aruco::Marker Class Reference

This class represents a marker. It is a vector of the fours corners ot the marker. More...

#include <marker.h>

List of all members.

Public Member Functions
void	calculateExtrinsics (float markerSize, const CameraParameters &CP) throw (cv::Exception)
void	calculateExtrinsics (float markerSize, cv::Mat CameraMatrix, cv::Mat Distorsion=cv::Mat()) throw (cv::Exception)
void	draw (cv::Mat &in, cv::Scalar color, int lineWidth=1, bool writeId=true)
void	glGetModelViewMatrix (double modelview_matrix[16]) throw (cv::Exception)
bool	isValid () const
	Marker ()
	Marker (const Marker &M)
	~Marker ()
Static Public Member Functions
static cv::Mat	createMarkerImage (int id, int size) throw (cv::Exception)
	Creates an ar marker with the id specified using a modified version of the hamming code.
Public Attributes
int	id
cv::Mat	Rvec
float	ssize
cv::Mat	Tvec
Private Member Functions
void	rotateXAxis (cv::Mat &rotation)
Friends
bool	operator< (const Marker &M1, const Marker &M2)
ostream &	operator<< (ostream &str, const Marker &M)

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Detailed Description

This class represents a marker. It is a vector of the fours corners ot the marker.

Definition at line 13 of file marker.h.

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Constructor & Destructor Documentation

aruco::Marker::Marker

(

)

Definition at line 8 of file marker.cpp.

aruco::Marker::Marker

(

const Marker &

M

)

Definition at line 20 of file marker.cpp.

aruco::Marker::~Marker

(

)

[inline]

Definition at line 31 of file marker.h.

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Member Function Documentation

void aruco::Marker::calculateExtrinsics	(	float	markerSize,
		const CameraParameters &	CP
	)		throw (cv::Exception)

Calculates the extrinsics (Rvec and Tvec) of the marker with respect to the camera

Parameters:

markerSize	size of the marker side expressed in meters
CP	parmeters of the camera

Definition at line 110 of file marker.cpp.

void aruco::Marker::calculateExtrinsics	(	float	markerSize,
		cv::Mat	CameraMatrix,
		cv::Mat	Distorsion = cv::Mat()
	)		throw (cv::Exception)

Calculates the extrinsics (Rvec and Tvec) of the marker with respect to the camera

Parameters:

markerSize	size of the marker side expressed in meters
CameraMatrix	matrix with camera parameters (fx,fy,cx,cy)
Distorsion	matrix with distorsion parameters (k1,k2,p1,p2)

Definition at line 118 of file marker.cpp.

Mat aruco::Marker::createMarkerImage	(	int	id,
		int	size
	)		throw (cv::Exception) [static]

Creates an ar marker with the id specified using a modified version of the hamming code.

There are a total of 5 rows of 5 cols. Each row encodes a total of 2 bits, so there are 2^10 bits:(0-1023).

The least significative bytes are first (from left-up to to right-bottom)

Example: the id = 110 (decimal) is be represented in binary as : 00 01 10 11 10.

Then, it will generate the following marker:

1. 1st row encodes 00: 1 0 0 0 0 : hex 0x10
2. 2nd row encodes 01: 1 0 1 1 1 : hex 0x17
3. 3nd row encodes 10: 0 1 0 0 1 : hex 0x09
4. 4th row encodes 11: 0 1 1 1 0 : hex 0x0e
5. 5th row encodes 10: 0 1 0 0 1 : hex 0x09

Note that : The first bit, is the inverse of the hamming parity. This avoids the 0 0 0 0 0 to be valid

Definition at line 186 of file marker.cpp.

void aruco::Marker::draw	(	cv::Mat &	in,
		cv::Scalar	color,
		int	lineWidth = 1,
		bool	writeId = true
	)

Draws this marker in the input image

Definition at line 82 of file marker.cpp.

void aruco::Marker::glGetModelViewMatrix

(

double

modelview_matrix[16]

)

throw (cv::Exception)

Given the extrinsic camera parameters returns the GL_MODELVIEW matrix for opengl. Setting this matrix, the reference coordinate system will be set in this marker

Definition at line 30 of file marker.cpp.

bool aruco::Marker::isValid

(

)

const [inline]

Indicates if this object is valid

Definition at line 34 of file marker.h.

void aruco::Marker::rotateXAxis

(

cv::Mat &

rotation

)

[private]

Definition at line 167 of file marker.cpp.

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Friends And Related Function Documentation

bool operator<	(	const Marker &	M1,
		const Marker &	M2
	)		[friend]

Definition at line 59 of file marker.h.

ostream& operator<<	(	ostream &	str,
		const Marker &	M
	)		[friend]

Definition at line 65 of file marker.h.

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Member Data Documentation

int aruco::Marker::id

Definition at line 17 of file marker.h.

cv::Mat aruco::Marker::Rvec

Definition at line 21 of file marker.h.

float aruco::Marker::ssize

Definition at line 19 of file marker.h.

cv::Mat aruco::Marker::Tvec

Definition at line 21 of file marker.h.

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The documentation for this class was generated from the following files:

• marker.h
• marker.cpp