aruco::MarkerCode Class Reference

#include <highlyreliablemarkers.h>

Public Member Functions
unsigned int	distance (const MarkerCode &m, unsigned int &minRot) const
unsigned int	distance (const MarkerCode &m) const
void	fromString (std::string s)
bool	get (unsigned int pos, unsigned int rot=0) const
unsigned int	getId (unsigned int rot=0) const
cv::Mat	getImg (unsigned int pixSize) const
const std::vector< bool > &	getRotation (unsigned int rot) const
	MarkerCode (unsigned int n=0)
	MarkerCode (const MarkerCode &MC)
unsigned int	n () const
unsigned int	selfDistance (unsigned int &minRot) const
unsigned int	selfDistance () const
void	set (unsigned int pos, bool val, bool updateIds=true)
unsigned int	size () const
std::string	toString () const

Private Member Functions
unsigned int	hammingDistance (const std::vector< bool > &m1, const std::vector< bool > &m2) const

Private Attributes
std::vector< bool >	_bits [4]
unsigned int	_ids [4]
unsigned int	_n

Detailed Description

This class represent the internal code of a marker It does not include marker borders

Definition at line 49 of file highlyreliablemarkers.h.

Constructor & Destructor Documentation

MarkerCode() [1/2]

aruco::MarkerCode::MarkerCode

(

unsigned int

n = 0

)

Constructor, receive dimension of marker

Definition at line 44 of file highlyreliablemarkers.cpp.

MarkerCode() [2/2]

aruco::MarkerCode::MarkerCode

(

const MarkerCode &

MC

)

Copy Constructor

Definition at line 58 of file highlyreliablemarkers.cpp.

Member Function Documentation

distance() [1/2]

unsigned int aruco::MarkerCode::distance	(	const MarkerCode &	m,
		unsigned int &	minRot
	)		const

Return the rotation invariant distance to another marker, D(m1, m2) (Equation 6) Assign to minRot the rotation of minimun hamming distance. The rotation refers to the marker passed as parameter, m

Definition at line 119 of file highlyreliablemarkers.cpp.

distance() [2/2]

unsigned int aruco::MarkerCode::distance ( const MarkerCode &  m ) const

inline

Return the rotation invariant distance to another marker, D(m1, m2) (Equation 6) Same method as distance(MarkerCode m, uint &minRot), except this doesnt return minRot value.

Definition at line 122 of file highlyreliablemarkers.h.

fromString()

void aruco::MarkerCode::fromString

(

std::string

s

)

Read marker bits from a string of "0"s and "1"s

Definition at line 134 of file highlyreliablemarkers.cpp.

get()

bool aruco::MarkerCode::get ( unsigned int  pos, unsigned int  rot = 0  ) const

inline

Get a bit value in a specific rotation. The marker is refered as a unidimensional string of bits, i.e. pos=y*n+x

Definition at line 70 of file highlyreliablemarkers.h.

getId()

unsigned int aruco::MarkerCode::getId ( unsigned int  rot = 0 ) const

inline

Get id of a specific rotation as the number obtaiend from the concatenation of all the bits

Definition at line 64 of file highlyreliablemarkers.h.

getImg()

cv::Mat aruco::MarkerCode::getImg

(

unsigned int

pixSize

)

const

Convert marker to a cv::Mat image of (pixSize x pixSize) pixels It adds a black border of one cell size

Definition at line 160 of file highlyreliablemarkers.cpp.

getRotation()

const std::vector< bool >& aruco::MarkerCode::getRotation ( unsigned int  rot ) const

inline

Get the string of bits for a specific rotation

Definition at line 75 of file highlyreliablemarkers.h.

hammingDistance()

unsigned int aruco::MarkerCode::hammingDistance ( const std::vector< bool > &  m1, const std::vector< bool > &  m2  ) const

private

Return hamming distance between two bit vectors

Definition at line 186 of file highlyreliablemarkers.cpp.

n()

unsigned int aruco::MarkerCode::n ( ) const

inline

Return the value of marker dimension (n)

Definition at line 95 of file highlyreliablemarkers.h.

selfDistance() [1/2]

unsigned int aruco::MarkerCode::selfDistance

(

unsigned int &

minRot

)

const

Return the self distance S(m) of the marker (Equation 8) Assign to minRot the rotation of minimun hamming distance

Definition at line 104 of file highlyreliablemarkers.cpp.

selfDistance() [2/2]

unsigned int aruco::MarkerCode::selfDistance ( ) const

inline

Return the self distance S(m) of the marker (Equation 8) Same method as selfDistance(uint &minRot), except this doesnt return minRot value.

Definition at line 107 of file highlyreliablemarkers.h.

set()

void aruco::MarkerCode::set	(	unsigned int	pos,
		bool	val,
		bool	updateIds = true
	)

Set the value of a bit in a specific rotation The marker is refered as a unidimensional string of bits, i.e. pos=y*n+x This method assure consistency of the marker code:

• The rest of rotations are updated automatically when performing a modification
• The id values in all rotations are automatically updated too This is the only method to modify a bit value

Definition at line 70 of file highlyreliablemarkers.cpp.

size()

unsigned int aruco::MarkerCode::size ( ) const

inline

Return the full size of the marker (n*n)

Definition at line 90 of file highlyreliablemarkers.h.

toString()

std::string aruco::MarkerCode::toString

(

)

const

Convert marker to a string of "0"s and "1"s

Definition at line 145 of file highlyreliablemarkers.cpp.

Member Data Documentation

_bits

std::vector< bool > aruco::MarkerCode::_bits[4]

private

Definition at line 146 of file highlyreliablemarkers.h.

_ids

unsigned int aruco::MarkerCode::_ids[4]

private

Definition at line 145 of file highlyreliablemarkers.h.

_n

unsigned int aruco::MarkerCode::_n

private

Definition at line 147 of file highlyreliablemarkers.h.

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

• highlyreliablemarkers.h
• highlyreliablemarkers.cpp