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Aug 16, 2019
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60 changes: 30 additions & 30 deletions modules/aruco/src/dictionary.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -268,37 +268,37 @@ Mat Dictionary::getBitsFromByteList(const Mat &byteList, int markerSize) {



Ptr<Dictionary> getPredefinedDictionary(PREDEFINED_DICTIONARY_NAME name)
{
// DictionaryData constructors calls
// moved out of globals so construted on first use, which allows lazy-loading of opencv dll
static const Dictionary DICT_ARUCO_DATA = Dictionary(Mat(1024, (5 * 5 + 7) / 8, CV_8UC4, (uchar*)DICT_ARUCO_BYTES), 5, 0);

static const Dictionary DICT_4X4_50_DATA = Dictionary(Mat(50, (4 * 4 + 7) / 8, CV_8UC4, (uchar*)DICT_4X4_1000_BYTES), 4, 1);
static const Dictionary DICT_4X4_100_DATA = Dictionary(Mat(100, (4 * 4 + 7) / 8, CV_8UC4, (uchar*)DICT_4X4_1000_BYTES), 4, 1);
static const Dictionary DICT_4X4_250_DATA = Dictionary(Mat(250, (4 * 4 + 7) / 8, CV_8UC4, (uchar*)DICT_4X4_1000_BYTES), 4, 1);
static const Dictionary DICT_4X4_1000_DATA = Dictionary(Mat(1000, (4 * 4 + 7) / 8, CV_8UC4, (uchar*)DICT_4X4_1000_BYTES), 4, 0);

static const Dictionary DICT_5X5_50_DATA = Dictionary(Mat(50, (5 * 5 + 7) / 8, CV_8UC4, (uchar*)DICT_5X5_1000_BYTES), 5, 3);
static const Dictionary DICT_5X5_100_DATA = Dictionary(Mat(100, (5 * 5 + 7) / 8, CV_8UC4, (uchar*)DICT_5X5_1000_BYTES), 5, 3);
static const Dictionary DICT_5X5_250_DATA = Dictionary(Mat(250, (5 * 5 + 7) / 8, CV_8UC4, (uchar*)DICT_5X5_1000_BYTES), 5, 2);
static const Dictionary DICT_5X5_1000_DATA = Dictionary(Mat(1000, (5 * 5 + 7) / 8, CV_8UC4, (uchar*)DICT_5X5_1000_BYTES), 5, 2);

static const Dictionary DICT_6X6_50_DATA = Dictionary(Mat(50, (6 * 6 + 7) / 8, CV_8UC4, (uchar*)DICT_6X6_1000_BYTES), 6, 6);
static const Dictionary DICT_6X6_100_DATA = Dictionary(Mat(100, (6 * 6 + 7) / 8, CV_8UC4, (uchar*)DICT_6X6_1000_BYTES), 6, 5);
static const Dictionary DICT_6X6_250_DATA = Dictionary(Mat(250, (6 * 6 + 7) / 8, CV_8UC4, (uchar*)DICT_6X6_1000_BYTES), 6, 5);
static const Dictionary DICT_6X6_1000_DATA = Dictionary(Mat(1000, (6 * 6 + 7) / 8, CV_8UC4, (uchar*)DICT_6X6_1000_BYTES), 6, 4);

static const Dictionary DICT_7X7_50_DATA = Dictionary(Mat(50, (7 * 7 + 7) / 8, CV_8UC4, (uchar*)DICT_7X7_1000_BYTES), 7, 9);
static const Dictionary DICT_7X7_100_DATA = Dictionary(Mat(100, (7 * 7 + 7) / 8, CV_8UC4, (uchar*)DICT_7X7_1000_BYTES), 7, 8);
static const Dictionary DICT_7X7_250_DATA = Dictionary(Mat(250, (7 * 7 + 7) / 8, CV_8UC4, (uchar*)DICT_7X7_1000_BYTES), 7, 8);
static const Dictionary DICT_7X7_1000_DATA = Dictionary(Mat(1000, (7 * 7 + 7) / 8, CV_8UC4, (uchar*)DICT_7X7_1000_BYTES), 7, 6);

static const Dictionary DICT_APRILTAG_16h5_DATA = Dictionary(Mat(30, (4 * 4 + 7) / 8, CV_8UC4, (uchar*)DICT_APRILTAG_16h5_BYTES), 4, 0);
static const Dictionary DICT_APRILTAG_25h9_DATA = Dictionary(Mat(35, (5 * 5 + 7) / 8, CV_8UC4, (uchar*)DICT_APRILTAG_25h9_BYTES), 5, 0);
static const Dictionary DICT_APRILTAG_36h10_DATA = Dictionary(Mat(2320, (6 * 6 + 7) / 8, CV_8UC4, (uchar*)DICT_APRILTAG_36h10_BYTES), 6, 0);
static const Dictionary DICT_APRILTAG_36h11_DATA = Dictionary(Mat(587, (6 * 6 + 7) / 8, CV_8UC4, (uchar*)DICT_APRILTAG_36h11_BYTES), 6, 0);

// DictionaryData constructors calls
const Dictionary DICT_ARUCO_DATA = Dictionary(Mat(1024, (5*5 + 7)/8, CV_8UC4, (uchar*)DICT_ARUCO_BYTES), 5, 0);

const Dictionary DICT_4X4_50_DATA = Dictionary(Mat(50, (4*4 + 7)/8, CV_8UC4, (uchar*)DICT_4X4_1000_BYTES), 4, 1);
const Dictionary DICT_4X4_100_DATA = Dictionary(Mat(100, (4*4 + 7)/8, CV_8UC4, (uchar*)DICT_4X4_1000_BYTES), 4, 1);
const Dictionary DICT_4X4_250_DATA = Dictionary(Mat(250, (4*4 + 7)/8, CV_8UC4, (uchar*)DICT_4X4_1000_BYTES), 4, 1);
const Dictionary DICT_4X4_1000_DATA = Dictionary(Mat(1000, (4*4 + 7)/8, CV_8UC4, (uchar*)DICT_4X4_1000_BYTES), 4, 0);

const Dictionary DICT_5X5_50_DATA = Dictionary(Mat(50, (5*5 + 7)/8, CV_8UC4, (uchar*)DICT_5X5_1000_BYTES), 5, 3);
const Dictionary DICT_5X5_100_DATA = Dictionary(Mat(100, (5*5 + 7)/8, CV_8UC4, (uchar*)DICT_5X5_1000_BYTES), 5, 3);
const Dictionary DICT_5X5_250_DATA = Dictionary(Mat(250, (5*5 + 7)/8, CV_8UC4, (uchar*)DICT_5X5_1000_BYTES), 5, 2);
const Dictionary DICT_5X5_1000_DATA = Dictionary(Mat(1000, (5*5 + 7)/8, CV_8UC4, (uchar*)DICT_5X5_1000_BYTES), 5, 2);

const Dictionary DICT_6X6_50_DATA = Dictionary(Mat(50, (6*6 + 7)/8 ,CV_8UC4, (uchar*)DICT_6X6_1000_BYTES), 6, 6);
const Dictionary DICT_6X6_100_DATA = Dictionary(Mat(100, (6*6 + 7)/8 ,CV_8UC4, (uchar*)DICT_6X6_1000_BYTES), 6, 5);
const Dictionary DICT_6X6_250_DATA = Dictionary(Mat(250, (6*6 + 7)/8 ,CV_8UC4, (uchar*)DICT_6X6_1000_BYTES), 6, 5);
const Dictionary DICT_6X6_1000_DATA = Dictionary(Mat(1000, (6*6 + 7)/8 ,CV_8UC4, (uchar*)DICT_6X6_1000_BYTES), 6, 4);

const Dictionary DICT_7X7_50_DATA = Dictionary(Mat(50, (7*7 + 7)/8 ,CV_8UC4, (uchar*)DICT_7X7_1000_BYTES), 7, 9);
const Dictionary DICT_7X7_100_DATA = Dictionary(Mat(100, (7*7 + 7)/8 ,CV_8UC4, (uchar*)DICT_7X7_1000_BYTES), 7, 8);
const Dictionary DICT_7X7_250_DATA = Dictionary(Mat(250, (7*7 + 7)/8 ,CV_8UC4, (uchar*)DICT_7X7_1000_BYTES), 7, 8);
const Dictionary DICT_7X7_1000_DATA = Dictionary(Mat(1000, (7*7 + 7)/8 ,CV_8UC4, (uchar*)DICT_7X7_1000_BYTES), 7, 6);

const Dictionary DICT_APRILTAG_16h5_DATA = Dictionary(Mat(30, (4*4 + 7)/8, CV_8UC4, (uchar*)DICT_APRILTAG_16h5_BYTES), 4, 0);
const Dictionary DICT_APRILTAG_25h9_DATA = Dictionary(Mat(35, (5*5 + 7)/8, CV_8UC4, (uchar*)DICT_APRILTAG_25h9_BYTES), 5, 0);
const Dictionary DICT_APRILTAG_36h10_DATA = Dictionary(Mat(2320, (6*6 + 7)/8, CV_8UC4, (uchar*)DICT_APRILTAG_36h10_BYTES), 6, 0);
const Dictionary DICT_APRILTAG_36h11_DATA = Dictionary(Mat(587, (6*6 + 7)/8, CV_8UC4, (uchar*)DICT_APRILTAG_36h11_BYTES), 6, 0);


Ptr<Dictionary> getPredefinedDictionary(PREDEFINED_DICTIONARY_NAME name) {
switch(name) {

case DICT_ARUCO_ORIGINAL:
Expand Down
6 changes: 3 additions & 3 deletions modules/reg/samples/reg_shift.py
Original file line number Diff line number Diff line change
Expand Up @@ -7,12 +7,12 @@
img1 = cv.imread(sys.argv[1])
img1 = img1.astype(np.float32)
shift = np.array([5., 5.])
mapTest = cv.reg.MapShift(shift)
mapTest = cv.reg_MapShift(shift)

img2 = mapTest.warp(img1)

mapper = cv.reg.MapperGradShift()
mappPyr = cv.reg.MapperPyramid(mapper)
mapper = cv.reg_MapperGradShift()
mappPyr = cv.reg_MapperPyramid(mapper)

resMap = mappPyr.calculate(img1, img2)
mapShift = cv.reg.MapTypeCaster_toShift(resMap)
Expand Down