Simple demo of QRcode + ARtoolkit + ArUco markers detection and decoding. More...

Inheritance diagram for MarkersCombo:

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Collaboration diagram for MarkersCombo:

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Public Member Functions
	MarkersCombo (std::string const &instance)
	Constructor.

virtual	~MarkersCombo ()
	Virtual destructor for safe inheritance.

virtual void	process (jevois::InputFrame &&inframe) override
	Processing function, no video output.

virtual void	process (jevois::InputFrame &&inframe, jevois::OutputFrame &&outframe) override
	Processing function with video output to USB.

virtual void	process (jevois::InputFrame &&inframe, jevois::GUIhelper &helper) override
	Processing function with GUI output.

Public Member Functions inherited from jevois::StdModule
	StdModule (std::string const &instance)

virtual	~StdModule ()

void	sendSerialImg1Dx (unsigned int camw, float x, float size=0.0F, std::string const &id="", std::string const &extra="")

void	sendSerialStd1Dx (float x, float size=0.0F, std::string const &id="", std::string const &extra="")

void	sendSerialImg1Dy (unsigned int camh, float y, float size=0.0F, std::string const &id="", std::string const &extra="")

void	sendSerialStd1Dy (float y, float size=0.0F, std::string const &id="", std::string const &extra="")

void	sendSerialImg2D (unsigned int camw, unsigned int camh, float x, float y, float w=0.0F, float h=0.0F, std::string const &id="", std::string const &extra="")

void	sendSerialStd2D (float x, float y, float w=0.0F, float h=0.0F, std::string const &id="", std::string const &extra="")

void	sendSerialContour2D (unsigned int camw, unsigned int camh, std::vector< cv::Point_< T > > points, std::string const &id="", std::string const &extra="")

void	sendSerialStd3D (float x, float y, float z, float w=0.0F, float h=0.0F, float d=0.0F, float q1=0.0F, float q2=0.0F, float q3=0.0f, float q4=0.0F, std::string const &id="", std::string const &extra="")

void	sendSerialStd3D (std::vector< cv::Point3f > points, std::string const &id="", std::string const &extra="")

void	sendSerialObjReco (std::vector< ObjReco > const &res)

void	sendSerialObjDetImg2D (unsigned int camw, unsigned int camh, float x, float y, float w, float h, std::vector< ObjReco > const &res)

void	sendSerialObjDetImg2D (unsigned int camw, unsigned int camh, ObjDetect const &det)

void	sendSerialObjDetImg2D (unsigned int camw, unsigned int camh, ObjDetectOBB const &det)

	JEVOIS_DEFINE_ENUM_CLASS (SerStyle,(Terse)(Normal)(Detail)(Fine))

	JEVOIS_DECLARE_PARAMETER (serstyle, SerStyle, "Style for standardized serial messages as defined in " "http://jevois.org/doc/UserSerialStyle.html", SerStyle::Terse, SerStyle_Values, ParamCateg)

	JEVOIS_DECLARE_PARAMETER (serprec, unsigned int, "Number of decimal points in standardized serial messages as " "defined in http://jevois.org/doc/UserSerialStyle.html", 0U, jevois::Range< unsigned int >(0U, 10U), ParamCateg)

	JEVOIS_DEFINE_ENUM_CLASS (SerStamp,(None)(Frame)(Time)(FrameTime)(FrameDateTime))

	JEVOIS_DECLARE_PARAMETER (serstamp, SerStamp, "Prepend standardized serial messages with a frame number, " "time, frame+time, or frame+date+time. See details in " "http://jevois.org/doc/UserSerialStyle.html", SerStamp::None, SerStamp_Values, ParamCateg)

	JEVOIS_DEFINE_ENUM_CLASS (SerMark,(None)(Start)(Stop)(Both))

	JEVOIS_DECLARE_PARAMETER (sermark, SerMark, "Send serial message to mark the beginning (MARK START) of the " "processing of a video frame from the camera sensor, the end (MARK STOP), or both. " "Useful, among others, if one needs to know when no results were sent over serial " "on a given frame. Combine with parameter serstamp if you need to know the frame number.", SerMark::None, SerMark_Values, ParamCateg)

Public Member Functions inherited from jevois::Module
	Module (std::string const &instance)

virtual	~Module ()

virtual void	sendSerial (std::string const &str)

virtual void	parseSerial (std::string const &str, std::shared_ptr< UserInterface > s)

virtual void	supportedCommands (std::ostream &os)

Public Member Functions inherited from jevois::Component
	Component (std::string const &instance)

virtual	~Component ()

std::shared_ptr< Comp >	addSubComponent (std::string const &instance, Args &&...args)

void	removeSubComponent (std::shared_ptr< Comp > &component)

void	removeSubComponent (std::string const &instance, bool warnIfNotFound=true)

std::shared_ptr< Comp >	getSubComponent (std::string const &instance) const

bool	isTopLevel () const

bool	initialized () const

std::string const &	className () const

std::string const &	instanceName () const

std::vector< std::string >	setParamVal (std::string const &paramdescriptor, T const &val)

void	setParamValUnique (std::string const &paramdescriptor, T const &val)

std::vector< std::pair< std::string, T > >	getParamVal (std::string const &paramdescriptor) const

T	getParamValUnique (std::string const &paramdescriptor) const

std::vector< std::string >	setParamString (std::string const &paramdescriptor, std::string const &val)

void	setParamStringUnique (std::string const &paramdescriptor, std::string const &val)

std::vector< std::pair< std::string, std::string > >	getParamString (std::string const &paramdescriptor) const

std::string	getParamStringUnique (std::string const &paramdescriptor) const

void	freezeParam (std::string const &paramdescriptor, bool doit)

void	freezeAllParams (bool doit)

std::string	descriptor () const

void	setParamsFromFile (std::string const &filename)

std::istream &	setParamsFromStream (std::istream &is, std::string const &absfile)

virtual void	paramInfo (std::shared_ptr< UserInterface > s, std::map< std::string, std::string > &categs, bool skipFrozen, std::string const &cname="", std::string const &pfx="")

void	foreachParam (std::function< void(std::string const &compname, ParameterBase *p)> func, std::string const &cname="")

std::shared_ptr< DynamicParameter< T > >	addDynamicParameter (std::string const &name, std::string const &description, T const &defaultValue, ParameterCategory const &category)

std::shared_ptr< DynamicParameter< T > >	addDynamicParameter (std::string const &name, std::string const &description, T const &defaultValue, ValidValuesSpec< T > const &validValuesSpec, ParameterCategory const &category)

void	setDynamicParameterCallback (std::string const &name, std::function< void(T const &)> cb, bool callnow=true)

void	removeDynamicParameter (std::string const &name, bool throw_if_not_found=true)

void	setPath (std::string const &path)

std::filesystem::path	absolutePath (std::filesystem::path const &path="")

std::shared_ptr< Comp >	addSubComponent (std::string const &instance, Args &&...args)

void	removeSubComponent (std::shared_ptr< Comp > &component)

void	removeSubComponent (std::string const &instance, bool warnIfNotFound=true)

std::shared_ptr< Comp >	getSubComponent (std::string const &instance) const

bool	isTopLevel () const

bool	initialized () const

std::string const &	className () const

std::string const &	instanceName () const

std::vector< std::string >	setParamVal (std::string const &paramdescriptor, T const &val)

void	setParamValUnique (std::string const &paramdescriptor, T const &val)

std::vector< std::pair< std::string, T > >	getParamVal (std::string const &paramdescriptor) const

T	getParamValUnique (std::string const &paramdescriptor) const

std::vector< std::string >	setParamString (std::string const &paramdescriptor, std::string const &val)

void	setParamStringUnique (std::string const &paramdescriptor, std::string const &val)

std::vector< std::pair< std::string, std::string > >	getParamString (std::string const &paramdescriptor) const

std::string	getParamStringUnique (std::string const &paramdescriptor) const

void	freezeParam (std::string const &paramdescriptor, bool doit)

void	freezeAllParams (bool doit)

std::string	descriptor () const

void	setParamsFromFile (std::string const &filename)

std::istream &	setParamsFromStream (std::istream &is, std::string const &absfile)

virtual void	paramInfo (std::shared_ptr< UserInterface > s, std::map< std::string, std::string > &categs, bool skipFrozen, std::string const &cname="", std::string const &pfx="")

void	foreachParam (std::function< void(std::string const &compname, ParameterBase *p)> func, std::string const &cname="")

std::shared_ptr< DynamicParameter< T > >	addDynamicParameter (std::string const &name, std::string const &description, T const &defaultValue, ParameterCategory const &category)

std::shared_ptr< DynamicParameter< T > >	addDynamicParameter (std::string const &name, std::string const &description, T const &defaultValue, ValidValuesSpec< T > const &validValuesSpec, ParameterCategory const &category)

void	setDynamicParameterCallback (std::string const &name, std::function< void(T const &)> cb, bool callnow=true)

void	removeDynamicParameter (std::string const &name, bool throw_if_not_found=true)

void	setPath (std::string const &path)

std::filesystem::path	absolutePath (std::filesystem::path const &path="")

Public Member Functions inherited from jevois::ParameterRegistry
virtual	~ParameterRegistry ()

Protected Attributes
std::shared_ptr< ArUco >	itsArUco

std::shared_ptr< QRcode >	itsQRcode

std::shared_ptr< ARtoolkit >	itsARtoolkit

Additional Inherited Members
Protected Member Functions inherited from jevois::StdModule
void	sendSerialMarkStart ()

void	sendSerialMarkStop ()

std::string	getStamp () const

Protected Member Functions inherited from jevois::Component
virtual void	preInit ()

virtual void	postInit ()

virtual void	preUninit ()

virtual void	postUninit ()

virtual void	preInit ()

virtual void	postInit ()

virtual void	preUninit ()

virtual void	postUninit ()

Protected Member Functions inherited from jevois::ParameterRegistry
void	addParameter (ParameterBase *const param)

void	removeParameter (ParameterBase *const param)

void	callbackInitCall ()

Detailed Description

Simple demo of QRcode + ARtoolkit + ArUco markers detection and decoding.

Detect and decode 3 kinds of coded patterns which can be useful to a robot:

QR-codes as in DemoQRcode
AR-toolkit markers as in DemoARtoolkit
ArUco markers as in DemoArUco

The three algorithms run in parallel. You should be able to sustain 50 frames/s at 320x240 camera resolution, and 20 frames/s at 640x480 camera resolution.

Serial Messages

This module can send standardized serial messages as described in Standardized serial messages formatting.

When dopose is turned on, 3D messages will be sent, otherwise 2D messages.

One message is issued for every detected marker, on every video frame.

2D messages when msg3d and dopose are off:

Serial message type: 2D
id: decoded marker ID (with prefix 'U' for ArUco, or 'A' for ARtoolkit), or type of symbol (e.g., QR-Code, ISBN13, etc).
x, y, or vertices: standardized 2D coordinates of marker center or corners
w, h: standardized marker size
extra: none (empty string) for ArUco and ARtoolkit markers, otherwise decoded barcode or QRcode content.

3D messages when msg3d and dopose are on:

Serial message type: 3D
id: decoded marker ID (with prefix 'U' for ArUco, or 'A' for ARtoolkit), or type of symbol (e.g., QR-Code, ISBN13, etc).
x, y, z, or vertices: 3D coordinates in millimeters of marker center or corners
w, h, d: marker size in millimeters, a depth of 1mm is always used
extra: none (empty string) for ArUco and ARtoolkit markers, otherwise decoded barcode or QRcode content.

If you will use the quaternion data (Detail message style; see Standardized serial messages formatting), you should probably set the serprec parameter to something non-zero to get enough accuracy in the quaternion values.

See Standardized serial messages formatting for more on standardized serial messages, and Helper functions to convert coordinates from camera resolution to standardized for more info on standardized coordinates.

Author: Laurent Itti

Videomapping:: NONE 0 0 0 YUYV 320 240 30.0 JeVois MarkersCombo

Videomapping:: YUYV 320 306 50.0 YUYV 320 240 50.0 JeVois MarkersCombo

Videomapping:: YUYV 640 546 20.0 YUYV 640 480 20.0 JeVois MarkersCombo

Email:: itti@usc.edu

Address:: University of Southern California, HNB-07A, 3641 Watt Way, Los Angeles, CA 90089-2520, USA

Copyright: Copyright (C) 2016 by Laurent Itti, iLab and the University of Southern California

Main URL:: http://jevois.org

Support URL:: http://jevois.org/doc

Other URL:: http://iLab.usc.edu

License:: GPL v3

Distribution:: Unrestricted

Restrictions:: None

Definition at line 85 of file MarkersCombo.C.

Constructor & Destructor Documentation

◆ MarkersCombo()

MarkersCombo::MarkersCombo ( std::string const & instance )

inline

Constructor.

Definition at line 91 of file MarkersCombo.C.

References itsARtoolkit, itsArUco, and itsQRcode.

◆ ~MarkersCombo()

virtual MarkersCombo::~MarkersCombo ( )

inlinevirtual

Virtual destructor for safe inheritance.

Definition at line 101 of file MarkersCombo.C.

Member Function Documentation

◆ process() [1/3]

virtual void MarkersCombo::process ( jevois::InputFrame && inframe )

inlineoverridevirtual

Processing function, no video output.

Reimplemented from jevois::Module.

Definition at line 107 of file MarkersCombo.C.

References jevois::async(), itsARtoolkit, itsArUco, and itsQRcode.

◆ process() [2/3]

virtual void MarkersCombo::process	(	jevois::InputFrame &&	inframe,
		jevois::GUIhelper &	helper
	)

inlineoverridevirtual

Processing function with GUI output.

Reimplemented from jevois::Module.

Definition at line 210 of file MarkersCombo.C.

References jevois::async(), jevois::rawimage::convertToCvGray(), jevois::GUIhelper::drawInputFrame(), jevois::GUIhelper::endFrame(), h, jevois::RawImage::height, jevois::GUIhelper::iinfo(), jevois::GUIhelper::itext(), itsARtoolkit, itsArUco, itsQRcode, jevois::Timer::start(), jevois::GUIhelper::startFrame(), jevois::Timer::stop(), and jevois::RawImage::width.

◆ process() [3/3]

virtual void MarkersCombo::process	(	jevois::InputFrame &&	inframe,
		jevois::OutputFrame &&	outframe
	)

inlineoverridevirtual

Processing function with video output to USB.

Reimplemented from jevois::Module.

Definition at line 136 of file MarkersCombo.C.

References jevois::async(), jevois::yuyv::Black, jevois::rawimage::convertToCvGray(), jevois::rawimage::drawFilledRect(), jevois::RawImage::fmt, h, jevois::RawImage::height, itsARtoolkit, itsArUco, itsQRcode, jevois::rawimage::paste(), jevois::RawImage::require(), jevois::Timer::start(), jevois::Timer::stop(), jevois::yuyv::White, jevois::RawImage::width, and jevois::rawimage::writeText().

Member Data Documentation

◆ itsARtoolkit

std::shared_ptr<ARtoolkit> MarkersCombo::itsARtoolkit

protected

Definition at line 278 of file MarkersCombo.C.

Referenced by MarkersCombo(), process(), process(), and process().

◆ itsArUco

std::shared_ptr<ArUco> MarkersCombo::itsArUco

protected

Definition at line 276 of file MarkersCombo.C.

Referenced by MarkersCombo(), process(), process(), and process().

◆ itsQRcode

std::shared_ptr<QRcode> MarkersCombo::itsQRcode

protected

Definition at line 277 of file MarkersCombo.C.

Referenced by MarkersCombo(), process(), process(), and process().

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

src/Modules/MarkersCombo/MarkersCombo.C

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Serial Messages

Constructor & Destructor Documentation

◆ MarkersCombo()

◆ ~MarkersCombo()

Member Function Documentation

◆ process() [1/3]

◆ process() [2/3]

◆ process() [3/3]

Member Data Documentation

◆ itsARtoolkit

◆ itsArUco

◆ itsQRcode