.. _program_listing_file__tmp_ws_src_aruco_ros_aruco_include_aruco_fractallabelers_fractallabeler.h:

Program Listing for File fractallabeler.h
=========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_aruco_ros_aruco_include_aruco_fractallabelers_fractallabeler.h>` (``/tmp/ws/src/aruco_ros/aruco/include/aruco/fractallabelers/fractallabeler.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   #include "../markerlabeler.h"
   #include "fractalposetracker.h"
   
   namespace aruco
   {
   class FractalMarkerLabeler : public MarkerLabeler
   {
   public:
     static cv::Ptr<FractalMarkerLabeler> create(std::string params)
     {
       FractalMarkerSet fractalMarkerSet = FractalMarkerSet::load(params);
       FractalMarkerLabeler* fml = new FractalMarkerLabeler();
       fml->setConfiguration(fractalMarkerSet);
       return fml;
     }
   
     static cv::Ptr<FractalMarkerLabeler> create(FractalMarkerSet::CONF_TYPES conf)
     {
       FractalMarkerSet fractalMarkerSet = FractalMarkerSet::loadPredefined(conf);
       FractalMarkerLabeler* fml = new FractalMarkerLabeler();
       fml->setConfiguration(fractalMarkerSet);
       return fml;
     }
   
     void setConfiguration(const FractalMarkerSet& fractMarkerSet);
   
     static bool isFractalDictionaryFile(const std::string& path);
   
     virtual ~FractalMarkerLabeler()
     {
     }
   
     bool load(const std::string& path);
   
     // returns the configuration name
     std::string getName() const;
   
     // main virtual class to o detection
     bool detect(const cv::Mat& in, int& marker_id, int& nRotations, std::string& additionalInfo);
   
     int getNSubdivisions() const
     {
       return (sqrt(_fractalMarkerSet.nBits()) + 2);
     }
   
     FractalMarkerSet _fractalMarkerSet;
   
   private:
     bool getInnerCode(const cv::Mat& thres_img, int total_nbits, std::vector<cv::Mat>& ids);
     cv::Mat rotate(const cv::Mat& in);
   };
   }  // namespace aruco