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-rw-r--r--ftnoir_tracker_aruco/include/boarddetector.h2
-rw-r--r--ftnoir_tracker_aruco/include/cameraparameters.h6
-rw-r--r--ftnoir_tracker_aruco/include/cvdrawingutils.h2
-rw-r--r--ftnoir_tracker_aruco/include/exports.h6
-rw-r--r--ftnoir_tracker_aruco/include/marker.h16
-rw-r--r--ftnoir_tracker_aruco/include/markerdetector.h64
6 files changed, 49 insertions, 47 deletions
diff --git a/ftnoir_tracker_aruco/include/boarddetector.h b/ftnoir_tracker_aruco/include/boarddetector.h
index 4770b5c9..a0ee2361 100644
--- a/ftnoir_tracker_aruco/include/boarddetector.h
+++ b/ftnoir_tracker_aruco/include/boarddetector.h
@@ -134,6 +134,6 @@ private:
};
-}
+};
#endif
diff --git a/ftnoir_tracker_aruco/include/cameraparameters.h b/ftnoir_tracker_aruco/include/cameraparameters.h
index c3381a74..a419afbe 100644
--- a/ftnoir_tracker_aruco/include/cameraparameters.h
+++ b/ftnoir_tracker_aruco/include/cameraparameters.h
@@ -28,7 +28,7 @@ or implied, of Rafael Muñoz Salinas.
#ifndef _Aruco_CameraParameters_H
#define _Aruco_CameraParameters_H
#include "exports.h"
-#include <opencv2/opencv.hpp>
+#include <opencv2/core/core.hpp>
#include <string>
using namespace std;
namespace aruco
@@ -105,7 +105,7 @@ public:
* @param invert: indicates if the output projection matrix has to yield a horizontally inverted image because image data has not been stored in the order of glDrawPixels: bottom-to-top.
*/
void glGetProjectionMatrix( cv::Size orgImgSize, cv::Size size,double proj_matrix[16],double gnear,double gfar,bool invert=false )throw(cv::Exception);
-
+
/**
* setup camera for an Ogre project.
* Use:
@@ -117,7 +117,7 @@ public:
* As in OpenGL, it assumes no camera distorsion
*/
void OgreGetProjectionMatrix( cv::Size orgImgSize, cv::Size size,double proj_matrix[16],double gnear,double gfar,bool invert=false )throw(cv::Exception);
-
+
private:
//GL routines
diff --git a/ftnoir_tracker_aruco/include/cvdrawingutils.h b/ftnoir_tracker_aruco/include/cvdrawingutils.h
index 38e9986e..ff67242f 100644
--- a/ftnoir_tracker_aruco/include/cvdrawingutils.h
+++ b/ftnoir_tracker_aruco/include/cvdrawingutils.h
@@ -46,7 +46,7 @@ namespace aruco
static void draw3dCube(cv::Mat &Image,Board &m,const CameraParameters &CP);
};
-}
+};
#endif
diff --git a/ftnoir_tracker_aruco/include/exports.h b/ftnoir_tracker_aruco/include/exports.h
index 154605ec..aaeb94e4 100644
--- a/ftnoir_tracker_aruco/include/exports.h
+++ b/ftnoir_tracker_aruco/include/exports.h
@@ -25,7 +25,7 @@ The views and conclusions contained in the software and documentation are those
authors and should not be interpreted as representing official policies, either expressed
or implied, of Rafael Muñoz Salinas.
********************************/
-
+
#ifndef __OPENARUCO_CORE_TYPES_H__
@@ -37,9 +37,9 @@ or implied, of Rafael Muñoz Salinas.
#if (defined WIN32 || defined _WIN32 || defined WINCE) && defined DSO_EXPORTS
- #define ARUCO_EXPORTS __declspec(dllexport)
+ #define ARUCO_EXPORTS __declspec(dllexport)
#else
- #define ARUCO_EXPORTS
+ #define ARUCO_EXPORTS __attribute__ ((visibility ("default")))
#endif
diff --git a/ftnoir_tracker_aruco/include/marker.h b/ftnoir_tracker_aruco/include/marker.h
index dc6bb28c..89961002 100644
--- a/ftnoir_tracker_aruco/include/marker.h
+++ b/ftnoir_tracker_aruco/include/marker.h
@@ -29,7 +29,7 @@ or implied, of Rafael Muñoz Salinas.
#define _Aruco_Marker_H
#include <vector>
#include <iostream>
-#include <opencv2/opencv.hpp>
+#include <opencv2/core/core.hpp>
#include "exports.h"
#include "cameraparameters.h"
using namespace std;
@@ -81,12 +81,12 @@ public:
* @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:
@@ -97,8 +97,8 @@ public:
* mySceneNode->setOrientation( ogreOrient );
* ...
*/
- void OgreGetPoseParameters( double position[3], double orientation[4] )throw(cv::Exception);
-
+ void OgreGetPoseParameters( double position[3], double orientation[4] )throw(cv::Exception);
+
/**Returns the centroid of the marker
*/
cv::Point2f getCenter()const;
@@ -132,11 +132,11 @@ public:
return str;
}
-
-
+
+
private:
void rotateXAxis(cv::Mat &rotation);
-
+
};
}
diff --git a/ftnoir_tracker_aruco/include/markerdetector.h b/ftnoir_tracker_aruco/include/markerdetector.h
index 4d6e7b90..6f489c34 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"
@@ -47,27 +47,25 @@ 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;
}
- MarkerCandidate operator=(const MarkerCandidate &M){
- if (this == &M)
- return *this;
+ MarkerCandidate & operator=(const MarkerCandidate &M){
(*(Marker*)this)=(*(Marker*)&M);
contour=M.contour;
idx=M.idx;
- return M;
+ return *this;
}
-
+
vector<cv::Point> contour;//all the points of its contour
int idx;//index position in the global contour list
};
public:
/**
- * See
+ * See
*/
MarkerDetector();
@@ -161,17 +159,17 @@ 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 +208,10 @@ 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 +245,17 @@ 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 +306,26 @@ 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
@@ -353,5 +351,9 @@ private:
void draw(cv::Mat out,const std::vector<Marker> &markers );
};
-}
+
+
+
+
+};
#endif
generated by cgit v1.2.3 (git 2.39.1) at 2025-03-06 09:25:21 +0000