arucofidmarkers.h
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00001 /*****************************
00002 Copyright 2011 Rafael Muñoz Salinas. All rights reserved.
00003 
00004 Redistribution and use in source and binary forms, with or without modification, are
00005 permitted provided that the following conditions are met:
00006 
00007    1. Redistributions of source code must retain the above copyright notice, this list of
00008       conditions and the following disclaimer.
00009 
00010    2. Redistributions in binary form must reproduce the above copyright notice, this list
00011       of conditions and the following disclaimer in the documentation and/or other materials
00012       provided with the distribution.
00013 
00014 THIS SOFTWARE IS PROVIDED BY Rafael Muñoz Salinas ''AS IS'' AND ANY EXPRESS OR IMPLIED
00015 WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
00016 FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Rafael Muñoz Salinas OR
00017 CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00018 CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00019 SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
00020 ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
00021 NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
00022 ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00023 
00024 The views and conclusions contained in the software and documentation are those of the
00025 authors and should not be interpreted as representing official policies, either expressed
00026 or implied, of Rafael Muñoz Salinas.
00027 ********************************/
00028 
00029 #ifndef ArucoFiducicalMarkerDetector_H
00030 #define ArucoFiducicalMarkerDetector_H
00031 #include <opencv2/core/core.hpp>
00032 #include "exports.h"
00033 #include "marker.h"
00034 #include "board.h"
00035 namespace aruco {
00036 
00037 class ARUCO_EXPORTS FiducidalMarkers {
00038 public:
00066     static cv::Mat createMarkerImage(int id,int size,bool writeIdWaterMark=true) throw (cv::Exception);
00067 
00073     static int detect(const cv::Mat &in,int &nRotations);
00074 
00077     static cv::Mat getMarkerMat(int id) throw (cv::Exception);
00078 
00079 
00087     static  cv::Mat createBoardImage( cv::Size  gridSize,int MarkerSize,int MarkerDistance,  BoardConfiguration& TInfo ,vector<int> *excludedIds=NULL ) throw (cv::Exception);
00088 
00089 
00097     static  cv::Mat  createBoardImage_ChessBoard( cv::Size gridSize,int MarkerSize, BoardConfiguration& TInfo ,bool setDataCentered=true ,vector<int> *excludedIds=NULL) throw (cv::Exception);
00098 
00107     static  cv::Mat  createBoardImage_Frame( cv::Size gridSize,int MarkerSize,int MarkerDistance,  BoardConfiguration& TInfo ,bool setDataCentered=true,vector<int> *excludedIds=NULL ) throw (cv::Exception);
00108 
00109 private:
00110   
00111     static vector<int> getListOfValidMarkersIds_random(int nMarkers,vector<int> *excluded) throw (cv::Exception);
00112     static  cv::Mat rotate(const cv::Mat & in);
00113     static  int hammDistMarker(cv::Mat  bits);
00114     static  int analyzeMarkerImage(cv::Mat &grey,int &nRotations);
00115     static  bool correctHammMarker(cv::Mat &bits);
00116 };
00117 
00118 }
00119 
00120 #endif


ar_sys
Author(s): Hamdi Sahloul , Rafael Muñoz Salinas , Bence Magyar
autogenerated on Thu Aug 27 2015 12:23:55