AprilTags::TagFamily Class Reference

Generic class for all tag encoding families. More...

#include <TagFamily.h>

List of all members.

Classes
class	TableInitializer
	Initializes the static popCountTable. More...
Public Member Functions
void	decode (TagDetection &det, unsigned long long rCode) const
	Given an observed tag with code 'rCode', try to recover the id.
void	printHammingDistances () const
	Prints the hamming distances of the tag codes.
void	setErrorRecoveryBits (int b)
void	setErrorRecoveryFraction (float v)
	TagFamily (const TagCodes &tagCodes)
	The codes array is not copied internally and so must not be modified externally.
Static Public Member Functions
static int	hammingDistance (unsigned long long a, unsigned long long b)
	Computes the hamming distance between two unsigned long longs.
static int	popCount (unsigned long long w)
static unsigned char	popCountReal (unsigned long long w)
	How many bits are set in the unsigned long long?
static unsigned long long	rotate90 (unsigned long long w, int d)
Public Attributes
int	bits
	Number of bits in the tag. Must be n^2.
int	blackBorder
	Numer of pixels wide of the inner black border.
std::vector< unsigned long long >	codes
	The array of the codes. The id for a code is its index.
int	dimension
	Dimension of tag. e.g. for 16 bits, dimension=4. Must be sqrt(bits).
int	errorRecoveryBits
int	minimumHammingDistance
	Minimum hamming distance between any two codes.
Static Public Attributes
static class AprilTags::TagFamily::TableInitializer	initializer
static unsigned char	popCountTable [popCountTableSize]
static const int	popCountTableShift = 12
static const unsigned int	popCountTableSize = 1 << popCountTableShift

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Detailed Description

Generic class for all tag encoding families.

Definition at line 28 of file TagFamily.h.

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Constructor & Destructor Documentation

AprilTags::TagFamily::TagFamily

(

const TagCodes &

tagCodes

)

The codes array is not copied internally and so must not be modified externally.

Definition at line 29 of file TagFamily.cc.

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Member Function Documentation

void AprilTags::TagFamily::decode	(	TagDetection &	det,
		unsigned long long	rCode
	)		const

Given an observed tag with code 'rCode', try to recover the id.

Definition at line 84 of file TagFamily.cc.

int AprilTags::TagFamily::hammingDistance	(	unsigned long long	a,
		unsigned long long	b
	)		[static]

Computes the hamming distance between two unsigned long longs.

Definition at line 62 of file TagFamily.cc.

int AprilTags::TagFamily::popCount

(

unsigned long long

w

)

[static]

Definition at line 75 of file TagFamily.cc.

unsigned char AprilTags::TagFamily::popCountReal

(

unsigned long long

w

)

[static]

How many bits are set in the unsigned long long?

Definition at line 66 of file TagFamily.cc.

void AprilTags::TagFamily::printHammingDistances

(

)

const

Prints the hamming distances of the tag codes.

Definition at line 115 of file TagFamily.cc.

unsigned long long AprilTags::TagFamily::rotate90	(	unsigned long long	w,
		int	d
	)		[static]

Definition at line 46 of file TagFamily.cc.

void AprilTags::TagFamily::setErrorRecoveryBits

(

int

b

)

Definition at line 38 of file TagFamily.cc.

void AprilTags::TagFamily::setErrorRecoveryFraction

(

float

v

)

Definition at line 42 of file TagFamily.cc.

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Member Data Documentation

int AprilTags::TagFamily::bits

Number of bits in the tag. Must be n^2.

Definition at line 66 of file TagFamily.h.

int AprilTags::TagFamily::blackBorder

Numer of pixels wide of the inner black border.

Definition at line 63 of file TagFamily.h.

std::vector<unsigned long long> AprilTags::TagFamily::codes

The array of the codes. The id for a code is its index.

Definition at line 87 of file TagFamily.h.

int AprilTags::TagFamily::dimension

Dimension of tag. e.g. for 16 bits, dimension=4. Must be sqrt(bits).

Definition at line 69 of file TagFamily.h.

int AprilTags::TagFamily::errorRecoveryBits

Definition at line 84 of file TagFamily.h.

TagFamily::TableInitializer AprilTags::TagFamily::initializer [static]

Definition at line 137 of file TagFamily.cc.

int AprilTags::TagFamily::minimumHammingDistance

Minimum hamming distance between any two codes.

Definition at line 75 of file TagFamily.h.

unsigned char AprilTags::TagFamily::popCountTable [static]

Definition at line 91 of file TagFamily.h.

const int AprilTags::TagFamily::popCountTableShift = 12 [static]

Definition at line 89 of file TagFamily.h.

const unsigned int AprilTags::TagFamily::popCountTableSize = 1 << popCountTableShift [static]

Definition at line 90 of file TagFamily.h.

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

• TagFamily.h
• TagFamily.cc