aruco::Dictionary Class Reference

#include <dictionary.h>

Public Types
enum	DICT_TYPES {   ARUCO, ARUCO_MIP_25h7, ARUCO_MIP_16h3, ARUCO_MIP_36h12,   ARTAG, ARTOOLKITPLUS, ARTOOLKITPLUSBCH, TAG16h5,   TAG25h7, TAG25h9, TAG36h11, TAG36h10 }

Public Member Functions
MarkerMap	createMarkerMap (cv::Size gridSize, int MarkerSize, int MarkerDistance, const std::vector< int > &Ids, bool chess_board=false) throw (cv::Exception)
const std::map< uint64_t, uint16_t > &	getMapCode () const
cv::Mat	getMarkerImage_id (int id, int bit_size, bool addWaterMark=true)
	Dictionary::getMarkerImage_id. More...
DICT_TYPES	getType () const
bool	is (uint64_t code) const
uint32_t	nbits () const
int	operator[] (uint64_t code)
void	readFromFile (std::string file) throw (cv::Exception)
void	readFromStream (std::istream &str) throw (cv::Exception)
void	saveToFile (std::string file) throw (cv::Exception)
void	saveToStream (std::ostream &str) throw (cv::Exception)
uint64_t	size () const
uint32_t	tau () const

Static Public Member Functions
static std::vector< std::string >	getDicTypes ()
static DICT_TYPES	getTypeFromString (std::string str) throw (cv::Exception)
static std::string	getTypeString (DICT_TYPES t) throw (cv::Exception)
static Dictionary	loadPredefined (DICT_TYPES type) throw (cv::Exception)
static Dictionary	loadPredefined (std::string type) throw (cv::Exception)

Private Member Functions
cv::Mat	getMarkerImage_code (uint64_t id, int nbits)
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
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 19 of file dictionary.h.

Member Enumeration Documentation

DICT_TYPES

enum aruco::Dictionary::DICT_TYPES

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

Definition at line 24 of file dictionary.h.

Member Function Documentation

createMarkerMap()

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

Definition at line 276 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 52 of file dictionary.cpp.

getDicTypes()

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

static

Definition at line 270 of file dictionary.cpp.

getMapCode()

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

inline

Definition at line 45 of file dictionary.h.

getMarkerImage_code()

cv::Mat aruco::Dictionary::getMarkerImage_code ( uint64_t  id, int  nbits  )

private

getMarkerImage_id()

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

Dictionary::getMarkerImage_id.

Parameters

id

Returns

Definition at line 191 of file dictionary.cpp.

getType()

DICT_TYPES aruco::Dictionary::getType ( ) const

inline

Definition at line 36 of file dictionary.h.

getTypeFromString()

Dictionary::DICT_TYPES aruco::Dictionary::getTypeFromString ( std::string  str ) throw ( cv::Exception )

static

Definition at line 253 of file dictionary.cpp.

getTypeString()

std::string aruco::Dictionary::getTypeString ( DICT_TYPES  t ) throw ( cv::Exception )

static

Definition at line 235 of file dictionary.cpp.

insert()

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

inlineprivate

Definition at line 76 of file dictionary.h.

is()

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

inline

Definition at line 34 of file dictionary.h.

loadPredefined() [1/2]

Dictionary aruco::Dictionary::loadPredefined ( DICT_TYPES  type ) throw ( cv::Exception )

static

Definition at line 63 of file dictionary.cpp.

loadPredefined() [2/2]

Dictionary aruco::Dictionary::loadPredefined ( std::string  type ) throw ( cv::Exception )

static

Definition at line 58 of file dictionary.cpp.

nbits()

uint32_t aruco::Dictionary::nbits ( ) const

inline

Definition at line 41 of file dictionary.h.

operator[]()

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

inline

Definition at line 48 of file dictionary.h.

readFromFile()

void aruco::Dictionary::readFromFile	(	std::string	file	)
throw	(	cv::Exception
	)

Definition at line 26 of file dictionary.cpp.

readFromStream()

void aruco::Dictionary::readFromStream	(	std::istream &	str	)
throw	(	cv::Exception
	)

Definition at line 41 of file dictionary.cpp.

saveToFile()

void aruco::Dictionary::saveToFile	(	std::string	file	)
throw	(	cv::Exception
	)

Definition at line 13 of file dictionary.cpp.

saveToStream()

void aruco::Dictionary::saveToStream	(	std::ostream &	str	)
throw	(	cv::Exception
	)

Definition at line 19 of file dictionary.cpp.

size()

uint64_t aruco::Dictionary::size ( ) const

inline

Definition at line 39 of file dictionary.h.

tau()

uint32_t aruco::Dictionary::tau ( ) const

inline

Definition at line 43 of file dictionary.h.

Member Data Documentation

_code_id

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

private

Definition at line 79 of file dictionary.h.

_nbits

uint32_t aruco::Dictionary::_nbits

private

Definition at line 81 of file dictionary.h.

_tau

uint32_t aruco::Dictionary::_tau

private

Definition at line 82 of file dictionary.h.

_type

DICT_TYPES aruco::Dictionary::_type

private

Definition at line 86 of file dictionary.h.

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

• dictionary.h
• dictionary.cpp