board.h
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00001 #ifndef _Aruco_board_h
00002 #define _Aruco_board_h
00003 #include <opencv/cv.h>
00004 #include <string>
00005 #include <vector>
00006 #include "marker.h"
00007 using namespace std;
00008 namespace aruco{
00013 class BoardConfiguration
00014 {
00015 public:
00016     cv::Mat _markersId;// grid of marker ids. Represent the matrix of (integers) markers in the board
00017     int _markerSizePix, _markerDistancePix;//size in pixels of the marker side and the distance between markers
00018 
00021     BoardConfiguration();
00022 
00025     BoardConfiguration(const BoardConfiguration  &T);
00026 
00029     void saveToFile(string sfile)throw (cv::Exception);
00032     void readFromFile(string sfile)throw (cv::Exception);
00033 
00034 };
00035 
00038 class Board:public vector<Marker>
00039 {
00040 public:
00041     BoardConfiguration conf;
00042     //matrices of rotation and translation respect to the camera
00043     cv::Mat Rvec,Tvec;
00044     float markerSizeMeters;
00047     Board()
00048     {
00049         Rvec.create(3,1,CV_32FC1);
00050         Tvec.create(3,1,CV_32FC1);
00051         for (int i=0;i<3;i++)
00052             Tvec.at<float>(i,0)=Rvec.at<float>(i,0)=-999999;
00053         markerSizeMeters=-1;
00054     }
00055 
00059     void glGetModelViewMatrix(double modelview_matrix[16])throw(cv::Exception);
00060 
00064     static cv::Mat createBoardImage( cv::Size  gridSize,int MarkerSize,int MarkerDistance,unsigned int FirstMarkerID, BoardConfiguration& TInfo  ) throw (cv::Exception);
00065 
00066 
00067 };
00068 }
00069 
00070 #endif


aruco_pose
Author(s): Julian Brunner
autogenerated on Mon Oct 6 2014 08:32:33