mirror of
https://github.com/opencv/opencv.git
synced 2024-12-03 16:35:09 +08:00
6ca45a9d33
Move Aruco tutorials and samples to main repo #23018 merge with https://github.com/opencv/opencv_contrib/pull/3401 merge with https://github.com/opencv/opencv_extra/pull/1143 ### 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 - [ ] There is a reference to the original bug report and related work - [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name. - [ ] The feature is well documented and sample code can be built with the project CMake --------- Co-authored-by: AleksandrPanov <alexander.panov@xperience.ai> Co-authored-by: Alexander Smorkalov <alexander.smorkalov@xperience.ai>
349 lines
14 KiB
C++
349 lines
14 KiB
C++
#include <opencv2/objdetect/aruco_detector.hpp>
|
|
#include <iostream>
|
|
|
|
using namespace cv;
|
|
using namespace std;
|
|
|
|
static int _getSelfDistance(const Mat &marker) {
|
|
|
|
Mat bytes = aruco::Dictionary::getByteListFromBits(marker);
|
|
|
|
double minHamming = (double)marker.total() + 1;
|
|
for(int r = 1; r < 4; r++) {
|
|
cv::Mat tmp1(1, bytes.cols, CV_8UC1, Scalar::all(0));
|
|
cv::Mat tmp2(1, bytes.cols, CV_8UC1, Scalar::all(0));
|
|
uchar* rot0 = tmp1.ptr();
|
|
uchar* rot1 = tmp2.ptr();
|
|
|
|
for (int i = 0; i < bytes.cols; ++i) {
|
|
rot0[i] = bytes.ptr()[i];
|
|
rot1[i] = bytes.ptr()[bytes.cols*r + i];
|
|
}
|
|
|
|
double currentHamming = cv::norm(tmp1, tmp2, cv::NORM_HAMMING);
|
|
if (currentHamming < minHamming) minHamming = currentHamming;
|
|
}
|
|
Mat b;
|
|
flip(marker, b, 0);
|
|
Mat flipBytes = aruco::Dictionary::getByteListFromBits(b);
|
|
for(int r = 0; r < 4; r++) {
|
|
cv::Mat tmp1(1, flipBytes.cols, CV_8UC1, Scalar::all(0));
|
|
cv::Mat tmp2(1, bytes.cols, CV_8UC1, Scalar::all(0));
|
|
uchar* rot0 = tmp1.ptr();
|
|
uchar* rot1 = tmp2.ptr();
|
|
|
|
for (int i = 0; i < bytes.cols; ++i) {
|
|
rot0[i] = flipBytes.ptr()[i];
|
|
rot1[i] = bytes.ptr()[bytes.cols*r + i];
|
|
}
|
|
|
|
double currentHamming = cv::norm(tmp1, tmp2, cv::NORM_HAMMING);
|
|
if(currentHamming < minHamming) minHamming = currentHamming;
|
|
}
|
|
flip(marker, b, 1);
|
|
flipBytes = aruco::Dictionary::getByteListFromBits(b);
|
|
for(int r = 0; r < 4; r++) {
|
|
cv::Mat tmp1(1, flipBytes.cols, CV_8UC1, Scalar::all(0));
|
|
cv::Mat tmp2(1, bytes.cols, CV_8UC1, Scalar::all(0));
|
|
uchar* rot0 = tmp1.ptr();
|
|
uchar* rot1 = tmp2.ptr();
|
|
|
|
for (int i = 0; i < bytes.cols; ++i) {
|
|
rot0[i] = flipBytes.ptr()[i];
|
|
rot1[i] = bytes.ptr()[bytes.cols*r + i];
|
|
}
|
|
|
|
double currentHamming = cv::norm(tmp1, tmp2, cv::NORM_HAMMING);
|
|
if(currentHamming < minHamming) minHamming = currentHamming;
|
|
}
|
|
return cvRound(minHamming);
|
|
}
|
|
|
|
static inline int getFlipDistanceToId(const aruco::Dictionary& dict, InputArray bits, int id, bool allRotations = true) {
|
|
Mat bytesList = dict.bytesList;
|
|
CV_Assert(id >= 0 && id < bytesList.rows);
|
|
|
|
unsigned int nRotations = 4;
|
|
if(!allRotations) nRotations = 1;
|
|
|
|
Mat candidateBytes = aruco::Dictionary::getByteListFromBits(bits.getMat());
|
|
double currentMinDistance = int(bits.total() * bits.total());
|
|
for(unsigned int r = 0; r < nRotations; r++) {
|
|
|
|
cv::Mat tmp1(1, candidateBytes.cols, CV_8UC1, Scalar::all(0));
|
|
cv::Mat tmp2(1, candidateBytes.cols, CV_8UC1, Scalar::all(0));
|
|
uchar* rot0 = tmp1.ptr();
|
|
uchar* rot1 = tmp2.ptr();
|
|
|
|
for (int i = 0; i < candidateBytes.cols; ++i) {
|
|
rot0[i] = bytesList.ptr(id)[r*candidateBytes.cols + i];
|
|
rot1[i] = candidateBytes.ptr()[i];
|
|
}
|
|
|
|
double currentHamming = cv::norm(tmp1, tmp2, cv::NORM_HAMMING);
|
|
if(currentHamming < currentMinDistance) {
|
|
currentMinDistance = currentHamming;
|
|
}
|
|
}
|
|
Mat b;
|
|
flip(bits.getMat(), b, 0);
|
|
candidateBytes = aruco::Dictionary::getByteListFromBits(b);
|
|
for(unsigned int r = 0; r < nRotations; r++) {
|
|
cv::Mat tmp1(1, candidateBytes.cols, CV_8UC1, Scalar::all(0));
|
|
cv::Mat tmp2(1, candidateBytes.cols, CV_8UC1, Scalar::all(0));
|
|
uchar* rot0 = tmp1.ptr();
|
|
uchar* rot1 = tmp2.ptr();
|
|
|
|
for (int i = 0; i < candidateBytes.cols; ++i) {
|
|
rot0[i] = bytesList.ptr(id)[r*candidateBytes.cols + i];
|
|
rot1[i] = candidateBytes.ptr()[i];
|
|
}
|
|
|
|
double currentHamming = cv::norm(tmp1, tmp2, cv::NORM_HAMMING);
|
|
if (currentHamming < currentMinDistance) {
|
|
currentMinDistance = currentHamming;
|
|
}
|
|
}
|
|
|
|
flip(bits.getMat(), b, 1);
|
|
candidateBytes = aruco::Dictionary::getByteListFromBits(b);
|
|
for(unsigned int r = 0; r < nRotations; r++) {
|
|
cv::Mat tmp1(1, candidateBytes.cols, CV_8UC1, Scalar::all(0));
|
|
cv::Mat tmp2(1, candidateBytes.cols, CV_8UC1, Scalar::all(0));
|
|
uchar* rot0 = tmp1.ptr();
|
|
uchar* rot1 = tmp2.ptr();
|
|
|
|
for (int i = 0; i < candidateBytes.cols; ++i) {
|
|
rot0[i] = bytesList.ptr(id)[r*candidateBytes.cols + i];
|
|
rot1[i] = candidateBytes.ptr()[i];
|
|
}
|
|
|
|
double currentHamming = cv::norm(tmp1, tmp2, cv::NORM_HAMMING);
|
|
if (currentHamming < currentMinDistance) {
|
|
currentMinDistance = currentHamming;
|
|
}
|
|
}
|
|
return cvRound(currentMinDistance);
|
|
}
|
|
|
|
static inline aruco::Dictionary generateCustomAsymmetricDictionary(int nMarkers, int markerSize,
|
|
const aruco::Dictionary &baseDictionary,
|
|
int randomSeed) {
|
|
RNG rng((uint64)(randomSeed));
|
|
|
|
aruco::Dictionary out;
|
|
out.markerSize = markerSize;
|
|
|
|
// theoretical maximum intermarker distance
|
|
// See S. Garrido-Jurado, R. Muñoz-Salinas, F. J. Madrid-Cuevas, and M. J. Marín-Jiménez. 2014.
|
|
// "Automatic generation and detection of highly reliable fiducial markers under occlusion".
|
|
// Pattern Recogn. 47, 6 (June 2014), 2280-2292. DOI=10.1016/j.patcog.2014.01.005
|
|
int C = (int)std::floor(float(markerSize * markerSize) / 4.f);
|
|
int tau = 2 * (int)std::floor(float(C) * 4.f / 3.f);
|
|
|
|
// if baseDictionary is provided, calculate its intermarker distance
|
|
if(baseDictionary.bytesList.rows > 0) {
|
|
CV_Assert(baseDictionary.markerSize == markerSize);
|
|
out.bytesList = baseDictionary.bytesList.clone();
|
|
|
|
int minDistance = markerSize * markerSize + 1;
|
|
for(int i = 0; i < out.bytesList.rows; i++) {
|
|
Mat markerBytes = out.bytesList.rowRange(i, i + 1);
|
|
Mat markerBits = aruco::Dictionary::getBitsFromByteList(markerBytes, markerSize);
|
|
minDistance = min(minDistance, _getSelfDistance(markerBits));
|
|
for(int j = i + 1; j < out.bytesList.rows; j++) {
|
|
minDistance = min(minDistance, getFlipDistanceToId(out, markerBits, j));
|
|
}
|
|
}
|
|
tau = minDistance;
|
|
}
|
|
|
|
// current best option
|
|
int bestTau = 0;
|
|
Mat bestMarker;
|
|
|
|
// after these number of unproductive iterations, the best option is accepted
|
|
const int maxUnproductiveIterations = 5000;
|
|
int unproductiveIterations = 0;
|
|
|
|
while(out.bytesList.rows < nMarkers) {
|
|
Mat currentMarker(markerSize, markerSize, CV_8UC1, Scalar::all(0));
|
|
rng.fill(currentMarker, RNG::UNIFORM, 0, 2);
|
|
|
|
int selfDistance = _getSelfDistance(currentMarker);
|
|
int minDistance = selfDistance;
|
|
|
|
// if self distance is better or equal than current best option, calculate distance
|
|
// to previous accepted markers
|
|
if(selfDistance >= bestTau) {
|
|
for(int i = 0; i < out.bytesList.rows; i++) {
|
|
int currentDistance = getFlipDistanceToId(out, currentMarker, i);
|
|
minDistance = min(currentDistance, minDistance);
|
|
if(minDistance <= bestTau) {
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
// if distance is high enough, accept the marker
|
|
if(minDistance >= tau) {
|
|
unproductiveIterations = 0;
|
|
bestTau = 0;
|
|
Mat bytes = aruco::Dictionary::getByteListFromBits(currentMarker);
|
|
out.bytesList.push_back(bytes);
|
|
} else {
|
|
unproductiveIterations++;
|
|
|
|
// if distance is not enough, but is better than the current best option
|
|
if(minDistance > bestTau) {
|
|
bestTau = minDistance;
|
|
bestMarker = currentMarker;
|
|
}
|
|
|
|
// if number of unproductive iterarions has been reached, accept the current best option
|
|
if(unproductiveIterations == maxUnproductiveIterations) {
|
|
unproductiveIterations = 0;
|
|
tau = bestTau;
|
|
bestTau = 0;
|
|
Mat bytes = aruco::Dictionary::getByteListFromBits(bestMarker);
|
|
out.bytesList.push_back(bytes);
|
|
}
|
|
}
|
|
}
|
|
|
|
// update the maximum number of correction bits for the generated dictionary
|
|
out.maxCorrectionBits = (tau - 1) / 2;
|
|
|
|
return out;
|
|
}
|
|
|
|
static inline int getMinDistForDict(const aruco::Dictionary& dict) {
|
|
const int dict_size = dict.bytesList.rows;
|
|
const int marker_size = dict.markerSize;
|
|
int minDist = marker_size * marker_size;
|
|
for (int i = 0; i < dict_size; i++) {
|
|
Mat row = dict.bytesList.row(i);
|
|
Mat marker = dict.getBitsFromByteList(row, marker_size);
|
|
for (int j = 0; j < dict_size; j++) {
|
|
if (j != i) {
|
|
minDist = min(dict.getDistanceToId(marker, j), minDist);
|
|
}
|
|
}
|
|
}
|
|
return minDist;
|
|
}
|
|
|
|
static inline int getMinAsymDistForDict(const aruco::Dictionary& dict) {
|
|
const int dict_size = dict.bytesList.rows;
|
|
const int marker_size = dict.markerSize;
|
|
int minDist = marker_size * marker_size;
|
|
for (int i = 0; i < dict_size; i++)
|
|
{
|
|
Mat row = dict.bytesList.row(i);
|
|
Mat marker = dict.getBitsFromByteList(row, marker_size);
|
|
for (int j = 0; j < dict_size; j++)
|
|
{
|
|
if (j != i)
|
|
{
|
|
minDist = min(getFlipDistanceToId(dict, marker, j), minDist);
|
|
}
|
|
}
|
|
}
|
|
return minDist;
|
|
}
|
|
|
|
const char* keys =
|
|
"{@outfile |<none> | Output file with custom dict }"
|
|
"{r | false | Calculate the metric considering flipped markers }"
|
|
"{d | | Dictionary Name: DICT_4X4_50, DICT_4X4_100, DICT_4X4_250,"
|
|
"DICT_4X4_1000, DICT_5X5_50, DICT_5X5_100, DICT_5X5_250, DICT_5X5_1000, "
|
|
"DICT_6X6_50, DICT_6X6_100, DICT_6X6_250, DICT_6X6_1000, DICT_7X7_50,"
|
|
"DICT_7X7_100, DICT_7X7_250, DICT_7X7_1000, DICT_ARUCO_ORIGINAL,"
|
|
"DICT_APRILTAG_16h5, DICT_APRILTAG_25h9, DICT_APRILTAG_36h10,"
|
|
"DICT_APRILTAG_36h11}"
|
|
"{nMarkers | | Number of markers in the dictionary }"
|
|
"{markerSize | | Marker size }"
|
|
"{cd | | Input file with custom dictionary }";
|
|
|
|
const char* about =
|
|
"This program can be used to calculate the ArUco dictionary metric.\n"
|
|
"To calculate the metric considering flipped markers use -'r' flag.\n"
|
|
"This program can be used to create and write the custom ArUco dictionary.\n";
|
|
|
|
int main(int argc, char *argv[])
|
|
{
|
|
CommandLineParser parser(argc, argv, keys);
|
|
parser.about(about);
|
|
if(argc < 2) {
|
|
parser.printMessage();
|
|
return 0;
|
|
}
|
|
string outputFile = parser.get<String>(0);
|
|
int nMarkers = parser.get<int>("nMarkers");
|
|
int markerSize = parser.get<int>("markerSize");
|
|
bool checkFlippedMarkers = parser.get<bool>("r");
|
|
|
|
aruco::Dictionary dictionary = aruco::getPredefinedDictionary(cv::aruco::DICT_4X4_50);
|
|
|
|
if (parser.has("d")) {
|
|
string arucoDictName = parser.get<string>("d");
|
|
cv::aruco::PredefinedDictionaryType arucoDict;
|
|
if (arucoDictName == "DICT_4X4_50") { arucoDict = cv::aruco::DICT_4X4_50; }
|
|
else if (arucoDictName == "DICT_4X4_100") { arucoDict = cv::aruco::DICT_4X4_100; }
|
|
else if (arucoDictName == "DICT_4X4_250") { arucoDict = cv::aruco::DICT_4X4_250; }
|
|
else if (arucoDictName == "DICT_4X4_1000") { arucoDict = cv::aruco::DICT_4X4_1000; }
|
|
else if (arucoDictName == "DICT_5X5_50") { arucoDict = cv::aruco::DICT_5X5_50; }
|
|
else if (arucoDictName == "DICT_5X5_100") { arucoDict = cv::aruco::DICT_5X5_100; }
|
|
else if (arucoDictName == "DICT_5X5_250") { arucoDict = cv::aruco::DICT_5X5_250; }
|
|
else if (arucoDictName == "DICT_5X5_1000") { arucoDict = cv::aruco::DICT_5X5_1000; }
|
|
else if (arucoDictName == "DICT_6X6_50") { arucoDict = cv::aruco::DICT_6X6_50; }
|
|
else if (arucoDictName == "DICT_6X6_100") { arucoDict = cv::aruco::DICT_6X6_100; }
|
|
else if (arucoDictName == "DICT_6X6_250") { arucoDict = cv::aruco::DICT_6X6_250; }
|
|
else if (arucoDictName == "DICT_6X6_1000") { arucoDict = cv::aruco::DICT_6X6_1000; }
|
|
else if (arucoDictName == "DICT_7X7_50") { arucoDict = cv::aruco::DICT_7X7_50; }
|
|
else if (arucoDictName == "DICT_7X7_100") { arucoDict = cv::aruco::DICT_7X7_100; }
|
|
else if (arucoDictName == "DICT_7X7_250") { arucoDict = cv::aruco::DICT_7X7_250; }
|
|
else if (arucoDictName == "DICT_7X7_1000") { arucoDict = cv::aruco::DICT_7X7_1000; }
|
|
else if (arucoDictName == "DICT_ARUCO_ORIGINAL") { arucoDict = cv::aruco::DICT_ARUCO_ORIGINAL; }
|
|
else if (arucoDictName == "DICT_APRILTAG_16h5") { arucoDict = cv::aruco::DICT_APRILTAG_16h5; }
|
|
else if (arucoDictName == "DICT_APRILTAG_25h9") { arucoDict = cv::aruco::DICT_APRILTAG_25h9; }
|
|
else if (arucoDictName == "DICT_APRILTAG_36h10") { arucoDict = cv::aruco::DICT_APRILTAG_36h10; }
|
|
else if (arucoDictName == "DICT_APRILTAG_36h11") { arucoDict = cv::aruco::DICT_APRILTAG_36h11; }
|
|
else {
|
|
cout << "incorrect name of aruco dictionary \n";
|
|
return 1;
|
|
}
|
|
|
|
dictionary = aruco::getPredefinedDictionary(arucoDict);
|
|
}
|
|
else if (parser.has("cd")) {
|
|
FileStorage fs(parser.get<std::string>("cd"), FileStorage::READ);
|
|
bool readOk = dictionary.readDictionary(fs.root());
|
|
if(!readOk) {
|
|
cerr << "Invalid dictionary file" << endl;
|
|
return 0;
|
|
}
|
|
}
|
|
else if (outputFile.empty() || nMarkers == 0 || markerSize == 0) {
|
|
cerr << "Dictionary not specified" << endl;
|
|
return 0;
|
|
}
|
|
if (!outputFile.empty() && nMarkers > 0 && markerSize > 0)
|
|
{
|
|
FileStorage fs(outputFile, FileStorage::WRITE);
|
|
if (checkFlippedMarkers)
|
|
dictionary = generateCustomAsymmetricDictionary(nMarkers, markerSize, aruco::Dictionary(), 0);
|
|
else
|
|
dictionary = aruco::extendDictionary(nMarkers, markerSize, aruco::Dictionary(), 0);
|
|
dictionary.writeDictionary(fs);
|
|
}
|
|
|
|
if (checkFlippedMarkers) {
|
|
cout << "Hamming distance: " << getMinAsymDistForDict(dictionary) << endl;
|
|
}
|
|
else {
|
|
cout << "Hamming distance: " << getMinDistForDict(dictionary) << endl;
|
|
}
|
|
return 0;
|
|
}
|