35 #ifndef _vpDetectorAprilTag_h_
36 #define _vpDetectorAprilTag_h_
38 #include <visp3/core/vpConfig.h>
40 #ifdef VISP_HAVE_APRILTAG
41 #include <visp3/core/vpCameraParameters.h>
42 #include <visp3/core/vpHomogeneousMatrix.h>
43 #include <visp3/core/vpImage.h>
44 #include <visp3/core/vpColor.h>
45 #include <visp3/detection/vpDetectorBase.h>
241 DEMENTHON_VIRTUAL_VS,
245 BEST_RESIDUAL_VIRTUAL_VS
251 const vpPoseEstimationMethod &poseEstimationMethod = HOMOGRAPHY_VIRTUAL_VS);
256 std::vector<vpHomogeneousMatrix> &cMo_vec);
263 inline vpPoseEstimationMethod getPoseEstimationMethod()
const {
return m_poseEstimationMethod; }
265 void setAprilTagNbThreads(
const int nThreads);
266 void setAprilTagPoseEstimationMethod(
const vpPoseEstimationMethod &poseEstimationMethod);
267 void setAprilTagQuadDecimate(
const float quadDecimate);
268 void setAprilTagQuadSigma(
const float quadSigma);
269 void setAprilTagRefineDecode(
const bool refineDecode);
270 void setAprilTagRefineEdges(
const bool refineEdges);
271 void setAprilTagRefinePose(
const bool refinePose);
276 const unsigned int thickness=2) {
277 m_displayTag = display;
278 m_displayTagColor = color;
279 m_displayTagThickness = thickness;
282 void setZAlignedWithCameraAxis(
bool zAlignedWithCameraFrame);
287 unsigned int m_displayTagThickness;
290 bool m_zAlignedWithCameraFrame;
309 os <<
"HOMOGRAPHY_VIRTUAL_VS";
313 os <<
"DEMENTHON_VIRTUAL_VS";
317 os <<
"LAGRANGE_VIRTUAL_VS";
321 os <<
"BEST_RESIDUAL_VIRTUAL_VS";
325 os <<
"ERROR_UNKNOWN_POSE_METHOD!";