Marker detection

A marker is usually designed as a rectangle image holding black and white areas inside it. Due to known limitations, the marker detection procedure is a simple one. First of all we need to find closed contours on the input image and unwarp the image inside it to a rectangle and then check this against our marker model.

In this sample the 5 x 5 marker will be used. Here is what it looks like:

In the sample project that you will find in this book, the marker detection routine is encapsulated in the MarkerDetector class:

/**
 * A top-level class that encapsulate marker detector algorithm
 */
class MarkerDetector
{
public:
  
  /**
   * Initialize a new instance of marker detector object
   * @calibration[in] - Camera calibration necessary for pose estimation.
   */
  MarkerDetector(CameraCalibration calibration);
  
  void processFrame(const BGRAVideoFrame& frame);
  
  const std::vector<Transformation>& getTransformations() const;
  
  protected:
  bool findMarkers...