I want to detect a normal marker (Not an ArUco marker) using ArUco module in OpenCV3.0 . Below is the image for a normal marker.
I have implemented the ArUco detection but not able to figure out how to make ArUco module to detect custom markers.
aruco::DetectorParameters detectorParams;
if (parser.has("dp")) {
bool readOk = readDetectorParameters(parser.get("dp"), detectorParams);
if (!readOk) {
cerr << "Invalid detector parameters file" << endl;
return 0;
}
}
aruco::Dictionary dictionary =
aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
Mat camMatrix, distCoeffs;
if (estimatePose) {
bool readOk = readCameraParameters(parser.get("c"), camMatrix, distCoeffs);
if (!readOk) {
cerr << "Invalid camera file" << endl;
return 0;
}
}
// detect markers and estimate pose
aruco::detectMarkers(image, dictionary, corners, ids, detectorParams, rejected);
if (estimatePose && ids.size() > 0)
aruco::estimatePoseSingleMarkers(corners, markerLength, camMatrix, distCoeffs, rvecs,
tvecs);
// draw results
image.copyTo(imageCopy);
if (ids.size() > 0) {
aruco::drawDetectedMarkers(imageCopy, corners, ids);
if (estimatePose) {
for (unsigned int i = 0; i < ids.size(); i++)
aruco::drawAxis(imageCopy, camMatrix, distCoeffs, rvecs[i], tvecs[i],
markerLength * 0.5f);
}
}
if (showRejected && rejected.size() > 0)
aruco::drawDetectedMarkers(imageCopy, rejected, noArray(), Scalar(100, 0, 255));
imshow("out", imageCopy);
char key = (char)waitKey(waitTime);
if (key == 27) break;
}
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