CVArucoParams Class Reference

ArUco Parameters loaded from configuration file. More...

#include <CVTrackedAruco.h>

Public Member Functions
	CVArucoParams ()
bool	loadFromFile (string calibIniPath)

Public Attributes
cv::Ptr< cv::aruco::Dictionary >	dictionary
	predefined dictionary More...
cv::Ptr< cv::aruco::DetectorParameters >	arucoParams
	detector parameter structure for aruco detection function More...
float	edgeLength
	marker edge length More...
int	arucoDictionaryId
	id of aruco dictionary More...
string	arucoDetectorParams
	todo: put in one file More...
string	filename
	parameter filename More...

Detailed Description

ArUco Parameters loaded from configuration file.

Definition at line 29 of file CVTrackedAruco.h.

Constructor & Destructor Documentation

CVArucoParams()

CVArucoParams::CVArucoParams ( )

inline

Definition at line 32 of file CVTrackedAruco.h.

                    : edgeLength(0.06f),
                      arucoDictionaryId(0),
                      filename("aruco_detector_params.yml")
    {
#if CV_MAJOR_VERSION < 4 || CV_MINOR_VERSION < 7
        arucoParams = cv::aruco::DetectorParameters::create();
#else
        arucoParams = cv::aruco::DetectorParameters();
#endif
    }

Member Function Documentation

loadFromFile()

bool CVArucoParams::loadFromFile ( string  calibIniPath )

inline

Definition at line 43 of file CVTrackedAruco.h.

    {
        string path = calibIniPath + filename;
 
        SLstring      paramString = SLFileStorage::readIntoString(path, IOK_config);
        CVFileStorage fs(paramString, CVFileStorage::READ | CVFileStorage::MEMORY);
        if (!fs.isOpened())
        {
            cout << "Could not find parameter file for ArUco tracking!" << endl;
            cout << "Tried " << path << endl;
            return false;
        }
 
#if CV_MAJOR_VERSION < 4 || CV_MINOR_VERSION < 7
        fs["adaptiveThreshWinSizeMin"] >> arucoParams->adaptiveThreshWinSizeMin;
        fs["adaptiveThreshWinSizeMax"] >> arucoParams->adaptiveThreshWinSizeMax;
        fs["adaptiveThreshWinSizeStep"] >> arucoParams->adaptiveThreshWinSizeStep;
        fs["adaptiveThreshConstant"] >> arucoParams->adaptiveThreshConstant;
        fs["minMarkerPerimeterRate"] >> arucoParams->minMarkerPerimeterRate;
        fs["maxMarkerPerimeterRate"] >> arucoParams->maxMarkerPerimeterRate;
        fs["polygonalApproxAccuracyRate"] >> arucoParams->polygonalApproxAccuracyRate;
        fs["minCornerDistanceRate"] >> arucoParams->minCornerDistanceRate;
        fs["minDistanceToBorder"] >> arucoParams->minDistanceToBorder;
        fs["cornerRefinementMethod"] >> arucoParams->cornerRefinementMethod; // cv::aruco::CornerRefineMethod
        fs["cornerRefinementWinSize"] >> arucoParams->cornerRefinementWinSize;
        fs["cornerRefinementMaxIterations"] >> arucoParams->cornerRefinementMaxIterations;
        fs["cornerRefinementMinAccuracy"] >> arucoParams->cornerRefinementMinAccuracy;
        fs["markerBorderBits"] >> arucoParams->markerBorderBits;
        fs["perspectiveRemovePixelPerCell"] >> arucoParams->perspectiveRemovePixelPerCell;
        fs["perspectiveRemoveIgnoredMarginPerCell"] >> arucoParams->perspectiveRemoveIgnoredMarginPerCell;
        fs["maxErroneousBitsInBorderRate"] >> arucoParams->maxErroneousBitsInBorderRate;
        fs["edgeLength"] >> edgeLength;
        fs["arucoDictionaryId"] >> arucoDictionaryId;
#else
        fs["adaptiveThreshWinSizeMin"] >> arucoParams.adaptiveThreshWinSizeMin;
        fs["adaptiveThreshWinSizeMax"] >> arucoParams.adaptiveThreshWinSizeMax;
        fs["adaptiveThreshWinSizeStep"] >> arucoParams.adaptiveThreshWinSizeStep;
        fs["adaptiveThreshConstant"] >> arucoParams.adaptiveThreshConstant;
        fs["minMarkerPerimeterRate"] >> arucoParams.minMarkerPerimeterRate;
        fs["maxMarkerPerimeterRate"] >> arucoParams.maxMarkerPerimeterRate;
        fs["polygonalApproxAccuracyRate"] >> arucoParams.polygonalApproxAccuracyRate;
        fs["minCornerDistanceRate"] >> arucoParams.minCornerDistanceRate;
        fs["minDistanceToBorder"] >> arucoParams.minDistanceToBorder;
        fs["cornerRefinementMethod"] >> arucoParams.cornerRefinementMethod; // cv::aruco::CornerRefineMethod
        fs["cornerRefinementWinSize"] >> arucoParams.cornerRefinementWinSize;
        fs["cornerRefinementMaxIterations"] >> arucoParams.cornerRefinementMaxIterations;
        fs["cornerRefinementMinAccuracy"] >> arucoParams.cornerRefinementMinAccuracy;
        fs["markerBorderBits"] >> arucoParams.markerBorderBits;
        fs["perspectiveRemovePixelPerCell"] >> arucoParams.perspectiveRemovePixelPerCell;
        fs["perspectiveRemoveIgnoredMarginPerCell"] >> arucoParams.perspectiveRemoveIgnoredMarginPerCell;
        fs["maxErroneousBitsInBorderRate"] >> arucoParams.maxErroneousBitsInBorderRate;
        fs["edgeLength"] >> edgeLength;
        fs["arucoDictionaryId"] >> arucoDictionaryId;
#endif
 
#if CV_MAJOR_VERSION < 4 || CV_MINOR_VERSION < 7
        dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::PREDEFINED_DICTIONARY_NAME(arucoDictionaryId));
#else
        dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::PredefinedDictionaryType(arucoDictionaryId));
#endif
 
        return true;
    }

Member Data Documentation

arucoDetectorParams

string CVArucoParams::arucoDetectorParams

todo: put in one file

Definition at line 117 of file CVTrackedAruco.h.

arucoDictionaryId

int CVArucoParams::arucoDictionaryId

id of aruco dictionary

Definition at line 116 of file CVTrackedAruco.h.

arucoParams

cv::Ptr<cv::aruco::DetectorParameters> CVArucoParams::arucoParams

detector parameter structure for aruco detection function

Definition at line 109 of file CVTrackedAruco.h.

dictionary

cv::Ptr<cv::aruco::Dictionary> CVArucoParams::dictionary

predefined dictionary

Definition at line 108 of file CVTrackedAruco.h.

edgeLength

float CVArucoParams::edgeLength

marker edge length

Definition at line 115 of file CVTrackedAruco.h.

filename

string CVArucoParams::filename

parameter filename

Definition at line 118 of file CVTrackedAruco.h.

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The documentation for this class was generated from the following file:

• CVTrackedAruco.h