Open Source Computer Vision Library
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155 lines
7.3 KiB
155 lines
7.3 KiB
// This file is part of OpenCV project. |
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// It is subject to the license terms in the LICENSE file found in the top-level directory |
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// of this distribution and at http://opencv.org/license.html |
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#ifndef OPENCV_OBJDETECT_DICTIONARY_HPP |
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#define OPENCV_OBJDETECT_DICTIONARY_HPP |
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#include <opencv2/core.hpp> |
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namespace cv { |
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namespace aruco { |
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//! @addtogroup objdetect_aruco |
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//! @{ |
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/** @brief Dictionary is a set of unique ArUco markers of the same size |
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* |
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* `bytesList` storing as 2-dimensions Mat with 4-th channels (CV_8UC4 type was used) and contains the marker codewords where: |
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* - bytesList.rows is the dictionary size |
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* - each marker is encoded using `nbytes = ceil(markerSize*markerSize/8.)` bytes |
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* - each row contains all 4 rotations of the marker, so its length is `4*nbytes` |
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* - the byte order in the bytesList[i] row: |
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* `//bytes without rotation/bytes with rotation 1/bytes with rotation 2/bytes with rotation 3//` |
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* So `bytesList.ptr(i)[k*nbytes + j]` is the j-th byte of i-th marker, in its k-th rotation. |
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* @note Python bindings generate matrix with shape of bytesList `dictionary_size x nbytes x 4`, |
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* but it should be indexed like C++ version. Python example for j-th byte of i-th marker, in its k-th rotation: |
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* `aruco_dict.bytesList[id].ravel()[k*nbytes + j]` |
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*/ |
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class CV_EXPORTS_W_SIMPLE Dictionary { |
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public: |
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CV_PROP_RW Mat bytesList; ///< marker code information. See class description for more details |
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CV_PROP_RW int markerSize; ///< number of bits per dimension |
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CV_PROP_RW int maxCorrectionBits; ///< maximum number of bits that can be corrected |
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CV_WRAP Dictionary(); |
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/** @brief Basic ArUco dictionary constructor |
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* |
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* @param bytesList bits for all ArUco markers in dictionary see memory layout in the class description |
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* @param _markerSize ArUco marker size in units |
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* @param maxcorr maximum number of bits that can be corrected |
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*/ |
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CV_WRAP Dictionary(const Mat &bytesList, int _markerSize, int maxcorr = 0); |
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/** @brief Read a new dictionary from FileNode. |
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* |
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* Dictionary example in YAML format:\n |
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* nmarkers: 35\n |
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* markersize: 6\n |
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* maxCorrectionBits: 5\n |
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* marker_0: "101011111011111001001001101100000000"\n |
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* ...\n |
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* marker_34: "011111010000111011111110110101100101" |
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*/ |
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CV_WRAP bool readDictionary(const cv::FileNode& fn); |
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/** @brief Write a dictionary to FileStorage, format is the same as in readDictionary(). |
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*/ |
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CV_WRAP void writeDictionary(FileStorage& fs, const String& name = String()); |
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/** @brief Given a matrix of bits. Returns whether if marker is identified or not. |
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* |
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* Returns reference to the marker id in the dictionary (if any) and its rotation. |
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*/ |
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CV_WRAP bool identify(const Mat &onlyBits, CV_OUT int &idx, CV_OUT int &rotation, double maxCorrectionRate) const; |
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/** @brief Returns Hamming distance of the input bits to the specific id. |
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* |
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* If `allRotations` flag is set, the four posible marker rotations are considered |
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*/ |
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CV_WRAP int getDistanceToId(InputArray bits, int id, bool allRotations = true) const; |
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/** @brief Generate a canonical marker image |
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*/ |
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CV_WRAP void generateImageMarker(int id, int sidePixels, OutputArray _img, int borderBits = 1) const; |
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/** @brief Transform matrix of bits to list of bytes with 4 marker rotations |
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*/ |
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CV_WRAP static Mat getByteListFromBits(const Mat &bits); |
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/** @brief Transform list of bytes to matrix of bits |
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*/ |
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CV_WRAP static Mat getBitsFromByteList(const Mat &byteList, int markerSize); |
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}; |
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/** @brief Predefined markers dictionaries/sets |
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* |
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* Each dictionary indicates the number of bits and the number of markers contained |
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* - DICT_ARUCO_ORIGINAL: standard ArUco Library Markers. 1024 markers, 5x5 bits, 0 minimum |
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distance |
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*/ |
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enum PredefinedDictionaryType { |
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DICT_4X4_50 = 0, ///< 4x4 bits, minimum hamming distance between any two codes = 4, 50 codes |
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DICT_4X4_100, ///< 4x4 bits, minimum hamming distance between any two codes = 3, 100 codes |
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DICT_4X4_250, ///< 4x4 bits, minimum hamming distance between any two codes = 3, 250 codes |
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DICT_4X4_1000, ///< 4x4 bits, minimum hamming distance between any two codes = 2, 1000 codes |
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DICT_5X5_50, ///< 5x5 bits, minimum hamming distance between any two codes = 8, 50 codes |
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DICT_5X5_100, ///< 5x5 bits, minimum hamming distance between any two codes = 7, 100 codes |
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DICT_5X5_250, ///< 5x5 bits, minimum hamming distance between any two codes = 6, 250 codes |
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DICT_5X5_1000, ///< 5x5 bits, minimum hamming distance between any two codes = 5, 1000 codes |
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DICT_6X6_50, ///< 6x6 bits, minimum hamming distance between any two codes = 13, 50 codes |
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DICT_6X6_100, ///< 6x6 bits, minimum hamming distance between any two codes = 12, 100 codes |
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DICT_6X6_250, ///< 6x6 bits, minimum hamming distance between any two codes = 11, 250 codes |
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DICT_6X6_1000, ///< 6x6 bits, minimum hamming distance between any two codes = 9, 1000 codes |
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DICT_7X7_50, ///< 7x7 bits, minimum hamming distance between any two codes = 19, 50 codes |
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DICT_7X7_100, ///< 7x7 bits, minimum hamming distance between any two codes = 18, 100 codes |
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DICT_7X7_250, ///< 7x7 bits, minimum hamming distance between any two codes = 17, 250 codes |
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DICT_7X7_1000, ///< 7x7 bits, minimum hamming distance between any two codes = 14, 1000 codes |
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DICT_ARUCO_ORIGINAL, ///< 6x6 bits, minimum hamming distance between any two codes = 3, 1024 codes |
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DICT_APRILTAG_16h5, ///< 4x4 bits, minimum hamming distance between any two codes = 5, 30 codes |
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DICT_APRILTAG_25h9, ///< 5x5 bits, minimum hamming distance between any two codes = 9, 35 codes |
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DICT_APRILTAG_36h10, ///< 6x6 bits, minimum hamming distance between any two codes = 10, 2320 codes |
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DICT_APRILTAG_36h11, ///< 6x6 bits, minimum hamming distance between any two codes = 11, 587 codes |
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DICT_ARUCO_MIP_36h12 ///< 6x6 bits, minimum hamming distance between any two codes = 12, 250 codes |
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}; |
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/** @brief Returns one of the predefined dictionaries defined in PredefinedDictionaryType |
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*/ |
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CV_EXPORTS Dictionary getPredefinedDictionary(PredefinedDictionaryType name); |
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/** @brief Returns one of the predefined dictionaries referenced by DICT_*. |
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*/ |
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CV_EXPORTS_W Dictionary getPredefinedDictionary(int dict); |
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/** @brief Extend base dictionary by new nMarkers |
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* |
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* @param nMarkers number of markers in the dictionary |
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* @param markerSize number of bits per dimension of each markers |
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* @param baseDictionary Include the markers in this dictionary at the beginning (optional) |
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* @param randomSeed a user supplied seed for theRNG() |
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* |
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* This function creates a new dictionary composed by nMarkers markers and each markers composed |
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* by markerSize x markerSize bits. If baseDictionary is provided, its markers are directly |
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* included and the rest are generated based on them. If the size of baseDictionary is higher |
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* than nMarkers, only the first nMarkers in baseDictionary are taken and no new marker is added. |
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*/ |
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CV_EXPORTS_W Dictionary extendDictionary(int nMarkers, int markerSize, const Dictionary &baseDictionary = Dictionary(), |
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int randomSeed=0); |
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//! @} |
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} |
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} |
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#endif
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