aruco::Dictionary Class Reference

#include <dictionary.h>

Public Types
enum	DICT_TYPES : uint64_t {   ALL_DICTS = 0, ARUCO_MIP_36h12 = 1, ARUCO = 2, ARUCO_MIP_25h7 = 3,   ARUCO_MIP_16h3 = 4, ARTAG = 5, ARTOOLKITPLUS = 6, ARTOOLKITPLUSBCH = 7,   TAG16h5 = 8, TAG25h7 = 9, TAG25h9 = 10, TAG36h11 = 11,   TAG36h10 = 12, CHILITAGS = 13, CUSTOM = 14 }

Public Member Functions
int	at (uint64_t code)
MarkerMap	createMarkerMap (cv::Size gridSize, int MarkerSize, int MarkerDistance, const std::vector< int > &Ids, bool chess_board=false)
const std::map< uint64_t, uint16_t > &	getMapCode () const
cv::Mat	getMarkerImage_id (int id, int bit_size, bool addWaterMark=true, bool enclosed_corners=false, bool printExternalWhiteBorder=false, bool centralCircle=false)
	Dictionary::getMarkerImage_id. More...
std::string	getName () const
DICT_TYPES	getType () const
bool	is (uint64_t code) const
uint32_t	nbits () const
int	operator[] (uint64_t code)
uint64_t	size () const
uint32_t	tau () const

Static Public Member Functions
static uint64_t	computeDictionaryDistance (const Dictionary &d)
	Dictionary::computeDictionaryDistance. More...
static std::vector< std::string >	getDicTypes ()
static DICT_TYPES	getTypeFromString (std::string str)
static std::string	getTypeString (DICT_TYPES t)
static bool	isPredefinedDictinaryString (std::string str)
static Dictionary	load (std::string info)
static Dictionary	loadFromFile (std::string path)
static Dictionary	loadPredefined (DICT_TYPES type)
static Dictionary	loadPredefined (std::string type)

Private Member Functions
void	insert (uint64_t code, int id)

Static Private Member Functions
static void	fromVector (const std::vector< uint64_t > &codes, std::map< uint64_t, uint16_t > &code_id_map)

Private Attributes
std::map< uint64_t, uint16_t >	_code_id
std::string	_name
uint32_t	_nbits
uint32_t	_tau
DICT_TYPES	_type

Detailed Description

Represents a set of valid marker ids with a maximum size of 8x8 = 64 bits. In our approach, markers are seen as a pair code-id. The code is the internal binary code printed on the marker. Maximum size is 8x8 bits. The id is a smaller number you can use to identify it. You will use only the id

See enum DICT_TYPES for the set of dicitionaries availables

Definition at line 41 of file dictionary.h.

Member Enumeration Documentation

DICT_TYPES

enum aruco::Dictionary::DICT_TYPES : uint64_t

Enumerator
ALL_DICTS
ARUCO_MIP_36h12
ARUCO
ARUCO_MIP_25h7
ARUCO_MIP_16h3
ARTAG
ARTOOLKITPLUS
ARTOOLKITPLUSBCH
TAG16h5
TAG25h7
TAG25h9
TAG36h11
TAG36h10
CHILITAGS
CUSTOM

Definition at line 45 of file dictionary.h.

Member Function Documentation

at()

int aruco::Dictionary::at ( uint64_t  code )

inline

Definition at line 106 of file dictionary.h.

computeDictionaryDistance()

uint64_t aruco::Dictionary::computeDictionaryDistance ( const Dictionary &  dict )

static

Dictionary::computeDictionaryDistance.

Parameters

dict

Returns

Definition at line 3620 of file dictionary.cpp.

createMarkerMap()

MarkerMap aruco::Dictionary::createMarkerMap	(	cv::Size	gridSize,
		int	MarkerSize,
		int	MarkerDistance,
		const std::vector< int > &	Ids,
		bool	chess_board = false
	)

Todo:

use const auto &

Todo:

use const auto &

Definition at line 3544 of file dictionary.cpp.

fromVector()

void aruco::Dictionary::fromVector ( const std::vector< uint64_t > &  codes, std::map< uint64_t, uint16_t > &  code_id_map  )

staticprivate

Definition at line 101 of file dictionary.cpp.

getDicTypes()

vector< std::string > aruco::Dictionary::getDicTypes ( )

static

Definition at line 3536 of file dictionary.cpp.

getMapCode()

const std::map<uint64_t, uint16_t>& aruco::Dictionary::getMapCode ( ) const

inline

Definition at line 96 of file dictionary.h.

getMarkerImage_id()

cv::Mat aruco::Dictionary::getMarkerImage_id	(	int	id,
		int	bit_size,
		bool	addWaterMark = true,
		bool	enclosed_corners = false,
		bool	externalWhiteBorder = false,
		bool	centralCircle = false
	)

Dictionary::getMarkerImage_id.

Parameters

id

Returns

Definition at line 3348 of file dictionary.cpp.

getName()

std::string aruco::Dictionary::getName ( ) const

inline

Definition at line 91 of file dictionary.h.

getType()

DICT_TYPES aruco::Dictionary::getType ( ) const

inline

Definition at line 70 of file dictionary.h.

getTypeFromString()

Dictionary::DICT_TYPES aruco::Dictionary::getTypeFromString ( std::string  str )

static

Definition at line 3494 of file dictionary.cpp.

getTypeString()

std::string aruco::Dictionary::getTypeString ( DICT_TYPES  t )

static

Definition at line 3455 of file dictionary.cpp.

insert()

void aruco::Dictionary::insert ( uint64_t  code, int  id  )

inlineprivate

Definition at line 172 of file dictionary.h.

is()

bool aruco::Dictionary::is ( uint64_t  code ) const

inline

Definition at line 65 of file dictionary.h.

isPredefinedDictinaryString()

bool aruco::Dictionary::isPredefinedDictinaryString ( std::string  str )

static

Definition at line 3531 of file dictionary.cpp.

load()

Dictionary aruco::Dictionary::load ( std::string  info )

static

Loads a dictioanary using the string passed. If it is a string of the predefined dictionaries, then returns it. Otherwise, tries to load from a file

Definition at line 32 of file dictionary.cpp.

loadFromFile()

Dictionary aruco::Dictionary::loadFromFile ( std::string  path )

static

loads a dictionary defined in a file Please note that the parsing is very basic and you must be very strict.

Here is an example of a 3x3 dictionary of 3 markers 010 111 000 001 101 001 001 010 100

File: myown.dict

name MYOWN nbits 9 010001001 111101010 000001100

Definition at line 41 of file dictionary.cpp.

loadPredefined() [1/2]

Dictionary aruco::Dictionary::loadPredefined ( DICT_TYPES  type )

static

Definition at line 113 of file dictionary.cpp.

loadPredefined() [2/2]

Dictionary aruco::Dictionary::loadPredefined ( std::string  type )

static

Definition at line 108 of file dictionary.cpp.

nbits()

uint32_t aruco::Dictionary::nbits ( ) const

inline

Definition at line 81 of file dictionary.h.

operator[]()

int aruco::Dictionary::operator[] ( uint64_t  code )

inline

Definition at line 102 of file dictionary.h.

size()

uint64_t aruco::Dictionary::size ( ) const

inline

Definition at line 76 of file dictionary.h.

tau()

uint32_t aruco::Dictionary::tau ( ) const

inline

Definition at line 86 of file dictionary.h.

Member Data Documentation

_code_id

std::map<uint64_t, uint16_t> aruco::Dictionary::_code_id

private

Definition at line 179 of file dictionary.h.

_name

std::string aruco::Dictionary::_name

private

Definition at line 186 of file dictionary.h.

_nbits

uint32_t aruco::Dictionary::_nbits

private

Definition at line 182 of file dictionary.h.

_tau

uint32_t aruco::Dictionary::_tau

private

Definition at line 183 of file dictionary.h.

_type

DICT_TYPES aruco::Dictionary::_type

private

Definition at line 185 of file dictionary.h.

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

• dictionary.h
• dictionary.cpp