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Diffstat (limited to 'ftnoir_tracker_aruco/include/arucofidmarkers.h')
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diff --git a/ftnoir_tracker_aruco/include/arucofidmarkers.h b/ftnoir_tracker_aruco/include/arucofidmarkers.h new file mode 100644 index 00000000..7dad4672 --- /dev/null +++ b/ftnoir_tracker_aruco/include/arucofidmarkers.h @@ -0,0 +1,119 @@ +/***************************** +Copyright 2011 Rafael Muñoz Salinas. All rights reserved. + +Redistribution and use in source and binary forms, with or without modification, are +permitted provided that the following conditions are met: + + 1. Redistributions of source code must retain the above copyright notice, this list of + conditions and the following disclaimer. + + 2. Redistributions in binary form must reproduce the above copyright notice, this list + of conditions and the following disclaimer in the documentation and/or other materials + provided with the distribution. + +THIS SOFTWARE IS PROVIDED BY Rafael Muñoz Salinas ''AS IS'' AND ANY EXPRESS OR IMPLIED +WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND +FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Rafael Muñoz Salinas OR +CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON +ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING +NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF +ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + +The views and conclusions contained in the software and documentation are those of the +authors and should not be interpreted as representing official policies, either expressed +or implied, of Rafael Muñoz Salinas. +********************************/ + +#ifndef ArucoFiducicalMarkerDetector_H +#define ArucoFiducicalMarkerDetector_H +#include <opencv2/core/core.hpp> +#include "exports.h" +#include "marker.h" +#include "board.h" +namespace aruco { + +class ARUCO_EXPORTS FiducidalMarkers { +public: + /** + * \brief Creates an ar marker with the id specified using a modified version of the hamming code. + * There are two type of markers: a) These of 10 bits b) these of 3 bits. The latter are employed for applications + * that need few marker but they must be small. The two type of markers are distinguished by their ids. While the first type + * of markers have ids in the interval [0-1023], the second type ids in the interval [2000-2006]. + * + * + * 10 bits markers + * ----------------------- + * There are a total of 5 rows of 5 cols. Each row encodes a total of 2 bits, so there are 2^10 bits:(0-1023). + * + * The least significative bytes are first (from left-up to to right-bottom) + * + * Example: the id = 110 (decimal) is be represented in binary as : 00 01 10 11 10. + * + * Then, it will generate the following marker: + * + * -# 1st row encodes 00: 1 0 0 0 0 : hex 0x10 + * -# 2nd row encodes 01: 1 0 1 1 1 : hex 0x17 + * -# 3nd row encodes 10: 0 1 0 0 1 : hex 0x09 + * -# 4th row encodes 11: 0 1 1 1 0 : hex 0x0e + * -# 5th row encodes 10: 0 1 0 0 1 : hex 0x09 + * + * Note that : The first bit, is the inverse of the hamming parity. This avoids the 0 0 0 0 0 to be valid + * These marker are detected by the function getFiduciadlMarker_Aruco_Type1 + */ + static cv::Mat createMarkerImage(int id,int size) throw (cv::Exception); + + /** Detection of fiducidal aruco markers (10 bits) + * @param in input image with the patch that contains the possible marker + * @param nRotations number of 90deg rotations in clockwise direction needed to set the marker in correct position + * @return -1 if the image passed is a not a valid marker, and its id in case it really is a marker + */ + static int detect(const cv::Mat &in,int &nRotations); + + /**Similar to createMarkerImage. Instead of returning a visible image, returns a 8UC1 matrix of 0s and 1s with the marker info + */ + static cv::Mat getMarkerMat(int id) throw (cv::Exception); + + + /**Creates a printable image of a board + * @param gridSize grid layout (numer of sqaures in x and Y) + * @param MarkerSize size of markers sides in pixels + * @param MarkerDistance distance between the markers + * @param TInfo output + * @param excludedIds set of ids excluded from the board + */ + static cv::Mat createBoardImage( cv::Size gridSize,int MarkerSize,int MarkerDistance, BoardConfiguration& TInfo ,vector<int> *excludedIds=NULL ) throw (cv::Exception); + + + /**Creates a printable image of a board in chessboard_like manner + * @param gridSize grid layout (numer of sqaures in x and Y) + * @param MarkerSize size of markers sides in pixels + * @param TInfo output + * @param setDataCentered indicates if the center is set at the center of the board. Otherwise it is the left-upper corner + * + */ + static cv::Mat createBoardImage_ChessBoard( cv::Size gridSize,int MarkerSize, BoardConfiguration& TInfo ,bool setDataCentered=true ,vector<int> *excludedIds=NULL) throw (cv::Exception); + + /**Creates a printable image of a board in a frame fashion + * @param gridSize grid layout (numer of sqaures in x and Y) + * @param MarkerSize size of markers sides in pixels + * @param MarkerDistance distance between the markers + * @param TInfo output + * @param setDataCentered indicates if the center is set at the center of the board. Otherwise it is the left-upper corner + * + */ + 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); + static bool correctHammMarker(cv::Mat &bits); +}; + +} + +#endif |