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Diffstat (limited to 'tracker-aruco/include/arucofidmarkers.h')
| -rw-r--r-- | tracker-aruco/include/arucofidmarkers.h | 119 |
1 files changed, 0 insertions, 119 deletions
diff --git a/tracker-aruco/include/arucofidmarkers.h b/tracker-aruco/include/arucofidmarkers.h deleted file mode 100644 index 2577bf92..00000000 --- a/tracker-aruco/include/arucofidmarkers.h +++ /dev/null @@ -1,119 +0,0 @@ -/***************************** -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.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 |