1 // This file is part of OpenCV project.
2 // It is subject to the license terms in the LICENSE file found in the top-level directory
3 // of this distribution and at http://opencv.org/license.html
4 #ifndef OPENCV_OBJDETECT_DICTIONARY_HPP
5 #define OPENCV_OBJDETECT_DICTIONARY_HPP
7 #include <opencv2/core.hpp>
12 //! @addtogroup objdetect_aruco
16 /** @brief Dictionary/Set of markers, it contains the inner codification
18 * BytesList contains the marker codewords where:
19 * - bytesList.rows is the dictionary size
20 * - each marker is encoded using `nbytes = ceil(markerSize*markerSize/8.)`
21 * - each row contains all 4 rotations of the marker, so its length is `4*nbytes`
23 * `bytesList.ptr(i)[k*nbytes + j]` is then the j-th byte of i-th marker, in its k-th rotation.
25 class CV_EXPORTS_W_SIMPLE Dictionary {
28 CV_PROP_RW Mat bytesList; // marker code information
29 CV_PROP_RW int markerSize; // number of bits per dimension
30 CV_PROP_RW int maxCorrectionBits; // maximum number of bits that can be corrected
35 CV_WRAP Dictionary(const Mat &bytesList, int _markerSize, int maxcorr = 0);
39 /** @brief Read a new dictionary from FileNode.
41 * Dictionary format:\n
44 * maxCorrectionBits: 5\n
45 * marker_0: "101011111011111001001001101100000000"\n
47 * marker_34: "011111010000111011111110110101100101"
49 CV_WRAP bool readDictionary(const cv::FileNode& fn);
51 /** @brief Write a dictionary to FileStorage, format is the same as in readDictionary().
53 CV_WRAP void writeDictionary(FileStorage& fs, const String& name = String());
55 /** @brief Given a matrix of bits. Returns whether if marker is identified or not.
57 * It returns by reference the correct id (if any) and the correct rotation
59 CV_WRAP bool identify(const Mat &onlyBits, CV_OUT int &idx, CV_OUT int &rotation, double maxCorrectionRate) const;
61 /** @brief Returns the distance of the input bits to the specific id.
63 * If allRotations is true, the four posible bits rotation are considered
65 CV_WRAP int getDistanceToId(InputArray bits, int id, bool allRotations = true) const;
68 /** @brief Generate a canonical marker image
70 CV_WRAP void generateImageMarker(int id, int sidePixels, OutputArray _img, int borderBits = 1) const;
73 /** @brief Transform matrix of bits to list of bytes in the 4 rotations
75 CV_WRAP static Mat getByteListFromBits(const Mat &bits);
78 /** @brief Transform list of bytes to matrix of bits
80 CV_WRAP static Mat getBitsFromByteList(const Mat &byteList, int markerSize);
86 /** @brief Predefined markers dictionaries/sets
88 * Each dictionary indicates the number of bits and the number of markers contained
89 * - DICT_ARUCO_ORIGINAL: standard ArUco Library Markers. 1024 markers, 5x5 bits, 0 minimum
92 enum PredefinedDictionaryType {
93 DICT_4X4_50 = 0, ///< 4x4 bits, minimum hamming distance between any two codes = 4, 50 codes
94 DICT_4X4_100, ///< 4x4 bits, minimum hamming distance between any two codes = 3, 100 codes
95 DICT_4X4_250, ///< 4x4 bits, minimum hamming distance between any two codes = 3, 250 codes
96 DICT_4X4_1000, ///< 4x4 bits, minimum hamming distance between any two codes = 2, 1000 codes
97 DICT_5X5_50, ///< 5x5 bits, minimum hamming distance between any two codes = 8, 50 codes
98 DICT_5X5_100, ///< 5x5 bits, minimum hamming distance between any two codes = 7, 100 codes
99 DICT_5X5_250, ///< 5x5 bits, minimum hamming distance between any two codes = 6, 250 codes
100 DICT_5X5_1000, ///< 5x5 bits, minimum hamming distance between any two codes = 5, 1000 codes
101 DICT_6X6_50, ///< 6x6 bits, minimum hamming distance between any two codes = 13, 50 codes
102 DICT_6X6_100, ///< 6x6 bits, minimum hamming distance between any two codes = 12, 100 codes
103 DICT_6X6_250, ///< 6x6 bits, minimum hamming distance between any two codes = 11, 250 codes
104 DICT_6X6_1000, ///< 6x6 bits, minimum hamming distance between any two codes = 9, 1000 codes
105 DICT_7X7_50, ///< 7x7 bits, minimum hamming distance between any two codes = 19, 50 codes
106 DICT_7X7_100, ///< 7x7 bits, minimum hamming distance between any two codes = 18, 100 codes
107 DICT_7X7_250, ///< 7x7 bits, minimum hamming distance between any two codes = 17, 250 codes
108 DICT_7X7_1000, ///< 7x7 bits, minimum hamming distance between any two codes = 14, 1000 codes
109 DICT_ARUCO_ORIGINAL, ///< 6x6 bits, minimum hamming distance between any two codes = 3, 1024 codes
110 DICT_APRILTAG_16h5, ///< 4x4 bits, minimum hamming distance between any two codes = 5, 30 codes
111 DICT_APRILTAG_25h9, ///< 5x5 bits, minimum hamming distance between any two codes = 9, 35 codes
112 DICT_APRILTAG_36h10, ///< 6x6 bits, minimum hamming distance between any two codes = 10, 2320 codes
113 DICT_APRILTAG_36h11 ///< 6x6 bits, minimum hamming distance between any two codes = 11, 587 codes
117 /** @brief Returns one of the predefined dictionaries defined in PredefinedDictionaryType
119 CV_EXPORTS Dictionary getPredefinedDictionary(PredefinedDictionaryType name);
122 /** @brief Returns one of the predefined dictionaries referenced by DICT_*.
124 CV_EXPORTS_W Dictionary getPredefinedDictionary(int dict);
126 /** @brief Extend base dictionary by new nMarkers
128 * @param nMarkers number of markers in the dictionary
129 * @param markerSize number of bits per dimension of each markers
130 * @param baseDictionary Include the markers in this dictionary at the beginning (optional)
131 * @param randomSeed a user supplied seed for theRNG()
133 * This function creates a new dictionary composed by nMarkers markers and each markers composed
134 * by markerSize x markerSize bits. If baseDictionary is provided, its markers are directly
135 * included and the rest are generated based on them. If the size of baseDictionary is higher
136 * than nMarkers, only the first nMarkers in baseDictionary are taken and no new marker is added.
138 CV_EXPORTS_W Dictionary extendDictionary(int nMarkers, int markerSize, const Dictionary &baseDictionary = Dictionary(),