arucofidmarkers.h

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/*****************************
Copyright 2011 Rafael Muñoz Salinas. All rights reserved.

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#ifndef ArucoFiducicalMarkerDetector_H
#define ArucoFiducicalMarkerDetector_H
#include <opencv2/core/core.hpp>
#include <aruco/exports.h>
#include <aruco/marker.h>
#include <aruco/board.h>
namespace aruco {

class ARUCO_EXPORTS FiducidalMarkers {
public:
    static cv::Mat createMarkerImage(int id,int size) throw (cv::Exception);

    static int detect(const cv::Mat &in,int &nRotations);

    static cv::Mat getMarkerMat(int id) throw (cv::Exception);


    static  cv::Mat createBoardImage( cv::Size  gridSize,int MarkerSize,int MarkerDistance,  BoardConfiguration& TInfo ,vector<int> *excludedIds=NULL ) throw (cv::Exception);


    static  cv::Mat  createBoardImage_ChessBoard( cv::Size gridSize,int MarkerSize, BoardConfiguration& TInfo ,bool setDataCentered=true ,vector<int> *excludedIds=NULL) throw (cv::Exception);

    static  cv::Mat  createBoardImage_Frame( cv::Size gridSize,int MarkerSize,int MarkerDistance,  BoardConfiguration& TInfo ,bool setDataCentered=true,vector<int> *excludedIds=NULL ) throw (cv::Exception);

private:
  
    static vector<int> getListOfValidMarkersIds_random(int nMarkers,vector<int> *excluded) throw (cv::Exception);
    static  cv::Mat rotate(const cv::Mat & in);
    static  int hammDistMarker(cv::Mat  bits);
    static  int analyzeMarkerImage(cv::Mat &grey,int &nRotations);
};

}

#endif