highlyreliablemarkers.h

Go to the documentation of this file.

/*****************************
Copyright 2011 Rafael Muñoz Salinas. All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are
permitted provided that the following conditions are met:

   1. Redistributions of source code must retain the above copyright notice, this list of
      conditions and the following disclaimer.

   2. Redistributions in binary form must reproduce the above copyright notice, this list
      of conditions and the following disclaimer in the documentation and/or other materials
      provided with the distribution.

THIS SOFTWARE IS PROVIDED BY Rafael Muñoz Salinas ''AS IS'' AND ANY EXPRESS OR IMPLIED
WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Rafael Muñoz Salinas OR
CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 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.

The views and conclusions contained in the software and documentation are those of the
authors and should not be interpreted as representing official policies, either expressed
or implied, of Rafael Muñoz Salinas.
********************************/

#ifndef HIGHLYRELIABLEMARKERS_H
#define HIGHLYRELIABLEMARKERS_H


#include <vector>
#include <math.h>
#include <string>
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include "exports.h"

#include <iostream>

namespace aruco {

class ARUCO_EXPORTS MarkerCode {
  public:
    MarkerCode(unsigned int n = 0);

    MarkerCode(const MarkerCode &MC);

    unsigned int getId(unsigned int rot = 0) const { return _ids[rot]; };

    bool get(unsigned int pos, unsigned int rot = 0) const { return _bits[rot][pos]; }

    const std::vector< bool > &getRotation(unsigned int rot) const { return _bits[rot]; };

    void set(unsigned int pos, bool val, bool updateIds=true);

    unsigned int size() const { return n() * n(); };

    unsigned int n() const { return _n; };

    unsigned int selfDistance(unsigned int &minRot) const;

    unsigned int selfDistance() const {
        unsigned int minRot;
        return selfDistance(minRot);
    };

    unsigned int distance(const MarkerCode &m, unsigned int &minRot) const;

    unsigned int distance(const MarkerCode &m) const {
        unsigned int minRot;
        return distance(m, minRot);
    };

    void fromString(std::string s);

    std::string toString() const;


    cv::Mat getImg(unsigned int pixSize) const;

  private:
    unsigned int _ids[4];         // ids in the four rotations
    std::vector< bool > _bits[4]; // bit strings in the four rotations
    unsigned int _n;              // marker dimension

    unsigned int hammingDistance(const std::vector< bool > &m1, const std::vector< bool > &m2) const;
};


class ARUCO_EXPORTS Dictionary : public std::vector< MarkerCode > {
  public:
    bool fromFile(std::string filename);

    bool toFile(std::string filename);

    unsigned int distance(const MarkerCode &m, unsigned int &minMarker, unsigned int &minRot);

    unsigned int distance(const MarkerCode &m) {
        unsigned int minMarker, minRot;
        return distance(m, minMarker, minRot);
    }

    unsigned int minimunDistance();

    int tau0;

  private:
    // convert to string
    template < class T > static std::string toStr(T num) {
        std::stringstream ss;
        ss << num;
        return ss.str();
    }
};


class ARUCO_EXPORTS HighlyReliableMarkers {
  public:
    class BalancedBinaryTree {

      public:
        void loadDictionary(Dictionary *D);

        bool findId(unsigned int id, unsigned int &orgPos);

      private:
        std::vector< std::pair< unsigned int, unsigned int > > _orderD; // dictionary sorted by id,
                                                                        // first element is the id,
                                                                        // second element is the position in original D
        std::vector< std::pair< int, int > > _binaryTree;               // binary tree itself (as a vector), each element is a node of the tree
                                                                        // first element indicate the position in _binaryTree of the lower child
                                                                        // second element is the position in _binaryTree of the higher child
                                                                        // -1 value indicates no lower or higher child
        unsigned int _root;                                             // position in _binaryTree of the root node of the tree
    };

    // correctionDistance [0,1] 0: totalmente restrictivo, 1 mas flexible
    static bool loadDictionary(Dictionary D, float correctionDistance = 1);
    static bool loadDictionary(std::string filename, float correctionDistance = 1);
    static Dictionary &getDictionary() { return _D; }


    static int detect(const cv::Mat &in, int &nRotations);


  private:
    static Dictionary _D; // loaded dictionary
    static BalancedBinaryTree _binaryTree;
    // marker dimension, marker dimension with borders, maximunCorrectionDistance
    static unsigned int _n;
    static unsigned int _ncellsBorder;
    static unsigned int _correctionDistance;
    static int _swidth; // cell size in the canonical image


    static bool checkBorders(cv::Mat grey);

    static MarkerCode getMarkerCode(const cv::Mat &grey);
};

}


#endif // HIGHLYRELIABLEMARKERS_H