dictionary_based.h

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Copyright 2016 Rafael Muñoz Salinas. All rights reserved.

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#ifndef ArucoDictionaryBasedMarkerDetector_H
#define ArucoDictionaryBasedMarkerDetector_H
#include <opencv2/core/core.hpp>
#include "exports.h"
#include "marker.h"
#include "markermap.h"
#include "markerlabeler.h"
#include "dictionary.h"
namespace aruco {
class ARUCO_EXPORTS DictionaryBased :public MarkerLabeler {
public:

    virtual ~DictionaryBased(){}
    //first, dictionary, second the maximum correction rate [0,1]. If 0,no correction, if 1, maximum allowed correction
    void setParams(const Dictionary &dic,float max_correction_rate);

    //main virtual class to o detection
    bool detect(const cv::Mat &in, int & marker_id,int &nRotations) ;
    //returns the dictionary name
    std::string getName()const;

private:

    bool  getInnerCode(const cv::Mat &thres_img, int total_nbits, vector<uint64_t> &ids);
    cv::Mat rotate(const cv::Mat &in) ;
    uint64_t touulong(const cv::Mat &code);
    Dictionary _dic;
    int _maxCorrectionAllowed;
     void toMat(uint64_t code,int nbits_sq,cv::Mat  &out) ;


};
}
#endif