aruco::FractalMarkerSet Class Reference

#include <fractalmarkerset.h>

Public Types
enum	CONF_TYPES : uint64_t {   FRACTAL_2L_6 = 0, FRACTAL_3L_6 = 1, FRACTAL_4L_6 = 2, FRACTAL_5L_6 = 3,   CUSTOM = 4 }
enum	Fractal3DInfoType { NONE = -1, PIX = 0, METERS = 1, NORM = 2 }

Public Member Functions
cv::Mat	configureMat (int nVal, int kVal, int maxIter=10000)
	configureMat More...
FractalMarkerSet	convertToMeters (float fractalSize_meters)
void	create (std::vector< std::pair< int, int >> regionsConfig, float pixSize)
	create More...
int	dstMarker (const cv::Mat m)
int	dstMarkerToFractalDict (cv::Mat m)
int	dstMarkerToMarker (const cv::Mat m1, const cv::Mat m2)
cv::Mat	getFractalMarkerImage (int pixSize, bool border=false)
float	getFractalSize () const
std::map< int, std::vector< cv::Point3f > >	getInnerCorners ()
bool	isExpressedInMeters () const
bool	isExpressedInPixels () const
bool	isFractalMarker (cv::Mat &m, int nbits, int &id)
bool	isNormalize () const
int	nBits () const
FractalMarkerSet	normalize ()
void	saveToFile (cv::FileStorage &fs)

Static Public Member Functions
static void	_fromStream (FractalMarkerSet &configuration, std::istream &str)
static void	_toStream (FractalMarkerSet &configuration, std::ostream &str)
static std::vector< std::string >	getConfigurations ()
static CONF_TYPES	getTypeFromString (std::string str)
static std::string	getTypeString (FractalMarkerSet::CONF_TYPES t)
static bool	isPredefinedConfigurationString (std::string str)
static FractalMarkerSet	load (std::string info)
static FractalMarkerSet	loadPredefined (CONF_TYPES info)
static FractalMarkerSet	loadPredefined (std::string info)
static FractalMarkerSet	readFromFile (std::string path)

Public Attributes
std::map< int, FractalMarker >	fractalMarkerCollection
int	mInfoType
std::map< int, std::vector< int > >	nbits_fractalMarkerIDs

Private Attributes
int	_idExternal = 0
int	_nmarkers
std::string	config

Detailed Description

Definition at line 10 of file fractalmarkerset.h.

Member Enumeration Documentation

CONF_TYPES

enum aruco::FractalMarkerSet::CONF_TYPES : uint64_t

Enumerator
FRACTAL_2L_6
FRACTAL_3L_6
FRACTAL_4L_6
FRACTAL_5L_6
CUSTOM

Definition at line 13 of file fractalmarkerset.h.

Fractal3DInfoType

enum aruco::FractalMarkerSet::Fractal3DInfoType

Enumerator
NONE
PIX
METERS
NORM

Definition at line 74 of file fractalmarkerset.h.

Member Function Documentation

_fromStream()

void aruco::FractalMarkerSet::_fromStream ( FractalMarkerSet &  configuration, std::istream &  str  )

static

Definition at line 336 of file fractalmarkerset.cpp.

_toStream()

void aruco::FractalMarkerSet::_toStream ( FractalMarkerSet &  configuration, std::ostream &  str  )

static

Definition at line 308 of file fractalmarkerset.cpp.

configureMat()

cv::Mat aruco::FractalMarkerSet::configureMat	(	int	nVal,
		int	kVal,
		int	maxIter = 10000
	)

configureMat

configure bits of inner marker

Parameters

nVal	N region
kVal	K region
maxIter	Number of iteration

Returns

Mat configurated marker

Definition at line 433 of file fractalmarkerset.cpp.

convertToMeters()

FractalMarkerSet aruco::FractalMarkerSet::convertToMeters

(

float

fractalSize_meters

)

Definition at line 725 of file fractalmarkerset.cpp.

create()

void aruco::FractalMarkerSet::create	(	std::vector< std::pair< int, int >>	regionsConfig,
		float	pixSize
	)

create

create set of markers

Parameters

regionsConfig	{N(f1),K(f1)}{N(f2):K(f2)}...{N(fn):K(fn)}
pixSize

Definition at line 379 of file fractalmarkerset.cpp.

dstMarker()

int aruco::FractalMarkerSet::dstMarker

(

const cv::Mat

m

)

Definition at line 540 of file fractalmarkerset.cpp.

dstMarkerToFractalDict()

int aruco::FractalMarkerSet::dstMarkerToFractalDict

(

cv::Mat

m

)

Definition at line 503 of file fractalmarkerset.cpp.

dstMarkerToMarker()

int aruco::FractalMarkerSet::dstMarkerToMarker	(	const cv::Mat	m1,
		const cv::Mat	m2
	)

Definition at line 561 of file fractalmarkerset.cpp.

getConfigurations()

std::vector< std::string > aruco::FractalMarkerSet::getConfigurations ( )

static

Definition at line 303 of file fractalmarkerset.cpp.

getFractalMarkerImage()

cv::Mat aruco::FractalMarkerSet::getFractalMarkerImage	(	int	pixSize,
		bool	border = false
	)

Definition at line 786 of file fractalmarkerset.cpp.

getFractalSize()

float aruco::FractalMarkerSet::getFractalSize ( ) const

inline

Definition at line 110 of file fractalmarkerset.h.

getInnerCorners()

std::map< int, std::vector< cv::Point3f > > aruco::FractalMarkerSet::getInnerCorners

(

)

Definition at line 771 of file fractalmarkerset.cpp.

getTypeFromString()

FractalMarkerSet::CONF_TYPES aruco::FractalMarkerSet::getTypeFromString ( std::string  str )

static

Definition at line 289 of file fractalmarkerset.cpp.

getTypeString()

std::string aruco::FractalMarkerSet::getTypeString ( FractalMarkerSet::CONF_TYPES  t )

static

Definition at line 271 of file fractalmarkerset.cpp.

isExpressedInMeters()

bool aruco::FractalMarkerSet::isExpressedInMeters ( ) const

inline

Indicates if the corners are expressed in meters

Definition at line 84 of file fractalmarkerset.h.

isExpressedInPixels()

bool aruco::FractalMarkerSet::isExpressedInPixels ( ) const

inline

Indicates if the corners are expressed in meters

Definition at line 90 of file fractalmarkerset.h.

isFractalMarker()

bool aruco::FractalMarkerSet::isFractalMarker	(	cv::Mat &	m,
		int	nbits,
		int &	id
	)

Definition at line 696 of file fractalmarkerset.cpp.

isNormalize()

bool aruco::FractalMarkerSet::isNormalize ( ) const

inline

Indicates if the corners are normalized. -1..1 external marker

Definition at line 96 of file fractalmarkerset.h.

isPredefinedConfigurationString()

bool aruco::FractalMarkerSet::isPredefinedConfigurationString ( std::string  str )

static

Definition at line 266 of file fractalmarkerset.cpp.

load()

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

static

Definition at line 8 of file fractalmarkerset.cpp.

loadPredefined() [1/2]

FractalMarkerSet aruco::FractalMarkerSet::loadPredefined ( CONF_TYPES  info )

static

Definition at line 21 of file fractalmarkerset.cpp.

loadPredefined() [2/2]

FractalMarkerSet aruco::FractalMarkerSet::loadPredefined ( std::string  info )

static

Definition at line 16 of file fractalmarkerset.cpp.

nBits()

int aruco::FractalMarkerSet::nBits ( ) const

inline

Definition at line 117 of file fractalmarkerset.h.

normalize()

FractalMarkerSet aruco::FractalMarkerSet::normalize

(

)

Definition at line 748 of file fractalmarkerset.cpp.

readFromFile()

FractalMarkerSet aruco::FractalMarkerSet::readFromFile ( std::string  path )

static

Definition at line 579 of file fractalmarkerset.cpp.

saveToFile()

void aruco::FractalMarkerSet::saveToFile

(

cv::FileStorage &

fs

)

Definition at line 652 of file fractalmarkerset.cpp.

Member Data Documentation

_idExternal

int aruco::FractalMarkerSet::_idExternal = 0

private

Definition at line 138 of file fractalmarkerset.h.

_nmarkers

int aruco::FractalMarkerSet::_nmarkers

private

Definition at line 136 of file fractalmarkerset.h.

config

std::string aruco::FractalMarkerSet::config

private

Definition at line 140 of file fractalmarkerset.h.

fractalMarkerCollection

std::map<int, FractalMarker> aruco::FractalMarkerSet::fractalMarkerCollection

Definition at line 70 of file fractalmarkerset.h.

mInfoType

int aruco::FractalMarkerSet::mInfoType

Definition at line 132 of file fractalmarkerset.h.

nbits_fractalMarkerIDs

std::map<int, std::vector<int> > aruco::FractalMarkerSet::nbits_fractalMarkerIDs

Definition at line 72 of file fractalmarkerset.h.

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

• fractalmarkerset.h
• fractalmarkerset.cpp