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Diffstat (limited to 'ftnoir_tracker_aruco/include/boarddetector.h')
| -rw-r--r-- | ftnoir_tracker_aruco/include/boarddetector.h | 139 |
1 files changed, 0 insertions, 139 deletions
diff --git a/ftnoir_tracker_aruco/include/boarddetector.h b/ftnoir_tracker_aruco/include/boarddetector.h deleted file mode 100644 index 4770b5c9..00000000 --- a/ftnoir_tracker_aruco/include/boarddetector.h +++ /dev/null @@ -1,139 +0,0 @@ -/***************************** -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_BoardDetector_H -#define _Aruco_BoardDetector_H -#include <opencv2/opencv.hpp> -#include "exports.h" -#include "board.h" -#include "cameraparameters.h" -#include "markerdetector.h" -using namespace std; - -namespace aruco -{ - -/**\brief This class detects AR boards - * Version 1.2 - * There are two modes for board detection. - * First, the old way. (You first detect markers with MarkerDetector and then call to detect in this class. - * - * Second: New mode, marker detection is included in the class - * \code - - CameraParameters CP; - CP.readFromFile(path_cp) - BoardConfiguration BC; - BC.readFromFile(path_bc); - BoardDetector BD; - BD.setParams(BC,CP); //or only BD.setParams(BC) - //capture image - cv::Mat im; - capture_image(im); - - float prob=BD.detect(im); - if (prob>0.3) - CvDrawingUtils::draw3DAxis(im,BD.getDetectedBoard(),CP); - - \endcode - * -*/ -class ARUCO_EXPORTS BoardDetector -{ -public: - /** See discussion in @see enableRotateXAxis. - * Do not change unless you know what you are doing - */ - BoardDetector(bool setYPerperdicular=true); - - - /** - * Use if you plan to let this class to perform marker detection too - */ - void setParams(const BoardConfiguration &bc,const CameraParameters &cp, float markerSizeMeters=-1); - void setParams(const BoardConfiguration &bc); - /** - * Detect markers, and then, look for the board indicated in setParams() - * @return value indicating the likelihood of having found the marker - */ - float detect(const cv::Mat &im)throw (cv::Exception); - /**Returns a reference to the board detected - */ - Board & getDetectedBoard(){return _boardDetected;} - /**Returns a reference to the internal marker detector - */ - MarkerDetector &getMarkerDetector(){return _mdetector;} - /**Returns the vector of markers detected - */ - vector<Marker> &getDetectedMarkers(){return _vmarkers;} - - - //ALTERNATIVE DETECTION METHOD, BASED ON MARKERS PREVIOUSLY DETECTED - - /** Given the markers detected, determines if there is the board passed - * @param detectedMarkers result provided by aruco::ArMarkerDetector - * @param BConf the board you want to see if is present - * @param Bdetected output information of the detected board - * @param camMatrix camera matrix with intrinsics - * @param distCoeff camera distorsion coeff - * @param camMatrix intrinsic camera information. - * @param distCoeff camera distorsion coefficient. If set Mat() if is assumed no camera distorion - * @param markerSizeMeters size of the marker sides expressed in meters - * @return value indicating the likelihood of having found the marker - */ - float detect(const vector<Marker> &detectedMarkers,const BoardConfiguration &BConf, Board &Bdetected, cv::Mat camMatrix=cv::Mat(),cv::Mat distCoeff=cv::Mat(), float markerSizeMeters=-1 )throw (cv::Exception); - float detect(const vector<Marker> &detectedMarkers,const BoardConfiguration &BConf, Board &Bdetected,const CameraParameters &cp, float markerSizeMeters=-1 )throw (cv::Exception); - - - /** - * By default, the Y axis is set to point up. However this is not the default - * operation mode of opencv, which produces the Z axis pointing up instead. - * So, to achieve this change, we have to rotate the X axis. - */ - void setYPerperdicular(bool enable){_setYPerperdicular=enable;} - - - - -private: - void rotateXAxis(cv::Mat &rotation); - bool _setYPerperdicular; - - //-- Functionality to detect markers inside - bool _areParamsSet; - BoardConfiguration _bconf; - Board _boardDetected; - float _markerSize; - CameraParameters _camParams; - MarkerDetector _mdetector;//internal markerdetector - vector<Marker> _vmarkers;//markers detected in the call to : float detect(const cv::Mat &im); - -}; - -} -#endif - |