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-rw-r--r--tracker-aruco/include/cameraparameters.h20
-rw-r--r--tracker-aruco/include/marker.h8
-rw-r--r--tracker-aruco/include/markerdetector.h18
3 files changed, 23 insertions, 23 deletions
diff --git a/tracker-aruco/include/cameraparameters.h b/tracker-aruco/include/cameraparameters.h
index 083d5f96..0a83deb2 100644
--- a/tracker-aruco/include/cameraparameters.h
+++ b/tracker-aruco/include/cameraparameters.h
@@ -56,13 +56,13 @@ public:
* @param distorsionCoeff 4x1 matrix (k1,k2,p1,p2)
* @param size image size
*/
- CameraParameters(cv::Mat cameraMatrix,cv::Mat distorsionCoeff,cv::Size size) throw(cv::Exception);
+ CameraParameters(cv::Mat cameraMatrix,cv::Mat distorsionCoeff,cv::Size size) noexcept;
/**Sets the parameters
* @param cameraMatrix 3x3 matrix (fx 0 cx, 0 fy cy, 0 0 1)
* @param distorsionCoeff 4x1 matrix (k1,k2,p1,p2)
* @param size image size
*/
- void setParams(cv::Mat cameraMatrix,cv::Mat distorsionCoeff,cv::Size size) throw(cv::Exception);
+ void setParams(cv::Mat cameraMatrix,cv::Mat distorsionCoeff,cv::Size size) noexcept;
/**Copy constructor
*/
CameraParameters(const CameraParameters &CI) ;
@@ -77,18 +77,18 @@ public:
CameraParameters & operator=(const CameraParameters &CI);
/**Reads the camera parameters from a file generated using saveToFile.
*/
- void readFromFile(string path)throw(cv::Exception);
+ void readFromFile(string path)noexcept;
/**Saves this to a file
*/
- void saveToFile(string path,bool inXML=true)throw(cv::Exception);
+ void saveToFile(string path,bool inXML=true)noexcept;
/**Reads from a YAML file generated with the opencv2.2 calibration utility
*/
- void readFromXMLFile(string filePath)throw(cv::Exception);
+ void readFromXMLFile(string filePath)noexcept;
/**Adjust the parameters to the size of the image indicated
*/
- void resize(cv::Size size)throw(cv::Exception);
+ void resize(cv::Size size)noexcept;
/**Returns the location of the camera in the reference system given by the rotation and translation vectors passed
* NOT TESTED
@@ -105,7 +105,7 @@ public:
* @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.
*/
- void glGetProjectionMatrix( cv::Size orgImgSize, cv::Size size,double proj_matrix[16],double gnear,double gfar,bool invert=false )throw(cv::Exception);
+ void glGetProjectionMatrix( cv::Size orgImgSize, cv::Size size,double proj_matrix[16],double gnear,double gfar,bool invert=false )noexcept;
/**
* setup camera for an Ogre project.
@@ -117,14 +117,14 @@ 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);
+ void OgreGetProjectionMatrix( cv::Size orgImgSize, cv::Size size,double proj_matrix[16],double gnear,double gfar,bool invert=false )noexcept;
private:
//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 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 );
diff --git a/tracker-aruco/include/marker.h b/tracker-aruco/include/marker.h
index efc3e5fe..282e6a7d 100644
--- a/tracker-aruco/include/marker.h
+++ b/tracker-aruco/include/marker.h
@@ -73,19 +73,19 @@ public:
* @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);
+ void calculateExtrinsics(float markerSize,const CameraParameters &CP,bool setYPerperdicular=true)noexcept;
/**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);
+ void calculateExtrinsics(float markerSize,cv::Mat CameraMatrix,cv::Mat Distorsion=cv::Mat(),bool setYPerperdicular=true)noexcept;
/**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);
+ void glGetModelViewMatrix( double modelview_matrix[16])noexcept;
/**
* Returns position vector and orientation quaternion for an Ogre scene node or entity.
@@ -97,7 +97,7 @@ public:
* mySceneNode->setOrientation( ogreOrient );
* ...
*/
- void OgreGetPoseParameters( double position[3], double orientation[4] )throw(cv::Exception);
+ void OgreGetPoseParameters( double position[3], double orientation[4] )noexcept;
/**Returns the centroid of the marker
*/
diff --git a/tracker-aruco/include/markerdetector.h b/tracker-aruco/include/markerdetector.h
index 12502bd3..79a952a9 100644
--- a/tracker-aruco/include/markerdetector.h
+++ b/tracker-aruco/include/markerdetector.h
@@ -83,7 +83,7 @@ public:
* @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) throw (cv::Exception);
+ 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
@@ -94,7 +94,7 @@ public:
* @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) throw (cv::Exception);
+ 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
*/
@@ -160,7 +160,7 @@ public:
* @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);
+ 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]
@@ -223,7 +223,7 @@ public:
/**
* 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)throw(cv::Exception);
+ 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
@@ -243,7 +243,7 @@ public:
* @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)throw (cv::Exception);
+ bool warp(cv::Mat &in,cv::Mat &out,cv::Size size, std::vector<cv::Point2f> points)noexcept;
@@ -266,12 +266,12 @@ public:
* @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 )throw(cv::Exception);
+ 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 ) throw ( cv::Exception );
+ 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
@@ -309,8 +309,8 @@ private:
// //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 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 );