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arucoTag class

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ackimixs
2024-01-17 22:44:20 +01:00
parent 9852b816e0
commit 8ceec47f77
2 changed files with 38 additions and 0 deletions
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utils/ArucoTag.cpp Normal file
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#include "ArucoTag.h"

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utils/ArucoTag.h Normal file
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#pragma once
#include <iostream>
#include <opencv2/opencv.hpp>
#include <utility>
enum ArucoTagType
{
FLOWER,
SOLAR_PANEL
};
class ArucoTag {
public:
int id;
std::string name;
float length;
cv::Mat objectRepresenation;
ArucoTagType type;
ArucoTag(const int id, std::string name, const float length, const ArucoTagType type) : id(id), name(std::move(name)), length(length), type(type)
{
this->objectRepresenation = cv::Mat(4, 1, CV_32FC3);
this->objectRepresenation.ptr<cv::Vec3f>(0)[0] = cv::Vec3f(-length/2.f, length/2.f, 0);
this->objectRepresenation.ptr<cv::Vec3f>(0)[1] = cv::Vec3f(length/2.f, length/2.f, 0);
this->objectRepresenation.ptr<cv::Vec3f>(0)[2] = cv::Vec3f(length/2.f, -length/2.f, 0);
this->objectRepresenation.ptr<cv::Vec3f>(0)[3] = cv::Vec3f(-length/2.f, -length/2.f, 0);
}
void setFlowerObjectRepresentation()
{
this->objectRepresenation.ptr<cv::Vec3f>(0)[0] = cv::Vec3f(-length/2.f, length/2.f, 0);
this->objectRepresenation.ptr<cv::Vec3f>(0)[1] = cv::Vec3f(length/2.f, length/2.f, 0);
this->objectRepresenation.ptr<cv::Vec3f>(0)[2] = cv::Vec3f(length/2.f, -length/2.f, 0);
this->objectRepresenation.ptr<cv::Vec3f>(0)[3] = cv::Vec3f(-length/2.f, -length/2.f, 0);
}
};