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Diffstat (limited to 'tracker-aruco/include/marker.h')
| -rw-r--r-- | tracker-aruco/include/marker.h | 143 |
1 files changed, 143 insertions, 0 deletions
diff --git a/tracker-aruco/include/marker.h b/tracker-aruco/include/marker.h new file mode 100644 index 00000000..efc3e5fe --- /dev/null +++ b/tracker-aruco/include/marker.h @@ -0,0 +1,143 @@ +/***************************** +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/core/core.hpp> +#include "exports.h" +#include "cameraparameters.h" +namespace aruco { +using namespace std; +/**\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 |