BipedalLocomotion::Perception::ArucoDetector class
#include <BipedalLocomotion/Perception/Features/ArucoDetector.h>

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.

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()

Initialize the detector.

Returns	True in case of success, false otherwise.

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

Compute one step of the detector.

Returns	True in case of success, false otherwise

Get the detected markers' data from the current step.

Returns	A struct containing a map container of detected markers.

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

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

Determines the validity of the object retrieved with get()

Returns	True if the object is valid, false otherwise.