AprilTags::TagFamily Class Reference

Generic class for all tag encoding families. More...

#include <TagFamily.h>

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Detailed Description

Generic class for all tag encoding families.

Definition at line 16 of file TagFamily.h.

List of all members.

Classes
class	TableInitializer
	Initializes the static popCountTable. More...
Public Member Functions
	TagFamily (int bitsArg, int minimumHammingDistanceArg, const unsigned long long *codesArg)
	The codes array is not copied internally and so must not be modified externally.
void	setErrorRecoveryBits (int b)
void	setErrorRecoveryFraction (float v)
void	decode (TagDetection &det, unsigned long long rCode) const
	Given an observed tag with code 'rCode', try to recover the id.
void	printHammingDistances () const
	Prints the hamming distances of the tag codes.
Static Public Member Functions
static unsigned long long	rotate90 (unsigned long long w, int d)
static int	hammingDistance (unsigned long long a, unsigned long long b)
	Computes the hamming distance between two unsigned long longs.
static unsigned char	popCountReal (unsigned long long w)
	How many bits are set in the unsigned long long?
static int	popCount (unsigned long long w)
Public Attributes
int	blackBorder
	Numer of pixels wide of the inner black border.
int	bits
	Number of bits in the tag. Must be n^2.
int	dimension
	Dimension of tag. e.g. for 16 bits, dimension=4. Must be sqrt(bits).
int	minimumHammingDistance
	Minimum hamming distance between any two codes.
int	errorRecoveryBits
std::vector< unsigned long long >	codes
	The array of the codes. The id for a code is its index.
Static Public Attributes
static const int	popCountTableShift = 12
static const unsigned int	popCountTableSize = 1 << popCountTableShift
static unsigned char	popCountTable [popCountTableSize]
static class AprilTags::TagFamily::TableInitializer	initializer
	Initializes the static popCountTable.
static std::map< std::pair < int, int >, TagFamily * >	tagFamilyRegistry

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Constructor & Destructor Documentation

AprilTags::TagFamily::TagFamily	(	int	bitsArg,
		int	minimumHammingDistanceArg,
		const unsigned long long *	codesArg
	)

The codes array is not copied internally and so must not be modified externally.

Definition at line 4 of file TagFamily.cc.

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Member Function Documentation

void AprilTags::TagFamily::decode	(	TagDetection &	det,
		unsigned long long	rCode
	)			const

Given an observed tag with code 'rCode', try to recover the id.

Definition at line 63 of file TagFamily.cc.

Referenced by AprilTags::TagDetector::extractTags().

int AprilTags::TagFamily::hammingDistance	(	unsigned long long	a,
		unsigned long long	b
	)			[static]

Computes the hamming distance between two unsigned long longs.

Definition at line 41 of file TagFamily.cc.

Referenced by decode(), and printHammingDistances().

int AprilTags::TagFamily::popCount

(

unsigned long long

w

)

[static]

Definition at line 54 of file TagFamily.cc.

Referenced by hammingDistance().

unsigned char AprilTags::TagFamily::popCountReal

(

unsigned long long

w

)

[static]

How many bits are set in the unsigned long long?

Definition at line 45 of file TagFamily.cc.

Referenced by AprilTags::TagFamily::TableInitializer::TableInitializer().

void AprilTags::TagFamily::printHammingDistances

(

)

const

Prints the hamming distances of the tag codes.

Definition at line 95 of file TagFamily.cc.

unsigned long long AprilTags::TagFamily::rotate90	(	unsigned long long	w,
		int	d
	)			[static]

Definition at line 25 of file TagFamily.cc.

Referenced by decode(), and printHammingDistances().

void AprilTags::TagFamily::setErrorRecoveryBits

(

int

b

)

Definition at line 17 of file TagFamily.cc.

void AprilTags::TagFamily::setErrorRecoveryFraction

(

float

v

)

Definition at line 21 of file TagFamily.cc.

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Member Data Documentation

int AprilTags::TagFamily::bits

Number of bits in the tag. Must be n^2.

Definition at line 54 of file TagFamily.h.

Referenced by TagFamily().

int AprilTags::TagFamily::blackBorder

Numer of pixels wide of the inner black border.

Definition at line 51 of file TagFamily.h.

Referenced by AprilTags::TagDetector::extractTags().

std::vector<unsigned long long> AprilTags::TagFamily::codes

The array of the codes. The id for a code is its index.

Definition at line 75 of file TagFamily.h.

Referenced by decode(), printHammingDistances(), and TagFamily().

int AprilTags::TagFamily::dimension

Dimension of tag. e.g. for 16 bits, dimension=4. Must be sqrt(bits).

Definition at line 57 of file TagFamily.h.

Referenced by decode(), AprilTags::TagDetector::extractTags(), printHammingDistances(), and TagFamily().

int AprilTags::TagFamily::errorRecoveryBits

Definition at line 72 of file TagFamily.h.

Referenced by decode(), setErrorRecoveryBits(), and setErrorRecoveryFraction().

TagFamily::TableInitializer AprilTags::TagFamily::initializer [static]

Initializes the static popCountTable.

Definition at line 117 of file TagFamily.cc.

int AprilTags::TagFamily::minimumHammingDistance

Minimum hamming distance between any two codes.

Definition at line 63 of file TagFamily.h.

Referenced by setErrorRecoveryFraction(), and TagFamily().

unsigned char AprilTags::TagFamily::popCountTable [static]

Definition at line 79 of file TagFamily.h.

Referenced by popCount(), and AprilTags::TagFamily::TableInitializer::TableInitializer().

const int AprilTags::TagFamily::popCountTableShift = 12 [static]

Definition at line 77 of file TagFamily.h.

Referenced by popCount().

const unsigned int AprilTags::TagFamily::popCountTableSize = 1 << popCountTableShift [static]

Definition at line 78 of file TagFamily.h.

Referenced by popCount(), and AprilTags::TagFamily::TableInitializer::TableInitializer().

std::map< std::pair< int, int >, TagFamily * > AprilTags::TagFamily::tagFamilyRegistry [static]

Definition at line 90 of file TagFamily.h.

Referenced by DualCoding::MapBuilder::getCamAprilTags(), DualCoding::MapBuilderRequest::setAprilTagFamily(), and TagFamily().

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The documentation for this class was generated from the following files:

• TagFamily.h
• TagFamily.cc