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/vpHomogeneousMatrix.h>
45#include <visp3/core/vpImage.h>
46#include <visp3/core/vpColor.h>
47#include <visp3/detection/vpDetectorBase.h>
235 HOMOGRAPHY_VIRTUAL_VS,
237 DEMENTHON_VIRTUAL_VS,
241 BEST_RESIDUAL_VIRTUAL_VS,
244 HOMOGRAPHY_ORTHOGONAL_ITERATION
248 const vpPoseEstimationMethod &poseEstimationMethod = HOMOGRAPHY_VIRTUAL_VS);
255 std::vector<vpHomogeneousMatrix> &cMo_vec, std::vector<vpHomogeneousMatrix> *cMo_vec2=NULL,
256 std::vector<double> *projErrors=NULL, std::vector<double> *projErrors2=NULL);
260 double *projError=NULL,
double *projError2=NULL);
267 std::vector<std::vector<vpImagePoint> > getTagsCorners()
const;
268 std::vector<int> getTagsId()
const;
269 std::vector<std::vector<vpPoint> > getTagsPoints3D(
const std::vector<int>& tagsId,
const std::map<int, double>& tagsSize)
const;
271 void setAprilTagDecodeSharpening(
double decodeSharpening);
272 void setAprilTagFamily(
const vpAprilTagFamily &tagFamily);
273 void setAprilTagNbThreads(
int nThreads);
274 void setAprilTagPoseEstimationMethod(
const vpPoseEstimationMethod &poseEstimationMethod);
275 void setAprilTagQuadDecimate(
float quadDecimate);
276 void setAprilTagQuadSigma(
float quadSigma);
277 void setAprilTagRefineDecode(
bool refineDecode);
278 void setAprilTagRefineEdges(
bool refineEdges);
279 void setAprilTagRefinePose(
bool refinePose);
284 unsigned int thickness=2) {
285 m_displayTag = display;
286 m_displayTagColor = color;
287 m_displayTagThickness = thickness;
292 void setZAlignedWithCameraAxis(
bool zAlignedWithCameraFrame);
317 os <<
"HOMOGRAPHY_VIRTUAL_VS";
321 os <<
"DEMENTHON_VIRTUAL_VS";
325 os <<
"LAGRANGE_VIRTUAL_VS";
329 os <<
"BEST_RESIDUAL_VIRTUAL_VS";
333 os <<
"HOMOGRAPHY_ORTHOGONAL_ITERATION";
337 os <<
"ERROR_UNKNOWN_POSE_METHOD!";
384 os <<
"STANDARD52h13";
388 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 functionnalities.
static const vpColor none
@ BEST_RESIDUAL_VIRTUAL_VS
@ HOMOGRAPHY_ORTHOGONAL_ITERATION
void setDisplayTag(bool display, const vpColor &color=vpColor::none, unsigned int thickness=2)
vpPoseEstimationMethod getPoseEstimationMethod() const
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
virtual bool detect(const vpImage< unsigned char > &I)=0
Implementation of an homogeneous matrix and operations on such kind of matrices.