75 lines
2.2 KiB
C++
75 lines
2.2 KiB
C++
/*
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* Copyright (C) 2014 Miguel Angel Astor Romero
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef MARKER_HPP
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#define MARKER_HPP
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#include <vector>
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#include <opencv2/opencv.hpp>
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namespace nxtar{
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class Marker;
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typedef std::vector<cv::Point2f> points_vector;
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typedef std::vector<Marker> markers_vector;
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/**
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* A class representing a marker with the geometric transformations needed to
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* render something on top of it.
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*/
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class Marker{
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public:
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~Marker();
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int code;
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points_vector points;
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cv::Mat translation;
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cv::Mat rotation;
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};
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/**
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* Detect all 5x5 markers in the input image and return their codes in the
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* output vector.
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*/
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void getAllMarkers(markers_vector &, cv::Mat &);
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/**
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* Find a chessboard calibration pattern in the input image. Returns true
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* if the pattern was found, false otherwise. The calibration points
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* detected on the image are saved in the output vector.
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*/
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bool findCalibrationPattern(points_vector &, cv::Mat &);
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/**
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* Sets the camera matrix and the distortion coefficients for the camera
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* that captured the input image points into the output matrices. Returns
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* the reprojection error as returned by cv::calibrateCamera.
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*/
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double getCameraParameters(cv::Mat &, cv::Mat &, std::vector<points_vector> &, cv::Size);
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/**
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* Obtains the necesary geometric transformations necessary to move a reference
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* unitary polygon to the position and rotation of the markers passed as input.
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* The obtained transformations are given relative to a camera centered in the
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* origin and are saved inside the input markers.
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*/
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void estimateMarkerPosition(markers_vector &, cv::Mat &, cv::Mat &);
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} // namespace nxtar
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#endif // MARKER_HPP
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