35 #ifndef _vpDetectorAprilTag_h_
36 #define _vpDetectorAprilTag_h_
40 #include <visp3/core/vpConfig.h>
42 #ifdef VISP_HAVE_APRILTAG
43 #include <visp3/core/vpCameraParameters.h>
44 #include <visp3/core/vpColor.h>
45 #include <visp3/core/vpHomogeneousMatrix.h>
46 #include <visp3/core/vpImage.h>
47 #include <visp3/detection/vpDetectorBase.h>
237 HOMOGRAPHY_VIRTUAL_VS,
239 DEMENTHON_VIRTUAL_VS,
243 BEST_RESIDUAL_VIRTUAL_VS,
246 HOMOGRAPHY_ORTHOGONAL_ITERATION
250 const vpPoseEstimationMethod &poseEstimationMethod = HOMOGRAPHY_VIRTUAL_VS);
254 bool detect(const
vpImage<
unsigned char> &I) vp_override;
259 std::vector<
double> *projErrors =
nullptr, std::vector<
double> *projErrors2 =
nullptr);
266 void displayTags(const
vpImage<
unsigned char> &I, const std::vector<std::vector<
vpImagePoint> > &tagsCorners,
267 const
vpColor &color =
vpColor::none,
unsigned int thickness = 1) const;
269 const
vpColor &color =
vpColor::none,
unsigned int thickness = 1) const;
272 vpHomogeneousMatrix *cMo2 =
nullptr,
double *projError =
nullptr,
double *projError2 =
nullptr);
279 std::vector<std::vector<vpImagePoint> > getTagsCorners()
const;
280 std::vector<int> getTagsId()
const;
281 std::vector<std::vector<vpPoint> > getTagsPoints3D(
const std::vector<int> &tagsId,
282 const std::map<int, double> &tagsSize)
const;
284 void setAprilTagDecodeSharpening(
double decodeSharpening);
285 void setAprilTagFamily(
const vpAprilTagFamily &tagFamily);
286 void setAprilTagNbThreads(
int nThreads);
287 void setAprilTagPoseEstimationMethod(
const vpPoseEstimationMethod &poseEstimationMethod);
288 void setAprilTagQuadDecimate(
float quadDecimate);
289 void setAprilTagQuadSigma(
float quadSigma);
290 void setAprilTagRefineEdges(
bool refineEdges);
298 m_displayTag = display;
299 m_displayTagColor = color;
300 m_displayTagThickness = thickness;
305 void setZAlignedWithCameraAxis(
bool zAlignedWithCameraFrame);
307 #if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
312 vp_deprecated
void setAprilTagRefinePose(
bool refinePose);
313 vp_deprecated
void setAprilTagRefineDecode(
bool refineDecode);
340 os <<
"HOMOGRAPHY_VIRTUAL_VS";
344 os <<
"DEMENTHON_VIRTUAL_VS";
348 os <<
"LAGRANGE_VIRTUAL_VS";
352 os <<
"BEST_RESIDUAL_VIRTUAL_VS";
356 os <<
"HOMOGRAPHY_ORTHOGONAL_ITERATION";
360 os <<
"ERROR_UNKNOWN_POSE_METHOD!";
407 os <<
"STANDARD52h13";
411 os <<
"STANDARD41h12";
friend std::ostream & operator<<(std::ostream &s, const vpArray2D< Type > &A)
Generic class defining intrinsic camera parameters.
Class to define RGB colors available for display functionalities.
static const vpColor none
@ BEST_RESIDUAL_VIRTUAL_VS
@ HOMOGRAPHY_ORTHOGONAL_ITERATION
void setDisplayTag(bool display, const vpColor &color=vpColor::none, unsigned int thickness=2)
unsigned int m_displayTagThickness
vpAprilTagFamily m_tagFamily
vpPoseEstimationMethod m_poseEstimationMethod
@ TAG_CIRCLE21h7
AprilTag Circle21h7 pattern.
@ TAG_25h7
DEPRECATED AND POOR DETECTION PERFORMANCE.
@ TAG_36ARTOOLKIT
DEPRECATED AND WILL NOT DETECT ARTOOLKIT TAGS.
@ TAG_25h9
AprilTag 25h9 pattern.
@ TAG_CUSTOM48h12
AprilTag Custom48h12 pattern.
@ TAG_36h11
AprilTag 36h11 pattern (recommended)
@ TAG_STANDARD52h13
AprilTag Standard52h13 pattern.
@ TAG_16h5
AprilTag 16h5 pattern.
@ TAG_STANDARD41h12
AprilTag Standard41h12 pattern.
@ TAG_CIRCLE49h12
AprilTag Circle49h12 pattern.
vpColor m_displayTagColor
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition of the vpImage class member functions.