highlyreliablemarkers.h
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1 /*****************************
2 Copyright 2011 Rafael Muñoz Salinas. All rights reserved.
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4 Redistribution and use in source and binary forms, with or without modification, are
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7  1. Redistributions of source code must retain the above copyright notice, this list of
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10  2. Redistributions in binary form must reproduce the above copyright notice, this list
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14 THIS SOFTWARE IS PROVIDED BY Rafael Muñoz Salinas ''AS IS'' AND ANY EXPRESS OR IMPLIED
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24 The views and conclusions contained in the software and documentation are those of the
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26 or implied, of Rafael Muñoz Salinas.
27 ********************************/
28 
29 #ifndef HIGHLYRELIABLEMARKERS_H
30 #define HIGHLYRELIABLEMARKERS_H
31 
32 
33 #include <vector>
34 #include <math.h>
35 #include <string>
36 #include <opencv2/core/core.hpp>
37 #include <opencv2/imgproc/imgproc.hpp>
38 #include "exports.h"
39 
40 #include <iostream>
41 
42 namespace aruco {
43 
50  public:
54  MarkerCode(unsigned int n = 0);
55 
59  MarkerCode(const MarkerCode &MC);
60 
64  unsigned int getId(unsigned int rot = 0) const { return _ids[rot]; };
65 
70  bool get(unsigned int pos, unsigned int rot = 0) const { return _bits[rot][pos]; }
71 
75  const std::vector< bool > &getRotation(unsigned int rot) const { return _bits[rot]; };
76 
85  void set(unsigned int pos, bool val, bool updateIds=true);
86 
90  unsigned int size() const { return n() * n(); };
91 
95  unsigned int n() const { return _n; };
96 
101  unsigned int selfDistance(unsigned int &minRot) const;
102 
107  unsigned int selfDistance() const {
108  unsigned int minRot;
109  return selfDistance(minRot);
110  };
111 
116  unsigned int distance(const MarkerCode &m, unsigned int &minRot) const;
117 
122  unsigned int distance(const MarkerCode &m) const {
123  unsigned int minRot;
124  return distance(m, minRot);
125  };
126 
130  void fromString(std::string s);
131 
135  std::string toString() const;
136 
137 
142  cv::Mat getImg(unsigned int pixSize) const;
143 
144  private:
145  unsigned int _ids[4]; // ids in the four rotations
146  std::vector< bool > _bits[4]; // bit strings in the four rotations
147  unsigned int _n; // marker dimension
148 
152  unsigned int hammingDistance(const std::vector< bool > &m1, const std::vector< bool > &m2) const;
153 };
154 
155 
161 class ARUCO_EXPORTS Dictionary : public std::vector< MarkerCode > {
162  public:
166  bool fromFile(std::string filename);
167 
171  bool toFile(std::string filename);
172 
178  unsigned int distance(const MarkerCode &m, unsigned int &minMarker, unsigned int &minRot);
179 
184  unsigned int distance(const MarkerCode &m) {
185  unsigned int minMarker, minRot;
186  return distance(m, minMarker, minRot);
187  }
188 
192  unsigned int minimunDistance();
193 
194  int tau0;
195 
196  private:
197  // convert to string
198  template < class T > static std::string toStr(T num) {
199  std::stringstream ss;
200  ss << num;
201  return ss.str();
202  }
203 };
204 
205 
212  public:
218 
219  public:
223  void loadDictionary(Dictionary *D);
224 
228  bool findId(unsigned int id, unsigned int &orgPos);
229 
230  private:
231  std::vector< std::pair< unsigned int, unsigned int > > _orderD; // dictionary sorted by id,
232  // first element is the id,
233  // second element is the position in original D
234  std::vector< std::pair< int, int > > _binaryTree; // binary tree itself (as a vector), each element is a node of the tree
235  // first element indicate the position in _binaryTree of the lower child
236  // second element is the position in _binaryTree of the higher child
237  // -1 value indicates no lower or higher child
238  unsigned int _root; // position in _binaryTree of the root node of the tree
239  };
240 
244  // correctionDistance [0,1] 0: totalmente restrictivo, 1 mas flexible
245  static bool loadDictionary(Dictionary D, float correctionDistance = 1);
246  static bool loadDictionary(std::string filename, float correctionDistance = 1);
247  static Dictionary &getDictionary() { return _D; }
248 
249 
255  static int detect(const cv::Mat &in, int &nRotations);
256 
257 
258  private:
259  static Dictionary _D; // loaded dictionary
261  // marker dimension, marker dimension with borders, maximunCorrectionDistance
262  static unsigned int _n;
263  static unsigned int _ncellsBorder;
264  static unsigned int _correctionDistance;
265  static int _swidth; // cell size in the canonical image
266 
267 
271  static bool checkBorders(cv::Mat grey);
272 
276  static MarkerCode getMarkerCode(const cv::Mat &grey);
277 };
278 
279 }
280 
281 
282 #endif // HIGHLYRELIABLEMARKERS_H
#define ARUCO_EXPORTS
Definition: exports.h:42
unsigned int selfDistance() const
unsigned int size() const
static std::string toStr(T num)
XmlRpcServer s
unsigned int distance(const MarkerCode &m) const
unsigned int n() const
unsigned int distance(const MarkerCode &m)
static Dictionary & getDictionary()
unsigned int getId(unsigned int rot=0) const
const std::vector< bool > & getRotation(unsigned int rot) const
static unsigned int _correctionDistance
static BalancedBinaryTree _binaryTree
std::vector< std::pair< unsigned int, unsigned int > > _orderD
std::vector< std::pair< int, int > > _binaryTree


asr_aruco_marker_recognition
Author(s): Allgeyer Tobias, Meißner Pascal, Qattan Mohamad
autogenerated on Mon Feb 28 2022 21:41:30