diff options
Diffstat (limited to 'ftnoir_tracker_aruco/include/markerdetector.h')
| -rw-r--r-- | ftnoir_tracker_aruco/include/markerdetector.h | 56 |
1 files changed, 28 insertions, 28 deletions
diff --git a/ftnoir_tracker_aruco/include/markerdetector.h b/ftnoir_tracker_aruco/include/markerdetector.h index 4d6e7b90..a4656527 100644 --- a/ftnoir_tracker_aruco/include/markerdetector.h +++ b/ftnoir_tracker_aruco/include/markerdetector.h @@ -27,7 +27,7 @@ or implied, of Rafael Muñoz Salinas. ********************************/ #ifndef _ARUCO_MarkerDetector_H #define _ARUCO_MarkerDetector_H -#include <opencv2/opencv.hpp> +#include <opencv2/core/core.hpp> #include <cstdio> #include <iostream> #include "cameraparameters.h" @@ -47,7 +47,7 @@ class ARUCO_EXPORTS MarkerDetector class MarkerCandidate: public Marker{ public: MarkerCandidate(){} - MarkerCandidate(const Marker &M): Marker(M){} + MarkerCandidate(const Marker &M): Marker(M){} MarkerCandidate(const MarkerCandidate &M): Marker(M){ contour=M.contour; idx=M.idx; @@ -60,20 +60,20 @@ class ARUCO_EXPORTS MarkerDetector idx=M.idx; return M; } - + vector<cv::Point> contour;//all the points of its contour int idx;//index position in the global contour list }; public: /** - * See + * See */ - MarkerDetector(); + MarkerDetector() {} /** */ - ~MarkerDetector(); + ~MarkerDetector() {} /**Detects the markers in the image passed * @@ -161,17 +161,17 @@ public: * of cols and rows. * @param min size of the contour to consider a possible marker as valid (0,1] * @param max size of the contour to consider a possible marker as valid [0,1) - * + * */ void setMinMaxSize(float min=0.03,float max=0.5)throw(cv::Exception); - + /**reads the min and max sizes employed * @param min output size of the contour to consider a possible marker as valid (0,1] * @param max output size of the contour to consider a possible marker as valid [0,1) - * + * */ void getMinMaxSize(float &min,float &max){min=_minSize;max=_maxSize;} - + /**Enables/Disables erosion process that is REQUIRED for chessboard like boards. * By default, this property is enabled */ @@ -210,10 +210,10 @@ public: markerIdDetector_ptrfunc=markerdetector_func; } - /** Use an smaller version of the input image for marker detection. + /** Use an smaller version of the input image for marker detection. * If your marker is small enough, you can employ an smaller image to perform the detection without noticeable reduction in the precision. * Internally, we are performing a pyrdown operation - * + * * @param level number of times the image size is divided by 2. Internally, we are performing a pyrdown. */ void pyrDown(unsigned int level){pyrdown_level=level;} @@ -247,17 +247,17 @@ public: * @return true if the operation succeed */ bool warp(cv::Mat &in,cv::Mat &out,cv::Size size, std::vector<cv::Point2f> points)throw (cv::Exception); - - - + + + /** Refine MarkerCandidate Corner using LINES method * @param candidate candidate to refine corners */ - void refineCandidateLines(MarkerCandidate &candidate); - - + void refineCandidateLines(MarkerCandidate &candidate); + + /**DEPRECATED!!! Use the member function in CameraParameters - * + * * 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 @@ -308,26 +308,26 @@ private: */ int perimeter(std::vector<cv::Point2f> &a); - + // //GL routines -// +// // 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 norm( double a, double b, double c ); // static double dot( double a1, double a2, double a3, // double b1, double b2, double b3 ); -// +// //detection of the void findBestCornerInRegion_harris(const cv::Mat & grey,vector<cv::Point2f> & Corners,int blockSize); - - + + // auxiliar functions to perform LINES refinement void interpolate2Dline( const vector< cv::Point > &inPoints, cv::Point3f &outLine); - cv::Point2f getCrossPoint(const cv::Point3f& line1, const cv::Point3f& line2); - - - /**Given a vector vinout with elements and a boolean vector indicating the lements from it to remove, + cv::Point2f getCrossPoint(const cv::Point3f& line1, const cv::Point3f& line2); + + + /**Given a vector vinout with elements and a boolean vector indicating the lements from it to remove, * this function remove the elements * @param vinout * @param toRemove |