markerdetector.h
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00001 #ifndef CV_ARUCO_H
00002 #define CV_ARUCO_H
00003 #include <opencv/cv.h>
00004 #include <opencv/highgui.h>
00005 #include <cstdio>
00006 #include <iostream>
00007 #include "cameraparameters.h"
00008 #include "marker.h"
00009 using namespace std;
00010 
00011 namespace aruco
00012 {
00013 
00017 class MarkerDetector
00018 {
00019 public:
00020 
00023     MarkerDetector();
00024 
00027     ~MarkerDetector();
00028 
00039     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);
00049     void detect(cv::Mat &input,std::vector<Marker> &detectedMarkers, CameraParameters camParams=CameraParameters(),float markerSizeMeters=-1) throw (cv::Exception);
00050 
00054     enum ThresholdMethods {FIXED_THRES,ADPT_THRES,CANNY};
00055 
00058     void setThresholdMethod(ThresholdMethods m) {
00059         _thresMethod=m;
00060     }
00063     ThresholdMethods getThresholdMethod()const {
00064         return _thresMethod;
00065     }
00072     void setThresholdParams(double param1,double param2) {
00073         _thresParam1=param1;
00074         _thresParam2=param2;
00075     }
00082     void getThresholdParams(double &param1,double &param2)const {
00083         param1=_thresParam1;
00084         param2=_thresParam2;
00085     }
00086 
00087 
00091     cv::Mat & getThresholdedImage() {
00092         return thres;
00093     }
00094 
00095 
00107     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);
00108 private:
00109 
00110     cv::Mat grey,thres,thres2;
00111     std::vector<std::vector<cv::Point> > contours2;
00112     std::vector<cv::Vec4i> hierarchy2;
00113     //Threshold parameters
00114     double _thresParam1,_thresParam2;
00115 
00116     ThresholdMethods _thresMethod;
00123     void warp(cv::Mat &in,cv::Mat &out,cv::Size size, std::vector<cv::Point2f> points)throw (cv::Exception);
00124 
00125     int hammDistMarker(cv::Mat  bits);
00126     int mat2id(cv::Mat &bits);
00129     bool correctHammMarker(cv::Mat &bits);
00130 
00131     cv::Mat rotate(cv::Mat  in);
00132 
00136     int getMarkerId(cv::Mat &in,int &nRotations);
00137 
00138     void drawApproxCurve(cv::Mat &in,std::vector<cv::Point>  &approxCurve ,cv::Scalar color);
00139     void drawContour(cv::Mat &in,std::vector<cv::Point>  &contour,cv::Scalar  );
00140     void thresHold(int method,cv::Mat &grey,cv::Mat &out);
00141 
00142     void drawAllContours(cv::Mat input);
00143 
00144     void draw(cv::Mat out,const std::vector<Marker> &markers );
00147     bool isInto(cv::Mat &contour,std::vector<cv::Point2f> &b);
00150     //bool isInto(vector<Point2f> &a,vector<Point2f> &b);
00153     int perimeter(std::vector<cv::Point2f> &a);
00156     template<typename T>
00157     void printMat(cv::Mat M,std::string info="")
00158     {
00159 
00160         std::cout<<info<<std::endl;
00161         for (int y=0;y<M.rows;y++)
00162         {
00163             for (int x=0;x<M.cols;x++)
00164             {
00165                 if (sizeof(T)==1)
00166                     std::cout<<(int) M.at<T>(y,x)<<" ";
00167                 else std::cout<<  M.at<T>(y,x)<<" ";
00168             }
00169             std::cout<<std::endl;
00170         }
00171     }
00174     template<typename T>
00175     void printMat(CvMat   *M,std::string info="")
00176     {
00177         std::cout<<info<<std::endl;
00178         cv::Mat MM(M);
00179         for (int y=0;y<MM.rows;y++)
00180         {
00181             for (int x=0;x<MM.cols;x++)
00182             {
00183                 if (sizeof(T)==1)
00184                     std::cout<<(int) MM.at<T>(y,x)<<" ";
00185                 else std::cout<<  MM.at<T>(y,x)<<" ";
00186             }
00187             std::cout<<endl;
00188         }
00189     }
00190 
00191     //from ARToolKit
00192 
00193     static void argConvGLcpara2( double cparam[3][4], int width, int height, double gnear, double gfar, double m[16], bool invert )throw(cv::Exception);
00194     static int  arParamDecompMat( double source[3][4], double cpara[3][4], double trans[3][4] )throw(cv::Exception);
00195     static double norm( double a, double b, double c );
00196     static double dot(  double a1, double a2, double a3,
00197                         double b1, double b2, double b3 );
00198 
00199  
00200 
00201 };
00202 
00203 
00204 
00205 
00206 };
00207 #endif
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aruco_pose
Author(s): Julian Brunner
autogenerated on Thu May 23 2013 12:15:46