highlyreliablemarkers.h

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

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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
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********************************/

#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) { return _ids[rot]; };
  
  bool get(unsigned int pos, unsigned int rot=0) { return _bits[rot][pos]; }
  
  std::vector<bool> getRotation(unsigned int rot) { return _bits[rot]; };
  
  void set(unsigned int pos, bool val);
  
  unsigned int size() {return n()*n(); };
  
  unsigned int n() {return _n; };
  
  unsigned int selfDistance(unsigned int &minRot);
  
  unsigned int selfDistance() {
    unsigned int minRot;
    return selfDistance(minRot);
  };  
  
  unsigned int distance(MarkerCode m, unsigned int &minRot);
  
  unsigned int distance(MarkerCode m) {
    unsigned int minRot;
    return distance(m, minRot);  
  };  
  
  void fromString(std::string s);

  std::string toString();
  
  
  cv::Mat getImg(unsigned int pixSize);
  
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(std::vector<bool> m1, std::vector<bool> m2);
  
};


class ARUCO_EXPORTS Dictionary : public std::vector<MarkerCode> {
public: 
  
  bool fromFile(std::string filename);
  
  bool toFile(std::string filename);
  
  unsigned int distance(MarkerCode m, unsigned int &minMarker, unsigned int &minRot);
  
  unsigned int distance(MarkerCode m) {
    unsigned int minMarker, minRot;
    return distance(m,minMarker,minRot);
  }  
  
  unsigned int minimunDistance();
  
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
    
  };
  
  static bool loadDictionary(Dictionary D);
  static bool loadDictionary(std::string filename);
  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(cv::Mat grey);
   
  
};

};


#endif // HIGHLYRELIABLEMARKERS_H