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9931da772d
Added charuco board generation to gen_pattern.py #23363 added charuco board generation in gen_pattern.py moved aruco_dict_utils.cpp to samples from opencv_contrib (https://github.com/opencv/opencv_contrib/pull/3464) ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [x] The PR is proposed to the proper branch - [x] There is a reference to the original bug report and related work - [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name. - [x] The feature is well documented and sample code can be built with the project CMake
349 lines
14 KiB
C++
349 lines
14 KiB
C++
#include <opencv2/objdetect/aruco_detector.hpp>
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#include <iostream>
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using namespace cv;
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using namespace std;
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static int _getSelfDistance(const Mat &marker) {
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Mat bytes = aruco::Dictionary::getByteListFromBits(marker);
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double minHamming = (double)marker.total() + 1;
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for(int r = 1; r < 4; r++) {
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cv::Mat tmp1(1, bytes.cols, CV_8UC1, Scalar::all(0));
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cv::Mat tmp2(1, bytes.cols, CV_8UC1, Scalar::all(0));
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uchar* rot0 = tmp1.ptr();
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uchar* rot1 = tmp2.ptr();
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for (int i = 0; i < bytes.cols; ++i) {
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rot0[i] = bytes.ptr()[i];
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rot1[i] = bytes.ptr()[bytes.cols*r + i];
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}
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double currentHamming = cv::norm(tmp1, tmp2, cv::NORM_HAMMING);
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if (currentHamming < minHamming) minHamming = currentHamming;
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}
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Mat b;
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flip(marker, b, 0);
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Mat flipBytes = aruco::Dictionary::getByteListFromBits(b);
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for(int r = 0; r < 4; r++) {
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cv::Mat tmp1(1, flipBytes.cols, CV_8UC1, Scalar::all(0));
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cv::Mat tmp2(1, bytes.cols, CV_8UC1, Scalar::all(0));
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uchar* rot0 = tmp1.ptr();
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uchar* rot1 = tmp2.ptr();
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for (int i = 0; i < bytes.cols; ++i) {
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rot0[i] = flipBytes.ptr()[i];
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rot1[i] = bytes.ptr()[bytes.cols*r + i];
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}
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double currentHamming = cv::norm(tmp1, tmp2, cv::NORM_HAMMING);
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if(currentHamming < minHamming) minHamming = currentHamming;
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}
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flip(marker, b, 1);
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flipBytes = aruco::Dictionary::getByteListFromBits(b);
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for(int r = 0; r < 4; r++) {
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cv::Mat tmp1(1, flipBytes.cols, CV_8UC1, Scalar::all(0));
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cv::Mat tmp2(1, bytes.cols, CV_8UC1, Scalar::all(0));
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uchar* rot0 = tmp1.ptr();
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uchar* rot1 = tmp2.ptr();
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for (int i = 0; i < bytes.cols; ++i) {
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rot0[i] = flipBytes.ptr()[i];
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rot1[i] = bytes.ptr()[bytes.cols*r + i];
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}
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double currentHamming = cv::norm(tmp1, tmp2, cv::NORM_HAMMING);
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if(currentHamming < minHamming) minHamming = currentHamming;
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}
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return cvRound(minHamming);
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}
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static inline int getFlipDistanceToId(const aruco::Dictionary& dict, InputArray bits, int id, bool allRotations = true) {
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Mat bytesList = dict.bytesList;
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CV_Assert(id >= 0 && id < bytesList.rows);
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unsigned int nRotations = 4;
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if(!allRotations) nRotations = 1;
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Mat candidateBytes = aruco::Dictionary::getByteListFromBits(bits.getMat());
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double currentMinDistance = int(bits.total() * bits.total());
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for(unsigned int r = 0; r < nRotations; r++) {
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cv::Mat tmp1(1, candidateBytes.cols, CV_8UC1, Scalar::all(0));
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cv::Mat tmp2(1, candidateBytes.cols, CV_8UC1, Scalar::all(0));
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uchar* rot0 = tmp1.ptr();
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uchar* rot1 = tmp2.ptr();
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for (int i = 0; i < candidateBytes.cols; ++i) {
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rot0[i] = bytesList.ptr(id)[r*candidateBytes.cols + i];
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rot1[i] = candidateBytes.ptr()[i];
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}
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double currentHamming = cv::norm(tmp1, tmp2, cv::NORM_HAMMING);
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if(currentHamming < currentMinDistance) {
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currentMinDistance = currentHamming;
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}
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}
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Mat b;
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flip(bits.getMat(), b, 0);
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candidateBytes = aruco::Dictionary::getByteListFromBits(b);
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for(unsigned int r = 0; r < nRotations; r++) {
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cv::Mat tmp1(1, candidateBytes.cols, CV_8UC1, Scalar::all(0));
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cv::Mat tmp2(1, candidateBytes.cols, CV_8UC1, Scalar::all(0));
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uchar* rot0 = tmp1.ptr();
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uchar* rot1 = tmp2.ptr();
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for (int i = 0; i < candidateBytes.cols; ++i) {
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rot0[i] = bytesList.ptr(id)[r*candidateBytes.cols + i];
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rot1[i] = candidateBytes.ptr()[i];
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}
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double currentHamming = cv::norm(tmp1, tmp2, cv::NORM_HAMMING);
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if (currentHamming < currentMinDistance) {
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currentMinDistance = currentHamming;
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}
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}
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flip(bits.getMat(), b, 1);
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candidateBytes = aruco::Dictionary::getByteListFromBits(b);
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for(unsigned int r = 0; r < nRotations; r++) {
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cv::Mat tmp1(1, candidateBytes.cols, CV_8UC1, Scalar::all(0));
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cv::Mat tmp2(1, candidateBytes.cols, CV_8UC1, Scalar::all(0));
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uchar* rot0 = tmp1.ptr();
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uchar* rot1 = tmp2.ptr();
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for (int i = 0; i < candidateBytes.cols; ++i) {
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rot0[i] = bytesList.ptr(id)[r*candidateBytes.cols + i];
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rot1[i] = candidateBytes.ptr()[i];
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}
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double currentHamming = cv::norm(tmp1, tmp2, cv::NORM_HAMMING);
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if (currentHamming < currentMinDistance) {
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currentMinDistance = currentHamming;
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}
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}
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return cvRound(currentMinDistance);
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}
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static inline aruco::Dictionary generateCustomAsymmetricDictionary(int nMarkers, int markerSize,
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const aruco::Dictionary &baseDictionary,
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int randomSeed) {
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RNG rng((uint64)(randomSeed));
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aruco::Dictionary out;
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out.markerSize = markerSize;
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// theoretical maximum intermarker distance
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// See S. Garrido-Jurado, R. Muñoz-Salinas, F. J. Madrid-Cuevas, and M. J. Marín-Jiménez. 2014.
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// "Automatic generation and detection of highly reliable fiducial markers under occlusion".
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// Pattern Recogn. 47, 6 (June 2014), 2280-2292. DOI=10.1016/j.patcog.2014.01.005
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int C = (int)std::floor(float(markerSize * markerSize) / 4.f);
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int tau = 2 * (int)std::floor(float(C) * 4.f / 3.f);
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// if baseDictionary is provided, calculate its intermarker distance
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if(baseDictionary.bytesList.rows > 0) {
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CV_Assert(baseDictionary.markerSize == markerSize);
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out.bytesList = baseDictionary.bytesList.clone();
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int minDistance = markerSize * markerSize + 1;
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for(int i = 0; i < out.bytesList.rows; i++) {
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Mat markerBytes = out.bytesList.rowRange(i, i + 1);
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Mat markerBits = aruco::Dictionary::getBitsFromByteList(markerBytes, markerSize);
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minDistance = min(minDistance, _getSelfDistance(markerBits));
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for(int j = i + 1; j < out.bytesList.rows; j++) {
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minDistance = min(minDistance, getFlipDistanceToId(out, markerBits, j));
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}
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}
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tau = minDistance;
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}
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// current best option
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int bestTau = 0;
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Mat bestMarker;
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// after these number of unproductive iterations, the best option is accepted
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const int maxUnproductiveIterations = 5000;
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int unproductiveIterations = 0;
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while(out.bytesList.rows < nMarkers) {
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Mat currentMarker(markerSize, markerSize, CV_8UC1, Scalar::all(0));
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rng.fill(currentMarker, RNG::UNIFORM, 0, 2);
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int selfDistance = _getSelfDistance(currentMarker);
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int minDistance = selfDistance;
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// if self distance is better or equal than current best option, calculate distance
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// to previous accepted markers
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if(selfDistance >= bestTau) {
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for(int i = 0; i < out.bytesList.rows; i++) {
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int currentDistance = getFlipDistanceToId(out, currentMarker, i);
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minDistance = min(currentDistance, minDistance);
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if(minDistance <= bestTau) {
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break;
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}
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}
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}
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// if distance is high enough, accept the marker
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if(minDistance >= tau) {
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unproductiveIterations = 0;
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bestTau = 0;
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Mat bytes = aruco::Dictionary::getByteListFromBits(currentMarker);
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out.bytesList.push_back(bytes);
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} else {
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unproductiveIterations++;
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// if distance is not enough, but is better than the current best option
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if(minDistance > bestTau) {
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bestTau = minDistance;
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bestMarker = currentMarker;
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}
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// if number of unproductive iterarions has been reached, accept the current best option
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if(unproductiveIterations == maxUnproductiveIterations) {
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unproductiveIterations = 0;
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tau = bestTau;
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bestTau = 0;
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Mat bytes = aruco::Dictionary::getByteListFromBits(bestMarker);
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out.bytesList.push_back(bytes);
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}
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}
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}
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// update the maximum number of correction bits for the generated dictionary
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out.maxCorrectionBits = (tau - 1) / 2;
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return out;
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}
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static inline int getMinDistForDict(const aruco::Dictionary& dict) {
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const int dict_size = dict.bytesList.rows;
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const int marker_size = dict.markerSize;
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int minDist = marker_size * marker_size;
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for (int i = 0; i < dict_size; i++) {
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Mat row = dict.bytesList.row(i);
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Mat marker = dict.getBitsFromByteList(row, marker_size);
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for (int j = 0; j < dict_size; j++) {
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if (j != i) {
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minDist = min(dict.getDistanceToId(marker, j), minDist);
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}
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}
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}
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return minDist;
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}
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static inline int getMinAsymDistForDict(const aruco::Dictionary& dict) {
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const int dict_size = dict.bytesList.rows;
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const int marker_size = dict.markerSize;
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int minDist = marker_size * marker_size;
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for (int i = 0; i < dict_size; i++)
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{
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Mat row = dict.bytesList.row(i);
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Mat marker = dict.getBitsFromByteList(row, marker_size);
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for (int j = 0; j < dict_size; j++)
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{
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if (j != i)
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{
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minDist = min(getFlipDistanceToId(dict, marker, j), minDist);
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}
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}
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}
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return minDist;
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}
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const char* keys =
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"{@outfile |<none> | Output file with custom dict }"
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"{r | false | Calculate the metric considering flipped markers }"
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"{d | | Dictionary Name: DICT_4X4_50, DICT_4X4_100, DICT_4X4_250,"
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"DICT_4X4_1000, DICT_5X5_50, DICT_5X5_100, DICT_5X5_250, DICT_5X5_1000, "
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"DICT_6X6_50, DICT_6X6_100, DICT_6X6_250, DICT_6X6_1000, DICT_7X7_50,"
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"DICT_7X7_100, DICT_7X7_250, DICT_7X7_1000, DICT_ARUCO_ORIGINAL,"
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"DICT_APRILTAG_16h5, DICT_APRILTAG_25h9, DICT_APRILTAG_36h10,"
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"DICT_APRILTAG_36h11}"
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"{nMarkers | | Number of markers in the dictionary }"
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"{markerSize | | Marker size }"
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"{cd | | Input file with custom dictionary }";
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const char* about =
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"This program can be used to calculate the ArUco dictionary metric.\n"
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"To calculate the metric considering flipped markers use -'r' flag.\n"
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"This program can be used to create and write the custom ArUco dictionary.\n";
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int main(int argc, char *argv[])
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{
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CommandLineParser parser(argc, argv, keys);
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parser.about(about);
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if(argc < 2) {
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parser.printMessage();
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return 0;
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}
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string outputFile = parser.get<String>(0);
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int nMarkers = parser.get<int>("nMarkers");
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int markerSize = parser.get<int>("markerSize");
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bool checkFlippedMarkers = parser.get<bool>("r");
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aruco::Dictionary dictionary = aruco::getPredefinedDictionary(0);
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if (parser.has("d")) {
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string arucoDictName = parser.get<string>("d");
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cv::aruco::PredefinedDictionaryType arucoDict;
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if (arucoDictName == "DICT_4X4_50") { arucoDict = cv::aruco::DICT_4X4_50; }
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else if (arucoDictName == "DICT_4X4_100") { arucoDict = cv::aruco::DICT_4X4_100; }
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else if (arucoDictName == "DICT_4X4_250") { arucoDict = cv::aruco::DICT_4X4_250; }
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else if (arucoDictName == "DICT_4X4_1000") { arucoDict = cv::aruco::DICT_4X4_1000; }
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else if (arucoDictName == "DICT_5X5_50") { arucoDict = cv::aruco::DICT_5X5_50; }
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else if (arucoDictName == "DICT_5X5_100") { arucoDict = cv::aruco::DICT_5X5_100; }
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else if (arucoDictName == "DICT_5X5_250") { arucoDict = cv::aruco::DICT_5X5_250; }
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else if (arucoDictName == "DICT_5X5_1000") { arucoDict = cv::aruco::DICT_5X5_1000; }
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else if (arucoDictName == "DICT_6X6_50") { arucoDict = cv::aruco::DICT_6X6_50; }
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else if (arucoDictName == "DICT_6X6_100") { arucoDict = cv::aruco::DICT_6X6_100; }
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else if (arucoDictName == "DICT_6X6_250") { arucoDict = cv::aruco::DICT_6X6_250; }
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else if (arucoDictName == "DICT_6X6_1000") { arucoDict = cv::aruco::DICT_6X6_1000; }
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else if (arucoDictName == "DICT_7X7_50") { arucoDict = cv::aruco::DICT_7X7_50; }
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else if (arucoDictName == "DICT_7X7_100") { arucoDict = cv::aruco::DICT_7X7_100; }
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else if (arucoDictName == "DICT_7X7_250") { arucoDict = cv::aruco::DICT_7X7_250; }
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else if (arucoDictName == "DICT_7X7_1000") { arucoDict = cv::aruco::DICT_7X7_1000; }
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else if (arucoDictName == "DICT_ARUCO_ORIGINAL") { arucoDict = cv::aruco::DICT_ARUCO_ORIGINAL; }
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else if (arucoDictName == "DICT_APRILTAG_16h5") { arucoDict = cv::aruco::DICT_APRILTAG_16h5; }
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else if (arucoDictName == "DICT_APRILTAG_25h9") { arucoDict = cv::aruco::DICT_APRILTAG_25h9; }
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else if (arucoDictName == "DICT_APRILTAG_36h10") { arucoDict = cv::aruco::DICT_APRILTAG_36h10; }
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else if (arucoDictName == "DICT_APRILTAG_36h11") { arucoDict = cv::aruco::DICT_APRILTAG_36h11; }
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else {
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cout << "incorrect name of aruco dictionary \n";
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return 1;
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}
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dictionary = aruco::getPredefinedDictionary(arucoDict);
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}
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else if (parser.has("cd")) {
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FileStorage fs(parser.get<std::string>("cd"), FileStorage::READ);
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bool readOk = dictionary.readDictionary(fs.root());
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if(!readOk) {
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cerr << "Invalid dictionary file" << endl;
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return 0;
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}
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}
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else if (outputFile.empty() || nMarkers == 0 || markerSize == 0) {
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cerr << "Dictionary not specified" << endl;
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return 0;
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}
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if (!outputFile.empty() && nMarkers > 0 && markerSize > 0)
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{
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FileStorage fs(outputFile, FileStorage::WRITE);
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if (checkFlippedMarkers)
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dictionary = generateCustomAsymmetricDictionary(nMarkers, markerSize, aruco::Dictionary(), 0);
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else
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dictionary = aruco::extendDictionary(nMarkers, markerSize, aruco::Dictionary(), 0);
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dictionary.writeDictionary(fs);
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}
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if (checkFlippedMarkers) {
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cout << "Hamming distance: " << getMinAsymDistForDict(dictionary) << endl;
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}
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else {
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cout << "Hamming distance: " << getMinDistForDict(dictionary) << endl;
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}
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return 0;
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}
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