Autonomy Software C++ 24.5.1
Welcome to the Autonomy Software repository of the Mars Rover Design Team (MRDT) at Missouri University of Science and Technology (Missouri S&T)! API reference contains the source code and other resources for the development of the autonomy software for our Mars rover. The Autonomy Software project aims to compete in the University Rover Challenge (URC) by demonstrating advanced autonomous capabilities and robust navigation algorithms.
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TagGenerator.hpp
Go to the documentation of this file.
1
11#include <opencv2/opencv.hpp>
12#include <string>
13
15
16
25void GenerateOpenCVArucoMarker(cv::aruco::PredefinedDictionaryType eDictionary, unsigned short sMarker)
26{
27 switch (eDictionary)
28 {
29 case cv::aruco::DICT_4X4_50:
30 case cv::aruco::DICT_5X5_50:
31 case cv::aruco::DICT_6X6_50:
32 case cv::aruco::DICT_7X7_50:
33 if (sMarker > 49)
34 {
35 return;
36 }
37 break;
38 case cv::aruco::DICT_4X4_100:
39 case cv::aruco::DICT_5X5_100:
40 case cv::aruco::DICT_6X6_100:
41 case cv::aruco::DICT_7X7_100:
42 if (sMarker > 99)
43 {
44 return;
45 }
46 break;
47 case cv::aruco::DICT_4X4_250:
48 case cv::aruco::DICT_5X5_250:
49 case cv::aruco::DICT_6X6_250:
50 case cv::aruco::DICT_7X7_250:
51 if (sMarker > 249)
52 {
53 return;
54 }
55 break;
56 case cv::aruco::DICT_4X4_1000:
57 case cv::aruco::DICT_5X5_1000:
58 case cv::aruco::DICT_6X6_1000:
59 case cv::aruco::DICT_7X7_1000:
60 if (sMarker > 999)
61 {
62 return;
63 }
64 break;
65 default: break;
66 }
67
68 std::string szMarkerFilename = "marker";
69 szMarkerFilename += std::to_string(eDictionary);
70 szMarkerFilename += "_";
71 szMarkerFilename += std::to_string(sMarker);
72 szMarkerFilename += ".png";
73
74 cv::Mat cvMarkerImage;
75 cv::aruco::Dictionary cvDictionary = cv::aruco::getPredefinedDictionary(eDictionary);
76 cv::aruco::generateImageMarker(cvDictionary, sMarker, 200, cvMarkerImage, 1);
77 cv::imwrite(szMarkerFilename.c_str(), cvMarkerImage);
78}
GenerateOpenCVArucoMarker
void GenerateOpenCVArucoMarker(cv::aruco::PredefinedDictionaryType eDictionary, unsigned short sMarker)
Generate an ArUco Tag.
Definition TagGenerator.hpp:25
cv::imwrite
bool imwrite(const String &filename, InputArray img, const std::vector< int > &params=std::vector< int >())
cv::aruco::PredefinedDictionaryType
PredefinedDictionaryType
cv::aruco::generateImageMarker
void generateImageMarker(const Dictionary &dictionary, int id, int sidePixels, OutputArray img, int borderBits=1)
cv::aruco::getPredefinedDictionary
Dictionary getPredefinedDictionary(PredefinedDictionaryType name)
cv::aruco::DICT_6X6_100
DICT_6X6_100
cv::aruco::DICT_5X5_50
DICT_5X5_50
cv::aruco::DICT_4X4_1000
DICT_4X4_1000
cv::aruco::DICT_7X7_100
DICT_7X7_100
cv::aruco::DICT_7X7_250
DICT_7X7_250
cv::aruco::DICT_4X4_100
DICT_4X4_100
cv::aruco::DICT_6X6_250
DICT_6X6_250
cv::aruco::DICT_5X5_1000
DICT_5X5_1000
cv::aruco::DICT_7X7_50
DICT_7X7_50
cv::aruco::DICT_5X5_100
DICT_5X5_100
cv::aruco::DICT_7X7_1000
DICT_7X7_1000
cv::aruco::DICT_6X6_1000
DICT_6X6_1000
cv::aruco::DICT_4X4_250
DICT_4X4_250
cv::aruco::DICT_6X6_50
DICT_6X6_50
cv::aruco::DICT_4X4_50
DICT_4X4_50
cv::aruco::DICT_5X5_250
DICT_5X5_250