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Merge pull request #23914 from AleksandrPanov:update_aruco_byteList_docs

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update ArUco Dictionary documentation
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Alexander Smorkalov 2023-07-13 15:48:57 +03:00 committed by GitHub
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2 changed files with 31 additions and 16 deletions
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8
doc/opencv.bib
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@ -1377,3 +1377,11 @@
year={2005},
pages={70-74}
}
@inproceedings{wang2016iros,
AUTHOR = {John Wang and Edwin Olson},
TITLE = {{AprilTag} 2: Efficient and robust fiducial detection},
BOOKTITLE = {Proceedings of the {IEEE/RSJ} International Conference on Intelligent
Robots and Systems {(IROS)}},
YEAR = {2016},
MONTH = {October},
}

39
modules/objdetect/include/opencv2/objdetect/aruco_dictionary.hpp
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@ -13,32 +13,39 @@ namespace aruco {
//! @{
/** @brief Dictionary/Set of markers, it contains the inner codification
/** @brief Dictionary is a set of unique ArUco markers of the same size
*
* BytesList contains the marker codewords where:
* `bytesList` storing as 2-dimensions Mat with 4-th channels (CV_8UC4 type was used) and contains the marker codewords where:
* - bytesList.rows is the dictionary size
* - each marker is encoded using `nbytes = ceil(markerSize*markerSize/8.)`
* - each marker is encoded using `nbytes = ceil(markerSize*markerSize/8.)` bytes
* - each row contains all 4 rotations of the marker, so its length is `4*nbytes`
*
* `bytesList.ptr(i)[k*nbytes + j]` is then the j-th byte of i-th marker, in its k-th rotation.
* - the byte order in the bytesList[i] row:
* `//bytes without rotation/bytes with rotation 1/bytes with rotation 2/bytes with rotation 3//`
* So `bytesList.ptr(i)[k*nbytes + j]` is the j-th byte of i-th marker, in its k-th rotation.
* @note Python bindings generate matrix with shape of bytesList `dictionary_size x nbytes x 4`,
* but it should be indexed like C++ version. Python example for j-th byte of i-th marker, in its k-th rotation:
* `aruco_dict.bytesList[id].ravel()[k*nbytes + j]`
*/
class CV_EXPORTS_W_SIMPLE Dictionary {
public:
CV_PROP_RW Mat bytesList; // marker code information
CV_PROP_RW int markerSize; // number of bits per dimension
CV_PROP_RW int maxCorrectionBits; // maximum number of bits that can be corrected
CV_PROP_RW Mat bytesList; ///< marker code information. See class description for more details
CV_PROP_RW int markerSize; ///< number of bits per dimension
CV_PROP_RW int maxCorrectionBits; ///< maximum number of bits that can be corrected
CV_WRAP Dictionary();
/** @brief Basic ArUco dictionary constructor
*
* @param bytesList bits for all ArUco markers in dictionary see memory layout in the class description
* @param _markerSize ArUco marker size in units
* @param maxcorr maximum number of bits that can be corrected
*/
CV_WRAP Dictionary(const Mat &bytesList, int _markerSize, int maxcorr = 0);
/** @brief Read a new dictionary from FileNode.
*
* Dictionary format:\n
* Dictionary example in YAML format:\n
* nmarkers: 35\n
* markersize: 6\n
* maxCorrectionBits: 5\n
@ -54,13 +61,13 @@ class CV_EXPORTS_W_SIMPLE Dictionary {
/** @brief Given a matrix of bits. Returns whether if marker is identified or not.
*
* It returns by reference the correct id (if any) and the correct rotation
* Returns reference to the marker id in the dictionary (if any) and its rotation.
*/
CV_WRAP bool identify(const Mat &onlyBits, CV_OUT int &idx, CV_OUT int &rotation, double maxCorrectionRate) const;
/** @brief Returns the distance of the input bits to the specific id.
/** @brief Returns Hamming distance of the input bits to the specific id.
*
* If allRotations is true, the four posible bits rotation are considered
* If `allRotations` flag is set, the four posible marker rotations are considered
*/
CV_WRAP int getDistanceToId(InputArray bits, int id, bool allRotations = true) const;
@ -70,7 +77,7 @@ class CV_EXPORTS_W_SIMPLE Dictionary {
CV_WRAP void generateImageMarker(int id, int sidePixels, OutputArray _img, int borderBits = 1) const;
/** @brief Transform matrix of bits to list of bytes in the 4 rotations
/** @brief Transform matrix of bits to list of bytes with 4 marker rotations
*/
CV_WRAP static Mat getByteListFromBits(const Mat &bits);