Program Listing for File TagFamily.h

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#ifndef APRILTAGS_TAGFAMILY_H_
#define APRILTAGS_TAGFAMILY_H_

#include <cmath>
#include <vector>

#include "apriltag_mit/AprilTags/TagCodes.h"
#include "apriltag_mit/AprilTags/TagDetection.h"
#include "apriltag_mit/AprilTags/Quad.h"
#include "apriltag_mit/AprilTags/GrayModel.h"
#include "apriltag_mit/AprilTags/FloatImage.h"

namespace AprilTags {

class TagFamily {
 public:
  explicit TagFamily(const TagCodes& tag_codes);

  unsigned payload_bits() const;
  unsigned dimension_bits() const;
  unsigned min_hamming() const;
  const std::vector<code_t>& codes() const;
  size_t num_codes() const;

  void set_error_recovery_bits(unsigned error_recovery_bits);
  void set_error_recovery_fraction(float v);

  code_t Code(unsigned id) const;

  TagDetection Decode(code_t obs_code) const;

  TagDetection DecodeQuad(const Quad& quad, const FloatImage& image,
                          unsigned black_border) const;

  bool IsGood(unsigned id, unsigned hamming_distance) const;

  GrayModel MakeGrayModel(const Quad& quad, const FloatImage& image,
                          unsigned black_border) const;

 private:
  const TagCodes& tag_codes_;

  const size_t num_codes_;

  unsigned error_recovery_bits_;
};

/* if the bits in w were arranged in a d*d grid and that grid was
 * rotated, what would the new bits in w be?
 * The bits are organized like this (for d = 3):
 *
 *  8 7 6       2 5 8      0 1 2
 *  5 4 3  ==>  1 4 7 ==>  3 4 5    (rotate90 applied twice)
 *  2 1 0       0 3 6      6 7 8
 */
code_t Rotate90DegCwise(code_t w, int d);

unsigned HammingDistance(code_t a, code_t b);

unsigned PopCount(code_t w);

}  // namespace AprilTags

#endif  // APRILTAGS_TAGFAMILY_H_