class
ArucoDetector
Base classes
-
template<class Output>class BipedalLocomotion::System::Source<ArucoDetectorOutput>
- Source is a template specialization of Advanceable and represents a block that does not contains input.
Constructors, destructors, conversion operators
Public functions
-
auto initialize(std::weak_ptr<const ParametersHandler::
IParametersHandler> handler) -> bool final - Initialize the detector.
- auto setImage(const cv::Mat& inputImg, double timeNow) -> bool
- Set image for which markers need to be detected.
- auto advance() -> bool final
- Compute one step of the detector.
- auto getOutput() const -> const ArucoDetectorOutput& final
- Get the detected markers' data from the current step.
- auto getDetectedMarkerData(const int& id, ArucoMarkerData& markerData) -> bool
- Get the detected marker data.
- auto getImageWithDetectedMarkers(cv::Mat& outputImg, const bool& drawFrames = false, const double& axisLengthForDrawing = 0.1) -> bool
- Get the image with drawn detected markers.
- auto isOutputValid() const -> bool final
- Determines the validity of the object retrieved with get()
Function documentation
bool BipedalLocomotion:: Perception:: ArucoDetector:: initialize(std::weak_ptr<const ParametersHandler:: IParametersHandler> handler) final
Initialize the detector.
Returns | True in case of success, false otherwise. |
---|
bool BipedalLocomotion:: Perception:: ArucoDetector:: setImage(const cv::Mat& inputImg,
double timeNow)
Set image for which markers need to be detected.
Parameters | |
---|---|
inputImg in | image as OpenCV mat |
timeNow in | current time in chosen time units it is useful for bookkeeping or time delay synchronization |
Returns | True in case of success, false otherwise |
bool BipedalLocomotion:: Perception:: ArucoDetector:: advance() final
Compute one step of the detector.
Returns | True in case of success, false otherwise |
---|
const ArucoDetectorOutput& BipedalLocomotion:: Perception:: ArucoDetector:: getOutput() const final
Get the detected markers' data from the current step.
Returns | A struct containing a map container of detected markers. |
---|
bool BipedalLocomotion:: Perception:: ArucoDetector:: getDetectedMarkerData(const int& id,
ArucoMarkerData& markerData)
Get the detected marker data.
Parameters | |
---|---|
id in | marker id |
markerData in | detected marker identifiers data |
Returns | True in case of success, false if marker was not detected |
bool BipedalLocomotion:: Perception:: ArucoDetector:: getImageWithDetectedMarkers(cv::Mat& outputImg,
const bool& drawFrames = false,
const double& axisLengthForDrawing = 0.1)
Get the image with drawn detected markers.
Parameters | |
---|---|
outputImg in | image with detected markers drawn on it |
drawFrames in | draw also estimated marker poses, set to false by default |
axisLengthForDrawing in | axis length for drawing the frame axes, 0.1 by default |
Returns | True in case of success, false if no marker was detected |
bool BipedalLocomotion:: Perception:: ArucoDetector:: isOutputValid() const final
Determines the validity of the object retrieved with get()
Returns | True if the object is valid, false otherwise. |
---|