// 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 #ifndef OPENCV_OBJDETECT_DICTIONARY_HPP #define OPENCV_OBJDETECT_DICTIONARY_HPP #include 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); //! @} } } #endif