#include <arucofidmarkers.h>

Static Public Member Functions
static cv::Mat	createBoardImage (cv::Size gridSize, int MarkerSize, int MarkerDistance, BoardConfiguration &TInfo, vector< int > *excludedIds=NULL) throw (cv::Exception)

static cv::Mat	createBoardImage (cv::Size gridSize, int MarkerSize, int MarkerDistance, BoardConfiguration &TInfo, vector< int > *excludedIds=NULL) throw (cv::Exception)

static cv::Mat	createBoardImage_ChessBoard (cv::Size gridSize, int MarkerSize, BoardConfiguration &TInfo, bool setDataCentered=true, vector< int > *excludedIds=NULL) throw (cv::Exception)

static cv::Mat	createBoardImage_ChessBoard (cv::Size gridSize, int MarkerSize, BoardConfiguration &TInfo, bool setDataCentered=true, vector< int > *excludedIds=NULL) throw (cv::Exception)

static cv::Mat	createBoardImage_Frame (cv::Size gridSize, int MarkerSize, int MarkerDistance, BoardConfiguration &TInfo, bool setDataCentered=true, vector< int > *excludedIds=NULL) throw (cv::Exception)

static cv::Mat	createBoardImage_Frame (cv::Size gridSize, int MarkerSize, int MarkerDistance, BoardConfiguration &TInfo, bool setDataCentered=true, vector< int > *excludedIds=NULL) throw (cv::Exception)

static cv::Mat	createMarkerImage (int id, int size) throw (cv::Exception)
	Creates an ar marker with the id specified using a modified version of the hamming code. There are two type of markers: a) These of 10 bits b) these of 3 bits. The latter are employed for applications that need few marker but they must be small. The two type of markers are distinguished by their ids. While the first type of markers have ids in the interval [0-1023], the second type ids in the interval [2000-2006]. More...

static cv::Mat	createMarkerImage (int id, int size) throw (cv::Exception)
	Creates an ar marker with the id specified using a modified version of the hamming code. There are two type of markers: a) These of 10 bits b) these of 3 bits. The latter are employed for applications that need few marker but they must be small. The two type of markers are distinguished by their ids. While the first type of markers have ids in the interval [0-1023], the second type ids in the interval [2000-2006]. More...

static int	detect (const cv::Mat &in, int &nRotations)

static int	detect (const cv::Mat &in, int &nRotations)

static cv::Mat	getMarkerMat (int id) throw (cv::Exception)

static cv::Mat	getMarkerMat (int id) throw (cv::Exception)

Static Private Member Functions
static int	analyzeMarkerImage (cv::Mat &grey, int &nRotations)

static int	analyzeMarkerImage (cv::Mat &grey, int &nRotations)

static vector< int >	getListOfValidMarkersIds_random (int nMarkers, vector< int > *excluded) throw (cv::Exception)

static vector< int >	getListOfValidMarkersIds_random (int nMarkers, vector< int > *excluded) throw (cv::Exception)

static int	hammDistMarker (cv::Mat bits)

static int	hammDistMarker (cv::Mat bits)

static cv::Mat	rotate (const cv::Mat &in)

static cv::Mat	rotate (const cv::Mat &in)

Detailed Description

Definition at line 37 of file aruco/include/aruco/arucofidmarkers.h.

Member Function Documentation

static int aruco::FiducidalMarkers::analyzeMarkerImage	(	cv::Mat &	grey,
		int &	nRotations
	)

staticprivate

static int aruco::FiducidalMarkers::analyzeMarkerImage	(	cv::Mat &	grey,
		int &	nRotations
	)

staticprivate

static cv::Mat aruco::FiducidalMarkers::createBoardImage	(	cv::Size	gridSize,
		int	MarkerSize,
		int	MarkerDistance,
		BoardConfiguration &	TInfo,
		vector< int > *	excludedIds = `NULL`
	)
throw	(	cv::Exception
	)

static

Creates a printable image of a board

Parameters

gridSize	grid layout (numer of sqaures in x and Y)
MarkerSize	size of markers sides in pixels
MarkerDistance	distance between the markers
TInfo	output
excludedIds	set of ids excluded from the board

static cv::Mat aruco::FiducidalMarkers::createBoardImage	(	cv::Size	gridSize,
		int	MarkerSize,
		int	MarkerDistance,
		BoardConfiguration &	TInfo,
		vector< int > *	excludedIds = `NULL`
	)
throw	(	cv::Exception
	)

static

Creates a printable image of a board

Parameters

gridSize	grid layout (numer of sqaures in x and Y)
MarkerSize	size of markers sides in pixels
MarkerDistance	distance between the markers
TInfo	output
excludedIds	set of ids excluded from the board

static cv::Mat aruco::FiducidalMarkers::createBoardImage_ChessBoard	(	cv::Size	gridSize,
		int	MarkerSize,
		BoardConfiguration &	TInfo,
		bool	setDataCentered = `true`,
		vector< int > *	excludedIds = `NULL`
	)
throw	(	cv::Exception
	)

static

Creates a printable image of a board in chessboard_like manner

Parameters

gridSize	grid layout (numer of sqaures in x and Y)
MarkerSize	size of markers sides in pixels
TInfo	output
setDataCentered	indicates if the center is set at the center of the board. Otherwise it is the left-upper corner

static cv::Mat aruco::FiducidalMarkers::createBoardImage_ChessBoard	(	cv::Size	gridSize,
		int	MarkerSize,
		BoardConfiguration &	TInfo,
		bool	setDataCentered = `true`,
		vector< int > *	excludedIds = `NULL`
	)
throw	(	cv::Exception
	)

static

Creates a printable image of a board in chessboard_like manner

Parameters

gridSize	grid layout (numer of sqaures in x and Y)
MarkerSize	size of markers sides in pixels
TInfo	output
setDataCentered	indicates if the center is set at the center of the board. Otherwise it is the left-upper corner

static cv::Mat aruco::FiducidalMarkers::createBoardImage_Frame	(	cv::Size	gridSize,
		int	MarkerSize,
		int	MarkerDistance,
		BoardConfiguration &	TInfo,
		bool	setDataCentered = `true`,
		vector< int > *	excludedIds = `NULL`
	)
throw	(	cv::Exception
	)

static

Creates a printable image of a board in a frame fashion

Parameters

gridSize	grid layout (numer of sqaures in x and Y)
MarkerSize	size of markers sides in pixels
MarkerDistance	distance between the markers
TInfo	output
setDataCentered	indicates if the center is set at the center of the board. Otherwise it is the left-upper corner

static cv::Mat aruco::FiducidalMarkers::createBoardImage_Frame	(	cv::Size	gridSize,
		int	MarkerSize,
		int	MarkerDistance,
		BoardConfiguration &	TInfo,
		bool	setDataCentered = `true`,
		vector< int > *	excludedIds = `NULL`
	)
throw	(	cv::Exception
	)

static

Creates a printable image of a board in a frame fashion

Parameters

gridSize	grid layout (numer of sqaures in x and Y)
MarkerSize	size of markers sides in pixels
MarkerDistance	distance between the markers
TInfo	output
setDataCentered	indicates if the center is set at the center of the board. Otherwise it is the left-upper corner

Mat aruco::FiducidalMarkers::createMarkerImage	(	int	id,
		int	size
	)
throw	(	cv::Exception
	)

static

Creates an ar marker with the id specified using a modified version of the hamming code. There are two type of markers: a) These of 10 bits b) these of 3 bits. The latter are employed for applications that need few marker but they must be small. The two type of markers are distinguished by their ids. While the first type of markers have ids in the interval [0-1023], the second type ids in the interval [2000-2006].

10 bits markers

There are a total of 5 rows of 5 cols. Each row encodes a total of 2 bits, so there are 2^10 bits:(0-1023).

The least significative bytes are first (from left-up to to right-bottom)

Example: the id = 110 (decimal) is be represented in binary as : 00 01 10 11 10.

Then, it will generate the following marker:

1st row encodes 00: 1 0 0 0 0 : hex 0x10
2nd row encodes 01: 1 0 1 1 1 : hex 0x17
3nd row encodes 10: 0 1 0 0 1 : hex 0x09
4th row encodes 11: 0 1 1 1 0 : hex 0x0e
5th row encodes 10: 0 1 0 0 1 : hex 0x09

Note that : The first bit, is the inverse of the hamming parity. This avoids the 0 0 0 0 0 to be valid These marker are detected by the function getFiduciadlMarker_Aruco_Type1

Definition at line 44 of file aruco/src/aruco/arucofidmarkers.cpp.

static cv::Mat aruco::FiducidalMarkers::createMarkerImage	(	int	id,
		int	size
	)
throw	(	cv::Exception
	)

static

Creates an ar marker with the id specified using a modified version of the hamming code. There are two type of markers: a) These of 10 bits b) these of 3 bits. The latter are employed for applications that need few marker but they must be small. The two type of markers are distinguished by their ids. While the first type of markers have ids in the interval [0-1023], the second type ids in the interval [2000-2006].

10 bits markers

There are a total of 5 rows of 5 cols. Each row encodes a total of 2 bits, so there are 2^10 bits:(0-1023).

The least significative bytes are first (from left-up to to right-bottom)

Example: the id = 110 (decimal) is be represented in binary as : 00 01 10 11 10.

Then, it will generate the following marker:

1st row encodes 00: 1 0 0 0 0 : hex 0x10
2nd row encodes 01: 1 0 1 1 1 : hex 0x17
3nd row encodes 10: 0 1 0 0 1 : hex 0x09
4th row encodes 11: 0 1 1 1 0 : hex 0x0e
5th row encodes 10: 0 1 0 0 1 : hex 0x09

Note that : The first bit, is the inverse of the hamming parity. This avoids the 0 0 0 0 0 to be valid These marker are detected by the function getFiduciadlMarker_Aruco_Type1

static int aruco::FiducidalMarkers::detect	(	const cv::Mat &	in,
		int &	nRotations
	)

static

Detection of fiducidal aruco markers (10 bits)

Parameters

in	input image with the patch that contains the possible marker
nRotations	number of 90deg rotations in clockwise direction needed to set the marker in correct position

Returns: -1 if the image passed is a not a valid marker, and its id in case it really is a marker

static int aruco::FiducidalMarkers::detect	(	const cv::Mat &	in,
		int &	nRotations
	)

static

Detection of fiducidal aruco markers (10 bits)

Parameters

in	input image with the patch that contains the possible marker
nRotations	number of 90deg rotations in clockwise direction needed to set the marker in correct position

Returns: -1 if the image passed is a not a valid marker, and its id in case it really is a marker

static vector<int> aruco::FiducidalMarkers::getListOfValidMarkersIds_random	(	int	nMarkers,
		vector< int > *	excluded
	)
throw	(	cv::Exception
	)

staticprivate

vector< int > aruco::FiducidalMarkers::getListOfValidMarkersIds_random	(	int	nMarkers,
		vector< int > *	excluded
	)
throw	(	cv::Exception
	)

staticprivate

Definition at line 426 of file aruco/src/aruco/arucofidmarkers.cpp.

static cv::Mat aruco::FiducidalMarkers::getMarkerMat	(	int	id	)
throw	(	cv::Exception
	)

static

Similar to createMarkerImage. Instead of returning a visible image, returns a 8UC1 matrix of 0s and 1s with the marker info

cv::Mat aruco::FiducidalMarkers::getMarkerMat	(	int	id	)
throw	(	cv::Exception
	)

static

Similar to createMarkerImage. Instead of returning a visible image, returns a 8UC1 matrix of 0s and 1s with the marker info

Definition at line 69 of file aruco/src/aruco/arucofidmarkers.cpp.

static int aruco::FiducidalMarkers::hammDistMarker ( cv::Mat bits )

staticprivate

static int aruco::FiducidalMarkers::hammDistMarker ( cv::Mat bits )

staticprivate

static cv::Mat aruco::FiducidalMarkers::rotate ( const cv::Mat & in )

staticprivate

static cv::Mat aruco::FiducidalMarkers::rotate ( const cv::Mat & in )

staticprivate

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

Static Public Member Functions

Static Private Member Functions

Detailed Description

Member Function Documentation

10 bits markers

10 bits markers