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aruco: create dictionary from Mat instead of raw pointer

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also avoids manual memcpy: the predefined dictionary data is not
duplicated any more.
pull/386/head
Pavel Rojtberg 10 years ago committed by Pavel Rojtberg
parent 2de6ff576c
commit 7ead8dd1b9
3 changed files with 40 additions and 47 deletions
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  1. 9
      modules/aruco/include/opencv2/aruco/dictionary.hpp
  2. 64
      modules/aruco/src/dictionary.cpp
  3. 14
      modules/aruco/src/predefined_dictionaries.hpp

9
modules/aruco/include/opencv2/aruco/dictionary.hpp
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@ -51,6 +51,12 @@ namespace aruco {
/**
* @brief Dictionary/Set of markers. It contains the inner codification
*
* bytesList contains the marker codewords where
* - bytesList.rows is the dictionary size
* - each marker is encoded using `nbytes = ceil(markerSize*markerSize/8.)`
* - each row contains all 4 rotations of the marker, so its length is `4*nbytes`
*
* `bytesList.ptr(i)[k*nbytes + j]` is then the j-th byte of i-th marker, in its k-th rotation.
*/
class CV_EXPORTS Dictionary {
@ -62,8 +68,7 @@ class CV_EXPORTS Dictionary {
/**
*/
Dictionary(const unsigned char *bytes = 0, int _markerSize = 0, int dictsize = 0,
int _maxcorr = 0);
Dictionary(const Mat &_bytesList = Mat(), int _markerSize = 0, int _maxcorr = 0);

64
modules/aruco/src/dictionary.cpp
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@ -38,9 +38,9 @@ the use of this software, even if advised of the possibility of such damage.
#include "precomp.hpp"
#include "opencv2/aruco/dictionary.hpp"
#include "predefined_dictionaries.cpp"
#include <opencv2/core.hpp>
#include <opencv2/imgproc.hpp>
#include "predefined_dictionaries.hpp"
namespace cv {
@ -50,16 +50,10 @@ using namespace std;
/**
*/
Dictionary::Dictionary(const unsigned char *bytes, int _markerSize, int dictsize, int _maxcorr) {
Dictionary::Dictionary(const Mat &_bytesList, int _markerSize, int _maxcorr) {
markerSize = _markerSize;
maxCorrectionBits = _maxcorr;
int nbytes = (markerSize * markerSize) / 8;
if((markerSize * markerSize) % 8 != 0) nbytes++;
// save bytes in internal format
// bytesList.ptr(i)[k*nbytes + j] is j-th byte of i-th marker, in its k-th rotation
bytesList = Mat(dictsize, nbytes, CV_8UC4);
memcpy(bytesList.data, bytes, dictsize*nbytes*4);
bytesList = _bytesList;
}
@ -102,10 +96,7 @@ bool Dictionary::identify(const Mat &onlyBits, int &idx, int &rotation,
}
}
if(idx != -1)
return true;
else
return false;
return idx != -1;
}
@ -167,9 +158,8 @@ void Dictionary::drawMarker(int id, int sidePixels, OutputArray _img, int border
* @brief Transform matrix of bits to list of bytes in the 4 rotations
*/
Mat Dictionary::getByteListFromBits(const Mat &bits) {
int nbytes = (bits.cols * bits.rows) / 8;
if((bits.cols * bits.rows) % 8 != 0) nbytes++;
// integer ceil
int nbytes = (bits.cols * bits.rows + 8 - 1) / 8;
Mat candidateByteList(1, nbytes, CV_8UC4, Scalar::all(0));
unsigned char currentBit = 0;
@ -246,27 +236,27 @@ Mat Dictionary::getBitsFromByteList(const Mat &byteList, int markerSize) {
// DictionaryData constructors calls
const Dictionary DICT_ARUCO_DATA = Dictionary(&(DICT_ARUCO_BYTES[0][0][0]), 5, 1024, 0);
const Dictionary DICT_4X4_50_DATA = Dictionary(&(DICT_4X4_1000_BYTES[0][0][0]), 4, 50, 1);
const Dictionary DICT_4X4_100_DATA = Dictionary(&(DICT_4X4_1000_BYTES[0][0][0]), 4, 100, 1);
const Dictionary DICT_4X4_250_DATA = Dictionary(&(DICT_4X4_1000_BYTES[0][0][0]), 4, 250, 1);
const Dictionary DICT_4X4_1000_DATA = Dictionary(&(DICT_4X4_1000_BYTES[0][0][0]), 4, 1000, 0);
const Dictionary DICT_5X5_50_DATA = Dictionary(&(DICT_5X5_1000_BYTES[0][0][0]), 5, 50, 3);
const Dictionary DICT_5X5_100_DATA = Dictionary(&(DICT_5X5_1000_BYTES[0][0][0]), 5, 100, 3);
const Dictionary DICT_5X5_250_DATA = Dictionary(&(DICT_5X5_1000_BYTES[0][0][0]), 5, 250, 2);
const Dictionary DICT_5X5_1000_DATA = Dictionary(&(DICT_5X5_1000_BYTES[0][0][0]), 5, 1000, 2);
const Dictionary DICT_6X6_50_DATA = Dictionary(&(DICT_6X6_1000_BYTES[0][0][0]), 6, 50, 6);
const Dictionary DICT_6X6_100_DATA = Dictionary(&(DICT_6X6_1000_BYTES[0][0][0]), 6, 100, 5);
const Dictionary DICT_6X6_250_DATA = Dictionary(&(DICT_6X6_1000_BYTES[0][0][0]), 6, 250, 5);
const Dictionary DICT_6X6_1000_DATA = Dictionary(&(DICT_6X6_1000_BYTES[0][0][0]), 6, 1000, 4);
const Dictionary DICT_7X7_50_DATA = Dictionary(&(DICT_7X7_1000_BYTES[0][0][0]), 7, 50, 9);
const Dictionary DICT_7X7_100_DATA = Dictionary(&(DICT_7X7_1000_BYTES[0][0][0]), 7, 100, 8);
const Dictionary DICT_7X7_250_DATA = Dictionary(&(DICT_7X7_1000_BYTES[0][0][0]), 7, 250, 8);
const Dictionary DICT_7X7_1000_DATA = Dictionary(&(DICT_7X7_1000_BYTES[0][0][0]), 7, 1000, 6);
const Dictionary DICT_ARUCO_DATA = Dictionary(Mat(1024, (5*5 + 7)/8, CV_8UC4, (uchar*)DICT_ARUCO_BYTES), 5, 0);
const Dictionary DICT_4X4_50_DATA = Dictionary(Mat(50, (4*4 + 7)/8, CV_8UC4, (uchar*)DICT_4X4_1000_BYTES), 4, 1);
const Dictionary DICT_4X4_100_DATA = Dictionary(Mat(100, (4*4 + 7)/8, CV_8UC4, (uchar*)DICT_4X4_1000_BYTES), 4, 1);
const Dictionary DICT_4X4_250_DATA = Dictionary(Mat(250, (4*4 + 7)/8, CV_8UC4, (uchar*)DICT_4X4_1000_BYTES), 4, 1);
const Dictionary DICT_4X4_1000_DATA = Dictionary(Mat(1000, (4*4 + 7)/8, CV_8UC4, (uchar*)DICT_4X4_1000_BYTES), 4, 0);
const Dictionary DICT_5X5_50_DATA = Dictionary(Mat(50, (5*5 + 7)/8, CV_8UC4, (uchar*)DICT_5X5_1000_BYTES), 5, 3);
const Dictionary DICT_5X5_100_DATA = Dictionary(Mat(100, (5*5 + 7)/8, CV_8UC4, (uchar*)DICT_5X5_1000_BYTES), 5, 3);
const Dictionary DICT_5X5_250_DATA = Dictionary(Mat(250, (5*5 + 7)/8, CV_8UC4, (uchar*)DICT_5X5_1000_BYTES), 5, 2);
const Dictionary DICT_5X5_1000_DATA = Dictionary(Mat(1000, (5*5 + 7)/8, CV_8UC4, (uchar*)DICT_5X5_1000_BYTES), 5, 2);
const Dictionary DICT_6X6_50_DATA = Dictionary(Mat(50, (6*6 + 7)/8 ,CV_8UC4, (uchar*)DICT_6X6_1000_BYTES), 6, 6);
const Dictionary DICT_6X6_100_DATA = Dictionary(Mat(100, (6*6 + 7)/8 ,CV_8UC4, (uchar*)DICT_6X6_1000_BYTES), 6, 5);
const Dictionary DICT_6X6_250_DATA = Dictionary(Mat(250, (6*6 + 7)/8 ,CV_8UC4, (uchar*)DICT_6X6_1000_BYTES), 6, 5);
const Dictionary DICT_6X6_1000_DATA = Dictionary(Mat(1000, (6*6 + 7)/8 ,CV_8UC4, (uchar*)DICT_6X6_1000_BYTES), 6, 4);
const Dictionary DICT_7X7_50_DATA = Dictionary(Mat(50, (7*7 + 7)/8 ,CV_8UC4, (uchar*)DICT_7X7_1000_BYTES), 7, 9);
const Dictionary DICT_7X7_100_DATA = Dictionary(Mat(100, (7*7 + 7)/8 ,CV_8UC4, (uchar*)DICT_7X7_1000_BYTES), 7, 8);
const Dictionary DICT_7X7_250_DATA = Dictionary(Mat(250, (7*7 + 7)/8 ,CV_8UC4, (uchar*)DICT_7X7_1000_BYTES), 7, 8);
const Dictionary DICT_7X7_1000_DATA = Dictionary(Mat(1000, (7*7 + 7)/8 ,CV_8UC4, (uchar*)DICT_7X7_1000_BYTES), 7, 6);
const Dictionary &getPredefinedDictionary(PREDEFINED_DICTIONARY_NAME name) {

14
modules/aruco/src/predefined_dictionaries.cpp → modules/aruco/src/predefined_dictionaries.hpp
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@ -36,8 +36,7 @@ or tort (including negligence or otherwise) arising in any way out of
the use of this software, even if advised of the possibility of such damage.
*/
namespace cv {
namespace aruco {
namespace {
@ -53,7 +52,7 @@ namespace aruco {
* Each rotation implies a 90 degree rotation of the marker in anticlockwise direction.
*/
const unsigned char DICT_ARUCO_BYTES[][4][4] = {
static unsigned char DICT_ARUCO_BYTES[][4][4] = {
{ { 132, 33, 8, 0 },
{ 0, 0, 15, 1 },
{ 8, 66, 16, 1 },
@ -4152,7 +4151,7 @@ const unsigned char DICT_ARUCO_BYTES[][4][4] = {
{ 7, 255, 240, 0 }, },
};
const unsigned char DICT_4X4_1000_BYTES[][4][2] =
static unsigned char DICT_4X4_1000_BYTES[][4][2] =
{ { { 181, 50 },
{ 235, 72 },
{ 76, 173 },
@ -8154,7 +8153,7 @@ const unsigned char DICT_4X4_1000_BYTES[][4][2] =
{ 253, 239 },
{ 219, 255 }, }, };
const unsigned char DICT_5X5_1000_BYTES[][4][4] =
static unsigned char DICT_5X5_1000_BYTES[][4][4] =
{ { { 162, 217, 94, 0 },
{ 82, 46, 217, 1 },
{ 61, 77, 162, 1 },
@ -12156,7 +12155,7 @@ const unsigned char DICT_5X5_1000_BYTES[][4][4] =
{ 184, 73, 239, 1 },
{ 204, 238, 57, 1 }, }, };
const unsigned char DICT_6X6_1000_BYTES[][4][5] =
static unsigned char DICT_6X6_1000_BYTES[][4][5] =
{ { { 30, 61, 216, 42, 6 },
{ 227, 186, 70, 49, 9 },
{ 101, 65, 187, 199, 8 },
@ -16158,7 +16157,7 @@ const unsigned char DICT_6X6_1000_BYTES[][4][5] =
{ 255, 135, 198, 183, 15 },
{ 174, 219, 251, 231, 3 }, }, };
const unsigned char DICT_7X7_1000_BYTES[][4][7] =
static unsigned char DICT_7X7_1000_BYTES[][4][7] =
{ { { 221, 92, 108, 165, 202, 10, 1 },
{ 99, 179, 173, 228, 49, 180, 0 },
{ 168, 41, 210, 155, 29, 93, 1 },
@ -20160,4 +20159,3 @@ const unsigned char DICT_7X7_1000_BYTES[][4][7] =
{ 252, 176, 35, 180, 179, 243, 1 },
{ 31, 47, 190, 169, 27, 97, 1 }, }, };
}
}
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