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Diffstat (limited to 'tracker-aruco/include/markerdetector.h')
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diff --git a/tracker-aruco/include/markerdetector.h b/tracker-aruco/include/markerdetector.h deleted file mode 100644 index 4e5f74c3..00000000 --- a/tracker-aruco/include/markerdetector.h +++ /dev/null @@ -1,360 +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_MarkerDetector_H -#define _ARUCO_MarkerDetector_H -#include <opencv2/core.hpp> -#include <cstdio> -#include <iostream> -#include "cameraparameters.h" -#include "exports.h" -#include "marker.h" - -namespace aruco -{ -using namespace std; -/**\brief Main class for marker detection - * - */ -class ARUCO_EXPORTS MarkerDetector -{ - //Represent a candidate to be a maker - class MarkerCandidate: public Marker{ - public: - MarkerCandidate(){} - MarkerCandidate(const Marker &M): Marker(M){} - MarkerCandidate(const MarkerCandidate &M): Marker(M){ - contour=M.contour; - idx=M.idx; - } - MarkerCandidate & operator=(const MarkerCandidate &M){ - *(Marker*)this = M; - contour=M.contour; - idx=M.idx; - return *this; - } - - vector<cv::Point> contour;//all the points of its contour - int idx;//index position in the global contour list - }; -public: - - /** - * See - */ - MarkerDetector(); - - /** - */ - ~MarkerDetector(); - - /**Detects the markers in the image passed - * - * If you provide information about the camera parameters and the size of the marker, then, the extrinsics of the markers are detected - * - * @param input input color image - * @param detectedMarkers output vector with the markers detected - * @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 - * @param setYPerperdicular If set the Y axis will be perpendicular to the surface. Otherwise, it will be the Z axis - */ - void detect(const cv::Mat &input,std::vector<Marker> &detectedMarkers,cv::Mat camMatrix=cv::Mat(),cv::Mat distCoeff=cv::Mat(),float markerSizeMeters=-1,bool setYPerperdicular=true) noexcept; - /**Detects the markers in the image passed - * - * If you provide information about the camera parameters and the size of the marker, then, the extrinsics of the markers are detected - * - * @param input input color image - * @param detectedMarkers output vector with the markers detected - * @param camParams Camera parameters - * @param markerSizeMeters size of the marker sides expressed in meters - * @param setYPerperdicular If set the Y axis will be perpendicular to the surface. Otherwise, it will be the Z axis - */ - void detect(const cv::Mat &input,std::vector<Marker> &detectedMarkers, CameraParameters camParams,float markerSizeMeters=-1,bool setYPerperdicular=true) noexcept; - - /**This set the type of thresholding methods available - */ - - enum ThresholdMethods {FIXED_THRES,ADPT_THRES,CANNY}; - - - - /**Sets the threshold method - */ - void setThresholdMethod(ThresholdMethods m) { - _thresMethod=m; - } - /**Returns the current threshold method - */ - ThresholdMethods getThresholdMethod()const { - return _thresMethod; - } - /** - * Set the parameters of the threshold method - * We are currently using the Adptive threshold ee opencv doc of adaptiveThreshold for more info - * @param param1: blockSize of the pixel neighborhood that is used to calculate a threshold value for the pixel - * @param param2: The constant subtracted from the mean or weighted mean - */ - void setThresholdParams(double param1,double param2) { - _thresParam1=param1; - _thresParam2=param2; - } - /** - * Set the parameters of the threshold method - * We are currently using the Adptive threshold ee opencv doc of adaptiveThreshold for more info - * param1: blockSize of the pixel neighborhood that is used to calculate a threshold value for the pixel - * param2: The constant subtracted from the mean or weighted mean - */ - void getThresholdParams(double ¶m1,double ¶m2)const { - param1=_thresParam1; - param2=_thresParam2; - } - - - /**Returns a reference to the internal image thresholded. It is for visualization purposes and to adjust manually - * the parameters - */ - const cv::Mat & getThresholdedImage() { - return thres; - } - /**Methods for corner refinement - */ - enum CornerRefinementMethod {NONE,HARRIS,SUBPIX,LINES}; - /** - */ - void setCornerRefinementMethod(CornerRefinementMethod method) { - _cornerMethod=method; - } - /** - */ - CornerRefinementMethod getCornerRefinementMethod()const { - return _cornerMethod; - } - /**Specifies the min and max sizes of the markers as a fraction of the image size. By size we mean the maximum - * 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)noexcept; - - /**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 - */ - void enableErosion(bool enable){_doErosion=enable;} - - /** - * Specifies a value to indicate the required speed for the internal processes. If you need maximum speed (at the cost of a lower detection rate), - * use the value 3, If you rather a more precise and slow detection, set it to 0. - * - * Actually, the main differences are that in highspeed mode, we employ setCornerRefinementMethod(NONE) and internally, we use a small canonical - * image to detect the marker. In low speed mode, we use setCornerRefinementMethod(HARRIS) and a bigger size for the canonical marker image - */ - void setDesiredSpeed(int val); - /** - */ - int getDesiredSpeed()const { - return _speed; - } - - /** - * Allows to specify the function that identifies a marker. Therefore, you can create your own type of markers different from these - * employed by default in the library. - * The marker function must have the following structure: - * - * int myMarkerIdentifier(const cv::Mat &in,int &nRotations); - * - * The marker function receives the image 'in' with the region that migh contain one of your markers. These are the rectangular regions with black - * in the image. - * - * As output your marker function must indicate the following information. First, the output parameter nRotations must indicate how many times the marker - * must be rotated clockwise 90 deg to be in its ideal position. (The way you would see it when you print it). This is employed to know - * always which is the corner that acts as reference system. Second, the function must return -1 if the image does not contains one of your markers, and its id otherwise. - * - */ - void setMakerDetectorFunction(int (* markerdetector_func)(const cv::Mat &in,int &nRotations) ) { - markerIdDetector_ptrfunc=markerdetector_func; - } - - /** 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;} - - ///------------------------------------------------- - /// Methods you may not need - /// Thesde methods do the hard work. They have been set public in case you want to do customizations - ///------------------------------------------------- - - /** - * Thesholds the passed image with the specified method. - */ - void thresHold(int method,const cv::Mat &grey,cv::Mat &thresImg,double param1=-1,double param2=-1)noexcept; - /** - * Detection of candidates to be markers, i.e., rectangles. - * This function returns in candidates all the rectangles found in a thresolded image - */ - void detectRectangles(const cv::Mat &thresImg,vector<std::vector<cv::Point2f> > & candidates); - - /**Returns a list candidates to be markers (rectangles), for which no valid id was found after calling detectRectangles - */ - const vector<std::vector<cv::Point2f> > &getCandidates() { - return _candidates; - } - - /**Given the iput image with markers, creates an output image with it in the canonical position - * @param in input image - * @param out image with the marker - * @param size of out - * @param points 4 corners of the marker in the image in - * @return true if the operation succeed - */ - bool warp(cv::Mat &in,cv::Mat &out,cv::Size size, std::vector<cv::Point2f> points)noexcept; - - - - /** Refine MarkerCandidate Corner using LINES method - * @param candidate candidate to refine corners - */ - 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 - * - * @param CamMatrix arameters of the camera specified. - * @param orgImgSize size of the original image - * @param size of the image/window where to render (can be different from the real camera image). Please not that it must be related to CamMatrix - * @param proj_matrix output projection matrix to give to opengl - * @param gnear,gfar: visible rendering range - * @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. - */ - static void glGetProjectionMatrix( CameraParameters & CamMatrix,cv::Size orgImgSize, cv::Size size,double proj_matrix[16],double gnear,double gfar,bool invert=false )noexcept; - -private: - - bool _enableCylinderWarp; - bool warp_cylinder ( cv::Mat &in,cv::Mat &out,cv::Size size, MarkerCandidate& mc ) noexcept; - /** - * Detection of candidates to be markers, i.e., rectangles. - * This function returns in candidates all the rectangles found in a thresolded image - */ - void detectRectangles(const cv::Mat &thresImg,vector<MarkerCandidate> & candidates); -public: - std::vector<std::vector<cv::Point>> contours; - //Current threshold method - ThresholdMethods _thresMethod; - //Threshold parameters - double _thresParam1,_thresParam2; - //Current corner method - CornerRefinementMethod _cornerMethod; - //minimum and maximum size of a contour lenght - float _minSize,_maxSize; - //Speed control - int _speed; - int _markerWarpSize; - bool _doErosion; - //vectr of candidates to be markers. This is a vector with a set of rectangles that have no valid id - vector<std::vector<cv::Point2f> > _candidates; - //level of image reduction - int pyrdown_level; - //Images - cv::Mat grey,thres,thres2,reduced; - //pointer to the function that analizes a rectangular region so as to detect its internal marker - int (* markerIdDetector_ptrfunc)(const cv::Mat &in,int &nRotations); -private: - /** - */ - bool isInto(cv::Mat &contour,std::vector<cv::Point2f> &b); - /** - */ - 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 )noexcept; -// static int arParamDecompMat( double source[3][4], double cpara[3][4], double trans[3][4] )noexcept; -// 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, - * this function remove the elements - * @param vinout - * @param toRemove - */ - template<typename T> - void removeElements(vector<T> & vinout,const vector<bool> &toRemove) - { - //remove the invalid ones by setting the valid in the positions left by the invalids - size_t indexValid=0; - for (size_t i=0;i<toRemove.size();i++) { - if (!toRemove[i]) { - if (indexValid!=i) vinout[indexValid]=vinout[i]; - indexValid++; - } - } - vinout.resize(indexValid); - } - - //graphical debug - void drawApproxCurve(cv::Mat &in,std::vector<cv::Point> &approxCurve ,cv::Scalar color); - void drawContour(cv::Mat &in,std::vector<cv::Point> &contour,cv::Scalar ); - void drawAllContours(cv::Mat input, std::vector<std::vector<cv::Point> > &contours); - void draw(cv::Mat out,const std::vector<Marker> &markers ); - -}; - - - - -} -#endif |