213 lines
6.9 KiB
C++
213 lines
6.9 KiB
C++
/*
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By downloading, copying, installing or using the software you agree to this
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license. If you do not agree to this license, do not download, install,
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copy or use the software.
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License Agreement
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For Open Source Computer Vision Library
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(3-clause BSD License)
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Copyright (C) 2013, OpenCV Foundation, all rights reserved.
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Third party copyrights are property of their respective owners.
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Redistribution and use in source and binary forms, with or without modification,
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are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright notice,
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this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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* Neither the names of the copyright holders nor the names of the contributors
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may be used to endorse or promote products derived from this software
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without specific prior written permission.
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This software is provided by the copyright holders and contributors "as is" and
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any express or implied warranties, including, but not limited to, the implied
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warranties of merchantability and fitness for a particular purpose are
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disclaimed. In no event shall copyright holders or contributors be liable for
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any direct, indirect, incidental, special, exemplary, or consequential damages
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(including, but not limited to, procurement of substitute goods or services;
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loss of use, data, or profits; or business interruption) however caused
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and on any theory of liability, whether in contract, strict liability,
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or tort (including negligence or otherwise) arising in any way out of
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the use of this software, even if advised of the possibility of such damage.
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*/
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#ifndef __OPENCV_DICTIONARY_HPP__
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#define __OPENCV_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 aruco
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//! @{
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/**
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* @brief Dictionary/Set of markers. It contains the inner codification
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*
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* bytesList 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.)`
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* - each row contains all 4 rotations of the marker, so its length is `4*nbytes`
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*
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* `bytesList.ptr(i)[k*nbytes + j]` is then the j-th byte of i-th marker, in its k-th rotation.
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*/
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class CV_EXPORTS_W Dictionary {
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public:
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CV_PROP_RW Mat bytesList; // marker code information
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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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/**
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*/
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Dictionary(const Mat &_bytesList = Mat(), int _markerSize = 0, int _maxcorr = 0);
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/**
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Dictionary(const Dictionary &_dictionary);
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*/
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/**
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*/
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Dictionary(const Ptr<Dictionary> &_dictionary);
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/**
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* @see generateCustomDictionary
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*/
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CV_WRAP_AS(create) static Ptr<Dictionary> create(int nMarkers, int markerSize, int randomSeed=0);
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/**
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* @see generateCustomDictionary
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*/
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CV_WRAP_AS(create_from) static Ptr<Dictionary> create(int nMarkers, int markerSize,
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const Ptr<Dictionary> &baseDictionary, int randomSeed=0);
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/**
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* @see getPredefinedDictionary
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*/
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CV_WRAP static Ptr<Dictionary> get(int dict);
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/**
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* @brief Given a matrix of bits. Returns whether if marker is identified or not.
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* It returns by reference the correct id (if any) and the correct rotation
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*/
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bool identify(const Mat &onlyBits, int &idx, int &rotation, double maxCorrectionRate) const;
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/**
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* @brief Returns the distance of the input bits to the specific id. If allRotations is true,
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* the four posible bits rotation are considered
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*/
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int getDistanceToId(InputArray bits, int id, bool allRotations = true) const;
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/**
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* @brief Draw a canonical marker image
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*/
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CV_WRAP void drawMarker(int id, int sidePixels, OutputArray _img, int borderBits = 1) const;
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/**
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* @brief Transform matrix of bits to list of bytes in the 4 rotations
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*/
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CV_WRAP static Mat getByteListFromBits(const Mat &bits);
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/**
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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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/**
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* @brief Predefined markers dictionaries/sets
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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 PREDEFINED_DICTIONARY_NAME {
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DICT_4X4_50 = 0,
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DICT_4X4_100,
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DICT_4X4_250,
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DICT_4X4_1000,
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DICT_5X5_50,
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DICT_5X5_100,
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DICT_5X5_250,
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DICT_5X5_1000,
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DICT_6X6_50,
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DICT_6X6_100,
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DICT_6X6_250,
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DICT_6X6_1000,
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DICT_7X7_50,
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DICT_7X7_100,
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DICT_7X7_250,
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DICT_7X7_1000,
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DICT_ARUCO_ORIGINAL,
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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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};
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/**
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* @brief Returns one of the predefined dictionaries defined in PREDEFINED_DICTIONARY_NAME
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*/
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CV_EXPORTS Ptr<Dictionary> getPredefinedDictionary(PREDEFINED_DICTIONARY_NAME name);
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/**
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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 Ptr<Dictionary> getPredefinedDictionary(int dict);
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/**
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* @see generateCustomDictionary
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*/
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CV_EXPORTS_AS(custom_dictionary) Ptr<Dictionary> generateCustomDictionary(
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int nMarkers,
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int markerSize,
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int randomSeed=0);
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/**
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* @brief Generates a new customizable marker dictionary
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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_AS(custom_dictionary_from) Ptr<Dictionary> generateCustomDictionary(
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int nMarkers,
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int markerSize,
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const Ptr<Dictionary> &baseDictionary,
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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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