arucofidmarkers.h

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/*****************************
Copyright 2011 Rafael Muñoz Salinas. All rights reserved.

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#ifndef ArucoFiducicalMarkerDetector_H
#define ArucoFiducicalMarkerDetector_H
#include <opencv2/core/core.hpp>
#include "exports.h"
#include "marker.h"
#include "board.h"
namespace aruco {

class ARUCO_EXPORTS FiducidalMarkers {
  public:
    static cv::Mat createMarkerImage(int id, int size, bool writeIdWaterMark = true, bool locked = false) throw(cv::Exception);

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

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

  private:
    static vector< int > getListOfValidMarkersIds_random(int nMarkers, vector< int > *excluded) throw(cv::Exception);
    static cv::Mat rotate(const cv::Mat &in);
    static int hammDistMarker(cv::Mat bits);
    static int analyzeMarkerImage(cv::Mat &grey, int &nRotations);
    static bool correctHammMarker(cv::Mat &bits);
};
}

#endif