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