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AleksandrPanov
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add aruco_dict_utils.cpp
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‎modules/aruco/samples/aruco_dict_utils.cpp

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#include <opencv2/core/hal/hal.hpp>
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#include <opencv2/aruco.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 inline Mat _generateRandomMarker(int markerSize, RNG &rng) {
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Mat marker(markerSize, markerSize, CV_8UC1, Scalar::all(0));
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for(int i = 0; i < markerSize; i++) {
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for(int j = 0; j < markerSize; j++) {
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unsigned char bit = (unsigned char) (rng.uniform(0,2));
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marker.at< unsigned char >(i, j) = bit;
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}
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}
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return marker;
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}
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static inline int _getSelfDistance(const Mat &marker) {
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Mat bytes = aruco::Dictionary::getByteListFromBits(marker);
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int minHamming = (int)marker.total() + 1;
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for(int r = 1; r < 4; r++) {
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int currentHamming = cv::hal::normHamming(bytes.ptr(), bytes.ptr() + bytes.cols*r, bytes.cols);
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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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int currentHamming = cv::hal::normHamming(flipBytes.ptr(), bytes.ptr() + bytes.cols*r, bytes.cols);
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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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int currentHamming = cv::hal::normHamming(flipBytes.ptr(), bytes.ptr() + bytes.cols*r, bytes.cols);
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if(currentHamming < minHamming) minHamming = currentHamming;
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}
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return minHamming;
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}
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static inline int getFlipDistanceToId(Ptr<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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int currentMinDistance = int(bits.total() * bits.total());
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for(unsigned int r = 0; r < nRotations; r++) {
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int currentHamming = cv::hal::normHamming(
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bytesList.ptr(id) + r*candidateBytes.cols,
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candidateBytes.ptr(),
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candidateBytes.cols);
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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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int currentHamming = cv::hal::normHamming(
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bytesList.ptr(id) + r * candidateBytes.cols,
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candidateBytes.ptr(),
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candidateBytes.cols);
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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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int currentHamming = cv::hal::normHamming(
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bytesList.ptr(id) + r * candidateBytes.cols,
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candidateBytes.ptr(),
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candidateBytes.cols);
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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 currentMinDistance;
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}
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static inline Ptr<aruco::Dictionary> generateCustomAsymmetricDictionary(int nMarkers, int markerSize,
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const Ptr<aruco::Dictionary> &baseDictionary, int randomSeed) {
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RNG rng((uint64)(randomSeed));
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Ptr<aruco::Dictionary> out = makePtr<aruco::Dictionary>();
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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 = _generateRandomMarker(markerSize, rng);
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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 Ptr<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 Ptr<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: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,"
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"DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, "
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"DICT_6X6_50=8, DICT_6X6_100=9, DICT_6X6_250=10, DICT_6X6_1000=11, DICT_7X7_50=12,"
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"DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16}"
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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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Ptr<aruco::Dictionary> dictionary = aruco::getPredefinedDictionary(0);;
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if (parser.has("d")) {
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int dictionaryId = parser.get<int>("d");
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dictionary = aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
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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->aruco::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 {
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cerr << "Dictionary not specified" << endl;
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return 0;
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}
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bool checkFlippedMarkers = parser.get<bool>("r");
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if (checkFlippedMarkers)
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{
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cout << getMinAsymDistForDict(dictionary) << endl;
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}
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else
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{
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cout << getMinDistForDict(dictionary) << endl;
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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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if (!outputFile.empty() && nMarkers > 0 && markerSize > 0)
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{
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Ptr<aruco::Dictionary> customDict;
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if (checkFlippedMarkers)
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customDict = generateCustomAsymmetricDictionary(nMarkers, markerSize, makePtr<aruco::Dictionary>(), 0);
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else
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customDict = aruco::generateCustomDictionary(nMarkers, markerSize, makePtr<aruco::Dictionary>(), 0);
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customDict->writeDictionary(outputFile);
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}
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return 0;
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}

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