From be0af81245dde4d0e1d0c006ae438b523c30c48b Mon Sep 17 00:00:00 2001 From: Tentone Date: Fri, 8 Sep 2017 14:25:28 +0100 Subject: [PATCH] First version --- Doxyfile | 1757 ++++++++++++++++++++++++++++ README.md | 13 +- aruco/CMakeLists.txt | 31 + aruco/msg/Marker.msg | 8 + aruco/package.xml | 22 + aruco/src/ArucoDetector.cpp | 329 ++++++ aruco/src/ArucoMarker.cpp | 262 +++++ aruco/src/ArucoMarkerInfo.cpp | 145 +++ aruco/src/SquareFinder.cpp | 87 ++ aruco/src/math/Quadrilateral.cpp | 133 +++ aruco/src/math/Transformations.cpp | 47 + aruco/src/math/Triangle.cpp | 91 ++ aruco/src/ros/ArucoNode.cpp | 530 +++++++++ 13 files changed, 3453 insertions(+), 2 deletions(-) create mode 100644 Doxyfile create mode 100644 aruco/CMakeLists.txt create mode 100644 aruco/msg/Marker.msg create mode 100644 aruco/package.xml create mode 100644 aruco/src/ArucoDetector.cpp create mode 100644 aruco/src/ArucoMarker.cpp create mode 100644 aruco/src/ArucoMarkerInfo.cpp create mode 100644 aruco/src/SquareFinder.cpp create mode 100644 aruco/src/math/Quadrilateral.cpp create mode 100644 aruco/src/math/Transformations.cpp create mode 100644 aruco/src/math/Triangle.cpp create mode 100644 aruco/src/ros/ArucoNode.cpp diff --git a/Doxyfile b/Doxyfile new file mode 100644 index 0000000..aef7790 --- /dev/null +++ b/Doxyfile @@ -0,0 +1,1757 @@ +# Doxyfile 1.7.5.1 + +# This file describes the settings to be used by the documentation system +# doxygen (www.doxygen.org) for a project. +# +# All text after a hash (#) is considered a comment and will be ignored. +# The format is: +# TAG = value [value, ...] +# For lists items can also be appended using: +# TAG += value [value, ...] +# Values that contain spaces should be placed between quotes (" "). + +#--------------------------------------------------------------------------- +# Project related configuration options +#--------------------------------------------------------------------------- + +# This tag specifies the encoding used for all characters in the config file +# that follow. The default is UTF-8 which is also the encoding used for all +# text before the first occurrence of this tag. Doxygen uses libiconv (or the +# iconv built into libc) for the transcoding. See +# http://www.gnu.org/software/libiconv for the list of possible encodings. + +DOXYFILE_ENCODING = UTF-8 + +# The PROJECT_NAME tag is a single word (or sequence of words) that should +# identify the project. Note that if you do not use Doxywizard you need +# to put quotes around the project name if it contains spaces. + +PROJECT_NAME = Aruco + +# The PROJECT_NUMBER tag can be used to enter a project or revision number. +# This could be handy for archiving the generated documentation or +# if some version control system is used. + +PROJECT_NUMBER = + +# Using the PROJECT_BRIEF tag one can provide an optional one line description +# for a project that appears at the top of each page and should give viewer +# a quick idea about the purpose of the project. Keep the description short. + +PROJECT_BRIEF = + +# With the PROJECT_LOGO tag one can specify an logo or icon that is +# included in the documentation. The maximum height of the logo should not +# exceed 55 pixels and the maximum width should not exceed 200 pixels. +# Doxygen will copy the logo to the output directory. + +PROJECT_LOGO = + +# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) +# base path where the generated documentation will be put. +# If a relative path is entered, it will be relative to the location +# where doxygen was started. If left blank the current directory will be used. + +OUTPUT_DIRECTORY = docs + +# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create +# 4096 sub-directories (in 2 levels) under the output directory of each output +# format and will distribute the generated files over these directories. +# Enabling this option can be useful when feeding doxygen a huge amount of +# source files, where putting all generated files in the same directory would +# otherwise cause performance problems for the file system. + +CREATE_SUBDIRS = NO + +# The OUTPUT_LANGUAGE tag is used to specify the language in which all +# documentation generated by doxygen is written. Doxygen will use this +# information to generate all constant output in the proper language. +# The default language is English, other supported languages are: +# Afrikaans, Arabic, Brazilian, Catalan, Chinese, Chinese-Traditional, +# Croatian, Czech, Danish, Dutch, Esperanto, Farsi, Finnish, French, German, +# Greek, Hungarian, Italian, Japanese, Japanese-en (Japanese with English +# messages), Korean, Korean-en, Lithuanian, Norwegian, Macedonian, Persian, +# Polish, Portuguese, Romanian, Russian, Serbian, Serbian-Cyrillic, Slovak, +# Slovene, Spanish, Swedish, Ukrainian, and Vietnamese. + +OUTPUT_LANGUAGE = English + +# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will +# include brief member descriptions after the members that are listed in +# the file and class documentation (similar to JavaDoc). +# Set to NO to disable this. + +BRIEF_MEMBER_DESC = YES + +# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend +# the brief description of a member or function before the detailed description. +# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the +# brief descriptions will be completely suppressed. + +REPEAT_BRIEF = YES + +# This tag implements a quasi-intelligent brief description abbreviator +# that is used to form the text in various listings. Each string +# in this list, if found as the leading text of the brief description, will be +# stripped from the text and the result after processing the whole list, is +# used as the annotated text. Otherwise, the brief description is used as-is. +# If left blank, the following values are used ("$name" is automatically +# replaced with the name of the entity): "The $name class" "The $name widget" +# "The $name file" "is" "provides" "specifies" "contains" +# "represents" "a" "an" "the" + +ABBREVIATE_BRIEF = + +# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then +# Doxygen will generate a detailed section even if there is only a brief +# description. + +ALWAYS_DETAILED_SEC = NO + +# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all +# inherited members of a class in the documentation of that class as if those +# members were ordinary class members. Constructors, destructors and assignment +# operators of the base classes will not be shown. + +INLINE_INHERITED_MEMB = NO + +# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full +# path before files name in the file list and in the header files. If set +# to NO the shortest path that makes the file name unique will be used. + +FULL_PATH_NAMES = YES + +# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag +# can be used to strip a user-defined part of the path. Stripping is +# only done if one of the specified strings matches the left-hand part of +# the path. The tag can be used to show relative paths in the file list. +# If left blank the directory from which doxygen is run is used as the +# path to strip. + +STRIP_FROM_PATH = + +# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of +# the path mentioned in the documentation of a class, which tells +# the reader which header file to include in order to use a class. +# If left blank only the name of the header file containing the class +# definition is used. Otherwise one should specify the include paths that +# are normally passed to the compiler using the -I flag. + +STRIP_FROM_INC_PATH = + +# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter +# (but less readable) file names. This can be useful if your file system +# doesn't support long names like on DOS, Mac, or CD-ROM. + +SHORT_NAMES = NO + +# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen +# will interpret the first line (until the first dot) of a JavaDoc-style +# comment as the brief description. If set to NO, the JavaDoc +# comments will behave just like regular Qt-style comments +# (thus requiring an explicit @brief command for a brief description.) + +JAVADOC_AUTOBRIEF = NO + +# If the QT_AUTOBRIEF tag is set to YES then Doxygen will +# interpret the first line (until the first dot) of a Qt-style +# comment as the brief description. If set to NO, the comments +# will behave just like regular Qt-style comments (thus requiring +# an explicit \brief command for a brief description.) + +QT_AUTOBRIEF = NO + +# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen +# treat a multi-line C++ special comment block (i.e. a block of //! or /// +# comments) as a brief description. This used to be the default behaviour. +# The new default is to treat a multi-line C++ comment block as a detailed +# description. Set this tag to YES if you prefer the old behaviour instead. + +MULTILINE_CPP_IS_BRIEF = NO + +# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented +# member inherits the documentation from any documented member that it +# re-implements. + +INHERIT_DOCS = YES + +# If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce +# a new page for each member. If set to NO, the documentation of a member will +# be part of the file/class/namespace that contains it. + +SEPARATE_MEMBER_PAGES = NO + +# The TAB_SIZE tag can be used to set the number of spaces in a tab. +# Doxygen uses this value to replace tabs by spaces in code fragments. + +TAB_SIZE = 8 + +# This tag can be used to specify a number of aliases that acts +# as commands in the documentation. An alias has the form "name=value". +# For example adding "sideeffect=\par Side Effects:\n" will allow you to +# put the command \sideeffect (or @sideeffect) in the documentation, which +# will result in a user-defined paragraph with heading "Side Effects:". +# You can put \n's in the value part of an alias to insert newlines. + +ALIASES = + +# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C +# sources only. Doxygen will then generate output that is more tailored for C. +# For instance, some of the names that are used will be different. The list +# of all members will be omitted, etc. + +OPTIMIZE_OUTPUT_FOR_C = NO + +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java +# sources only. Doxygen will then generate output that is more tailored for +# Java. For instance, namespaces will be presented as packages, qualified +# scopes will look different, etc. + +OPTIMIZE_OUTPUT_JAVA = NO + +# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran +# sources only. Doxygen will then generate output that is more tailored for +# Fortran. + +OPTIMIZE_FOR_FORTRAN = NO + +# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL +# sources. Doxygen will then generate output that is tailored for +# VHDL. + +OPTIMIZE_OUTPUT_VHDL = NO + +# Doxygen selects the parser to use depending on the extension of the files it +# parses. With this tag you can assign which parser to use for a given extension. +# Doxygen has a built-in mapping, but you can override or extend it using this +# tag. The format is ext=language, where ext is a file extension, and language +# is one of the parsers supported by doxygen: IDL, Java, Javascript, CSharp, C, +# C++, D, PHP, Objective-C, Python, Fortran, VHDL, C, C++. For instance to make +# doxygen treat .inc files as Fortran files (default is PHP), and .f files as C +# (default is Fortran), use: inc=Fortran f=C. Note that for custom extensions +# you also need to set FILE_PATTERNS otherwise the files are not read by doxygen. + +EXTENSION_MAPPING = + +# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want +# to include (a tag file for) the STL sources as input, then you should +# set this tag to YES in order to let doxygen match functions declarations and +# definitions whose arguments contain STL classes (e.g. func(std::string); v.s. +# func(std::string) {}). This also makes the inheritance and collaboration +# diagrams that involve STL classes more complete and accurate. + +BUILTIN_STL_SUPPORT = NO + +# If you use Microsoft's C++/CLI language, you should set this option to YES to +# enable parsing support. + +CPP_CLI_SUPPORT = NO + +# Set the SIP_SUPPORT tag to YES if your project consists of sip sources only. +# Doxygen will parse them like normal C++ but will assume all classes use public +# instead of private inheritance when no explicit protection keyword is present. + +SIP_SUPPORT = NO + +# For Microsoft's IDL there are propget and propput attributes to indicate getter +# and setter methods for a property. Setting this option to YES (the default) +# will make doxygen replace the get and set methods by a property in the +# documentation. This will only work if the methods are indeed getting or +# setting a simple type. If this is not the case, or you want to show the +# methods anyway, you should set this option to NO. + +IDL_PROPERTY_SUPPORT = YES + +# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC +# tag is set to YES, then doxygen will reuse the documentation of the first +# member in the group (if any) for the other members of the group. By default +# all members of a group must be documented explicitly. + +DISTRIBUTE_GROUP_DOC = NO + +# Set the SUBGROUPING tag to YES (the default) to allow class member groups of +# the same type (for instance a group of public functions) to be put as a +# subgroup of that type (e.g. under the Public Functions section). Set it to +# NO to prevent subgrouping. Alternatively, this can be done per class using +# the \nosubgrouping command. + +SUBGROUPING = YES + +# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and +# unions are shown inside the group in which they are included (e.g. using +# @ingroup) instead of on a separate page (for HTML and Man pages) or +# section (for LaTeX and RTF). + +INLINE_GROUPED_CLASSES = NO + +# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and +# unions with only public data fields will be shown inline in the documentation +# of the scope in which they are defined (i.e. file, namespace, or group +# documentation), provided this scope is documented. If set to NO (the default), +# structs, classes, and unions are shown on a separate page (for HTML and Man +# pages) or section (for LaTeX and RTF). + +INLINE_SIMPLE_STRUCTS = NO + +# When TYPEDEF_HIDES_STRUCT is enabled, a typedef of a struct, union, or enum +# is documented as struct, union, or enum with the name of the typedef. So +# typedef struct TypeS {} TypeT, will appear in the documentation as a struct +# with name TypeT. When disabled the typedef will appear as a member of a file, +# namespace, or class. And the struct will be named TypeS. This can typically +# be useful for C code in case the coding convention dictates that all compound +# types are typedef'ed and only the typedef is referenced, never the tag name. + +TYPEDEF_HIDES_STRUCT = NO + +# The SYMBOL_CACHE_SIZE determines the size of the internal cache use to +# determine which symbols to keep in memory and which to flush to disk. +# When the cache is full, less often used symbols will be written to disk. +# For small to medium size projects (<1000 input files) the default value is +# probably good enough. For larger projects a too small cache size can cause +# doxygen to be busy swapping symbols to and from disk most of the time +# causing a significant performance penalty. +# If the system has enough physical memory increasing the cache will improve the +# performance by keeping more symbols in memory. Note that the value works on +# a logarithmic scale so increasing the size by one will roughly double the +# memory usage. The cache size is given by this formula: +# 2^(16+SYMBOL_CACHE_SIZE). The valid range is 0..9, the default is 0, +# corresponding to a cache size of 2^16 = 65536 symbols + +SYMBOL_CACHE_SIZE = 0 + +#--------------------------------------------------------------------------- +# Build related configuration options +#--------------------------------------------------------------------------- + +# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in +# documentation are documented, even if no documentation was available. +# Private class members and static file members will be hidden unless +# the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES + +EXTRACT_ALL = YES + +# If the EXTRACT_PRIVATE tag is set to YES all private members of a class +# will be included in the documentation. + +EXTRACT_PRIVATE = NO + +# If the EXTRACT_STATIC tag is set to YES all static members of a file +# will be included in the documentation. + +EXTRACT_STATIC = NO + +# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) +# defined locally in source files will be included in the documentation. +# If set to NO only classes defined in header files are included. + +EXTRACT_LOCAL_CLASSES = YES + +# This flag is only useful for Objective-C code. When set to YES local +# methods, which are defined in the implementation section but not in +# the interface are included in the documentation. +# If set to NO (the default) only methods in the interface are included. + +EXTRACT_LOCAL_METHODS = NO + +# If this flag is set to YES, the members of anonymous namespaces will be +# extracted and appear in the documentation as a namespace called +# 'anonymous_namespace{file}', where file will be replaced with the base +# name of the file that contains the anonymous namespace. By default +# anonymous namespaces are hidden. + +EXTRACT_ANON_NSPACES = NO + +# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all +# undocumented members of documented classes, files or namespaces. +# If set to NO (the default) these members will be included in the +# various overviews, but no documentation section is generated. +# This option has no effect if EXTRACT_ALL is enabled. + +HIDE_UNDOC_MEMBERS = NO + +# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all +# undocumented classes that are normally visible in the class hierarchy. +# If set to NO (the default) these classes will be included in the various +# overviews. This option has no effect if EXTRACT_ALL is enabled. + +HIDE_UNDOC_CLASSES = NO + +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all +# friend (class|struct|union) declarations. +# If set to NO (the default) these declarations will be included in the +# documentation. + +HIDE_FRIEND_COMPOUNDS = NO + +# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any +# documentation blocks found inside the body of a function. +# If set to NO (the default) these blocks will be appended to the +# function's detailed documentation block. + +HIDE_IN_BODY_DOCS = NO + +# The INTERNAL_DOCS tag determines if documentation +# that is typed after a \internal command is included. If the tag is set +# to NO (the default) then the documentation will be excluded. +# Set it to YES to include the internal documentation. + +INTERNAL_DOCS = NO + +# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate +# file names in lower-case letters. If set to YES upper-case letters are also +# allowed. This is useful if you have classes or files whose names only differ +# in case and if your file system supports case sensitive file names. Windows +# and Mac users are advised to set this option to NO. + +CASE_SENSE_NAMES = NO + +# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen +# will show members with their full class and namespace scopes in the +# documentation. If set to YES the scope will be hidden. + +HIDE_SCOPE_NAMES = NO + +# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen +# will put a list of the files that are included by a file in the documentation +# of that file. + +SHOW_INCLUDE_FILES = YES + +# If the FORCE_LOCAL_INCLUDES tag is set to YES then Doxygen +# will list include files with double quotes in the documentation +# rather than with sharp brackets. + +FORCE_LOCAL_INCLUDES = NO + +# If the INLINE_INFO tag is set to YES (the default) then a tag [inline] +# is inserted in the documentation for inline members. + +INLINE_INFO = YES + +# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen +# will sort the (detailed) documentation of file and class members +# alphabetically by member name. If set to NO the members will appear in +# declaration order. + +SORT_MEMBER_DOCS = YES + +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the +# brief documentation of file, namespace and class members alphabetically +# by member name. If set to NO (the default) the members will appear in +# declaration order. + +SORT_BRIEF_DOCS = NO + +# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen +# will sort the (brief and detailed) documentation of class members so that +# constructors and destructors are listed first. If set to NO (the default) +# the constructors will appear in the respective orders defined by +# SORT_MEMBER_DOCS and SORT_BRIEF_DOCS. +# This tag will be ignored for brief docs if SORT_BRIEF_DOCS is set to NO +# and ignored for detailed docs if SORT_MEMBER_DOCS is set to NO. + +SORT_MEMBERS_CTORS_1ST = NO + +# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the +# hierarchy of group names into alphabetical order. If set to NO (the default) +# the group names will appear in their defined order. + +SORT_GROUP_NAMES = NO + +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be +# sorted by fully-qualified names, including namespaces. If set to +# NO (the default), the class list will be sorted only by class name, +# not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the +# alphabetical list. + +SORT_BY_SCOPE_NAME = NO + +# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to +# do proper type resolution of all parameters of a function it will reject a +# match between the prototype and the implementation of a member function even +# if there is only one candidate or it is obvious which candidate to choose +# by doing a simple string match. By disabling STRICT_PROTO_MATCHING doxygen +# will still accept a match between prototype and implementation in such cases. + +STRICT_PROTO_MATCHING = NO + +# The GENERATE_TODOLIST tag can be used to enable (YES) or +# disable (NO) the todo list. This list is created by putting \todo +# commands in the documentation. + +GENERATE_TODOLIST = YES + +# The GENERATE_TESTLIST tag can be used to enable (YES) or +# disable (NO) the test list. This list is created by putting \test +# commands in the documentation. + +GENERATE_TESTLIST = YES + +# The GENERATE_BUGLIST tag can be used to enable (YES) or +# disable (NO) the bug list. This list is created by putting \bug +# commands in the documentation. + +GENERATE_BUGLIST = YES + +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or +# disable (NO) the deprecated list. This list is created by putting +# \deprecated commands in the documentation. + +GENERATE_DEPRECATEDLIST= YES + +# The ENABLED_SECTIONS tag can be used to enable conditional +# documentation sections, marked by \if sectionname ... \endif. + +ENABLED_SECTIONS = + +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines +# the initial value of a variable or macro consists of for it to appear in +# the documentation. If the initializer consists of more lines than specified +# here it will be hidden. Use a value of 0 to hide initializers completely. +# The appearance of the initializer of individual variables and macros in the +# documentation can be controlled using \showinitializer or \hideinitializer +# command in the documentation regardless of this setting. + +MAX_INITIALIZER_LINES = 30 + +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated +# at the bottom of the documentation of classes and structs. If set to YES the +# list will mention the files that were used to generate the documentation. + +SHOW_USED_FILES = YES + +# If the sources in your project are distributed over multiple directories +# then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy +# in the documentation. The default is NO. + +SHOW_DIRECTORIES = NO + +# Set the SHOW_FILES tag to NO to disable the generation of the Files page. +# This will remove the Files entry from the Quick Index and from the +# Folder Tree View (if specified). The default is YES. + +SHOW_FILES = YES + +# Set the SHOW_NAMESPACES tag to NO to disable the generation of the +# Namespaces page. +# This will remove the Namespaces entry from the Quick Index +# and from the Folder Tree View (if specified). The default is YES. + +SHOW_NAMESPACES = YES + +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from +# the version control system). Doxygen will invoke the program by executing (via +# popen()) the command , where is the value of +# the FILE_VERSION_FILTER tag, and is the name of an input file +# provided by doxygen. Whatever the program writes to standard output +# is used as the file version. See the manual for examples. + +FILE_VERSION_FILTER = + +# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed +# by doxygen. The layout file controls the global structure of the generated +# output files in an output format independent way. The create the layout file +# that represents doxygen's defaults, run doxygen with the -l option. +# You can optionally specify a file name after the option, if omitted +# DoxygenLayout.xml will be used as the name of the layout file. + +LAYOUT_FILE = + +# The CITE_BIB_FILES tag can be used to specify one or more bib files +# containing the references data. This must be a list of .bib files. The +# .bib extension is automatically appended if omitted. Using this command +# requires the bibtex tool to be installed. See also +# http://en.wikipedia.org/wiki/BibTeX for more info. For LaTeX the style +# of the bibliography can be controlled using LATEX_BIB_STYLE. + +CITE_BIB_FILES = + +#--------------------------------------------------------------------------- +# configuration options related to warning and progress messages +#--------------------------------------------------------------------------- + +# The QUIET tag can be used to turn on/off the messages that are generated +# by doxygen. Possible values are YES and NO. If left blank NO is used. + +QUIET = NO + +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated by doxygen. Possible values are YES and NO. If left blank +# NO is used. + +WARNINGS = YES + +# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings +# for undocumented members. If EXTRACT_ALL is set to YES then this flag will +# automatically be disabled. + +WARN_IF_UNDOCUMENTED = YES + +# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as not documenting some +# parameters in a documented function, or documenting parameters that +# don't exist or using markup commands wrongly. + +WARN_IF_DOC_ERROR = YES + +# The WARN_NO_PARAMDOC option can be enabled to get warnings for +# functions that are documented, but have no documentation for their parameters +# or return value. If set to NO (the default) doxygen will only warn about +# wrong or incomplete parameter documentation, but not about the absence of +# documentation. + +WARN_NO_PARAMDOC = NO + +# The WARN_FORMAT tag determines the format of the warning messages that +# doxygen can produce. The string should contain the $file, $line, and $text +# tags, which will be replaced by the file and line number from which the +# warning originated and the warning text. Optionally the format may contain +# $version, which will be replaced by the version of the file (if it could +# be obtained via FILE_VERSION_FILTER) + +WARN_FORMAT = "$file:$line: $text" + +# The WARN_LOGFILE tag can be used to specify a file to which warning +# and error messages should be written. If left blank the output is written +# to stderr. + +WARN_LOGFILE = + +#--------------------------------------------------------------------------- +# configuration options related to the input files +#--------------------------------------------------------------------------- + +# The INPUT tag can be used to specify the files and/or directories that contain +# documented source files. You may enter file names like "myfile.cpp" or +# directories like "/usr/src/myproject". Separate the files or directories +# with spaces. + +INPUT = + +# This tag can be used to specify the character encoding of the source files +# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is +# also the default input encoding. Doxygen uses libiconv (or the iconv built +# into libc) for the transcoding. See http://www.gnu.org/software/libiconv for +# the list of possible encodings. + +INPUT_ENCODING = UTF-8 + +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp +# and *.h) to filter out the source-files in the directories. If left +# blank the following patterns are tested: +# *.c *.cc *.cxx *.cpp *.c++ *.d *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh +# *.hxx *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.dox *.py +# *.f90 *.f *.for *.vhd *.vhdl + +FILE_PATTERNS = + +# The RECURSIVE tag can be used to turn specify whether or not subdirectories +# should be searched for input files as well. Possible values are YES and NO. +# If left blank NO is used. + +RECURSIVE = NO + +# The EXCLUDE tag can be used to specify files and/or directories that should +# excluded from the INPUT source files. This way you can easily exclude a +# subdirectory from a directory tree whose root is specified with the INPUT tag. +# Note that relative paths are relative to directory from which doxygen is run. + +EXCLUDE = + +# The EXCLUDE_SYMLINKS tag can be used select whether or not files or +# directories that are symbolic links (a Unix file system feature) are excluded +# from the input. + +EXCLUDE_SYMLINKS = NO + +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. Note that the wildcards are matched +# against the file with absolute path, so to exclude all test directories +# for example use the pattern */test/* + +EXCLUDE_PATTERNS = + +# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names +# (namespaces, classes, functions, etc.) that should be excluded from the +# output. The symbol name can be a fully qualified name, a word, or if the +# wildcard * is used, a substring. Examples: ANamespace, AClass, +# AClass::ANamespace, ANamespace::*Test + +EXCLUDE_SYMBOLS = + +# The EXAMPLE_PATH tag can be used to specify one or more files or +# directories that contain example code fragments that are included (see +# the \include command). + +EXAMPLE_PATH = + +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp +# and *.h) to filter out the source-files in the directories. If left +# blank all files are included. + +EXAMPLE_PATTERNS = + +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude +# commands irrespective of the value of the RECURSIVE tag. +# Possible values are YES and NO. If left blank NO is used. + +EXAMPLE_RECURSIVE = NO + +# The IMAGE_PATH tag can be used to specify one or more files or +# directories that contain image that are included in the documentation (see +# the \image command). + +IMAGE_PATH = + +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command , where +# is the value of the INPUT_FILTER tag, and is the name of an +# input file. Doxygen will then use the output that the filter program writes +# to standard output. +# If FILTER_PATTERNS is specified, this tag will be +# ignored. + +INPUT_FILTER = + +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. +# Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. +# The filters are a list of the form: +# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further +# info on how filters are used. If FILTER_PATTERNS is empty or if +# non of the patterns match the file name, INPUT_FILTER is applied. + +FILTER_PATTERNS = + +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER) will be used to filter the input files when producing source +# files to browse (i.e. when SOURCE_BROWSER is set to YES). + +FILTER_SOURCE_FILES = NO + +# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file +# pattern. A pattern will override the setting for FILTER_PATTERN (if any) +# and it is also possible to disable source filtering for a specific pattern +# using *.ext= (so without naming a filter). This option only has effect when +# FILTER_SOURCE_FILES is enabled. + +FILTER_SOURCE_PATTERNS = + +#--------------------------------------------------------------------------- +# configuration options related to source browsing +#--------------------------------------------------------------------------- + +# If the SOURCE_BROWSER tag is set to YES then a list of source files will +# be generated. Documented entities will be cross-referenced with these sources. +# Note: To get rid of all source code in the generated output, make sure also +# VERBATIM_HEADERS is set to NO. + +SOURCE_BROWSER = NO + +# Setting the INLINE_SOURCES tag to YES will include the body +# of functions and classes directly in the documentation. + +INLINE_SOURCES = YES + +# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct +# doxygen to hide any special comment blocks from generated source code +# fragments. Normal C and C++ comments will always remain visible. + +STRIP_CODE_COMMENTS = YES + +# If the REFERENCED_BY_RELATION tag is set to YES +# then for each documented function all documented +# functions referencing it will be listed. + +REFERENCED_BY_RELATION = NO + +# If the REFERENCES_RELATION tag is set to YES +# then for each documented function all documented entities +# called/used by that function will be listed. + +REFERENCES_RELATION = NO + +# If the REFERENCES_LINK_SOURCE tag is set to YES (the default) +# and SOURCE_BROWSER tag is set to YES, then the hyperlinks from +# functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will +# link to the source code. +# Otherwise they will link to the documentation. + +REFERENCES_LINK_SOURCE = YES + +# If the USE_HTAGS tag is set to YES then the references to source code +# will point to the HTML generated by the htags(1) tool instead of doxygen +# built-in source browser. The htags tool is part of GNU's global source +# tagging system (see http://www.gnu.org/software/global/global.html). You +# will need version 4.8.6 or higher. + +USE_HTAGS = NO + +# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen +# will generate a verbatim copy of the header file for each class for +# which an include is specified. Set to NO to disable this. + +VERBATIM_HEADERS = YES + +#--------------------------------------------------------------------------- +# configuration options related to the alphabetical class index +#--------------------------------------------------------------------------- + +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index +# of all compounds will be generated. Enable this if the project +# contains a lot of classes, structs, unions or interfaces. + +ALPHABETICAL_INDEX = YES + +# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then +# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns +# in which this list will be split (can be a number in the range [1..20]) + +COLS_IN_ALPHA_INDEX = 5 + +# In case all classes in a project start with a common prefix, all +# classes will be put under the same header in the alphabetical index. +# The IGNORE_PREFIX tag can be used to specify one or more prefixes that +# should be ignored while generating the index headers. + +IGNORE_PREFIX = + +#--------------------------------------------------------------------------- +# configuration options related to the HTML output +#--------------------------------------------------------------------------- + +# If the GENERATE_HTML tag is set to YES (the default) Doxygen will +# generate HTML output. + +GENERATE_HTML = YES + +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `html' will be used as the default path. + +HTML_OUTPUT = html + +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for +# each generated HTML page (for example: .htm,.php,.asp). If it is left blank +# doxygen will generate files with .html extension. + +HTML_FILE_EXTENSION = .html + +# The HTML_HEADER tag can be used to specify a personal HTML header for +# each generated HTML page. If it is left blank doxygen will generate a +# standard header. Note that when using a custom header you are responsible +# for the proper inclusion of any scripts and style sheets that doxygen +# needs, which is dependent on the configuration options used. +# It is adviced to generate a default header using "doxygen -w html +# header.html footer.html stylesheet.css YourConfigFile" and then modify +# that header. Note that the header is subject to change so you typically +# have to redo this when upgrading to a newer version of doxygen or when +# changing the value of configuration settings such as GENERATE_TREEVIEW! + +HTML_HEADER = + +# The HTML_FOOTER tag can be used to specify a personal HTML footer for +# each generated HTML page. If it is left blank doxygen will generate a +# standard footer. + +HTML_FOOTER = + +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading +# style sheet that is used by each HTML page. It can be used to +# fine-tune the look of the HTML output. If the tag is left blank doxygen +# will generate a default style sheet. Note that doxygen will try to copy +# the style sheet file to the HTML output directory, so don't put your own +# stylesheet in the HTML output directory as well, or it will be erased! + +HTML_STYLESHEET = + +# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or +# other source files which should be copied to the HTML output directory. Note +# that these files will be copied to the base HTML output directory. Use the +# $relpath$ marker in the HTML_HEADER and/or HTML_FOOTER files to load these +# files. In the HTML_STYLESHEET file, use the file name only. Also note that +# the files will be copied as-is; there are no commands or markers available. + +HTML_EXTRA_FILES = + +# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. +# Doxygen will adjust the colors in the stylesheet and background images +# according to this color. Hue is specified as an angle on a colorwheel, +# see http://en.wikipedia.org/wiki/Hue for more information. +# For instance the value 0 represents red, 60 is yellow, 120 is green, +# 180 is cyan, 240 is blue, 300 purple, and 360 is red again. +# The allowed range is 0 to 359. + +HTML_COLORSTYLE_HUE = 220 + +# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of +# the colors in the HTML output. For a value of 0 the output will use +# grayscales only. A value of 255 will produce the most vivid colors. + +HTML_COLORSTYLE_SAT = 100 + +# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to +# the luminance component of the colors in the HTML output. Values below +# 100 gradually make the output lighter, whereas values above 100 make +# the output darker. The value divided by 100 is the actual gamma applied, +# so 80 represents a gamma of 0.8, The value 220 represents a gamma of 2.2, +# and 100 does not change the gamma. + +HTML_COLORSTYLE_GAMMA = 80 + +# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML +# page will contain the date and time when the page was generated. Setting +# this to NO can help when comparing the output of multiple runs. + +HTML_TIMESTAMP = YES + +# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes, +# files or namespaces will be aligned in HTML using tables. If set to +# NO a bullet list will be used. + +HTML_ALIGN_MEMBERS = YES + +# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML +# documentation will contain sections that can be hidden and shown after the +# page has loaded. For this to work a browser that supports +# JavaScript and DHTML is required (for instance Mozilla 1.0+, Firefox +# Netscape 6.0+, Internet explorer 5.0+, Konqueror, or Safari). + +HTML_DYNAMIC_SECTIONS = NO + +# If the GENERATE_DOCSET tag is set to YES, additional index files +# will be generated that can be used as input for Apple's Xcode 3 +# integrated development environment, introduced with OSX 10.5 (Leopard). +# To create a documentation set, doxygen will generate a Makefile in the +# HTML output directory. Running make will produce the docset in that +# directory and running "make install" will install the docset in +# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find +# it at startup. +# See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html +# for more information. + +GENERATE_DOCSET = NO + +# When GENERATE_DOCSET tag is set to YES, this tag determines the name of the +# feed. A documentation feed provides an umbrella under which multiple +# documentation sets from a single provider (such as a company or product suite) +# can be grouped. + +DOCSET_FEEDNAME = "Doxygen generated docs" + +# When GENERATE_DOCSET tag is set to YES, this tag specifies a string that +# should uniquely identify the documentation set bundle. This should be a +# reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen +# will append .docset to the name. + +DOCSET_BUNDLE_ID = org.doxygen.Project + +# When GENERATE_PUBLISHER_ID tag specifies a string that should uniquely identify +# the documentation publisher. This should be a reverse domain-name style +# string, e.g. com.mycompany.MyDocSet.documentation. + +DOCSET_PUBLISHER_ID = org.doxygen.Publisher + +# The GENERATE_PUBLISHER_NAME tag identifies the documentation publisher. + +DOCSET_PUBLISHER_NAME = Publisher + +# If the GENERATE_HTMLHELP tag is set to YES, additional index files +# will be generated that can be used as input for tools like the +# Microsoft HTML help workshop to generate a compiled HTML help file (.chm) +# of the generated HTML documentation. + +GENERATE_HTMLHELP = NO + +# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can +# be used to specify the file name of the resulting .chm file. You +# can add a path in front of the file if the result should not be +# written to the html output directory. + +CHM_FILE = + +# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can +# be used to specify the location (absolute path including file name) of +# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run +# the HTML help compiler on the generated index.hhp. + +HHC_LOCATION = + +# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag +# controls if a separate .chi index file is generated (YES) or that +# it should be included in the master .chm file (NO). + +GENERATE_CHI = NO + +# If the GENERATE_HTMLHELP tag is set to YES, the CHM_INDEX_ENCODING +# is used to encode HtmlHelp index (hhk), content (hhc) and project file +# content. + +CHM_INDEX_ENCODING = + +# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag +# controls whether a binary table of contents is generated (YES) or a +# normal table of contents (NO) in the .chm file. + +BINARY_TOC = NO + +# The TOC_EXPAND flag can be set to YES to add extra items for group members +# to the contents of the HTML help documentation and to the tree view. + +TOC_EXPAND = NO + +# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and +# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated +# that can be used as input for Qt's qhelpgenerator to generate a +# Qt Compressed Help (.qch) of the generated HTML documentation. + +GENERATE_QHP = NO + +# If the QHG_LOCATION tag is specified, the QCH_FILE tag can +# be used to specify the file name of the resulting .qch file. +# The path specified is relative to the HTML output folder. + +QCH_FILE = + +# The QHP_NAMESPACE tag specifies the namespace to use when generating +# Qt Help Project output. For more information please see +# http://doc.trolltech.com/qthelpproject.html#namespace + +QHP_NAMESPACE = org.doxygen.Project + +# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating +# Qt Help Project output. For more information please see +# http://doc.trolltech.com/qthelpproject.html#virtual-folders + +QHP_VIRTUAL_FOLDER = doc + +# If QHP_CUST_FILTER_NAME is set, it specifies the name of a custom filter to +# add. For more information please see +# http://doc.trolltech.com/qthelpproject.html#custom-filters + +QHP_CUST_FILTER_NAME = + +# The QHP_CUST_FILT_ATTRS tag specifies the list of the attributes of the +# custom filter to add. For more information please see +# +# Qt Help Project / Custom Filters. + +QHP_CUST_FILTER_ATTRS = + +# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this +# project's +# filter section matches. +# +# Qt Help Project / Filter Attributes. + +QHP_SECT_FILTER_ATTRS = + +# If the GENERATE_QHP tag is set to YES, the QHG_LOCATION tag can +# be used to specify the location of Qt's qhelpgenerator. +# If non-empty doxygen will try to run qhelpgenerator on the generated +# .qhp file. + +QHG_LOCATION = + +# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files +# will be generated, which together with the HTML files, form an Eclipse help +# plugin. To install this plugin and make it available under the help contents +# menu in Eclipse, the contents of the directory containing the HTML and XML +# files needs to be copied into the plugins directory of eclipse. The name of +# the directory within the plugins directory should be the same as +# the ECLIPSE_DOC_ID value. After copying Eclipse needs to be restarted before +# the help appears. + +GENERATE_ECLIPSEHELP = NO + +# A unique identifier for the eclipse help plugin. When installing the plugin +# the directory name containing the HTML and XML files should also have +# this name. + +ECLIPSE_DOC_ID = org.doxygen.Project + +# The DISABLE_INDEX tag can be used to turn on/off the condensed index at +# top of each HTML page. The value NO (the default) enables the index and +# the value YES disables it. + +DISABLE_INDEX = NO + +# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values +# (range [0,1..20]) that doxygen will group on one line in the generated HTML +# documentation. Note that a value of 0 will completely suppress the enum +# values from appearing in the overview section. + +ENUM_VALUES_PER_LINE = 4 + +# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index +# structure should be generated to display hierarchical information. +# If the tag value is set to YES, a side panel will be generated +# containing a tree-like index structure (just like the one that +# is generated for HTML Help). For this to work a browser that supports +# JavaScript, DHTML, CSS and frames is required (i.e. any modern browser). +# Windows users are probably better off using the HTML help feature. + +GENERATE_TREEVIEW = NO + +# By enabling USE_INLINE_TREES, doxygen will generate the Groups, Directories, +# and Class Hierarchy pages using a tree view instead of an ordered list. + +USE_INLINE_TREES = NO + +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be +# used to set the initial width (in pixels) of the frame in which the tree +# is shown. + +TREEVIEW_WIDTH = 250 + +# When the EXT_LINKS_IN_WINDOW option is set to YES doxygen will open +# links to external symbols imported via tag files in a separate window. + +EXT_LINKS_IN_WINDOW = NO + +# Use this tag to change the font size of Latex formulas included +# as images in the HTML documentation. The default is 10. Note that +# when you change the font size after a successful doxygen run you need +# to manually remove any form_*.png images from the HTML output directory +# to force them to be regenerated. + +FORMULA_FONTSIZE = 10 + +# Use the FORMULA_TRANPARENT tag to determine whether or not the images +# generated for formulas are transparent PNGs. Transparent PNGs are +# not supported properly for IE 6.0, but are supported on all modern browsers. +# Note that when changing this option you need to delete any form_*.png files +# in the HTML output before the changes have effect. + +FORMULA_TRANSPARENT = YES + +# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax +# (see http://www.mathjax.org) which uses client side Javascript for the +# rendering instead of using prerendered bitmaps. Use this if you do not +# have LaTeX installed or if you want to formulas look prettier in the HTML +# output. When enabled you also need to install MathJax separately and +# configure the path to it using the MATHJAX_RELPATH option. + +USE_MATHJAX = NO + +# When MathJax is enabled you need to specify the location relative to the +# HTML output directory using the MATHJAX_RELPATH option. The destination +# directory should contain the MathJax.js script. For instance, if the mathjax +# directory is located at the same level as the HTML output directory, then +# MATHJAX_RELPATH should be ../mathjax. The default value points to the +# mathjax.org site, so you can quickly see the result without installing +# MathJax, but it is strongly recommended to install a local copy of MathJax +# before deployment. + +MATHJAX_RELPATH = http://www.mathjax.org/mathjax + +# The MATHJAX_EXTENSIONS tag can be used to specify one or MathJax extension +# names that should be enabled during MathJax rendering. + +MATHJAX_EXTENSIONS = + +# When the SEARCHENGINE tag is enabled doxygen will generate a search box +# for the HTML output. The underlying search engine uses javascript +# and DHTML and should work on any modern browser. Note that when using +# HTML help (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets +# (GENERATE_DOCSET) there is already a search function so this one should +# typically be disabled. For large projects the javascript based search engine +# can be slow, then enabling SERVER_BASED_SEARCH may provide a better solution. + +SEARCHENGINE = YES + +# When the SERVER_BASED_SEARCH tag is enabled the search engine will be +# implemented using a PHP enabled web server instead of at the web client +# using Javascript. Doxygen will generate the search PHP script and index +# file to put on the web server. The advantage of the server +# based approach is that it scales better to large projects and allows +# full text search. The disadvantages are that it is more difficult to setup +# and does not have live searching capabilities. + +SERVER_BASED_SEARCH = NO + +#--------------------------------------------------------------------------- +# configuration options related to the LaTeX output +#--------------------------------------------------------------------------- + +# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will +# generate Latex output. + +GENERATE_LATEX = NO + +# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `latex' will be used as the default path. + +LATEX_OUTPUT = latex + +# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be +# invoked. If left blank `latex' will be used as the default command name. +# Note that when enabling USE_PDFLATEX this option is only used for +# generating bitmaps for formulas in the HTML output, but not in the +# Makefile that is written to the output directory. + +LATEX_CMD_NAME = latex + +# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to +# generate index for LaTeX. If left blank `makeindex' will be used as the +# default command name. + +MAKEINDEX_CMD_NAME = makeindex + +# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact +# LaTeX documents. This may be useful for small projects and may help to +# save some trees in general. + +COMPACT_LATEX = NO + +# The PAPER_TYPE tag can be used to set the paper type that is used +# by the printer. Possible values are: a4, letter, legal and +# executive. If left blank a4wide will be used. + +PAPER_TYPE = a4 + +# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX +# packages that should be included in the LaTeX output. + +EXTRA_PACKAGES = + +# The LATEX_HEADER tag can be used to specify a personal LaTeX header for +# the generated latex document. The header should contain everything until +# the first chapter. If it is left blank doxygen will generate a +# standard header. Notice: only use this tag if you know what you are doing! + +LATEX_HEADER = + +# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for +# the generated latex document. The footer should contain everything after +# the last chapter. If it is left blank doxygen will generate a +# standard footer. Notice: only use this tag if you know what you are doing! + +LATEX_FOOTER = + +# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated +# is prepared for conversion to pdf (using ps2pdf). The pdf file will +# contain links (just like the HTML output) instead of page references +# This makes the output suitable for online browsing using a pdf viewer. + +PDF_HYPERLINKS = YES + +# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of +# plain latex in the generated Makefile. Set this option to YES to get a +# higher quality PDF documentation. + +USE_PDFLATEX = YES + +# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode. +# command to the generated LaTeX files. This will instruct LaTeX to keep +# running if errors occur, instead of asking the user for help. +# This option is also used when generating formulas in HTML. + +LATEX_BATCHMODE = NO + +# If LATEX_HIDE_INDICES is set to YES then doxygen will not +# include the index chapters (such as File Index, Compound Index, etc.) +# in the output. + +LATEX_HIDE_INDICES = NO + +# If LATEX_SOURCE_CODE is set to YES then doxygen will include +# source code with syntax highlighting in the LaTeX output. +# Note that which sources are shown also depends on other settings +# such as SOURCE_BROWSER. + +LATEX_SOURCE_CODE = NO + +# The LATEX_BIB_STYLE tag can be used to specify the style to use for the +# bibliography, e.g. plainnat, or ieeetr. The default style is "plain". See +# http://en.wikipedia.org/wiki/BibTeX for more info. + +LATEX_BIB_STYLE = plain + +#--------------------------------------------------------------------------- +# configuration options related to the RTF output +#--------------------------------------------------------------------------- + +# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output +# The RTF output is optimized for Word 97 and may not look very pretty with +# other RTF readers or editors. + +GENERATE_RTF = NO + +# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `rtf' will be used as the default path. + +RTF_OUTPUT = rtf + +# If the COMPACT_RTF tag is set to YES Doxygen generates more compact +# RTF documents. This may be useful for small projects and may help to +# save some trees in general. + +COMPACT_RTF = NO + +# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated +# will contain hyperlink fields. The RTF file will +# contain links (just like the HTML output) instead of page references. +# This makes the output suitable for online browsing using WORD or other +# programs which support those fields. +# Note: wordpad (write) and others do not support links. + +RTF_HYPERLINKS = NO + +# Load stylesheet definitions from file. Syntax is similar to doxygen's +# config file, i.e. a series of assignments. You only have to provide +# replacements, missing definitions are set to their default value. + +RTF_STYLESHEET_FILE = + +# Set optional variables used in the generation of an rtf document. +# Syntax is similar to doxygen's config file. + +RTF_EXTENSIONS_FILE = + +#--------------------------------------------------------------------------- +# configuration options related to the man page output +#--------------------------------------------------------------------------- + +# If the GENERATE_MAN tag is set to YES (the default) Doxygen will +# generate man pages + +GENERATE_MAN = NO + +# The MAN_OUTPUT tag is used to specify where the man pages will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `man' will be used as the default path. + +MAN_OUTPUT = man + +# The MAN_EXTENSION tag determines the extension that is added to +# the generated man pages (default is the subroutine's section .3) + +MAN_EXTENSION = .3 + +# If the MAN_LINKS tag is set to YES and Doxygen generates man output, +# then it will generate one additional man file for each entity +# documented in the real man page(s). These additional files +# only source the real man page, but without them the man command +# would be unable to find the correct page. The default is NO. + +MAN_LINKS = NO + +#--------------------------------------------------------------------------- +# configuration options related to the XML output +#--------------------------------------------------------------------------- + +# If the GENERATE_XML tag is set to YES Doxygen will +# generate an XML file that captures the structure of +# the code including all documentation. + +GENERATE_XML = NO + +# The XML_OUTPUT tag is used to specify where the XML pages will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. 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Older versions of IE do not have SVG support. + +INTERACTIVE_SVG = NO + +# The tag DOT_PATH can be used to specify the path where the dot tool can be +# found. If left blank, it is assumed the dot tool can be found in the path. + +DOT_PATH = + +# The DOTFILE_DIRS tag can be used to specify one or more directories that +# contain dot files that are included in the documentation (see the +# \dotfile command). + +DOTFILE_DIRS = + +# The MSCFILE_DIRS tag can be used to specify one or more directories that +# contain msc files that are included in the documentation (see the +# \mscfile command). + +MSCFILE_DIRS = + +# The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of +# nodes that will be shown in the graph. If the number of nodes in a graph +# becomes larger than this value, doxygen will truncate the graph, which is +# visualized by representing a node as a red box. Note that doxygen if the +# number of direct children of the root node in a graph is already larger than +# DOT_GRAPH_MAX_NODES then the graph will not be shown at all. Also note +# that the size of a graph can be further restricted by MAX_DOT_GRAPH_DEPTH. + +DOT_GRAPH_MAX_NODES = 50 + +# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the +# graphs generated by dot. A depth value of 3 means that only nodes reachable +# from the root by following a path via at most 3 edges will be shown. Nodes +# that lay further from the root node will be omitted. Note that setting this +# option to 1 or 2 may greatly reduce the computation time needed for large +# code bases. Also note that the size of a graph can be further restricted by +# DOT_GRAPH_MAX_NODES. Using a depth of 0 means no depth restriction. + +MAX_DOT_GRAPH_DEPTH = 0 + +# Set the DOT_TRANSPARENT tag to YES to generate images with a transparent +# background. This is disabled by default, because dot on Windows does not +# seem to support this out of the box. Warning: Depending on the platform used, +# enabling this option may lead to badly anti-aliased labels on the edges of +# a graph (i.e. they become hard to read). + +DOT_TRANSPARENT = NO + +# Set the DOT_MULTI_TARGETS tag to YES allow dot to generate multiple output +# files in one run (i.e. multiple -o and -T options on the command line). This +# makes dot run faster, but since only newer versions of dot (>1.8.10) +# support this, this feature is disabled by default. + +DOT_MULTI_TARGETS = NO + +# If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will +# generate a legend page explaining the meaning of the various boxes and +# arrows in the dot generated graphs. + +GENERATE_LEGEND = YES + +# If the DOT_CLEANUP tag is set to YES (the default) Doxygen will +# remove the intermediate dot files that are used to generate +# the various graphs. + +DOT_CLEANUP = YES diff --git a/README.md b/README.md index 95456ab..d2bf602 100644 --- a/README.md +++ b/README.md @@ -1,2 +1,11 @@ -# DMR-Renderer -A Damn Small Renderer using OpenGL 3+ and C++ +# Aruco + + - TODO + +## Dependencies + + - Opencv 2.4+ + - ROS + - cv-bridge + + diff --git a/aruco/CMakeLists.txt b/aruco/CMakeLists.txt new file mode 100644 index 0000000..985efca --- /dev/null +++ b/aruco/CMakeLists.txt @@ -0,0 +1,31 @@ +cmake_minimum_required(VERSION 2.8.3) +project(aruco) + +#Enable C++ 11 +add_compile_options(-std=c++11) + +#Packages +find_package(catkin REQUIRED COMPONENTS cv_bridge roscpp std_msgs message_generation image_transport) +find_package(OpenCV REQUIRED) + +#Messages +add_message_files(FILES Marker.msg) +generate_messages(DEPENDENCIES std_msgs) + +#Catkin dependencies +catkin_package(CATKIN_DEPENDS message_runtime roscpp std_msgs) + +#Aruco ROS node +add_executable(aruco src/ros/ArucoNode.cpp) +add_dependencies(aruco aruco_generate_messages_cpp ${catkin_EXPORTED_TARGETS}) +target_link_libraries(aruco ${catkin_LIBRARIES} ${OpenCV_LIBS}) + +#Include directories +include_directories(include ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS}) + +#Install +install(TARGETS aruco + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) diff --git a/aruco/msg/Marker.msg b/aruco/msg/Marker.msg new file mode 100644 index 0000000..dc87262 --- /dev/null +++ b/aruco/msg/Marker.msg @@ -0,0 +1,8 @@ +float64 posx +float64 posy +float64 posz +float64 rotx +float64 roty +float64 rotz +float64 size +int32 id \ No newline at end of file diff --git a/aruco/package.xml b/aruco/package.xml new file mode 100644 index 0000000..eac9fd7 --- /dev/null +++ b/aruco/package.xml @@ -0,0 +1,22 @@ + + + aruco + 1.0.0 + The aruco package + tentone + NONE + + message_generation + message_runtime + + image_transport + image_transport + + catkin + + roscpp + roscpp + + std_msgs + std_msgs + diff --git a/aruco/src/ArucoDetector.cpp b/aruco/src/ArucoDetector.cpp new file mode 100644 index 0000000..87e3556 --- /dev/null +++ b/aruco/src/ArucoDetector.cpp @@ -0,0 +1,329 @@ +#include +#include +#include + +#include +#include +#include +#include + +#include "SquareFinder.cpp" +#include "ArucoMarker.cpp" +#include "ArucoMarkerInfo.cpp" + +#ifndef ARUCO_DETECTOR_CPP +#define ARUCO_DETECTOR_CPP + +using namespace cv; +using namespace std; + +/** + * Class is used to detect 5x5 aruco markers. + * It contains method for detection, data reading, previsualization and debugging aruco markers information. + * After detection camera position relative to the aruco markers can be easily calculated using opencv solvePnP. + */ +class ArucoDetector +{ + public: + /** + * Process image to identify aruco markers. + * Applies pre-processing over the frame and get list of quads in the frame. + * @param frame Frame to be processed. + * @param limitCosine Higher values allow detection of more distorted markers but performance is slower + */ + static vector getMarkers(Mat frame, float limitCosine = 0.7, int thresholdBlockSize = 7, int minArea = 200) + { + //Create a grayscale image + Mat gray; + + cvtColor(frame, gray, COLOR_BGR2GRAY); + + //Adaptive threshold + adaptiveThreshold(gray, gray, 255, THRESH_BINARY, ADAPTIVE_THRESH_MEAN_C, thresholdBlockSize, 0.0); + + //Get quads + vector quads = SquareFinder::findSquares(gray, limitCosine, minArea); + + //List of markers + vector markers = vector(); + + //Transform quads and filter invalid markers + for(unsigned int i = 0; i < quads.size(); i++) + { + Mat board = deformQuad(frame, Point2i(49, 49), quads[i].points); + Mat binary = processArucoImage(board); + + //Process aruco image and get data + ArucoMarker marker = readArucoData(binary); + marker.projected = quads[i].points; + + if(marker.validate()) + { + //Check if marker exists on the list of markers + if(true) + { + markers.push_back(marker); + } + } + } + + return markers; + } + + /** + * Get aruco marker bits data. + * @param image Square image with the aruco marker. + * @return Binary image with the aruco code the image has resolution (cols + 2, rows + 2) + */ + static Mat processArucoImage(Mat image) + { + Mat aruco; + resize(image, aruco, Size(7, 7)); + + Mat gray; + cvtColor(aruco, gray, CV_RGB2GRAY); + + Mat binary; + threshold(gray, binary, 0, 255, CV_THRESH_BINARY | CV_THRESH_OTSU);; + + return binary; + } + + /** + * Read aruco data from binary image with exactly the same size of the aruco marker. + * @param binary Binary image containing aruco info. + * @return ArucoMarker with the information collected. + */ + static ArucoMarker readArucoData(Mat binary) + { + ArucoMarker marker = ArucoMarker(); + + for(unsigned int i = 0; i < binary.cols * binary.rows ; i++) + { + marker.cells[i / binary.cols][i % binary.cols] = (binary.data[i] == 255); + } + + return marker; + } + + /** + * Draw the border and id of all markers found on top of camera image. + * @param frame Image where to write Aruco information. + * @param markers Vector with all aruco markers found. + * @param camera Camera intrinsic calibration matrix. + * @param distortion Camera distortion calibration matrix. + */ + static void drawMarkers(Mat frame, vector markers, Mat camera, Mat distortion) + { + for(unsigned int i = 0; i < markers.size(); i++) + { + Point2f center; + + //Draw countours + for(unsigned int j = 0; j < 4; j++) + { + line(frame, markers[i].projected[j], markers[i].projected[(j + 1) % 4], Scalar(255, 0, 255), 2); + center.x += markers[i].projected[j].x; + center.y += markers[i].projected[j].y; + } + + center.x /= 4; + center.y /= 4; + + //Draw referencial + Mat rotation, position; + + #if CV_MAJOR_VERSION == 2 + solvePnP(markers[i].info.world, markers[i].projected, camera, distortion, rotation, position, false, ITERATIVE); + #else + solvePnP(markers[i].info.world, markers[i].projected, camera, distortion, rotation, position, false, SOLVEPNP_ITERATIVE); + #endif + + vector referencial; + referencial.push_back(Point3d(0, 0, 0)); + referencial.push_back(Point3d(markers[i].info.size / 2, 0, 0)); + referencial.push_back(Point3d(0, markers[i].info.size / 2, 0)); + referencial.push_back(Point3d(0, 0, markers[i].info.size / 2)); + + vector projected; + projectPoints(referencial, rotation, position, camera, distortion, projected); + + line(frame, projected[0], projected[1], Scalar(0, 0, 255), 2); + putText(frame, "X", projected[1], FONT_HERSHEY_SIMPLEX, 0.5, Scalar(0, 0, 255), 1); + + line(frame, projected[0], projected[2], Scalar(0, 255, 0), 2); + putText(frame, "Y", projected[2], FONT_HERSHEY_SIMPLEX, 0.5, Scalar(0, 255, 0), 1); + + line(frame, projected[0], projected[3], Scalar(255, 0, 0), 2); + putText(frame, "Z", projected[3], FONT_HERSHEY_SIMPLEX, 0.5, Scalar(255, 0, 0), 1); + + //Draw number + putText(frame, to_string(markers[i].id), center, FONT_HERSHEY_SIMPLEX, 0.5, Scalar(0, 255, 255), 1); + } + } + + /** + * Draw origin of the referencial estimated from all markers found. + * @param frame Image where to write origin referencial. + * @param markers Vector with all aruco markers found. + * @param camera Camera intrinsic calibration matrix. + * @param distortion Camera distortion calibration matrix. + * @param size Size of the referencial. + */ + static void drawOrigin(Mat frame, vector markers, Mat camera, Mat distortion, float size = 1) + { + if(markers.size() == 0) + { + return; + } + + vector world; + vector image; + + for(unsigned int i = 0; i < markers.size(); i++) + { + for(unsigned int k = 0; k < markers[i].projected.size(); k++) + { + world.push_back(markers[i].info.world[k]); + image.push_back(markers[i].projected[k]); + } + + //Draw countours + for(unsigned int j = 0; j < 4; j++) + { + line(frame, markers[i].projected[j], markers[i].projected[(j + 1) % 4], Scalar(0, 150, 0), 2); + } + } + + Mat rotation, position; + + #if CV_MAJOR_VERSION == 2 + solvePnP(world, image, camera, distortion, rotation, position, false, ITERATIVE); + #else + solvePnP(world, image, camera, distortion, rotation, position, false, SOLVEPNP_ITERATIVE); + #endif + + vector referencial; + referencial.push_back(Point3d(0, 0, 0)); + referencial.push_back(Point3d(size, 0, 0)); + referencial.push_back(Point3d(0, size, 0)); + referencial.push_back(Point3d(0, 0, size)); + + vector projected; + projectPoints(referencial, rotation, position, camera, distortion, projected); + + line(frame, projected[0], projected[1], Scalar(0, 0, 255), 2); + putText(frame, "X", projected[1], FONT_HERSHEY_SIMPLEX, 0.5, Scalar(0, 0, 255), 1); + + line(frame, projected[0], projected[2], Scalar(0, 255, 0), 2); + putText(frame, "Y", projected[2], FONT_HERSHEY_SIMPLEX, 0.5, Scalar(0, 255, 0), 1); + + line(frame, projected[0], projected[3], Scalar(255, 0, 0), 2); + putText(frame, "Z", projected[3], FONT_HERSHEY_SIMPLEX, 0.5, Scalar(255, 0, 0), 1); + } + + /** + * Preview all quads found in the image. + * Used for debug purpuse only. + * @param frame Original frame to extract color information + * @param quads Vector of quads detected in the frame. + * @return Image only with the found quads. + */ + static Mat previewQuads(Mat frame, vector quads) + { + Mat sum = Mat::zeros(frame.rows, frame.cols, CV_8UC3); + + for(unsigned int i = 0; i < quads.size(); i++) + { + add(sum, filterQuadRegion(frame, quads[i]), sum); + } + + return sum; + } + + /** + * Draw aruco marker to binary image. + * @param marker Marker to be drawn. + * @param size Size of the output image. + * @return Image representing the marker. + */ + static Mat drawArucoMarker(ArucoMarker marker, Size size) + { + Mat out = Mat::zeros(7, 7, CV_8UC1); + + for(unsigned int i = 0; i < 7; i++) + { + for(unsigned int j = 0; j < 7; j++) + { + out.data[i * 7 + j] = marker.cells[i][j] * 255; + } + } + + resize(out, out, size, 0, 0, INTER_NEAREST); + + return out; + } + + /** + * Crop image to quad area. + * Output size has the same size as the input. + * @param image Image to be cropped. + * @param quad Quad to be used to crop the image. + * @return Cropped image. + */ + static Mat filterQuadRegion(Mat image, Quadrilateral quad) + { + Mat out = Mat::zeros(image.rows, image.cols, CV_8UC3); + + Point p[1][4]; + p[0][0] = quad.points[0]; + p[0][1] = quad.points[1]; + p[0][2] = quad.points[2]; + p[0][3] = quad.points[3]; + + const Point* points[1] = {p[0]}; + int points_count[] = {4}; + + //Create Mask + fillPoly(out, points, points_count, 1, Scalar(1, 1, 1)); + + //Apply mask to image + for(unsigned int i = 0; i < out.rows; i++) + { + for(unsigned int j = 0; j < out.cols; j++) + { + int t = (i*out.cols+j)*3; + out.data[t] *= image.data[t]; + out.data[t+1] *= image.data[t+1]; + out.data[t+2] *= image.data[t+2]; + } + } + + return out; + } + + /** + * Apply inverse perspective transformation to image using quad. + * @param image Image to transform. + * @param size Size of the output image. + * @param quad Quad that defines the square area. + * @return Corrected image. + */ + static Mat deformQuad(Mat image, Point2i size, vector quad) + { + Mat out = Mat::zeros(size.x, size.y, CV_8UC3); + + vector points; + points.push_back(Point2f(0, 0)); + points.push_back(Point2f(0, out.rows)); + points.push_back(Point2f(out.cols, out.rows)); + points.push_back(Point2f(out.cols, 0)); + + Mat transformation = getPerspectiveTransform(quad, points); + warpPerspective(image, out, transformation, out.size(), INTER_LINEAR); + + return out; + } +}; + +#endif diff --git a/aruco/src/ArucoMarker.cpp b/aruco/src/ArucoMarker.cpp new file mode 100644 index 0000000..eae9431 --- /dev/null +++ b/aruco/src/ArucoMarker.cpp @@ -0,0 +1,262 @@ +#include +#include +#include + +#include + +#include "ArucoMarkerInfo.cpp" + +#ifndef ARUCO_MARKER_CPP +#define ARUCO_MARKER_CPP + +using namespace cv; +using namespace std; + +/** + * Class is used to represent aruco markers. + * All markers are assumed to be 5x5 markers capable of 1024 options, after considering rotation and error detection. + */ +class ArucoMarker +{ + public: + /** + * Contain all the cells in the marker. + * Cells are encoded as [x][y] from left to right on X and from up to down on Y. + */ + int cells[7][7]; + + /** + * Number of rows used to store data in the marker. + */ + int rows; + + /** + * Number of cols used to store data in the marker. + */ + int cols; + + /** + * Number of 90 degrees turns applied to the marker. + */ + int rotation; + + /** + * Id of this markers. + * Can be calculated after filling up the cells info. + */ + int id; + + /** + * Flag to store if the marker was already validated. + */ + int validated; + + /** + * Store info about the marker real world morphology and location. + */ + ArucoMarkerInfo info; + + /** + * Projected corner points in camera coordinates. + * This vector should have only 4 points. + * But can be used to store extra known points for the marker. + */ + vector projected; + + /** + * Aruco marker constructor. + */ + ArucoMarker() + { + rows = 5; + cols = 5; + id = -1; + rotation = 0; + validated = false; + } + + /** + * Attach info to this marker. + * + * @param info Marker information. + */ + void attachInfo(ArucoMarkerInfo _info) + { + info = _info; + } + + /** + * Get the id of the marker. The ID its a value between 0 and 1024. + * + * @return ID of this aruco marker. + */ + int calculateID() + { + id = 0; + + for(int i = 1; i < 6; ++i) + { + id <<= 1; + id |= cells[i][2]; + id <<= 1; + id |= cells[i][4]; + } + + return id; + } + + /** + * Calculate all parameters and check if its a valid aruco marker. + * Should be called only after projected points and cell info is added. + * @return true if the marker is valid, false otherwise. + */ + bool validate() + { + validated = false; + + //Check if there are points + if(projected.size() == 0) + { + return false; + } + + //Check black border allow up to three white squares for edge light bleed cases + unsigned int bad = 0; + for(unsigned int i = 0; i < 7; i++) + { + if(cells[i][0] != 0 || cells[i][6] != 0 || cells[0][i] != 0 || cells[6][i] != 0) + { + bad++; + if(bad > 3) + { + return false; + } + } + } + + //Check hamming distance of internal data + for(int j = 0; j < 4; j++) + { + if(hammingDistance() == 0) + { + calculateID(); + validated = true; + return true; + } + + rotate(); + } + + return false; + } + + /** + * Used to rotate marker 90 degrees. + * Can be used to rotate the marker data and make sure that it is read properly. + */ + void rotate() + { + int temp[7][7]; + int n = 7; + + for (int i = 0; i < n; i++) + { + for (int j = 0; j < n; j++) + { + temp[i][j] = cells[n - j - 1][i]; + } + } + + for (int i = 0; i < n; i++) + { + for (int j = 0; j < n; j++) + { + cells[i][j] = temp[i][j]; + } + } + + rotation++; + + std::rotate(projected.begin(), projected.begin() + 1, projected.end()); + } + + /** + * Calculates the sum of the hamming distance for this marker. + */ + int hammingDistance() + { + int ids[4][5] = { + {1, 0, 0, 0, 0}, + {1, 0, 1, 1, 1}, + {0, 1, 0, 0, 1}, + {0, 1, 1, 1, 0} + }; + + int dist = 0; + int sum, minSum; + + for(int i = 1; i < 6; ++i) + { + minSum = 99999; + + for(int j = 1; j < 5; ++j) + { + sum = 0; + + for(int k = 1; k < 6; ++k) + { + sum += cells[i][k] == ids[j - 1][k - 1] ? 0 : 1; + } + + if(sum < minSum) + { + minSum = sum; + } + } + + dist += minSum; + } + + return dist; + } + + /** + * Print marker cells to the stdout. + */ + void print() + { + cout << "{" << endl; + cout << " Valid: " << validated << endl; + cout << " Hamming: " << hammingDistance() << endl; + cout << " ID: " << id << endl; + cout << " Cells: ["; + for(int i = 0; i < 7; i++) + { + for(int j = 0; j < 7; j++) + { + cout << cells[i][j] << ", "; + } + + if(i == 6) + { + cout << "]" << endl; + } + else + { + cout << endl << " "; + } + } + cout << " Rotation: " << rotation << endl; + + for(unsigned int i = 0; i < projected.size(); i++) + { + cout << " Projected: " << projected[i].x << ", " << projected[i].y << endl; + } + + info.print(); + + cout << "}" << endl; + } +}; + +#endif diff --git a/aruco/src/ArucoMarkerInfo.cpp b/aruco/src/ArucoMarkerInfo.cpp new file mode 100644 index 0000000..afbbbf1 --- /dev/null +++ b/aruco/src/ArucoMarkerInfo.cpp @@ -0,0 +1,145 @@ +#include +#include +#include + +#include + +#include "math/Transformations.cpp" + +#ifndef ARUCO_MARKER_INFO_CPP +#define ARUCO_MARKER_INFO_CPP + +using namespace cv; +using namespace std; + +/** + * Class is used to store info about a marker. + * The info present in this class is related with real world information. + * Units are store in meters for positions and dimensions and radians for angles. + */ +class ArucoMarkerInfo +{ + public: + /** + * Marker ID. + */ + int id; + + /** + * Size of the marker in real position scale. + */ + double size; + + /** + * Marker position in real world coordinates. + */ + Point3d position; + + /** + * Euler rotation of this marker. + */ + Point3d rotation; + + /** + * World corner points calculated from position and rotation of the marker. + * This vector should have only 4 points. + * But can be used to store extra known points for the marker. + * World points stored in the following order: TopLeft, TopRight, BottomRight, BottomLeft. + */ + vector world; + + /** + * Default constructor with id -1. + */ + ArucoMarkerInfo() + { + id = -1; + size = 1.0; + position = Point3d(0.0, 0.0, 0.0); + rotation = Point3d(0.0, 0.0, 0.0); + world = vector(); + calculateWorldPoints(); + } + + /** + * Aruco marker constructor. + * @param id Marker id. + * @param size Marker size in meters. + * @param position Marker world position. + */ + ArucoMarkerInfo(int _id, double _size, Point3f _position) + { + id = _id; + size = _size; + position = _position; + rotation = Point3f(0.0, 0.0, 0.0); + world = vector(); + calculateWorldPoints(); + } + + /** + * Aruco marker constructor. + * @param id Marker id. + * @param size Marker size in meters. + * @param position Marker world position. + * @param rotation Marker world euler rotation. + */ + ArucoMarkerInfo(int _id, double _size, Point3f _position, Point3f _rotation) + { + id = _id; + size = _size; + position = _position; + rotation = _rotation; + world = vector(); + calculateWorldPoints(); + } + + /** + * Calculate the marker world points, considering the marker center position and rotation. + * First the marker is rotated and is translated after so the rotation is always relative to the marker center. + */ + void calculateWorldPoints() + { + double half = size / 2.0; + + world.clear(); + + world.push_back(Point3f(-half, -half, 0)); + world.push_back(Point3f(-half, +half, 0)); + world.push_back(Point3f(half, +half, 0)); + world.push_back(Point3f(half, -half, 0)); + + Mat rot = Transformations::rotationMatrix(rotation); + + for(unsigned int i = 0; i < world.size(); i++) + { + Mat temp = (Mat_(3, 1) << world[i].x, world[i].y, world[i].z); + Mat transf = rot * temp; + + world[i].x = transf.at(0, 0) + position.x; + world[i].y = transf.at(1, 0) + position.y; + world[i].z = transf.at(2, 0) - position.z; + } + } + + /** + * Printo info of this marker to the stdout. + */ + void print() + { + cout << "{" << endl; + cout << " ID: " << id << endl; + cout << " Size: " << size << endl; + cout << " Position: " << position.x << ", " << position.y << ", " << position.z << endl; + cout << " Rotation: " << rotation.x << ", " << rotation.y << ", " << rotation.z << endl; + + for(unsigned int i = 0; i < world.size(); i++) + { + cout << " World: " << world[i].x << ", " << world[i].y << ", " << world[i].z << endl; + } + + cout << "}" << endl; + } +}; + +#endif diff --git a/aruco/src/SquareFinder.cpp b/aruco/src/SquareFinder.cpp new file mode 100644 index 0000000..fff783e --- /dev/null +++ b/aruco/src/SquareFinder.cpp @@ -0,0 +1,87 @@ +#include "math/Quadrilateral.cpp" + +#ifndef SQUARE_FINDER_CPP +#define SQUARE_FINDER_CPP + +using namespace cv; +using namespace std; + +/** + * SquareFinder can be used to detect distorted squares in images. + */ +class SquareFinder +{ + public: + /** + * Detect quads in grayscale image. + * @param gray Grayscale image. + * @param limitCosine Limit value for cosine in the quad corners, by default its 0.6. + * @returns sequence of squares detected on the image the sequence is stored in the specified memory storage + */ + static vector findSquares(Mat gray, float limitCosine = 0.6, int minArea = 200) + { + //Quads found + vector squares = vector(); + + //Contours + vector > contours; + + //Find contours and store them all as a list + findContours(gray, contours, RETR_LIST, CHAIN_APPROX_SIMPLE); + vector approx; + + for(unsigned int i = 0; i < contours.size(); i++) + { + //Approximate contour with accuracy proportional to the contour perimeter + approxPolyDP(Mat(contours[i]), approx, arcLength(Mat(contours[i]), true) * 0.02, true); + + //Square contours should have 4 vertices after approximation relatively large area (to filter out noisy contours)and be convex. + if(approx.size() == 4 && fabs(contourArea(Mat(approx))) > minArea && isContourConvex(Mat(approx))) + { + float maxCosine = 0; + + //Find the maximum cosine of the angle between joint edges + for(int j = 2; j < 5; j++) + { + float cosine = fabs(angleCornerPointsCos(approx[j%4], approx[j-2], approx[j-1])); + maxCosine = MAX(maxCosine, cosine); + } + + //Check if all angle corner close to 90 (more than 60) + if(maxCosine < limitCosine) + { + Quadrilateral quad = Quadrilateral(); + int j = 0; + while(!approx.empty() && j < 4) + { + quad.points[j] = approx.back(); + approx.pop_back(); + j++; + } + squares.push_back(quad); + } + } + } + + return squares; + } + + /** + * Finds a cosine of angle between vectors from pt0->pt1 and from pt0->pt2. + * + * @param b Point b. + * @param c Point c. + * @param a Point a. + */ + static float angleCornerPointsCos(Point b, Point c, Point a) + { + float dx1 = b.x - a.x; + float dy1 = b.y - a.y; + float dx2 = c.x - a.x; + float dy2 = c.y - a.y; + + return (dx1*dx2 + dy1*dy2) / sqrt((dx1*dx1 + dy1*dy1)*(dx2*dx2 + dy2*dy2) + 1e-12); + } +}; + +#endif diff --git a/aruco/src/math/Quadrilateral.cpp b/aruco/src/math/Quadrilateral.cpp new file mode 100644 index 0000000..272b388 --- /dev/null +++ b/aruco/src/math/Quadrilateral.cpp @@ -0,0 +1,133 @@ +#include + +#include +#include + +#include "Triangle.cpp" + +#ifndef QUADRILATERAL_CPP +#define QUADRILATERAL_CPP + +using namespace cv; +using namespace std; + +/** + * Used to represent and operate over quads. + */ +class Quadrilateral +{ + public: + /** + * Vector of points that compose the quad. + */ + vector points; + + /** + * Quad constructor initializes 4 points. + */ + Quadrilateral() + { + for(int i = 0; i < 4; i++) + { + points.push_back(Point2f(0.0, 0.0)); + } + } + + /** + * Quad contructor from a points. + */ + Quadrilateral(Point2f a, Point2f b, Point2f c, Point2f d) + { + points.push_back(a); + points.push_back(b); + points.push_back(c); + points.push_back(d); + } + + /** + * Calculate Area of this quad. + * + * @return Area of this quad. + */ + float area() + { + return contourArea(points); + } + + /** + * Check if point is inside this quad. + * + * @param p Point to check. + * @return true if point is inside this quad + */ + bool containsPoint(Point2f p) + { + return pointPolygonTest(points, p, false) >= 0.0; + } + + /** + * Draw quad lines to image. + * + * @param image Image where to draw line. + * @param color Color of the lines to be drawn. + * @param weight Weight of the lines. + */ + void draw(Mat image, Scalar color, int weigth = 1) + { + for(int j = 0; j < 3; j++) + { + line(image, points[j], points[j+1], color, weigth, 8); + } + + line(image, points[3], points[0], color, weigth, 8); + } + + /** + * Print quad info to cout. + */ + void print() + { + cout << "[" << this->points[0] << ", " << this->points[1] << ", " << this->points[2] << ", " << this->points[3] << "]" << endl; + } + + /** + * Get bigger square on a vector (caller have to check vector size). + * + * @param quad Vector of quads. + * @return quad Bigger quad in the vector. + */ + static Quadrilateral biggerQuadrilateral(vector quads) + { + Quadrilateral max = quads[0]; + float max_area = quads[0].area(); + + //Search for bigger quad + for(unsigned int i = 1; i < quads.size(); i++) + { + float area = quads[i].area(); + if(area > max_area) + { + max = quads[i]; + max_area = area; + } + } + return max; + } + + /** + * Draw all squares from vector to image. + * + * @param image Image where to draw. + * @param quads Vector of quads to draw. + * @param color Color used to draw the quads. + */ + static void drawVector(Mat image, vector quads, Scalar color) + { + for(unsigned int i = 0; i < quads.size(); i++) + { + quads[i].draw(image, color); + } + } +}; + +#endif diff --git a/aruco/src/math/Transformations.cpp b/aruco/src/math/Transformations.cpp new file mode 100644 index 0000000..749af60 --- /dev/null +++ b/aruco/src/math/Transformations.cpp @@ -0,0 +1,47 @@ +#include + +#include +#include + + +#ifndef TRANSFORMATION_CPP +#define TRANSFORMATION_CPP + +using namespace cv; +using namespace std; + +/** + * Transformations class contains method to help create and apply tranformations to points. + */ +class Transformations +{ + public: + /** + * Creates a new rotation matrix from euler rotation. + * @return Rotation matrix created from euler rotation. + */ + static Mat rotationMatrix(Point3d euler) + { + //Rotation on x axis + Mat rx = (Mat_(3,3) << + 1, 0, 0, + 0, cos(euler.x), -sin(euler.x), + 0, sin(euler.x), cos(euler.x)); + + //Rotation on y axis + Mat ry = (Mat_(3,3) << + cos(euler.y), 0, sin(euler.y), + 0, 1, 0, + -sin(euler.y), 0, cos(euler.y)); + + //Rotation on z axis + Mat rz = (Mat_(3,3) << + cos(euler.z), -sin(euler.z), 0, + sin(euler.z), cos(euler.z), 0, + 0, 0, 1); + + return rz * ry * rx; + } +}; + +#endif diff --git a/aruco/src/math/Triangle.cpp b/aruco/src/math/Triangle.cpp new file mode 100644 index 0000000..a0c0534 --- /dev/null +++ b/aruco/src/math/Triangle.cpp @@ -0,0 +1,91 @@ +#include +#include + +#include + +#ifndef TRIANGLE_CPP +#define TRIANGLE_CPP + +using namespace cv; + +/** + * Class is used to represent and manipulate triangles. + */ +class Triangle +{ + public: + /** + * Triangle points. + */ + Point2f points[3]; + + /** + * Default triangle contructor. + */ + Triangle() + { + for(int i = 0; i < 3; i++) + { + points[i] = Point2f(0.0, 0.0); + } + } + + /** + * Triangle contructor from corners. + * @param a Corner a. + * @param b Corner b. + * @param c Corner c. + */ + Triangle(Point2f a, Point2f b, Point2f c) + { + points[0] = a; + points[1] = b; + points[2] = c; + } + + /** + * Calculate the area of this triangle. + * @return Area of this triangle. + */ + float area() + { + return abs(points[0].x*(points[1].y-points[2].y) + points[1].x*(points[2].y-points[0].y) + points[2].x*(points[0].y-points[1].y)) / 2.0; + } + + /** + * Check if this triangle collides with another triangle. + * @return True if triangles are colliding, false otherwise. + */ + bool isColliding(Triangle t) + { + return containsPoint(t.points[0]) || containsPoint(t.points[1]) || containsPoint(t.points[2]) || t.containsPoint(points[0]) || t.containsPoint(points[1]) || t.containsPoint(points[2]); + } + + /** + * Check if the point is inside this triangle. + * @param p Point to check. + * @return True if point is inside triangle, false otherwise. + */ + bool containsPoint(Point2f p) + { + bool b1 = sign(p, points[0], points[1]) <= 0.0; + bool b2 = sign(p, points[1], points[2]) <= 0.0; + bool b3 = sign(p, points[2], points[0]) <= 0.0; + + return ((b1 == b2) && (b2 == b3)); + } + + /** + * Sign operation used to check if point a is before or after the line composed for b and c. + * @param a Point a. + * @param b Point b. + * @param c Point c. + * @return Float value if less than 0 point is before line. + */ + float sign(Point2f a, Point2f b, Point2f c) + { + return (a.x - c.x) * (b.y - c.y) - (b.x - c.x) * (a.y - c.y); + } +}; + +#endif diff --git a/aruco/src/ros/ArucoNode.cpp b/aruco/src/ros/ArucoNode.cpp new file mode 100644 index 0000000..8b0091b --- /dev/null +++ b/aruco/src/ros/ArucoNode.cpp @@ -0,0 +1,530 @@ +#include +#include + +#include +#include +#include +#include +#include + +#include "ros/ros.h" + +#include "std_msgs/String.h" +#include "std_msgs/Bool.h" +#include "std_msgs/Int32.h" + +#include "geometry_msgs/Point.h" +#include "geometry_msgs/Pose.h" +#include "sensor_msgs/image_encodings.h" + +#include "image_transport/image_transport.h" +#include "cv_bridge/cv_bridge.h" + +#include "aruco/Marker.h" + +#include "../ArucoMarker.cpp" +#include "../ArucoMarkerInfo.cpp" +#include "../ArucoDetector.cpp" + +using namespace cv; +using namespace std; + +/** + * Camera calibration matrix pre initialized with calibration values for the test camera. + */ +double data_calibration[9] = {570.3422241210938, 0, 319.5, 0, 570.3422241210938, 239.5, 0, 0, 1}; +Mat calibration; + +/** + * Lenses distortion matrix initialized with values for the test camera. + */ +double data_distortion[5] = {0, 0, 0, 0, 0}; +Mat distortion; + +/** + * List of known of markers, to get the absolute position and rotation of the camera, some of these are required. + */ +vector known = vector(); + +/** + * ROS node visibility publisher. + * Publishes true when a known marker is visible, publishes false otherwise. + */ +ros::Publisher pub_visible; + +/** + * ROS node position publisher. + */ +ros::Publisher pub_position; + +/** + * ROS node rotation publisher. + */ +ros::Publisher pub_rotation; + +/** + * ROS node pose publisher. + */ +ros::Publisher pub_pose; + +/** + * Flag to check if calibration parameters were received. + * If set to false the camera will be calibrated when a camera info message is received. + */ +bool calibrated; + +/** + * Flag to determine if opencv or robot coordinates are used. + */ +bool use_opencv_coords; + +/** + * When debug parameter is se to true the node creates a new cv window to show debug information. + * By default is set to false. + * If set true the node will open a debug window. + */ +bool debug; + +/** + * Cosine limit used during the quad detection phase. + * Value between 0 and 1. + * By default 0.8 is used. + * The bigger the value more distortion tolerant the square detection will be. + */ +float cosine_limit; + +/** + * Adaptive theshold pre processing block size. + * By default 9 is used. + */ +int theshold_block_size; + +/** + * Minimum area considered for aruco markers. + * Should be a value high enough to filter blobs out but detect the smallest marker necessary. + * By default 100 is used. + */ +int min_area; + +/** + * Draw yellow text with black outline into a frame. + * @param frame Frame mat. + * @param text Text to be drawn into the frame. + * @param point Position of the text in frame coordinates. + */ +void drawText(Mat frame, string text, Point point) +{ + putText(frame, text, point, FONT_HERSHEY_SIMPLEX, 0.5, Scalar(0, 0, 0), 2, CV_AA); + putText(frame, text, point, FONT_HERSHEY_SIMPLEX, 0.5, Scalar(0, 255, 255), 1, CV_AA); +} + +/** + * Callback executed every time a new camera frame is received. + * This callback is used to process received images and publish messages with camera position data if any. + */ +void onFrame(const sensor_msgs::ImageConstPtr& msg) +{ + try + { + + Mat frame = cv_bridge::toCvShare(msg, "bgr8")->image; + + //Process image and get markers + vector markers = ArucoDetector::getMarkers(frame, cosine_limit, theshold_block_size, min_area); + + //Visible + vector found; + + //Vector of points + vector projected; + vector world; + + //Check known markers and build known of points + for(unsigned int i = 0; i < markers.size(); i++) + { + for(unsigned int j = 0; j < known.size(); j++) + { + if(markers[i].id == known[j].id) + { + markers[i].attachInfo(known[j]); + + for(unsigned int k = 0; k < 4; k++) + { + projected.push_back(markers[i].projected[k]); + world.push_back(known[j].world[k]); + } + + found.push_back(markers[i]); + } + } + } + + //Draw markers + if(debug) + { + ArucoDetector::drawMarkers(frame, markers, calibration, distortion); + } + + //Check if any marker was found + if(world.size() > 0) + { + //Calculate position and rotation + Mat rotation, position; + + #if CV_MAJOR_VERSION == 2 + solvePnP(world, projected, calibration, distortion, rotation, position, false, ITERATIVE); + #else + solvePnP(world, projected, calibration, distortion, rotation, position, false, SOLVEPNP_ITERATIVE); + #endif + + //Invert position and rotation to get camera coords + Mat rodrigues; + Rodrigues(rotation, rodrigues); + + Mat camera_rotation; + Rodrigues(rodrigues.t(), camera_rotation); + + Mat camera_position = -rodrigues.t() * position; + + //Publish position and rotation + geometry_msgs::Point message_position, message_rotation; + + //Opencv coordinates + if(use_opencv_coords) + { + message_position.x = camera_position.at(0, 0); + message_position.y = camera_position.at(1, 0); + message_position.z = camera_position.at(2, 0); + + message_rotation.x = camera_rotation.at(0, 0); + message_rotation.y = camera_rotation.at(1, 0); + message_rotation.z = camera_rotation.at(2, 0); + } + //Robot coordinates + else + { + message_position.x = camera_position.at(2, 0); + message_position.y = -camera_position.at(0, 0); + message_position.z = -camera_position.at(1, 0); + + message_rotation.x = camera_rotation.at(2, 0); + message_rotation.y = -camera_rotation.at(0, 0); + message_rotation.z = -camera_rotation.at(1, 0); + } + + pub_position.publish(message_position); + pub_rotation.publish(message_rotation); + + //Publish pose + geometry_msgs::Pose message_pose; + message_pose.position.x = message_position.x; + message_pose.position.y = message_position.y; + message_pose.position.z = message_position.z; + message_pose.orientation.x = message_rotation.x; + message_pose.orientation.y = message_rotation.y; + message_pose.orientation.z = message_rotation.z; + message_pose.orientation.w = 1; + pub_pose.publish(message_pose); + + //Debug + if(debug) + { + ArucoDetector::drawOrigin(frame, found, calibration, distortion, 0.1); + + drawText(frame, "Position: " + to_string(message_position.x) + ", " + to_string(message_position.y) + ", " + to_string(message_position.z), Point2f(10, 160)); + drawText(frame, "Rotation: " + to_string(message_rotation.x) + ", " + to_string(message_rotation.y) + ", " + to_string(message_rotation.z), Point2f(10, 180)); + } + } + else if(debug) + { + drawText(frame, "Position: unknown", Point2f(10, 160)); + drawText(frame, "Rotation: unknown", Point2f(10, 180)); + } + + //Publish visible + std_msgs::Bool message_visible; + message_visible.data = world.size() != 0; + pub_visible.publish(message_visible); + + //Debug info + if(debug) + { + drawText(frame, "Aruco ROS Debug", Point2f(10, 20)); + drawText(frame, "OpenCV V" + to_string(CV_MAJOR_VERSION) + "." + to_string(CV_MINOR_VERSION), Point2f(10, 40)); + drawText(frame, "Cosine Limit (A-Q): " + to_string(cosine_limit), Point2f(10, 60)); + drawText(frame, "Threshold Block (W-S): " + to_string(theshold_block_size), Point2f(10, 80)); + drawText(frame, "Min Area (E-D): " + to_string(min_area), Point2f(10, 100)); + drawText(frame, "Visible: " + to_string(message_visible.data), Point2f(10, 120)); + drawText(frame, "Calibrated: " + to_string(calibrated), Point2f(10, 140)); + + imshow("Aruco", frame); + + char key = (char) waitKey(1); + + if(key == 'q') + { + cosine_limit += 0.05; + } + else if(key == 'a') + { + cosine_limit -= 0.05; + } + + if(key == 'w') + { + theshold_block_size += 2; + } + else if(key == 's' && theshold_block_size > 3) + { + theshold_block_size -= 2; + } + + if(key == 'e') + { + min_area += 50; + } + else if(key == 'd') + { + min_area -= 50; + } + } + } + catch(cv_bridge::Exception& e) + { + ROS_ERROR("Error getting image data"); + } +} + +/** + * On camera info callback. + * Used to receive camera calibration parameters. + */ +void onCameraInfo(const sensor_msgs::CameraInfo &msg) +{ + if(!calibrated) + { + calibrated = true; + + for(unsigned int i = 0; i < 9; i++) + { + calibration.at(i / 3, i % 3) = msg.K[i]; + } + + for(unsigned int i = 0; i < 5; i++) + { + distortion.at(0, i) = msg.D[i]; + } + + if(debug) + { + cout << "Camera calibration param received" << endl; + cout << "Camera: " << calibration << endl; + cout << "Distortion: " << distortion << endl; + } + } +} + +/** + * Callback to register markers on the marker list. + * This callback received a custom marker message. + */ +void onMarkerRegister(const aruco::Marker &msg) +{ + for(unsigned int i = 0; i < known.size(); i++) + { + if(known[i].id == msg.id) + { + known.erase(known.begin() + i); + cout << "Marker " << to_string(msg.id) << " already exists, was replaced." << endl; + break; + } + } + + known.push_back(ArucoMarkerInfo(msg.id, msg.size, Point3d(msg.posx, msg.posy, msg.posz), Point3d(msg.rotx, msg.roty, msg.rotz))); + cout << "Marker " << to_string(msg.id) << " added." << endl; +} + +/** + * Callback to remove markers from the marker list. + * Markers are removed by publishing the remove ID to the remove topic. + */ +void onMarkerRemove(const std_msgs::Int32 &msg) +{ + for(unsigned int i = 0; i < known.size(); i++) + { + if(known[i].id == msg.data) + { + known.erase(known.begin() + i); + cout << "Marker " << to_string(msg.data) << " removed." << endl; + break; + } + } +} + +/** + * Converts a string with numeric values separated by a delimiter to an array of double values. + * If 0_1_2_3 and delimiter is _ array will contain {0, 1, 2, 3}. + * @param data String to be converted + * @param values Array to store values on + * @param cout Number of elements in the string + * @param delimiter Separator element + * @return Array with values. + */ +void stringToDoubleArray(string data, double* values, unsigned int count, string delimiter) +{ + unsigned int pos = 0, k = 0; + + while((pos = data.find(delimiter)) != string::npos && k < count) + { + string token = data.substr(0, pos); + values[k] = stod(token); + data.erase(0, pos + delimiter.length()); + k++; + } +} + +/** + * Main method launches aruco ros node, the node gets image and calibration parameters from camera, and publishes position and rotation of the camera relative to the markers. + * Units should be in meters and radians, the markers are described by a position and an euler rotation. + * Position is also available as a pose message that should be easier to consume by other ROS nodes. + * Its possible to pass markers as arugment to this node or register and remove them during runtime using another ROS node. + * The coordinate system used by OpenCV uses Z+ to represent depth, Y- for height and X+ for lateral, but for the node the coordinate system used is diferent X+ for depth, Z+ for height and Y- for lateral movement. + * The coordinates are converted on input and on output, its possible to force the OpenCV coordinate system by setting the use_opencv_coords param to true. + * + * WiiGo Robot | OpenCV + * Z+ | Y- + * | | | + * | X+ | | Z+ + * | / | | / + * | / | | / + * | / | | / + * | / | | / + * |/ | |/ + * O-------------> Y- | O-------------> X+ + * + * @param argc Number of arguments. + * @param argv Value of the arguments. + */ +int main(int argc, char **argv) +{ + ros::init(argc, argv, "aruco"); + + //Private and global node instances + ros::NodeHandle node("~"); + ros::NodeHandle global; + + //Global parameters + string project; + global.param("project", project, "wgi"); + + //Parameters + node.param("debug", debug, false); + node.param("use_opencv_coords", use_opencv_coords, false); + node.param("cosine_limit", cosine_limit, 0.8); + node.param("theshold_block_size", theshold_block_size, 9); + node.param("min_area", min_area, 100); + node.param("calibrated", calibrated, true); + + //Initialize calibration matrices + calibration = Mat(3, 3, CV_64F, data_calibration); + distortion = Mat(1, 5, CV_64F, data_distortion); + + //Camera instrinsic calibration parameters + if(node.hasParam("calibration")) + { + string data; + node.param("calibration", data, ""); + + double values[9]; + stringToDoubleArray(data, values, 9, "_"); + + for(unsigned int i = 0; i < 9; i++) + { + calibration.at(i / 3, i % 3) = values[i]; + } + + calibrated = true; + } + + //Camera distortion calibration parameters + if(node.hasParam("distortion")) + { + string data; + node.param("distortion", data, ""); + + double values[5]; + stringToDoubleArray(data, values, 5, "_"); + + for(unsigned int i = 0; i < 5; i++) + { + distortion.at(0, i) = values[i]; + } + + calibrated = true; + } + + //Aruco makers passed as parameters + for(unsigned int i = 0; i < 1024; i++) + { + if(node.hasParam("marker" + to_string(i))) + { + string data; + node.param("marker" + to_string(i), data, "1_0_0_0_0_0_0"); + + double values[7]; + stringToDoubleArray(data, values, 7, "_"); + + //Use OpenCV coordinates + if(use_opencv_coords) + { + known.push_back(ArucoMarkerInfo(i, values[0], Point3d(values[1], values[2], values[3]), Point3d(values[4], values[5], values[6]))); + } + //Convert coordinates (-Y, -Z, +X) + else + { + known.push_back(ArucoMarkerInfo(i, values[0], Point3d(-values[2], -values[3], -values[1]), Point3d(-values[5], -values[6], values[4]))); + } + } + } + + //Print all known markers + if(debug) + { + for(unsigned int i = 0; i < known.size(); i++) + { + known[i].print(); + } + } + + //Subscribed topic names + string topic_camera, topic_camera_info, topic_marker_register, topic_marker_remove; + node.param("topic_camera", topic_camera, "/rgb/image"); + node.param("topic_camera_info", topic_camera_info, "/rgb/camera_info"); + node.param("topic_marker_register", topic_marker_register, "/marker_register"); + node.param("topic_marker_remove", topic_marker_register, "/marker_remove"); + + //Publish topic names + string topic_visible, topic_position, topic_rotation, topic_pose; + node.param("topic_visible", topic_visible, "/visible"); + node.param("topic_position", topic_position, "/position"); + node.param("topic_rotation", topic_rotation, "/rotation"); + node.param("topic_pose", topic_pose, "/pose"); + + //Advertise topics + pub_visible = global.advertise(project + node.getNamespace() + topic_visible, 10); + pub_position = global.advertise(project + node.getNamespace() + topic_position, 10); + pub_rotation = global.advertise(project + node.getNamespace() + topic_rotation, 10); + pub_pose = global.advertise(project + node.getNamespace() + topic_pose, 10); + + //Subscribe topics + image_transport::ImageTransport it(global); + image_transport::Subscriber sub_camera = it.subscribe(topic_camera, 1, onFrame); + ros::Subscriber sub_camera_info = global.subscribe(topic_camera_info, 1, onCameraInfo); + ros::Subscriber sub_marker_register = global.subscribe(topic_marker_register, 1, onMarkerRegister); + ros::Subscriber sub_marker_remove = global.subscribe(topic_marker_remove, 1, onMarkerRemove); + + ros::spin(); + + return 0; +} +