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Invert marker #2036

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d7b05e8
doCornerRefinement to CornerRefinementMethod :: detected contours poi…
szk1509 Jan 27, 2017
b63cbb1
some little corrections
szk1509 Jan 27, 2017
93fcd1e
samples edited
szk1509 Feb 7, 2017
7f5dbe2
documented :)
szk1509 Feb 11, 2017
d355144
tabs corrected
szk1509 Feb 12, 2017
da26961
Docu corrections
szk1509 Feb 14, 2017
56b4d47
refinement for all candidates
szk1509 Mar 1, 2017
5334774
refinement for all candidates :: copy paste error corrected
szk1509 Mar 1, 2017
559aad3
comment
szk1509 Apr 2, 2017
569ec74
Merge remote-tracking branch 'upstream/master'
szk1509 Feb 23, 2018
ce02ce7
Merge remote-tracking branch 'upstream/master'
szk1509 Mar 12, 2019
7b42cc0
this commit allows detection of a inverted marker, i.e. a white marker
szk1509 Mar 12, 2019
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5 changes: 5 additions & 0 deletions modules/aruco/include/opencv2/aruco.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -144,6 +144,8 @@ enum CornerRefineMethod{
* done at full resolution.
* - aprilTagQuadSigma: What Gaussian blur should be applied to the segmented image (used for quad detection?)
* Parameter is the standard deviation in pixels. Very noisy images benefit from non-zero values (e.g. 0.8).
* - detectInvertedMarker: to check if there is a white marker. In order to generate a "white" marker just
* invert a normal marker by using a tilde, ~markerImage. (default false)
*/
struct CV_EXPORTS_W DetectorParameters {

Expand Down Expand Up @@ -183,6 +185,9 @@ struct CV_EXPORTS_W DetectorParameters {
CV_PROP_RW float aprilTagMaxLineFitMse;
CV_PROP_RW int aprilTagMinWhiteBlackDiff;
CV_PROP_RW int aprilTagDeglitch;

// to detect white markers
CV_PROP_RW bool detectInvertedMarker;
};


Expand Down
16 changes: 14 additions & 2 deletions modules/aruco/src/aruco.cpp
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Expand Up @@ -86,7 +86,8 @@ DetectorParameters::DetectorParameters()
aprilTagCriticalRad( (float)(10* CV_PI /180) ),
aprilTagMaxLineFitMse(10.0),
aprilTagMinWhiteBlackDiff(5),
aprilTagDeglitch(0){}
aprilTagDeglitch(0),
detectInvertedMarker(false){}


/**
Expand Down Expand Up @@ -512,7 +513,18 @@ static bool _identifyOneCandidate(const Ptr<Dictionary>& dictionary, InputArray
int(dictionary->markerSize * dictionary->markerSize * params->maxErroneousBitsInBorderRate);
int borderErrors =
_getBorderErrors(candidateBits, dictionary->markerSize, params->markerBorderBits);
if(borderErrors > maximumErrorsInBorder) return false; // border is wrong

// check if it is a white marker
if(params->detectInvertedMarker){
// to get from 255 to 1
int invBError = _getBorderErrors(~candidateBits-254, dictionary->markerSize, params->markerBorderBits);
// white marker
if(invBError<borderErrors){
borderErrors = invBError;
candidateBits=~candidateBits-254;
}
}
if(borderErrors > maximumErrorsInBorder) return false;

// take only inner bits
Mat onlyBits =
Expand Down