#include <ImFusion/Vision/MarkerDetection.h>

Generic marker detection class for a wide range of marker types, such as Aruco, Charuco, Chessboard, Circle Board, AprilTag and STag. More...

Detailed Description

Generic marker detection class for a wide range of marker types, such as Aruco, Charuco, Chessboard, Circle Board, AprilTag and STag.

Public Types
enum class	ComputeDevice { GPU , CPU }

Public Member Functions
void	setMarkerConfiguration (const MarkerConfiguration &markerConfig)
	Set marker configuration for the marker detection.

const MarkerConfiguration &	markerConfiguration () const

void	setPrintMarkerConfigurationErrors (bool v)
	Specify whether errors regarding wrong marker configuration should be logged. Makes sense to disable when marker configuration is changed during live marker detection.

bool	printMarkerConfigurationErrors ()

void	setRemoveDuplicateMarkers (bool v)
	Set duplicate marker removal.

bool	removeDuplicateMarkers () const
	Get duplicate marker removal status.

void	setInpaintCharucoMarkersRefinementWindowSize (int refinementSize=0)
	Controll whether to do a second corner refinement for Charuco boards after inpainting the markers in the image.

int	inpaintCharucoMarkersRefinementWindowSize (int refinementSize=0)

void	setComputeDevice (ComputeDevice computeDevice)
	Set compute device for charuco marker inpainting. Defaults to CPU. Use GPU only when not running in parallel threads.

ComputeDevice	computeDevice () const

void	setCameraParameters (const mat3 &K, const Eigen::Matrix< double, 5, 1 > &dist)
	Set camera parameters.

bool	detectMarker (const SharedImage image, SharedImage detectionImage=nullptr)
	Run marker detection on provided image detectionImage is an optional output which must have the same size as the input image (typically a copy of the input) onto which the detections are rendered.

void	detections (std::vector< vec3 > &objectPoints, std::vector< vec2 > &imagePoints, std::vector< int > pointIds=nullptr, std::vector< std::vector< vec2 > > markerCorners=nullptr, std::vector< int > *markerIds=nullptr) const
	Obtain extracted marker parameters.

mat4	pose (double mre=nullptr, std::vector< vec2 > reprojectedPoints=nullptr)
	Estimate camera pose (i.e.

void	setSizeHint (vec2i ll, vec2i ur)
	Set size hint of bounds we think contain the markers.

void	setDetectSizeHintAutomatically (bool v)
	If set to true and if not all markers were detected during the first time, the marker detection will run the second time with a cropped image that has a center in a bounding box of detected markers and with double the size of the longer side of the bounding box Note: currently implemented only for Charuco board Warning: provided size hint is ignored if this flag is set.

bool	detectSizeHintAutomatically () const

Member Function Documentation

◆ detections()

void detections	(	std::vector< vec3 > &	objectPoints,
		std::vector< vec2 > &	imagePoints,
		std::vector< int > *	pointIds = nullptr,
		std::vector< std::vector< vec2 > > *	markerCorners = nullptr,
		std::vector< int > *	markerIds = nullptr ) const

Obtain extracted marker parameters.

Parameters

objectPoints	3D corner coordinates in reference board
imagePoints	2D image points corresponding to 3D corner points
pointIds	For Aruco, Charuco, AprilTag and STag boards contains the marker Id of each point.
markerCorners	For Aruco, Charuco, AprilTag and STag boards, contains the four corner points for each detected marker
markerIds	For Aruco, Charuco, AprilTag and STag boards, contains the ids of the detected markers in markerCorners. Can be different from pointIds.

◆ pose()

mat4 pose	(	double *	mre = nullptr,
		std::vector< vec2 > *	reprojectedPoints = nullptr )

Estimate camera pose (i.e.

transformation from world to camera). Requires camera parameters to have been set.

Parameters

mre	optional output reprojection error
reprojectedPoints	optional output reprojected points

Returns: camera pose (zero matrix when the pose estimation failed)

◆ setSizeHint()

void setSizeHint	(	vec2i	ll,
		vec2i	ur )

Set size hint of bounds we think contain the markers.

For some detections we first crop to these bounds and see if we find marker there.

The documentation for this class was generated from the following file:

ImFusion/Vision/MarkerDetection.h

Detailed Description

Public Types

Public Member Functions

Member Function Documentation

◆ detections()

◆ pose()

◆ setSizeHint()