethod ( ThresholdMethods m ) [inline]

Sets the threshold method

Definition at line 58 of file markerdetector.h.

void aruco::MarkerDetector::setThresholdParams	(	double	param1,
		double	param2
	)			`[inline]`

Set the parameters of the threshold method We are currently using the Adptive threshold ee opencv doc of adaptiveThreshold for more info

Parameters:

	param1,:	blockSize of the pixel neighborhood that is used to calculate a threshold value for the pixel
	param2,:	The constant subtracted from the mean or weighted mean

Definition at line 72 of file markerdetector.h.