29 #ifndef ArucoFiducicalMarkerDetector_H 30 #define ArucoFiducicalMarkerDetector_H 31 #include <opencv2/core/core.hpp> 32 #include <aruco/exports.h> 33 #include <aruco/marker.h> 34 #include <aruco/board.h> 65 static cv::Mat createMarkerImage(
int id,
int size)
throw (cv::Exception);
72 static int detect(
const cv::Mat &in,
int &nRotations);
76 static cv::Mat getMarkerMat(
int id)
throw (cv::Exception);
86 static cv::Mat createBoardImage( cv::Size gridSize,
int MarkerSize,
int MarkerDistance, BoardConfiguration& TInfo ,vector<int> *excludedIds=NULL ) throw (
cv::Exception);
96 static
cv::Mat createBoardImage_ChessBoard(
cv::Size gridSize,
int MarkerSize, BoardConfiguration& TInfo ,
bool setDataCentered=true ,vector<
int> *excludedIds=NULL) throw (
cv::Exception);
106 static
cv::Mat createBoardImage_Frame(
cv::Size gridSize,
int MarkerSize,
int MarkerDistance, BoardConfiguration& TInfo ,
bool setDataCentered=true,vector<
int> *excludedIds=NULL ) throw (
cv::Exception);
110 static vector<
int> getListOfValidMarkersIds_random(
int nMarkers,vector<
int> *excluded) throw (
cv::Exception);
112 static
int hammDistMarker(
cv::Mat bits);
113 static
int analyzeMarkerImage(
cv::Mat &grey,
int &nRotations);