TagGenerator.hpp File Reference

Defines the OpenCV ArUco Generator. More...

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Functions
void	GenerateOpenCVArucoMarker (cv::aruco::PredefinedDictionaryType eDictionary, unsigned short sMarker)
	Generate an ArUco Tag.

Detailed Description

Defines the OpenCV ArUco Generator.

Author

Eli Byrd (edbgk.nosp@m.k@ms.nosp@m.t.edu), ClayJay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2023-07-09

Copyright

Copyright Mars Rover Design Team 2023 - All Rights Reserved

Function Documentation

GenerateOpenCVArucoMarker()

void GenerateOpenCVArucoMarker	(	cv::aruco::PredefinedDictionaryType	eDictionary,
		unsigned short	sMarker
	)

Generate an ArUco Tag.

Parameters

eDictionary	- The OpenCV Dictonary to pull from
sMarker	- The id of the marker to generate

Author

Eli Byrd (edbgk.nosp@m.k@ms.nosp@m.t.edu), ClayJay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2023-07-09

{
    switch (eDictionary)
    {
        case cv::aruco::DICT_4X4_50:
        case cv::aruco::DICT_5X5_50:
        case cv::aruco::DICT_6X6_50:
        case cv::aruco::DICT_7X7_50:
            if (sMarker > 49)
            {
                return;
            }
            break;
        case cv::aruco::DICT_4X4_100:
        case cv::aruco::DICT_5X5_100:
        case cv::aruco::DICT_6X6_100:
        case cv::aruco::DICT_7X7_100:
            if (sMarker > 99)
            {
                return;
            }
            break;
        case cv::aruco::DICT_4X4_250:
        case cv::aruco::DICT_5X5_250:
        case cv::aruco::DICT_6X6_250:
        case cv::aruco::DICT_7X7_250:
            if (sMarker > 249)
            {
                return;
            }
            break;
        case cv::aruco::DICT_4X4_1000:
        case cv::aruco::DICT_5X5_1000:
        case cv::aruco::DICT_6X6_1000:
        case cv::aruco::DICT_7X7_1000:
            if (sMarker > 999)
            {
                return;
            }
            break;
        default: break;
    }
 
    std::string szMarkerFilename = "marker";
    szMarkerFilename += std::to_string(eDictionary);
    szMarkerFilename += "_";
    szMarkerFilename += std::to_string(sMarker);
    szMarkerFilename += ".png";
 
    cv::Mat cvMarkerImage;
    cv::aruco::Dictionary cvDictionary = cv::aruco::getPredefinedDictionary(eDictionary);
    cv::aruco::generateImageMarker(cvDictionary, sMarker, 200, cvMarkerImage, 1);
    cv::imwrite(szMarkerFilename.c_str(), cvMarkerImage);
}

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