00001 #include "aruco/board.h"
00002 #include <fstream>
00003 using namespace std;
00004 using namespace cv;
00005 namespace aruco {
00006
00007 cv::Mat Board::createBoardImage( Size gridSize,int MarkerSize,int MarkerDistance,unsigned int FirstMarkerID, BoardConfiguration& TInfo ) throw (cv::Exception)
00008 {
00009
00010 vector<vector<int> > MarkersIds;
00011
00012
00013 srand(time(NULL));
00014 TInfo._markersId.create(gridSize,CV_32SC1);
00015 int nMarkers=gridSize.height*gridSize.width;
00016 if (FirstMarkerID+nMarkers>=1024)
00017 throw cv::Exception(9189,"Creation of board impies a marker with an impossible id:","aruco::createBoard",__FILE__,__LINE__);
00018 unsigned int idp=0;
00019 for ( int i=0;i<gridSize.height;i++)
00020 for ( int j=0;j<gridSize.width;j++,idp++)
00021 TInfo._markersId.at<int>(i,j)=FirstMarkerID+idp;
00022
00023
00024
00025
00026 TInfo._markerSizePix=MarkerSize;
00027 TInfo._markerDistancePix=MarkerDistance;
00028
00029 int sizeY=gridSize.height*MarkerSize+(gridSize.height-1)*MarkerDistance;
00030 int sizeX=gridSize.width*MarkerSize+(gridSize.width-1)*MarkerDistance;
00031
00032 Mat tableImage(sizeY,sizeX,CV_8UC1);
00033 tableImage.setTo(Scalar(255));
00034 for (int y=0;y<gridSize.height;y++)
00035 for (int x=0;x<gridSize.width;x++) {
00036 Mat subrect(tableImage,Rect( x*(MarkerDistance+MarkerSize),y*(MarkerDistance+MarkerSize),MarkerSize,MarkerSize));
00037 Mat marker=Marker::createMarkerImage( TInfo._markersId.at<int>(y,x),MarkerSize);
00038 marker.copyTo(subrect);
00039 }
00040
00041 return tableImage;
00042 }
00047 BoardConfiguration::BoardConfiguration()
00048 {
00049 _markerSizePix=_markerDistancePix=-1;
00050 }
00055 BoardConfiguration::BoardConfiguration(const BoardConfiguration &T)
00056 {
00057 _markersId=T._markersId;
00058 _markerSizePix=T._markerSizePix;
00059 _markerDistancePix=T._markerDistancePix;
00060
00061 }
00066 void BoardConfiguration::saveToFile(string sfile)throw (cv::Exception)
00067 {
00068 ofstream file(sfile.c_str());
00069 if (!file) throw cv::Exception(9190,"File could not be opened for writing :"+sfile,"BoardConfiguration::saveToFile",__FILE__,__LINE__);
00070 file<<"ArucoBoard 1.0"<<endl;
00071 file<<_markersId.size().height<<" "<<_markersId.size().width<<" ";
00072 for ( int i=0;i<_markersId.size().height;i++) {
00073 for ( int j=0;j<_markersId.size().width;j++)
00074 file<<_markersId.at<int>(i,j)<<" ";
00075 }
00076 file<<endl;
00077 file<< _markerSizePix<<" "<<_markerDistancePix<<" "<<endl;
00078
00079 }
00084 void BoardConfiguration::readFromFile(string sfile)throw (cv::Exception)
00085 {
00086 ifstream file(sfile.c_str());
00087 if (!file) throw cv::Exception(9191,"File could not be opened fir reading :"+sfile,"BoardConfiguration::readFromFile",__FILE__,__LINE__);
00088 string sig,ver;
00089 file>>sig>>ver;
00090 if (sig!="ArucoBoard") throw cv::Exception(9191,"Invalid file type :"+sfile,"BoardConfiguration::readFromFile",__FILE__,__LINE__);
00091 if (ver!="1.0") throw cv::Exception(9191,"Invalid file version :"+sfile,"BoardConfiguration::readFromFile",__FILE__,__LINE__);
00092 Size size;
00093 file>>size.height>>size.width;
00094 _markersId.create(size,CV_32SC1);
00095 for ( int i=0;i<size.height;i++)
00096 for ( int j=0;j<size.width;j++)
00097 file>>_markersId.at<int>(i,j);
00098
00099 file>> _markerSizePix>>_markerDistancePix;
00100 }
00101
00102 }
