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authorStanislaw Halik <sthalik@misaki.pl>2013-07-27 09:07:42 +0200
committerStanislaw Halik <sthalik@misaki.pl>2013-07-27 09:07:42 +0200
commite4f1be83f42742a2fc9a1606695d89a442999d1c (patch)
tree61ea5d18c3a0612017beefa02b44dd6541b00833 /ftnoir_tracker_aruco/include/marker.h
parent7c6208d53fa7f96fb1e844b23b9ad341c22f0fc8 (diff)
Import aruco tracker
Diffstat (limited to 'ftnoir_tracker_aruco/include/marker.h')
-rw-r--r--ftnoir_tracker_aruco/include/marker.h143
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+/*****************************
+Copyright 2011 Rafael Muñoz Salinas. All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification, are
+permitted provided that the following conditions are met:
+
+ 1. Redistributions of source code must retain the above copyright notice, this list of
+ conditions and the following disclaimer.
+
+ 2. 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.
+
+THIS SOFTWARE IS PROVIDED BY Rafael Muñoz Salinas ''AS IS'' AND ANY EXPRESS OR IMPLIED
+WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
+FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Rafael Muñoz Salinas OR
+CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+The views and conclusions contained in the software and documentation are those of the
+authors and should not be interpreted as representing official policies, either expressed
+or implied, of Rafael Muñoz Salinas.
+********************************/
+#ifndef _Aruco_Marker_H
+#define _Aruco_Marker_H
+#include <vector>
+#include <iostream>
+#include <opencv2/opencv.hpp>
+#include "exports.h"
+#include "cameraparameters.h"
+using namespace std;
+namespace aruco {
+/**\brief This class represents a marker. It is a vector of the fours corners ot the marker
+ *
+ */
+
+class ARUCO_EXPORTS Marker: public std::vector<cv::Point2f>
+{
+public:
+ //id of the marker
+ int id;
+ //size of the markers sides in meters
+ float ssize;
+ //matrices of rotation and translation respect to the camera
+ cv::Mat Rvec,Tvec;
+
+ /**
+ */
+ Marker();
+ /**
+ */
+ Marker(const Marker &M);
+ /**
+ */
+ Marker(const std::vector<cv::Point2f> &corners,int _id=-1);
+ /**
+ */
+ ~Marker() {}
+ /**Indicates if this object is valid
+ */
+ bool isValid()const{return id!=-1 && size()==4;}
+
+ /**Draws this marker in the input image
+ */
+ void draw(cv::Mat &in, cv::Scalar color, int lineWidth=1,bool writeId=true)const;
+
+ /**Calculates the extrinsics (Rvec and Tvec) of the marker with respect to the camera
+ * @param markerSize size of the marker side expressed in meters
+ * @param CP parmeters of the camera
+ * @param setYPerperdicular If set the Y axis will be perpendicular to the surface. Otherwise, it will be the Z axis
+ */
+ void calculateExtrinsics(float markerSize,const CameraParameters &CP,bool setYPerperdicular=true)throw(cv::Exception);
+ /**Calculates the extrinsics (Rvec and Tvec) of the marker with respect to the camera
+ * @param markerSize size of the marker side expressed in meters
+ * @param CameraMatrix matrix with camera parameters (fx,fy,cx,cy)
+ * @param Distorsion matrix with distorsion parameters (k1,k2,p1,p2)
+ * @param setYPerperdicular If set the Y axis will be perpendicular to the surface. Otherwise, it will be the Z axis
+ */
+ void calculateExtrinsics(float markerSize,cv::Mat CameraMatrix,cv::Mat Distorsion=cv::Mat(),bool setYPerperdicular=true)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
+ */
+ void glGetModelViewMatrix( double modelview_matrix[16])throw(cv::Exception);
+
+ /**
+ * Returns position vector and orientation quaternion for an Ogre scene node or entity.
+ * Use:
+ * ...
+ * Ogre::Vector3 ogrePos (position[0], position[1], position[2]);
+ * Ogre::Quaternion ogreOrient (orientation[0], orientation[1], orientation[2], orientation[3]);
+ * mySceneNode->setPosition( ogrePos );
+ * mySceneNode->setOrientation( ogreOrient );
+ * ...
+ */
+ void OgreGetPoseParameters( double position[3], double orientation[4] )throw(cv::Exception);
+
+ /**Returns the centroid of the marker
+ */
+ cv::Point2f getCenter()const;
+ /**Returns the perimeter of the marker
+ */
+ float getPerimeter()const;
+ /**Returns the area
+ */
+ float getArea()const;
+ /**
+ */
+ /**
+ */
+ friend bool operator<(const Marker &M1,const Marker&M2)
+ {
+ return M1.id<M2.id;
+ }
+ /**
+ */
+ friend ostream & operator<<(ostream &str,const Marker &M)
+ {
+ str<<M.id<<"=";
+ for (int i=0;i<4;i++)
+ str<<"("<<M[i].x<< ","<<M[i].y<<") ";
+ str<<"Txyz=";
+ for (int i=0;i<3;i++)
+ str<<M.Tvec.ptr<float>(0)[i]<<" ";
+ str<<"Rxyz=";
+ for (int i=0;i<3;i++)
+ str<<M.Rvec.ptr<float>(0)[i]<<" ";
+
+ return str;
+ }
+
+
+private:
+ void rotateXAxis(cv::Mat &rotation);
+
+};
+
+}
+#endif