From e5ee70d8446bd002ec1e63fa08af1153cb2c6e1d Mon Sep 17 00:00:00 2001 From: Zoe Date: Mon, 23 Oct 2023 12:44:29 +0100 Subject: [PATCH 01/80] testing merge on Tiago --- .gitignore | 3 +- .idea/.gitignore | 3 + .idea/base_zoe_fork.iml | 14 ++ .../inspectionProfiles/profiles_settings.xml | 6 + .idea/misc.xml | 7 + .idea/modules.xml | 8 + .idea/vcs.xml | 6 + .../yolo_server/server.py | 91 ----------- .../scripts/GenerateTableCuboid.py | 150 ++++++----------- tasks/lift/config/final_lift.yaml | 153 ++++++++++++++++++ tasks/lift/config/test.yaml | 148 +++++++++-------- tasks/lift/debug_lift/dilation75.jpg | Bin 0 -> 29283 bytes tasks/lift/debug_lift/heightmap75.jpg | Bin 0 -> 50689 bytes tasks/lift/debug_lift/predict_pos_zoe75.jpg | Bin 0 -> 15916 bytes tasks/lift/debug_lift/warped_in_extract75.jpg | Bin 0 -> 31236 bytes .../debug_lift/zoe_predict_pos_test75.jpg | Bin 0 -> 641 bytes tasks/lift/doc/EXAMPLE.md | 119 ++++++++++++++ tasks/lift/doc/PREREQUISITES.md | 1 + tasks/lift/doc/TECHNICAL.md | 9 ++ tasks/lift/doc/USAGE.md | 44 +++++ tasks/lift/launch/setup.launch | 8 +- .../phases/phase2/states/declare_floor.py | 2 +- .../phases/phase2/states/wait_for_people.py | 2 +- .../phase2/states => }/speech_helper.py | 0 24 files changed, 501 insertions(+), 273 deletions(-) create mode 100644 .idea/.gitignore create mode 100644 .idea/base_zoe_fork.iml create mode 100644 .idea/inspectionProfiles/profiles_settings.xml create mode 100644 .idea/misc.xml create mode 100644 .idea/modules.xml create mode 100644 .idea/vcs.xml delete mode 100755 common/vision/lasr_object_detection_yolov8/yolo_server/server.py create mode 100644 tasks/lift/config/final_lift.yaml create mode 100644 tasks/lift/debug_lift/dilation75.jpg create mode 100644 tasks/lift/debug_lift/heightmap75.jpg create mode 100644 tasks/lift/debug_lift/predict_pos_zoe75.jpg create mode 100644 tasks/lift/debug_lift/warped_in_extract75.jpg create mode 100644 tasks/lift/debug_lift/zoe_predict_pos_test75.jpg create mode 100644 tasks/lift/doc/EXAMPLE.md create mode 100644 tasks/lift/doc/PREREQUISITES.md create mode 100644 tasks/lift/doc/TECHNICAL.md create mode 100644 tasks/lift/doc/USAGE.md rename tasks/lift/src/lift/{phases/phase2/states => }/speech_helper.py (100%) diff --git a/.gitignore b/.gitignore index 581744e8a..53204a0d4 100644 --- a/.gitignore +++ b/.gitignore @@ -132,4 +132,5 @@ dmypy.json common/Perception/face_detection/output/ common/Perception/lasr_object_detection_yolo/models .vscode/ -common/navigation/choosing_wait_position/src/choosing_wait_position/final_lift_key_point/models \ No newline at end of file +common/navigation/choosing_wait_position/src/choosing_wait_position/final_lift_key_point/models +legacy/choosing_wait_position/src/choosing_wait_position/final_lift_key_point/models/keypointsrcnn_weights.pth \ No newline at end of file diff --git a/.idea/.gitignore b/.idea/.gitignore new file mode 100644 index 000000000..26d33521a --- /dev/null +++ b/.idea/.gitignore @@ -0,0 +1,3 @@ +# Default ignored files +/shelf/ +/workspace.xml diff --git a/.idea/base_zoe_fork.iml b/.idea/base_zoe_fork.iml new file mode 100644 index 000000000..3d74720d2 --- /dev/null +++ b/.idea/base_zoe_fork.iml @@ -0,0 +1,14 @@ + + + + + + + + + + + + \ No newline at end of file diff --git a/.idea/inspectionProfiles/profiles_settings.xml b/.idea/inspectionProfiles/profiles_settings.xml new file mode 100644 index 000000000..105ce2da2 --- /dev/null +++ b/.idea/inspectionProfiles/profiles_settings.xml @@ -0,0 +1,6 @@ + + + + \ No newline at end of file diff --git a/.idea/misc.xml b/.idea/misc.xml new file mode 100644 index 000000000..fd9c33431 --- /dev/null +++ b/.idea/misc.xml @@ -0,0 +1,7 @@ + + + + + + \ No newline at end of file diff --git a/.idea/modules.xml b/.idea/modules.xml new file mode 100644 index 000000000..9d9c326b8 --- /dev/null +++ b/.idea/modules.xml @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file diff --git a/.idea/vcs.xml b/.idea/vcs.xml new file mode 100644 index 000000000..35eb1ddfb --- /dev/null +++ b/.idea/vcs.xml @@ -0,0 +1,6 @@ + + + + + + \ No newline at end of file diff --git a/common/vision/lasr_object_detection_yolov8/yolo_server/server.py b/common/vision/lasr_object_detection_yolov8/yolo_server/server.py deleted file mode 100755 index 0fffef35c..000000000 --- a/common/vision/lasr_object_detection_yolov8/yolo_server/server.py +++ /dev/null @@ -1,91 +0,0 @@ -#!/usr/bin/env python3 -# YOLOv8 IPC processing server - -from multiprocessing.connection import Listener - -# Import YOLO runtime -# We keep the source in the src/ directory so we can migrate easily later. - -import sys, os - -FWD = os.path.dirname(os.path.realpath(__file__)) -sys.path.append(os.path.abspath(os.path.join(FWD, "../src/lasr_object_detection_yolov8"))) - -import yolo - -# Put ourselves in the model folder -os.chdir(os.path.abspath(os.path.join(FWD, 'models'))) - -# Determine HOST, PORT, and SECRET_KEY variables -# This script is run outside of the ROS workspace, so we probably don't have ROS_IP set. -# If it is, just use it, otherwise try to make a guess at our LAN IP address. - -import socket -from os import environ - -if "HOST" in environ: - HOST = environ.get("HOST") -elif "ROS_IP" in environ: - HOST = environ.get("ROS_IP") -else: - try: - # if we have an internet connection, figure out where we are being routed through - s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) - s.connect(("8.8.8.8", 80)) - HOST = s.getsockname()[0] - s.close() - except Exception: - # otherwise pick the first available interface - # may return 127.0.0.1 - HOST = socket.gethostbyname(socket.gethostname()) - -if "PORT" in environ: - PORT = int(environ.get('PORT')) -else: - PORT = 42405 - -if "SECRET_KEY" in environ: - SECRET_KEY = bytearray(environ.get('SECRET_KEY'), 'ascii') -else: - SECRET_KEY = b'ros yolov8 package' - -print(f'Listening on {HOST}:{PORT}') - -# Start the IPC server -listener = Listener((HOST, PORT), authkey=SECRET_KEY) - -# Accept connections forever (or at least until interrupt) -while True: - try: - conn = listener.accept() - print('Accepted connection from:', listener.last_accepted) - - # Accept an infinite amount of requests - while True: - # Receive parameters - dataset = conn.recv() - min_confidence = conn.recv() - nms = conn.recv() - debug = conn.recv() - encoding = conn.recv() - width = conn.recv() - height = conn.recv() - image_data = conn.recv() - - print(f'Received {encoding} image with dim {width}x{height}, using dataset {dataset}, minimum confidence of {min_confidence}, and NMS of {nms}, debugging? {debug}.') - - # Call the detection subroutine - plotted, detected_objects = yolo.detect(dataset, min_confidence, nms, debug, encoding, width, height, image_data) - - # Send the data back - if debug: - conn.send(plotted) - - conn.send(detected_objects) - - except KeyboardInterrupt: - listener.close() - break - - except EOFError: - pass diff --git a/legacy/aruco_service/scripts/GenerateTableCuboid.py b/legacy/aruco_service/scripts/GenerateTableCuboid.py index 8c1946409..828619ca5 100755 --- a/legacy/aruco_service/scripts/GenerateTableCuboid.py +++ b/legacy/aruco_service/scripts/GenerateTableCuboid.py @@ -15,7 +15,7 @@ # The marker should be placed on the bottom left corner of the table, with the x axis pointing to the right and the y axis pointing up # Use 0 to inf for tables, use -1 for counter, use -2 for waiting area -#<<<<<<< final-mk-fixed-alsa + TABLE_LONG_SIDE = 1.2 TABLE_SHORT_SIDE = 0.6 PADDING = 0.5 @@ -27,8 +27,7 @@ r = rospkg.RosPack() FILENAME = r.get_path('aruco_service') + "/test_check_table_sim.yaml" -#======= -#>>>>>>> main + def get_transform_to_marker(from_frame, to_frame): tf_buffer = tf2_ros.Buffer() @@ -39,6 +38,7 @@ def get_transform_to_marker(from_frame, to_frame): except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException): raise + def get_map_frame_pose(input_xy, transform): ps = PointStamped() ps.point.x = input_xy[0] @@ -49,6 +49,7 @@ def get_map_frame_pose(input_xy, transform): tr_point = tf2_geometry_msgs.do_transform_point(ps, transform) return (tr_point.point.x, tr_point.point.y) + def create_marker_msg(point, idx): marker_msg = Marker() marker_msg.header.frame_id = "map" @@ -67,6 +68,7 @@ def create_marker_msg(point, idx): marker_msg.color.a = 1.0 return marker_msg + def generate_cuboid(msg): table = msg.table long_side = msg.long_side @@ -75,60 +77,27 @@ def generate_cuboid(msg): is_rect = msg.is_rect radius = msg.radius seconds = rospy.get_time() - objects_marker_pub = rospy.Publisher("/table/objects_cuboid", Marker, queue_size= 4 if is_rect else 8) + objects_marker_pub = rospy.Publisher("/table/objects_cuboid", Marker, queue_size=4 if is_rect else 8) persons_marker_pub = rospy.Publisher("/table/persons_cuboid", Marker, queue_size=4 if is_rect else 8) if latest_pose is not None and (seconds - latest_pose.header.stamp.secs < 1.0): tr = get_transform_to_marker("aruco_marker_frame", "map") - -#<<<<<<< final-mk-fixed-alsa - # THESE POINTS ARE IN MARKER COORDINATE FRAME [LOCATION OF ARUCO MARKER IS (0,0) IN THIS FRAME] - local_corner_1 = [0, 0] - local_corner_2 = [TABLE_LONG_SIDE, 0] if table >= 0 else [WAITING_AREA_LONG_SIDE, 0] - local_corner_3 = [TABLE_LONG_SIDE, TABLE_SHORT_SIDE] if table >= 0 else [WAITING_AREA_LONG_SIDE, WAITING_AREA_SHORT_SIDE] - local_corner_4 = [0, TABLE_SHORT_SIDE] if table >= 0 else [0, WAITING_AREA_SHORT_SIDE] - - if table == -3: - local_corner_1 = [0,0] - local_corner_2 = [LIFT_WAITING_AREA,0] - local_corner_3 = [LIFT_WAITING_AREA,-LIFT_WAITING_AREA] - local_corner_4 = [0,-LIFT_WAITING_AREA] - local_wait_position = [0,-LIFT_WAITING_AREA - 0.4] - wait_position = get_map_frame_pose(local_wait_position, tr) - - - # TRANSFORM TO MAP FRAME - corner_1 = get_map_frame_pose(local_corner_1, tr) - corner_2 = get_map_frame_pose(local_corner_2, tr) - corner_3 = get_map_frame_pose(local_corner_3, tr) - corner_4 = get_map_frame_pose(local_corner_4, tr) - - objects_marker_pub.publish(create_marker_msg(corner_1, 0)) - objects_marker_pub.publish(create_marker_msg(corner_2, 1)) - objects_marker_pub.publish(create_marker_msg(corner_3, 2)) - objects_marker_pub.publish(create_marker_msg(corner_4, 3)) - - if table >= 0: - - local_padded_corner_1 = [local_corner_1[0] - PADDING, local_corner_1[1] - PADDING] - local_padded_corner_2 = [local_corner_2[0] + PADDING, local_corner_2[1] - PADDING] - local_padded_corner_3 = [local_corner_3[0] + PADDING, local_corner_3[1] + PADDING] - local_padded_corner_4 = [local_corner_4[0] - PADDING, local_corner_4[1] + PADDING] - - padded_corner_1 = get_map_frame_pose(local_padded_corner_1, tr) - padded_corner_2 = get_map_frame_pose(local_padded_corner_2, tr) - padded_corner_3 = get_map_frame_pose(local_padded_corner_3, tr) - padded_corner_4 = get_map_frame_pose(local_padded_corner_4, tr) -#======= if is_rect: # THESE POINTS ARE IN MARKER COORDINATE FRAME [LOCATION OF ARUCO MARKER IS (0,0) IN THIS FRAME] - local_corner_1 = [0, 0] + local_corner_1 = [0, 0] local_corner_2 = [long_side, 0] local_corner_3 = [long_side, short_side] local_corner_4 = [0, short_side] + if table == -3: + local_corner_1 = [0, 0] + local_corner_2 = [LIFT_WAITING_AREA, 0] + local_corner_3 = [LIFT_WAITING_AREA, -LIFT_WAITING_AREA] + local_corner_4 = [0, -LIFT_WAITING_AREA] + local_wait_position = [0, -LIFT_WAITING_AREA - 0.4] + wait_position = get_map_frame_pose(local_wait_position, tr) # TRANSFORM TO MAP FRAME corner_1 = get_map_frame_pose(local_corner_1, tr) @@ -141,7 +110,7 @@ def generate_cuboid(msg): objects_marker_pub.publish(create_marker_msg(corner_3, 2)) objects_marker_pub.publish(create_marker_msg(corner_4, 3)) - if table >= 0: + if table >= 0: local_padded_corner_1 = [local_corner_1[0] - padding, local_corner_1[1] - padding] local_padded_corner_2 = [local_corner_2[0] + padding, local_corner_2[1] - padding] @@ -158,8 +127,10 @@ def generate_cuboid(msg): persons_marker_pub.publish(create_marker_msg(padded_corner_3, 2)) persons_marker_pub.publish(create_marker_msg(padded_corner_4, 3)) - rospy.set_param("/tables/table" + str(table) + "/objects_cuboid", [corner_1, corner_2, corner_3, corner_4]) - rospy.set_param("/tables/table" + str(table) + "/persons_cuboid", [padded_corner_1, padded_corner_2, padded_corner_3, padded_corner_4]) + rospy.set_param("/tables/table" + str(table) + "/objects_cuboid", + [corner_1, corner_2, corner_3, corner_4]) + rospy.set_param("/tables/table" + str(table) + "/persons_cuboid", + [padded_corner_1, padded_corner_2, padded_corner_3, padded_corner_4]) now = str(datetime.datetime.now()) rospy.set_param("/tables/table" + str(table) + "/last_updated", now) rospy.loginfo("Cuboid for table %d saved to parameter server", table) @@ -176,6 +147,23 @@ def generate_cuboid(msg): rospy.set_param("/wait/last_updated", now) rospy.loginfo("Cuboid for the waiting area saved to parameter server") + elif table == -3: + # This is where I would put code for lift waiting area + # rospy.set_param("/lift_wait/cuboid", [corner_1, corner_2, corner_3, corner_4]) + # now = str(datetime.datetime.now()) + # rospy.set_param("/lift_wait/last_updated", now) + data = { + 'corner 1': corner_1, + 'corner 2': corner_2, + 'corner 3': corner_3, + 'corner 4': corner_4, + 'wait position': wait_position + } + FILENAME_LIFT = r.get_path('aruco_service') + "/test_lift_wait_position.yaml" + + with open(FILENAME_LIFT, 'w') as file: + yaml.dump(data, file) + else: rospy.logerr("Invalid table number %d", table) return GenerateTableCuboidResponse(False) @@ -189,18 +177,16 @@ def generate_cuboid(msg): with open(rosparam.get_param('/config_path'), 'w') as file: yaml.dump(data, file) -#>>>>>>> main - else: # assume circular, and aruco marker is placed in the centre of the table local_r1 = [-radius, 0] - local_r2 = [(sqrt(2.)*-radius)/2., (sqrt(2.)*+radius)/2.] + local_r2 = [(sqrt(2.) * -radius) / 2., (sqrt(2.) * +radius) / 2.] local_r3 = [0, +radius] - local_r4 = [(sqrt(2.)*+radius)/2., (sqrt(2.)*+radius)/2.] + local_r4 = [(sqrt(2.) * +radius) / 2., (sqrt(2.) * +radius) / 2.] local_r5 = [+radius, 0] - local_r6 = [(sqrt(2.)*+radius)/2., (sqrt(2.)*-radius)/2.] + local_r6 = [(sqrt(2.) * +radius) / 2., (sqrt(2.) * -radius) / 2.] local_r7 = [0, -radius] - local_r8 = [(sqrt(2.)*-radius)/2., (sqrt(2.)*-radius)/2.] + local_r8 = [(sqrt(2.) * -radius) / 2., (sqrt(2.) * -radius) / 2.] r1 = get_map_frame_pose(local_r1, tr) r2 = get_map_frame_pose(local_r2, tr) @@ -247,68 +233,24 @@ def generate_cuboid(msg): persons_marker_pub.publish(create_marker_msg(r7p, 6)) persons_marker_pub.publish(create_marker_msg(r8p, 7)) - rospy.set_param("/tables/table" + str(table) + "/objects_cuboid", [r1, r2, r3, r4, r5, r6, r7, r8]) rospy.set_param("/tables/table" + str(table) + "/persons_cuboid", [r1p, r2p, r3p, r4p, r5p, r6p, r7p, r8p]) now = str(datetime.datetime.now()) rospy.set_param("/tables/table" + str(table) + "/last_updated", now) rospy.loginfo("Cuboid for table %d saved to parameter server", table) -#<<<<<<< final-mk-fixed-alsa - elif table == -1: - rospy.set_param("/counter/cuboid", [corner_1, corner_2, corner_3, corner_4]) - now = str(datetime.datetime.now()) - rospy.set_param("/counter/last_updated", now) - rospy.loginfo("Cuboid for the counter saved to parameter server") - - elif table == -2: - rospy.set_param("/wait/cuboid", [corner_1, corner_2, corner_3, corner_4]) - now = str(datetime.datetime.now()) - rospy.set_param("/wait/last_updated", now) - rospy.loginfo("Cuboid for the waiting area saved to parameter server") - - elif table == -3: - #This is where I would put code for lift waiting area - #rospy.set_param("/lift_wait/cuboid", [corner_1, corner_2, corner_3, corner_4]) - #now = str(datetime.datetime.now()) - #rospy.set_param("/lift_wait/last_updated", now) - #rospy.loginfo("Cuboid for the lift waiting area saved to parameter server") - data = { - 'corner 1' : corner_1, - 'corner 2' : corner_2, - 'corner 3' : corner_3, - 'corner 4' : corner_4, - 'wait position': wait_position - } - FILENAME_LIFT = r.get_path('aruco_service') + "/test_lift_wait_position.yaml" - - with open(FILENAME_LIFT, 'w') as file: - yaml.dump(data,file) - - else: - rospy.logerr("Invalid table number %d", table) - return TableNumberResponse(False) - - # Dump rosparams to file - data = { - 'tables': rosparam.get_param('/tables'), - 'current_table': rosparam.get_param('/current_table'), - 'counter': rosparam.get_param('/counter'), - 'wait': rosparam.get_param('/wait') - } -#======= -#>>>>>>> main - - return GenerateTableCuboidResponse(True) else: - rospy.logerr("No pose data available to generate cuboid for table %d, please check if the marker is on the table", table) + rospy.logerr( + "No pose data available to generate cuboid for table %d, please check if the marker is on the table", table) return GenerateTableCuboidResponse(False) + def get_latest_pose(msg): global latest_pose latest_pose = msg + if __name__ == "__main__": rospy.init_node("generate_table_cuboid") @@ -319,8 +261,8 @@ def get_latest_pose(msg): els = rosparam.load_file(rosparam.get_param('/config_path')) for param, ns in els: rosparam.upload_params(ns, param) - + rospy.loginfo("Cuboid Generator Service Ready") - + while not rospy.is_shutdown(): rospy.sleep(1.0) diff --git a/tasks/lift/config/final_lift.yaml b/tasks/lift/config/final_lift.yaml new file mode 100644 index 000000000..84f1faa9b --- /dev/null +++ b/tasks/lift/config/final_lift.yaml @@ -0,0 +1,153 @@ +# done +start: + pose: + position: { x: 3.09560757362, y: 0.974404310171, z: 0.0} + orientation: {x: 0.0, y: 0.0, z: -0.591061635968, w: 0.806626395853} +#done +starting: + pose: + position: { x: 3.09560757362, y: 0.974404310171, z: 0.0} + orientation: {x: 0.0, y: 0.0, z: -0.591061635968, w: 0.806626395853} +#done +finish: + pose: + position: { x: 0.0151059264317, y: 1.16150856018, z: -0.00143432617188} + orientation: {x: 0.0, y: 0.0, z: 0.752734065, w: 0.658324712318} + + +#middle: + # pose: + # position: { x: 6.28203298434, y: 1.45009345075, z: 0.0} + # orientation: {x: 0.0, y: 0.0, z: -0.999269840631, w: 0.0382071407751} +#done +wait: + pose: + position: { x: 2.67279863358, y: -0.270290255547, z: -0.00143432617188} + orientation: {x: 0.0, y: 0.0, z: -0.151568158509, w: 0.988446808547} + +#done +wait_in_front_lift_centre: + pose: + position: { x: 3.31266808156, y: -0.483950084911, z: 0.0} + orientation: {x: 0.0, y: 0.0, z: -0.585323801347, w: 0.810799634668} + +#done +lift_centre: + pose: + position: { x: 4.06678438187, y: -2.04051423073, z: 0.00247192382812} + orientation: {x: 0.0, y: 0.0, z: 0.752734065, w: 1.0} + +#done +wait_position_center_point: [ 2.81842398643, -0.141454875469 ] + + +#done +wait_position_points: + [[ 3.79584240913, 0.724112570286 ], + [ 1.32902395725, 0.370439916849 ], + [ 1.81307899952, -1.20247292519 ], + [ 4.12164831161, -0.839492976665 ]] + +#done +lift_position_center_point: [4.06678438187, -2.04051423073] + +#done +lift_position_points: + [[ 4.63600158691, -1.35065078735 ], + [ 4.87020158768, -2.30084991455 ], + [ 3.86834454536, -2.61324429512 ], + [ 3.50403380394, -1.44176590443 ]] + +#done +lift: + pose: + position: + x: 3.38024333356 + y: -0.707694082116 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: -0.59235272545 + w: 0.805678750279 + +#done +floor: + status: "unknown" + number: 2 + +#done +counter_door: + counter: 0 +#done +in_lift: + status: False + +#done +counter_lift: + counter: 0 + + +#definately needs changing +door: + pose: + position: {x: 3.6300740242,y: -1.13543128967,z: 0.0918884277344} + orientation: {x: 0.0, y: 0.0, z: -0.502631449716,w: 0.864500795694} + +# done not well +#lift_in_front: +# pose: +# position: { x: 3.2, y: 2.37, z: 0.00256} +# orientation: { x: 0.0, y: 0.0, z: 0.990859995239, w: 0.134894291334 } + + + +counter_door_open: + counter: 0 + + +# done - definately needs changing +door_location: [3.6300740242, -1.13543128967] + + + +test_lift_points: + - [ 2.07351517677, 2.80156946182 ] + - [ 0.796780288219, 2.97078204155 ] + - [ 0.692557096481, 1.81232655048 ] + - [ 1.87809658051, 1.68216264248 ] + +# mk +corners_arena: + [[ 1.96626102924, -0.987280905247 ], + [ 7.12160825729, -1.5339679718], + [ 7.83762931824, 4.70086622238], + [ 3.28113484383, 5.32565116882]] +#corners_arena: +# - [ -5.77, -0.644 ] +# - [ -6.08, -6.85] +# - [ 0.519, -0.861] +# - [ 0.391, -6.01] + +#done - might need changing +phase3_lift: + pose: + position: { x: 3.31266808156, y: -0.483950084911, z: 0.0} + orientation: {x: 0.0, y: 0.0, z: -0.585323801347, w: 0.810799634668} + + +door_detected_official: True + + +#done - might need changing +phase2: + pose: + position: { x: 3.09560757362, y: 0.974404310171, z: 0.0} + orientation: {x: 0.0, y: 0.0, z: -0.591061635968, w: 0.806626395853} + +#done - might need changing +corners_lift: + [[ 4.63600158691, -1.35065078735 ], + [ 4.87020158768, -2.30084991455 ], + [ 3.86834454536, -2.61324429512 ], + [ 3.50403380394, -1.44176590443 ]] diff --git a/tasks/lift/config/test.yaml b/tasks/lift/config/test.yaml index 69917698d..87e84a533 100644 --- a/tasks/lift/config/test.yaml +++ b/tasks/lift/config/test.yaml @@ -1,9 +1,9 @@ #Robot room: # dev start: -#start: -# pose: -# position: { x: 3.09560757362, y: 0.974404310171, z: 0.0} -# orientation: {x: 0.0, y: 0.0, z: -0.591061635968, w: 0.806626395853} +start: + pose: + position: { x: 3.09560757362, y: 0.974404310171, z: 0.0} + orientation: {x: 0.0, y: 0.0, z: -0.591061635968, w: 0.806626395853} #Heavy Goods Lift: #goods_lift_start: @@ -12,41 +12,41 @@ # orientation: { x: 0.0,y: 0.0,z: 0.637510283355, w: 0.770441846356 } #Robot Room -#finish: -# pose: -# position: { x: 0.0151059264317, y: 1.16150856018, z: -0.00143432617188} -# orientation: {x: 0.0, y: 0.0, z: 0.752734065, w: 0.658324712318} +finish: + pose: + position: { x: 0.0151059264317, y: 1.16150856018, z: -0.00143432617188} + orientation: {x: 0.0, y: 0.0, z: 0.752734065, w: 0.658324712318} #Robot Room -#wait: -# pose: -# position: { x: 2.67279863358, y: -0.270290255547, z: -0.00143432617188} -# orientation: {x: 0.0, y: 0.0, z: -0.151568158509, w: 0.988446808547} -# -#wait_centre: -# pose: -# position: { x: 3.31266808156, y: -0.483950084911, z: 0.0} -# orientation: {x: 0.0, y: 0.0, z: -0.585323801347, w: 0.810799634668} -# +wait: + pose: + position: { x: 2.67279863358, y: -0.270290255547, z: -0.00143432617188} + orientation: {x: 0.0, y: 0.0, z: -0.151568158509, w: 0.988446808547} + +wait_centre: + pose: + position: { x: 3.31266808156, y: -0.483950084911, z: 0.0} + orientation: {x: 0.0, y: 0.0, z: -0.585323801347, w: 0.810799634668} + #goods_lift_wait: # pose: # position: { x: 0.508800501232, y: 33.8344979691,z: 0.0} # orientation: { x: 0.0,y: 0.0,z: 0.637510283355,w: 0.770441846356} # -#lift_centre: -# pose: -# position: { x: 4.06678438187, y: -2.04051423073, z: 0.00247192382812} -# orientation: {x: 0.0, y: 0.0, z: 0.752734065, w: 1.0} -# +lift_centre: + pose: + position: { x: 4.06678438187, y: -2.04051423073, z: 0.00247192382812} + orientation: {x: 0.0, y: 0.0, z: 0.752734065, w: 1.0} + # wait in dev -#wait_position_center_point: [ 2.81842398643, -0.141454875469 ] -#wait_position_points: -# [[ 3.79584240913, 0.724112570286 ], -# [ 1.32902395725, 0.370439916849 ], -# [ 1.81307899952, -1.20247292519 ], -# [ 4.12164831161, -0.839492976665 ]] -# +wait_position_center_point: [ 2.81842398643, -0.141454875469 ] +wait_position_points: + [[ 3.79584240913, 0.724112570286 ], + [ 1.32902395725, 0.370439916849 ], + [ 1.81307899952, -1.20247292519 ], + [ 4.12164831161, -0.839492976665 ]] + #lift: # pose: # position: @@ -104,38 +104,38 @@ # out # start out -start: - pose: - position: { x: 10.4685899979, y: 26.6557230611, z: 0.0} - orientation: {x: 0.0, y: 0.0, z: 0.160084213465, w: 0.987103360646} +#start: + # pose: + # position: { x: 10.4685899979, y: 26.6557230611, z: 0.0} + # orientation: {x: 0.0, y: 0.0, z: 0.160084213465, w: 0.987103360646} # finish out -finish: - pose: - position: { x: 10.3656408799, y: 25.7369664143, z: 0.0} - orientation: {x: 0.0, y: 0.0, z: 0.0965790640525, w: 0.995325315857} +#finish: + # pose: + # position: { x: 10.3656408799, y: 25.7369664143, z: 0.0} + # orientation: {x: 0.0, y: 0.0, z: 0.0965790640525, w: 0.995325315857} -wait: - pose: - position: { x: 10.3656408799, y: 25.7369664143, z: 0.0} - orientation: {x: 0.0, y: 0.0, z: 0.126074794327, w: 0.992020738813} +#wait: + # pose: + # position: { x: 10.3656408799, y: 25.7369664143, z: 0.0} + # orientation: {x: 0.0, y: 0.0, z: 0.126074794327, w: 0.992020738813} -wait_centre: - pose: - position: { x: 10.5647281515, y: 26.7998710048, z: 0.0} - orientation: {x: 0.0, y: 0.0, z: 0.126074794327, w: 0.992020738813} +#wait_centre: + # pose: + # position: { x: 10.5647281515, y: 26.7998710048, z: 0.0} + # orientation: {x: 0.0, y: 0.0, z: 0.126074794327, w: 0.992020738813} -goods_lift_wait: - pose: - position: { x: 0.508800501232, y: 33.8344979691,z: 0.0} - orientation: { x: 0.0,y: 0.0,z: 0.637510283355,w: 0.770441846356} +#goods_lift_wait: + # pose: + # position: { x: 0.508800501232, y: 33.8344979691,z: 0.0} + # orientation: { x: 0.0,y: 0.0,z: 0.637510283355,w: 0.770441846356} -lift_centre: - pose: - position: { x: 9.057735641656286, y: 27.38111656110139, z: 0.00247192382812} - orientation: {x: 0.0, y: 0.0, z: 0.752734065, w: 1.0} +#lift_centre: + # pose: + # position: { x: 9.057735641656286, y: 27.38111656110139, z: 0.00247192382812} + # orientation: {x: 0.0, y: 0.0, z: 0.752734065, w: 1.0} @@ -153,11 +153,17 @@ wait_position_points: lift_position_center_point: [ 11.9706506729, 27.2289657593] +#lift_position_points: + # [[ 12.6273851395, 26.9184188843], + # [ 11.5624361038, 26.5122585297], + # [ 11.1644525528, 27.4878616333], + # [ 12.2801580429, 28.0086154938]] + lift_position_points: - [[ 12.6273851395, 26.9184188843], - [ 11.5624361038, 26.5122585297], - [ 11.1644525528, 27.4878616333], - [ 12.2801580429, 28.0086154938]] + [[ 4.63600158691, -1.35065078735 ], + [ 4.87020158768, -2.30084991455 ], + [ 3.86834454536, -2.61324429512 ], + [ 3.50403380394, -1.44176590443 ]] lift: @@ -186,15 +192,15 @@ in_lift: counter_lift: counter: 0 -door: - pose: - position: { x: 11.086766243, y: 26.9298286438, z: 0.0} - orientation: { x: 0.0, y: 0.0, z: 0.145168323452, w: 0.989406972821} +#door: + # pose: + # position: { x: 11.086766243, y: 26.9298286438, z: 0.0} + # orientation: { x: 0.0, y: 0.0, z: 0.145168323452, w: 0.989406972821} -lift_in_front: - pose: - position: { x: 10.412532611, y: 26.7708529502, z: 0.0} - orientation: { x: 0.0, y: 0.0, z: 0.119805466915, w: 0.992797386226 } +#lift_in_front: + # pose: + # position: { x: 10.412532611, y: 26.7708529502, z: 0.0} + # orientation: { x: 0.0, y: 0.0, z: 0.119805466915, w: 0.992797386226 } counter_door_open: @@ -202,11 +208,11 @@ counter_door_open: door_location: [ x: 11.086766243, y: 26.9298286438] -test_lift_points: - - [ 12.6273851395, 26.9184188843] - - [ 11.5624361038, 26.5122585297] - - [ 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Ensure your `package.xml` file is up to date. + + You should add a proper description if one is not present. + + You should update the list of maintainers and authors if they are not correct. + + You should make sure all of your ROS package dependencies are listed, this includes packages installed from apt repositories and the workspace. + + ```xml + + my_package + Package for interacting with X and Y. + + + Your Name + Other Maintainer + + + Other Author + + ``` + +2. Create the `doc/PREREQUISITES.md` file. + + If you have any additional dependencies that need to be installed into the container, please list them here. + + Otherwise, create a blank file. + + ```md + This package requires Go 1.21.0 to be present and a valid GOPATH configured for the package to build correctly. + ``` + +3. Create the `doc/USAGE.md` file. + + Provide instructions for using the package, this should include a brief description of how it can be integrated and consumed from other packages if applicable. + + ```md + Start the service by running: + + \`\`\`bash + rosrun my_package my_service + \`\`\` + + You can now interact with the service as such: + + \`\`\`python + from my_package import MyPackage + + client = MyPackage() + client.do_something() + \`\`\` + ``` + +4. Create the `doc/EXAMPLE.md` file. + + Provide a start-to-finish example of how the package can be used. + + This will vary between packages, but in general it should explain what services need to be started, how testing data can be provided / generated / published, how tests may be run / validated, and how to launch any visualisations. + + ```md + 1. Start the service + + \`\`\`bash + roslaunch my_package my_service.launch + \`\`\` + + 2. Start the example script + + \`\`\`bash + rosrun my_package example.py + \`\`\` + ``` + +5. Create the `doc/TECHNICAL.md` file. + + This is up to you to figure out, but in this file you should provide a technical overview of how the package works. Include whatever you think is required for someone who would want to contribute to the package. + +6. Describe fields in messages / services / actions. + + You should go through all of your `.msg`, `.srv`, and `.action` files in their respective folders, and add comments to each field. + + ``` + # the table we to check + uint8 table + --- + # whether the table is ready + bool result # (you can also put comments here) + ``` + +7. Add descriptions, examples and documentation to launch files. + + Within your launch files, you can add `` and `` tags to better explain what the launch file is there for: + + ```xml + + Generate documentation for a single package + + + package:=coffee_shop + + ``` + + As well as this, make sure your `` tags have documentation strings. + + ```xml + + + + + + ``` + +Finally, regenerate the README file: + +```bash +rosrun document_lasr generate_readme.py my_package +``` diff --git a/tasks/lift/doc/PREREQUISITES.md b/tasks/lift/doc/PREREQUISITES.md new file mode 100644 index 000000000..a7365b161 --- /dev/null +++ b/tasks/lift/doc/PREREQUISITES.md @@ -0,0 +1 @@ +If you would like to view the documentation in the browser, ensure you have at [Node.js v16.x](https://nodejs.org/en) installed. diff --git a/tasks/lift/doc/TECHNICAL.md b/tasks/lift/doc/TECHNICAL.md new file mode 100644 index 000000000..c8fa1d49d --- /dev/null +++ b/tasks/lift/doc/TECHNICAL.md @@ -0,0 +1,9 @@ +This package scans your workspace to find packages and uses: + +- `package.xml` +- `CMakeLists.txt` +- `doc` files +- `srv` / `msg` / `action` / `launch` definitions +- `requirements.txt` / `requirements.in` + +to generate a README file for the package. diff --git a/tasks/lift/doc/USAGE.md b/tasks/lift/doc/USAGE.md new file mode 100644 index 000000000..fee0dd87c --- /dev/null +++ b/tasks/lift/doc/USAGE.md @@ -0,0 +1,44 @@ +1. Setting up the points: + We need to set up all the points corresponding to all of the main areas in the map correctly. + + The main points we need to know are: + - The four corners inside the lift (Should be a 2x2m square in the real world) + - The center of inside of the lift + - The four corners of the "lift waiting area" (should be a 2x2m square outside, but next to, the lift) + - The center of the lift waiting area + - The starting position + - The position we wait to view the lift waiting area + + If running in the development room (given that a lift is set up correctly) the points should already be correctly in the demo.yaml file. It is worth checking that these points are correct. + + To pick our own points, we pick the points from RVIZ. + + All required points will be in the demo.yaml file. + + +2. How to Run: + To run the lift task, we need to run two launch files: + + ```md + 1. Firstly, set up RASA, YOLO and other models/dependencies: + + \`\`\`bash + rosrun lift setup.launch + \`\`\` + + 2. When the setup has finished, launch the demo: + + \`\`\`bash + rosrun lift demo.launch + \`\`\` + ``` + + +3. Common Issues: + 1. RASA doesn't detect speech/breaks/doesn't work: + It may be that there isn't a RASA model for the lift task. + Please see common/Interaction/lasr_rasa/doc to train the RASA model for the lift. The required data should be in common/Interaction/lasr_rasa/assistants/lift/data + 2. There is no model for the keypoints: + The model is too big to be uploaded to git, please contact Zoe for the "lift_position" keypoint model. + 3. The microphone isn't working when attempting to do speech/whisper: + This may be a problem with the laptops microphone drives. Please see common/Interaction/lasr_speech_recognition_whisper for general whisper usage. Please make sure no other application (including the settings) is using the microphone while running the episode. \ No newline at end of file diff --git a/tasks/lift/launch/setup.launch b/tasks/lift/launch/setup.launch index 833cc5c45..89ed3a64b 100644 --- a/tasks/lift/launch/setup.launch +++ b/tasks/lift/launch/setup.launch @@ -23,8 +23,8 @@ - - + + @@ -40,8 +40,8 @@ - - + + diff --git a/tasks/lift/src/lift/phases/phase2/states/declare_floor.py b/tasks/lift/src/lift/phases/phase2/states/declare_floor.py index 0daf7e0c7..f924d3c4d 100644 --- a/tasks/lift/src/lift/phases/phase2/states/declare_floor.py +++ b/tasks/lift/src/lift/phases/phase2/states/declare_floor.py @@ -5,7 +5,7 @@ AudioAndTextInteractionResponse import json from lift.defaults import TEST, PLOT_SHOW, PLOT_SAVE, DEBUG_PATH, DEBUG, RASA -from speech_helper import listen, affirm +#from speech_helper import listen, affirm class DeclareFloor(smach.State): def __init__(self, default): diff --git a/tasks/lift/src/lift/phases/phase2/states/wait_for_people.py b/tasks/lift/src/lift/phases/phase2/states/wait_for_people.py index f58f5175c..863fa4a69 100644 --- a/tasks/lift/src/lift/phases/phase2/states/wait_for_people.py +++ b/tasks/lift/src/lift/phases/phase2/states/wait_for_people.py @@ -5,7 +5,7 @@ from lift.defaults import TEST, PLOT_SHOW, PLOT_SAVE, DEBUG_PATH, DEBUG, RASA from sensor_msgs.msg import PointCloud2 from lasr_object_detection_yolo.detect_objects_v8 import detect_objects, perform_detection, debug -from speech_helper import listen, affirm, hear_wait, get_people_number +#from speech_helper import listen, affirm, hear_wait, get_people_number diff --git a/tasks/lift/src/lift/phases/phase2/states/speech_helper.py b/tasks/lift/src/lift/speech_helper.py similarity index 100% rename from tasks/lift/src/lift/phases/phase2/states/speech_helper.py rename to tasks/lift/src/lift/speech_helper.py From a8a5ba61d4f9869e059c32b6dbad4410c54c06bc Mon Sep 17 00:00:00 2001 From: Zoe Date: Mon, 23 Oct 2023 12:44:29 +0100 Subject: [PATCH 02/80] testing merge on Tiago --- .gitignore | 3 +- .idea/.gitignore | 3 + .idea/base_zoe_fork.iml | 14 ++ .../inspectionProfiles/profiles_settings.xml | 6 + .idea/misc.xml | 7 + .idea/modules.xml | 8 + .idea/vcs.xml | 6 + .../scripts/GenerateTableCuboid.py | 150 ++++++----------- tasks/lift/config/final_lift.yaml | 153 ++++++++++++++++++ tasks/lift/config/test.yaml | 148 +++++++++-------- tasks/lift/debug_lift/dilation75.jpg | Bin 0 -> 29283 bytes tasks/lift/debug_lift/heightmap75.jpg | Bin 0 -> 50689 bytes tasks/lift/debug_lift/predict_pos_zoe75.jpg | Bin 0 -> 15916 bytes tasks/lift/debug_lift/warped_in_extract75.jpg | Bin 0 -> 31236 bytes .../debug_lift/zoe_predict_pos_test75.jpg | Bin 0 -> 641 bytes tasks/lift/doc/EXAMPLE.md | 119 ++++++++++++++ tasks/lift/doc/PREREQUISITES.md | 1 + tasks/lift/doc/TECHNICAL.md | 9 ++ tasks/lift/doc/USAGE.md | 44 +++++ tasks/lift/launch/setup.launch | 8 +- .../phases/phase2/states/declare_floor.py | 2 +- .../phases/phase2/states/wait_for_people.py | 2 +- .../phase2/states => }/speech_helper.py | 0 23 files changed, 501 insertions(+), 182 deletions(-) create mode 100644 .idea/.gitignore create mode 100644 .idea/base_zoe_fork.iml create mode 100644 .idea/inspectionProfiles/profiles_settings.xml create mode 100644 .idea/misc.xml create mode 100644 .idea/modules.xml create mode 100644 .idea/vcs.xml create mode 100644 tasks/lift/config/final_lift.yaml create mode 100644 tasks/lift/debug_lift/dilation75.jpg create mode 100644 tasks/lift/debug_lift/heightmap75.jpg create mode 100644 tasks/lift/debug_lift/predict_pos_zoe75.jpg create mode 100644 tasks/lift/debug_lift/warped_in_extract75.jpg create mode 100644 tasks/lift/debug_lift/zoe_predict_pos_test75.jpg create mode 100644 tasks/lift/doc/EXAMPLE.md create mode 100644 tasks/lift/doc/PREREQUISITES.md create mode 100644 tasks/lift/doc/TECHNICAL.md create mode 100644 tasks/lift/doc/USAGE.md rename tasks/lift/src/lift/{phases/phase2/states => }/speech_helper.py (100%) diff --git a/.gitignore b/.gitignore index 581744e8a..53204a0d4 100644 --- a/.gitignore +++ b/.gitignore @@ -132,4 +132,5 @@ dmypy.json common/Perception/face_detection/output/ common/Perception/lasr_object_detection_yolo/models .vscode/ -common/navigation/choosing_wait_position/src/choosing_wait_position/final_lift_key_point/models \ No newline at end of file +common/navigation/choosing_wait_position/src/choosing_wait_position/final_lift_key_point/models +legacy/choosing_wait_position/src/choosing_wait_position/final_lift_key_point/models/keypointsrcnn_weights.pth \ No newline at end of file diff --git a/.idea/.gitignore b/.idea/.gitignore new file mode 100644 index 000000000..26d33521a --- /dev/null +++ b/.idea/.gitignore @@ -0,0 +1,3 @@ +# Default ignored files +/shelf/ +/workspace.xml diff --git a/.idea/base_zoe_fork.iml b/.idea/base_zoe_fork.iml new file mode 100644 index 000000000..3d74720d2 --- /dev/null +++ b/.idea/base_zoe_fork.iml @@ -0,0 +1,14 @@ + + + + + + + + + + + + \ No newline at end of file diff --git a/.idea/inspectionProfiles/profiles_settings.xml b/.idea/inspectionProfiles/profiles_settings.xml new file mode 100644 index 000000000..105ce2da2 --- /dev/null +++ b/.idea/inspectionProfiles/profiles_settings.xml @@ -0,0 +1,6 @@ + + + + \ No newline at end of file diff --git a/.idea/misc.xml b/.idea/misc.xml new file mode 100644 index 000000000..fd9c33431 --- /dev/null +++ b/.idea/misc.xml @@ -0,0 +1,7 @@ + + + + + + \ No newline at end of file diff --git a/.idea/modules.xml b/.idea/modules.xml new file mode 100644 index 000000000..9d9c326b8 --- /dev/null +++ b/.idea/modules.xml @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file diff --git a/.idea/vcs.xml b/.idea/vcs.xml new file mode 100644 index 000000000..35eb1ddfb --- /dev/null +++ b/.idea/vcs.xml @@ -0,0 +1,6 @@ + + + + + + \ No newline at end of file diff --git a/legacy/aruco_service/scripts/GenerateTableCuboid.py b/legacy/aruco_service/scripts/GenerateTableCuboid.py index 8c1946409..828619ca5 100755 --- a/legacy/aruco_service/scripts/GenerateTableCuboid.py +++ b/legacy/aruco_service/scripts/GenerateTableCuboid.py @@ -15,7 +15,7 @@ # The marker should be placed on the bottom left corner of the table, with the x axis pointing to the right and the y axis pointing up # Use 0 to inf for tables, use -1 for counter, use -2 for waiting area -#<<<<<<< final-mk-fixed-alsa + TABLE_LONG_SIDE = 1.2 TABLE_SHORT_SIDE = 0.6 PADDING = 0.5 @@ -27,8 +27,7 @@ r = rospkg.RosPack() FILENAME = r.get_path('aruco_service') + "/test_check_table_sim.yaml" -#======= -#>>>>>>> main + def get_transform_to_marker(from_frame, to_frame): tf_buffer = tf2_ros.Buffer() @@ -39,6 +38,7 @@ def get_transform_to_marker(from_frame, to_frame): except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException): raise + def get_map_frame_pose(input_xy, transform): ps = PointStamped() ps.point.x = input_xy[0] @@ -49,6 +49,7 @@ def get_map_frame_pose(input_xy, transform): tr_point = tf2_geometry_msgs.do_transform_point(ps, transform) return (tr_point.point.x, tr_point.point.y) + def create_marker_msg(point, idx): marker_msg = Marker() marker_msg.header.frame_id = "map" @@ -67,6 +68,7 @@ def create_marker_msg(point, idx): marker_msg.color.a = 1.0 return marker_msg + def generate_cuboid(msg): table = msg.table long_side = msg.long_side @@ -75,60 +77,27 @@ def generate_cuboid(msg): is_rect = msg.is_rect radius = msg.radius seconds = rospy.get_time() - objects_marker_pub = rospy.Publisher("/table/objects_cuboid", Marker, queue_size= 4 if is_rect else 8) + objects_marker_pub = rospy.Publisher("/table/objects_cuboid", Marker, queue_size=4 if is_rect else 8) persons_marker_pub = rospy.Publisher("/table/persons_cuboid", Marker, queue_size=4 if is_rect else 8) if latest_pose is not None and (seconds - latest_pose.header.stamp.secs < 1.0): tr = get_transform_to_marker("aruco_marker_frame", "map") - -#<<<<<<< final-mk-fixed-alsa - # THESE POINTS ARE IN MARKER COORDINATE FRAME [LOCATION OF ARUCO MARKER IS (0,0) IN THIS FRAME] - local_corner_1 = [0, 0] - local_corner_2 = [TABLE_LONG_SIDE, 0] if table >= 0 else [WAITING_AREA_LONG_SIDE, 0] - local_corner_3 = [TABLE_LONG_SIDE, TABLE_SHORT_SIDE] if table >= 0 else [WAITING_AREA_LONG_SIDE, WAITING_AREA_SHORT_SIDE] - local_corner_4 = [0, TABLE_SHORT_SIDE] if table >= 0 else [0, WAITING_AREA_SHORT_SIDE] - - if table == -3: - local_corner_1 = [0,0] - local_corner_2 = [LIFT_WAITING_AREA,0] - local_corner_3 = [LIFT_WAITING_AREA,-LIFT_WAITING_AREA] - local_corner_4 = [0,-LIFT_WAITING_AREA] - local_wait_position = [0,-LIFT_WAITING_AREA - 0.4] - wait_position = get_map_frame_pose(local_wait_position, tr) - - - # TRANSFORM TO MAP FRAME - corner_1 = get_map_frame_pose(local_corner_1, tr) - corner_2 = get_map_frame_pose(local_corner_2, tr) - corner_3 = get_map_frame_pose(local_corner_3, tr) - corner_4 = get_map_frame_pose(local_corner_4, tr) - - objects_marker_pub.publish(create_marker_msg(corner_1, 0)) - objects_marker_pub.publish(create_marker_msg(corner_2, 1)) - objects_marker_pub.publish(create_marker_msg(corner_3, 2)) - objects_marker_pub.publish(create_marker_msg(corner_4, 3)) - - if table >= 0: - - local_padded_corner_1 = [local_corner_1[0] - PADDING, local_corner_1[1] - PADDING] - local_padded_corner_2 = [local_corner_2[0] + PADDING, local_corner_2[1] - PADDING] - local_padded_corner_3 = [local_corner_3[0] + PADDING, local_corner_3[1] + PADDING] - local_padded_corner_4 = [local_corner_4[0] - PADDING, local_corner_4[1] + PADDING] - - padded_corner_1 = get_map_frame_pose(local_padded_corner_1, tr) - padded_corner_2 = get_map_frame_pose(local_padded_corner_2, tr) - padded_corner_3 = get_map_frame_pose(local_padded_corner_3, tr) - padded_corner_4 = get_map_frame_pose(local_padded_corner_4, tr) -#======= if is_rect: # THESE POINTS ARE IN MARKER COORDINATE FRAME [LOCATION OF ARUCO MARKER IS (0,0) IN THIS FRAME] - local_corner_1 = [0, 0] + local_corner_1 = [0, 0] local_corner_2 = [long_side, 0] local_corner_3 = [long_side, short_side] local_corner_4 = [0, short_side] + if table == -3: + local_corner_1 = [0, 0] + local_corner_2 = [LIFT_WAITING_AREA, 0] + local_corner_3 = [LIFT_WAITING_AREA, -LIFT_WAITING_AREA] + local_corner_4 = [0, -LIFT_WAITING_AREA] + local_wait_position = [0, -LIFT_WAITING_AREA - 0.4] + wait_position = get_map_frame_pose(local_wait_position, tr) # TRANSFORM TO MAP FRAME corner_1 = get_map_frame_pose(local_corner_1, tr) @@ -141,7 +110,7 @@ def generate_cuboid(msg): objects_marker_pub.publish(create_marker_msg(corner_3, 2)) objects_marker_pub.publish(create_marker_msg(corner_4, 3)) - if table >= 0: + if table >= 0: local_padded_corner_1 = [local_corner_1[0] - padding, local_corner_1[1] - padding] local_padded_corner_2 = [local_corner_2[0] + padding, local_corner_2[1] - padding] @@ -158,8 +127,10 @@ def generate_cuboid(msg): persons_marker_pub.publish(create_marker_msg(padded_corner_3, 2)) persons_marker_pub.publish(create_marker_msg(padded_corner_4, 3)) - rospy.set_param("/tables/table" + str(table) + "/objects_cuboid", [corner_1, corner_2, corner_3, corner_4]) - rospy.set_param("/tables/table" + str(table) + "/persons_cuboid", [padded_corner_1, padded_corner_2, padded_corner_3, padded_corner_4]) + rospy.set_param("/tables/table" + str(table) + "/objects_cuboid", + [corner_1, corner_2, corner_3, corner_4]) + rospy.set_param("/tables/table" + str(table) + "/persons_cuboid", + [padded_corner_1, padded_corner_2, padded_corner_3, padded_corner_4]) now = str(datetime.datetime.now()) rospy.set_param("/tables/table" + str(table) + "/last_updated", now) rospy.loginfo("Cuboid for table %d saved to parameter server", table) @@ -176,6 +147,23 @@ def generate_cuboid(msg): rospy.set_param("/wait/last_updated", now) rospy.loginfo("Cuboid for the waiting area saved to parameter server") + elif table == -3: + # This is where I would put code for lift waiting area + # rospy.set_param("/lift_wait/cuboid", [corner_1, corner_2, corner_3, corner_4]) + # now = str(datetime.datetime.now()) + # rospy.set_param("/lift_wait/last_updated", now) + data = { + 'corner 1': corner_1, + 'corner 2': corner_2, + 'corner 3': corner_3, + 'corner 4': corner_4, + 'wait position': wait_position + } + FILENAME_LIFT = r.get_path('aruco_service') + "/test_lift_wait_position.yaml" + + with open(FILENAME_LIFT, 'w') as file: + yaml.dump(data, file) + else: rospy.logerr("Invalid table number %d", table) return GenerateTableCuboidResponse(False) @@ -189,18 +177,16 @@ def generate_cuboid(msg): with open(rosparam.get_param('/config_path'), 'w') as file: yaml.dump(data, file) -#>>>>>>> main - else: # assume circular, and aruco marker is placed in the centre of the table local_r1 = [-radius, 0] - local_r2 = [(sqrt(2.)*-radius)/2., (sqrt(2.)*+radius)/2.] + local_r2 = [(sqrt(2.) * -radius) / 2., (sqrt(2.) * +radius) / 2.] local_r3 = [0, +radius] - local_r4 = [(sqrt(2.)*+radius)/2., (sqrt(2.)*+radius)/2.] + local_r4 = [(sqrt(2.) * +radius) / 2., (sqrt(2.) * +radius) / 2.] local_r5 = [+radius, 0] - local_r6 = [(sqrt(2.)*+radius)/2., (sqrt(2.)*-radius)/2.] + local_r6 = [(sqrt(2.) * +radius) / 2., (sqrt(2.) * -radius) / 2.] local_r7 = [0, -radius] - local_r8 = [(sqrt(2.)*-radius)/2., (sqrt(2.)*-radius)/2.] + local_r8 = [(sqrt(2.) * -radius) / 2., (sqrt(2.) * -radius) / 2.] r1 = get_map_frame_pose(local_r1, tr) r2 = get_map_frame_pose(local_r2, tr) @@ -247,68 +233,24 @@ def generate_cuboid(msg): persons_marker_pub.publish(create_marker_msg(r7p, 6)) persons_marker_pub.publish(create_marker_msg(r8p, 7)) - rospy.set_param("/tables/table" + str(table) + "/objects_cuboid", [r1, r2, r3, r4, r5, r6, r7, r8]) rospy.set_param("/tables/table" + str(table) + "/persons_cuboid", [r1p, r2p, r3p, r4p, r5p, r6p, r7p, r8p]) now = str(datetime.datetime.now()) rospy.set_param("/tables/table" + str(table) + "/last_updated", now) rospy.loginfo("Cuboid for table %d saved to parameter server", table) -#<<<<<<< final-mk-fixed-alsa - elif table == -1: - rospy.set_param("/counter/cuboid", [corner_1, corner_2, corner_3, corner_4]) - now = str(datetime.datetime.now()) - rospy.set_param("/counter/last_updated", now) - rospy.loginfo("Cuboid for the counter saved to parameter server") - - elif table == -2: - rospy.set_param("/wait/cuboid", [corner_1, corner_2, corner_3, corner_4]) - now = str(datetime.datetime.now()) - rospy.set_param("/wait/last_updated", now) - rospy.loginfo("Cuboid for the waiting area saved to parameter server") - - elif table == -3: - #This is where I would put code for lift waiting area - #rospy.set_param("/lift_wait/cuboid", [corner_1, corner_2, corner_3, corner_4]) - #now = str(datetime.datetime.now()) - #rospy.set_param("/lift_wait/last_updated", now) - #rospy.loginfo("Cuboid for the lift waiting area saved to parameter server") - data = { - 'corner 1' : corner_1, - 'corner 2' : corner_2, - 'corner 3' : corner_3, - 'corner 4' : corner_4, - 'wait position': wait_position - } - FILENAME_LIFT = r.get_path('aruco_service') + "/test_lift_wait_position.yaml" - - with open(FILENAME_LIFT, 'w') as file: - yaml.dump(data,file) - - else: - rospy.logerr("Invalid table number %d", table) - return TableNumberResponse(False) - - # Dump rosparams to file - data = { - 'tables': rosparam.get_param('/tables'), - 'current_table': rosparam.get_param('/current_table'), - 'counter': rosparam.get_param('/counter'), - 'wait': rosparam.get_param('/wait') - } -#======= -#>>>>>>> main - - return GenerateTableCuboidResponse(True) else: - rospy.logerr("No pose data available to generate cuboid for table %d, please check if the marker is on the table", table) + rospy.logerr( + "No pose data available to generate cuboid for table %d, please check if the marker is on the table", table) return GenerateTableCuboidResponse(False) + def get_latest_pose(msg): global latest_pose latest_pose = msg + if __name__ == "__main__": rospy.init_node("generate_table_cuboid") @@ -319,8 +261,8 @@ def get_latest_pose(msg): els = rosparam.load_file(rosparam.get_param('/config_path')) for param, ns in els: rosparam.upload_params(ns, param) - + rospy.loginfo("Cuboid Generator Service Ready") - + while not rospy.is_shutdown(): rospy.sleep(1.0) diff --git a/tasks/lift/config/final_lift.yaml b/tasks/lift/config/final_lift.yaml new file mode 100644 index 000000000..84f1faa9b --- /dev/null +++ b/tasks/lift/config/final_lift.yaml @@ -0,0 +1,153 @@ +# done +start: + pose: + position: { x: 3.09560757362, y: 0.974404310171, z: 0.0} + orientation: {x: 0.0, y: 0.0, z: -0.591061635968, w: 0.806626395853} +#done +starting: + pose: + position: { x: 3.09560757362, y: 0.974404310171, z: 0.0} + orientation: {x: 0.0, y: 0.0, z: -0.591061635968, w: 0.806626395853} +#done +finish: + pose: + position: { x: 0.0151059264317, y: 1.16150856018, z: -0.00143432617188} + orientation: {x: 0.0, y: 0.0, z: 0.752734065, w: 0.658324712318} + + +#middle: + # pose: + # position: { x: 6.28203298434, y: 1.45009345075, z: 0.0} + # orientation: {x: 0.0, y: 0.0, z: -0.999269840631, w: 0.0382071407751} +#done +wait: + pose: + position: { x: 2.67279863358, y: -0.270290255547, z: -0.00143432617188} + orientation: {x: 0.0, y: 0.0, z: -0.151568158509, w: 0.988446808547} + +#done +wait_in_front_lift_centre: + pose: + position: { x: 3.31266808156, y: -0.483950084911, z: 0.0} + orientation: {x: 0.0, y: 0.0, z: -0.585323801347, w: 0.810799634668} + +#done +lift_centre: + pose: + position: { x: 4.06678438187, y: -2.04051423073, z: 0.00247192382812} + orientation: {x: 0.0, y: 0.0, z: 0.752734065, w: 1.0} + +#done +wait_position_center_point: [ 2.81842398643, -0.141454875469 ] + + +#done +wait_position_points: + [[ 3.79584240913, 0.724112570286 ], + [ 1.32902395725, 0.370439916849 ], + [ 1.81307899952, -1.20247292519 ], + [ 4.12164831161, -0.839492976665 ]] + +#done +lift_position_center_point: [4.06678438187, -2.04051423073] + +#done +lift_position_points: + [[ 4.63600158691, -1.35065078735 ], + [ 4.87020158768, -2.30084991455 ], + [ 3.86834454536, -2.61324429512 ], + [ 3.50403380394, -1.44176590443 ]] + +#done +lift: + pose: + position: + x: 3.38024333356 + y: -0.707694082116 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: -0.59235272545 + w: 0.805678750279 + +#done +floor: + status: "unknown" + number: 2 + +#done +counter_door: + counter: 0 +#done +in_lift: + status: False + +#done +counter_lift: + counter: 0 + + +#definately needs changing +door: + pose: + position: {x: 3.6300740242,y: -1.13543128967,z: 0.0918884277344} + orientation: {x: 0.0, y: 0.0, z: -0.502631449716,w: 0.864500795694} + +# done not well +#lift_in_front: +# pose: +# position: { x: 3.2, y: 2.37, z: 0.00256} +# orientation: { x: 0.0, y: 0.0, z: 0.990859995239, w: 0.134894291334 } + + + +counter_door_open: + counter: 0 + + +# done - definately needs changing +door_location: [3.6300740242, -1.13543128967] + + + +test_lift_points: + - [ 2.07351517677, 2.80156946182 ] + - [ 0.796780288219, 2.97078204155 ] + - [ 0.692557096481, 1.81232655048 ] + - [ 1.87809658051, 1.68216264248 ] + +# mk +corners_arena: + [[ 1.96626102924, -0.987280905247 ], + [ 7.12160825729, -1.5339679718], + [ 7.83762931824, 4.70086622238], + [ 3.28113484383, 5.32565116882]] +#corners_arena: +# - [ -5.77, -0.644 ] +# - [ -6.08, -6.85] +# - [ 0.519, -0.861] +# - [ 0.391, -6.01] + +#done - might need changing +phase3_lift: + pose: + position: { x: 3.31266808156, y: -0.483950084911, z: 0.0} + orientation: {x: 0.0, y: 0.0, z: -0.585323801347, w: 0.810799634668} + + +door_detected_official: True + + +#done - might need changing +phase2: + pose: + position: { x: 3.09560757362, y: 0.974404310171, z: 0.0} + orientation: {x: 0.0, y: 0.0, z: -0.591061635968, w: 0.806626395853} + +#done - might need changing +corners_lift: + [[ 4.63600158691, -1.35065078735 ], + [ 4.87020158768, -2.30084991455 ], + [ 3.86834454536, -2.61324429512 ], + [ 3.50403380394, -1.44176590443 ]] diff --git a/tasks/lift/config/test.yaml b/tasks/lift/config/test.yaml index 69917698d..87e84a533 100644 --- a/tasks/lift/config/test.yaml +++ b/tasks/lift/config/test.yaml @@ -1,9 +1,9 @@ #Robot room: # dev start: -#start: -# pose: -# position: { x: 3.09560757362, y: 0.974404310171, z: 0.0} -# orientation: {x: 0.0, y: 0.0, z: -0.591061635968, w: 0.806626395853} +start: + pose: + position: { x: 3.09560757362, y: 0.974404310171, z: 0.0} + orientation: {x: 0.0, y: 0.0, z: -0.591061635968, w: 0.806626395853} #Heavy Goods Lift: #goods_lift_start: @@ -12,41 +12,41 @@ # orientation: { x: 0.0,y: 0.0,z: 0.637510283355, w: 0.770441846356 } #Robot Room -#finish: -# pose: -# position: { x: 0.0151059264317, y: 1.16150856018, z: -0.00143432617188} -# orientation: {x: 0.0, y: 0.0, z: 0.752734065, w: 0.658324712318} +finish: + pose: + position: { x: 0.0151059264317, y: 1.16150856018, z: -0.00143432617188} + orientation: {x: 0.0, y: 0.0, z: 0.752734065, w: 0.658324712318} #Robot Room -#wait: -# pose: -# position: { x: 2.67279863358, y: -0.270290255547, z: -0.00143432617188} -# orientation: {x: 0.0, y: 0.0, z: -0.151568158509, w: 0.988446808547} -# -#wait_centre: -# pose: -# position: { x: 3.31266808156, y: -0.483950084911, z: 0.0} -# orientation: {x: 0.0, y: 0.0, z: -0.585323801347, w: 0.810799634668} -# +wait: + pose: + position: { x: 2.67279863358, y: -0.270290255547, z: -0.00143432617188} + orientation: {x: 0.0, y: 0.0, z: -0.151568158509, w: 0.988446808547} + +wait_centre: + pose: + position: { x: 3.31266808156, y: -0.483950084911, z: 0.0} + orientation: {x: 0.0, y: 0.0, z: -0.585323801347, w: 0.810799634668} + #goods_lift_wait: # pose: # position: { x: 0.508800501232, y: 33.8344979691,z: 0.0} # orientation: { x: 0.0,y: 0.0,z: 0.637510283355,w: 0.770441846356} # -#lift_centre: -# pose: -# position: { x: 4.06678438187, y: -2.04051423073, z: 0.00247192382812} -# orientation: {x: 0.0, y: 0.0, z: 0.752734065, w: 1.0} -# +lift_centre: + pose: + position: { x: 4.06678438187, y: -2.04051423073, z: 0.00247192382812} + orientation: {x: 0.0, y: 0.0, z: 0.752734065, w: 1.0} + # wait in dev -#wait_position_center_point: [ 2.81842398643, -0.141454875469 ] -#wait_position_points: -# [[ 3.79584240913, 0.724112570286 ], -# [ 1.32902395725, 0.370439916849 ], -# [ 1.81307899952, -1.20247292519 ], -# [ 4.12164831161, -0.839492976665 ]] -# +wait_position_center_point: [ 2.81842398643, -0.141454875469 ] +wait_position_points: + [[ 3.79584240913, 0.724112570286 ], + [ 1.32902395725, 0.370439916849 ], + [ 1.81307899952, -1.20247292519 ], + [ 4.12164831161, -0.839492976665 ]] + #lift: # pose: # position: @@ -104,38 +104,38 @@ # out # start out -start: - pose: - position: { x: 10.4685899979, y: 26.6557230611, z: 0.0} - orientation: {x: 0.0, y: 0.0, z: 0.160084213465, w: 0.987103360646} +#start: + # pose: + # position: { x: 10.4685899979, y: 26.6557230611, z: 0.0} + # orientation: {x: 0.0, y: 0.0, z: 0.160084213465, w: 0.987103360646} # finish out -finish: - pose: - position: { x: 10.3656408799, y: 25.7369664143, z: 0.0} - orientation: {x: 0.0, y: 0.0, z: 0.0965790640525, w: 0.995325315857} +#finish: + # pose: + # position: { x: 10.3656408799, y: 25.7369664143, z: 0.0} + # orientation: {x: 0.0, y: 0.0, z: 0.0965790640525, w: 0.995325315857} -wait: - pose: - position: { x: 10.3656408799, y: 25.7369664143, z: 0.0} - orientation: {x: 0.0, y: 0.0, z: 0.126074794327, w: 0.992020738813} +#wait: + # pose: + # position: { x: 10.3656408799, y: 25.7369664143, z: 0.0} + # orientation: {x: 0.0, y: 0.0, z: 0.126074794327, w: 0.992020738813} -wait_centre: - pose: - position: { x: 10.5647281515, y: 26.7998710048, z: 0.0} - orientation: {x: 0.0, y: 0.0, z: 0.126074794327, w: 0.992020738813} +#wait_centre: + # pose: + # position: { x: 10.5647281515, y: 26.7998710048, z: 0.0} + # orientation: {x: 0.0, y: 0.0, z: 0.126074794327, w: 0.992020738813} -goods_lift_wait: - pose: - position: { x: 0.508800501232, y: 33.8344979691,z: 0.0} - orientation: { x: 0.0,y: 0.0,z: 0.637510283355,w: 0.770441846356} +#goods_lift_wait: + # pose: + # position: { x: 0.508800501232, y: 33.8344979691,z: 0.0} + # orientation: { x: 0.0,y: 0.0,z: 0.637510283355,w: 0.770441846356} -lift_centre: - pose: - position: { x: 9.057735641656286, y: 27.38111656110139, z: 0.00247192382812} - orientation: {x: 0.0, y: 0.0, z: 0.752734065, w: 1.0} +#lift_centre: + # pose: + # position: { x: 9.057735641656286, y: 27.38111656110139, z: 0.00247192382812} + # orientation: {x: 0.0, y: 0.0, z: 0.752734065, w: 1.0} @@ -153,11 +153,17 @@ wait_position_points: lift_position_center_point: [ 11.9706506729, 27.2289657593] +#lift_position_points: + # [[ 12.6273851395, 26.9184188843], + # [ 11.5624361038, 26.5122585297], + # [ 11.1644525528, 27.4878616333], + # [ 12.2801580429, 28.0086154938]] + lift_position_points: - [[ 12.6273851395, 26.9184188843], - [ 11.5624361038, 26.5122585297], - [ 11.1644525528, 27.4878616333], - [ 12.2801580429, 28.0086154938]] + [[ 4.63600158691, -1.35065078735 ], + [ 4.87020158768, -2.30084991455 ], + [ 3.86834454536, -2.61324429512 ], + [ 3.50403380394, -1.44176590443 ]] lift: @@ -186,15 +192,15 @@ in_lift: counter_lift: counter: 0 -door: - pose: - position: { x: 11.086766243, y: 26.9298286438, z: 0.0} - orientation: { x: 0.0, y: 0.0, z: 0.145168323452, w: 0.989406972821} +#door: + # pose: + # position: { x: 11.086766243, y: 26.9298286438, z: 0.0} + # orientation: { x: 0.0, y: 0.0, z: 0.145168323452, w: 0.989406972821} -lift_in_front: - pose: - position: { x: 10.412532611, y: 26.7708529502, z: 0.0} - orientation: { x: 0.0, y: 0.0, z: 0.119805466915, w: 0.992797386226 } +#lift_in_front: + # pose: + # position: { x: 10.412532611, y: 26.7708529502, z: 0.0} + # orientation: { x: 0.0, y: 0.0, z: 0.119805466915, w: 0.992797386226 } counter_door_open: @@ -202,11 +208,11 @@ counter_door_open: door_location: [ x: 11.086766243, y: 26.9298286438] -test_lift_points: - - [ 12.6273851395, 26.9184188843] - - [ 11.5624361038, 26.5122585297] - - [ 11.1644525528, 27.4878616333] - - [ 12.2801580429, 28.0086154938] +#test_lift_points: + # - [ 12.6273851395, 26.9184188843] + #- [ 11.5624361038, 26.5122585297] + #- [ 11.1644525528, 27.4878616333] + #- [ 12.2801580429, 28.0086154938] door_detected_official: True diff --git a/tasks/lift/debug_lift/dilation75.jpg b/tasks/lift/debug_lift/dilation75.jpg new file mode 100644 index 0000000000000000000000000000000000000000..d1f25bac57a49c3c624d174813aabe8d5ede4909 GIT binary patch literal 29283 zcmeFZcTiJb_bwiaq97tDy+ox-6{H9P5s)q*2!tM`7wJWM6a=J3KtPJ1bfig#fCTBi z_fF_Np$15~`Mlp-W_~ljnS1Yi@7(u~dzih4z~P*|&fa^i=XusT5T*&sfIAv0>M8&d z5)yzl@e4qh11JGVi62Qw{^?2oImpTW>93KKlaXJ)cK!Ol8pX{U*C}pNT)%#U>c&mV ze-7ezx2Py@{qy0Ui~Pr*l3pVtyGBWIo#J1o{4aHc769!Hl4a5lWF!v(q_iYtv?PRf z01yBmx%RK&kpTYdK|)GKe(gF1aTrv@6Kd`dhfhXE9P~Bfh>2$h5q}RLr@cn^Kvd!S zUEQ}758dyHeT@HkgHy5MFTLIfitCA`N61Y|21X`k7H%G1zDNAx5|UC+rDc>}D66Qd zscXE}H!uVn8Jk#H+t}LKJ2-lJdHcNg_45z?6c!%wIWj6C@oQ3Y%D2?C?3~=Z{DQ)w 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Ensure your `package.xml` file is up to date. + + You should add a proper description if one is not present. + + You should update the list of maintainers and authors if they are not correct. + + You should make sure all of your ROS package dependencies are listed, this includes packages installed from apt repositories and the workspace. + + ```xml + + my_package + Package for interacting with X and Y. + + + Your Name + Other Maintainer + + + Other Author + + ``` + +2. Create the `doc/PREREQUISITES.md` file. + + If you have any additional dependencies that need to be installed into the container, please list them here. + + Otherwise, create a blank file. + + ```md + This package requires Go 1.21.0 to be present and a valid GOPATH configured for the package to build correctly. + ``` + +3. Create the `doc/USAGE.md` file. + + Provide instructions for using the package, this should include a brief description of how it can be integrated and consumed from other packages if applicable. + + ```md + Start the service by running: + + \`\`\`bash + rosrun my_package my_service + \`\`\` + + You can now interact with the service as such: + + \`\`\`python + from my_package import MyPackage + + client = MyPackage() + client.do_something() + \`\`\` + ``` + +4. Create the `doc/EXAMPLE.md` file. + + Provide a start-to-finish example of how the package can be used. + + This will vary between packages, but in general it should explain what services need to be started, how testing data can be provided / generated / published, how tests may be run / validated, and how to launch any visualisations. + + ```md + 1. Start the service + + \`\`\`bash + roslaunch my_package my_service.launch + \`\`\` + + 2. Start the example script + + \`\`\`bash + rosrun my_package example.py + \`\`\` + ``` + +5. Create the `doc/TECHNICAL.md` file. + + This is up to you to figure out, but in this file you should provide a technical overview of how the package works. Include whatever you think is required for someone who would want to contribute to the package. + +6. Describe fields in messages / services / actions. + + You should go through all of your `.msg`, `.srv`, and `.action` files in their respective folders, and add comments to each field. + + ``` + # the table we to check + uint8 table + --- + # whether the table is ready + bool result # (you can also put comments here) + ``` + +7. Add descriptions, examples and documentation to launch files. + + Within your launch files, you can add `` and `` tags to better explain what the launch file is there for: + + ```xml + + Generate documentation for a single package + + + package:=coffee_shop + + ``` + + As well as this, make sure your `` tags have documentation strings. + + ```xml + + + + + + ``` + +Finally, regenerate the README file: + +```bash +rosrun document_lasr generate_readme.py my_package +``` diff --git a/tasks/lift/doc/PREREQUISITES.md b/tasks/lift/doc/PREREQUISITES.md new file mode 100644 index 000000000..a7365b161 --- /dev/null +++ b/tasks/lift/doc/PREREQUISITES.md @@ -0,0 +1 @@ +If you would like to view the documentation in the browser, ensure you have at [Node.js v16.x](https://nodejs.org/en) installed. diff --git a/tasks/lift/doc/TECHNICAL.md b/tasks/lift/doc/TECHNICAL.md new file mode 100644 index 000000000..c8fa1d49d --- /dev/null +++ b/tasks/lift/doc/TECHNICAL.md @@ -0,0 +1,9 @@ +This package scans your workspace to find packages and uses: + +- `package.xml` +- `CMakeLists.txt` +- `doc` files +- `srv` / `msg` / `action` / `launch` definitions +- `requirements.txt` / `requirements.in` + +to generate a README file for the package. diff --git a/tasks/lift/doc/USAGE.md b/tasks/lift/doc/USAGE.md new file mode 100644 index 000000000..fee0dd87c --- /dev/null +++ b/tasks/lift/doc/USAGE.md @@ -0,0 +1,44 @@ +1. Setting up the points: + We need to set up all the points corresponding to all of the main areas in the map correctly. + + The main points we need to know are: + - The four corners inside the lift (Should be a 2x2m square in the real world) + - The center of inside of the lift + - The four corners of the "lift waiting area" (should be a 2x2m square outside, but next to, the lift) + - The center of the lift waiting area + - The starting position + - The position we wait to view the lift waiting area + + If running in the development room (given that a lift is set up correctly) the points should already be correctly in the demo.yaml file. It is worth checking that these points are correct. + + To pick our own points, we pick the points from RVIZ. + + All required points will be in the demo.yaml file. + + +2. How to Run: + To run the lift task, we need to run two launch files: + + ```md + 1. Firstly, set up RASA, YOLO and other models/dependencies: + + \`\`\`bash + rosrun lift setup.launch + \`\`\` + + 2. When the setup has finished, launch the demo: + + \`\`\`bash + rosrun lift demo.launch + \`\`\` + ``` + + +3. Common Issues: + 1. RASA doesn't detect speech/breaks/doesn't work: + It may be that there isn't a RASA model for the lift task. + Please see common/Interaction/lasr_rasa/doc to train the RASA model for the lift. The required data should be in common/Interaction/lasr_rasa/assistants/lift/data + 2. There is no model for the keypoints: + The model is too big to be uploaded to git, please contact Zoe for the "lift_position" keypoint model. + 3. The microphone isn't working when attempting to do speech/whisper: + This may be a problem with the laptops microphone drives. Please see common/Interaction/lasr_speech_recognition_whisper for general whisper usage. Please make sure no other application (including the settings) is using the microphone while running the episode. \ No newline at end of file diff --git a/tasks/lift/launch/setup.launch b/tasks/lift/launch/setup.launch index 833cc5c45..89ed3a64b 100644 --- a/tasks/lift/launch/setup.launch +++ b/tasks/lift/launch/setup.launch @@ -23,8 +23,8 @@ - - + + @@ -40,8 +40,8 @@ - - + + diff --git a/tasks/lift/src/lift/phases/phase2/states/declare_floor.py b/tasks/lift/src/lift/phases/phase2/states/declare_floor.py index 0daf7e0c7..f924d3c4d 100644 --- a/tasks/lift/src/lift/phases/phase2/states/declare_floor.py +++ b/tasks/lift/src/lift/phases/phase2/states/declare_floor.py @@ -5,7 +5,7 @@ AudioAndTextInteractionResponse import json from lift.defaults import TEST, PLOT_SHOW, PLOT_SAVE, DEBUG_PATH, DEBUG, RASA -from speech_helper import listen, affirm +#from speech_helper import listen, affirm class DeclareFloor(smach.State): def __init__(self, default): diff --git a/tasks/lift/src/lift/phases/phase2/states/wait_for_people.py b/tasks/lift/src/lift/phases/phase2/states/wait_for_people.py index f58f5175c..863fa4a69 100644 --- a/tasks/lift/src/lift/phases/phase2/states/wait_for_people.py +++ b/tasks/lift/src/lift/phases/phase2/states/wait_for_people.py @@ -5,7 +5,7 @@ from lift.defaults import TEST, PLOT_SHOW, PLOT_SAVE, DEBUG_PATH, DEBUG, RASA from sensor_msgs.msg import PointCloud2 from lasr_object_detection_yolo.detect_objects_v8 import detect_objects, perform_detection, debug -from speech_helper import listen, affirm, hear_wait, get_people_number +#from speech_helper import listen, affirm, hear_wait, get_people_number diff --git a/tasks/lift/src/lift/phases/phase2/states/speech_helper.py b/tasks/lift/src/lift/speech_helper.py similarity index 100% rename from tasks/lift/src/lift/phases/phase2/states/speech_helper.py rename to tasks/lift/src/lift/speech_helper.py From 0e29e60162bd57a3674dea8760cc5dd9cbabbcdb Mon Sep 17 00:00:00 2001 From: Zoe Date: Mon, 23 Oct 2023 13:20:56 +0100 Subject: [PATCH 03/80] removing idea file --- .idea/.gitignore | 3 --- .idea/base_zoe_fork.iml | 14 -------------- .idea/inspectionProfiles/profiles_settings.xml | 6 ------ .idea/misc.xml | 7 ------- .idea/modules.xml | 8 -------- .idea/vcs.xml | 6 ------ 6 files changed, 44 deletions(-) delete mode 100644 .idea/.gitignore delete mode 100644 .idea/base_zoe_fork.iml delete mode 100644 .idea/inspectionProfiles/profiles_settings.xml delete mode 100644 .idea/misc.xml delete mode 100644 .idea/modules.xml delete mode 100644 .idea/vcs.xml diff --git a/.idea/.gitignore b/.idea/.gitignore deleted file mode 100644 index 26d33521a..000000000 --- a/.idea/.gitignore +++ /dev/null @@ -1,3 +0,0 @@ -# Default ignored files -/shelf/ -/workspace.xml diff --git a/.idea/base_zoe_fork.iml b/.idea/base_zoe_fork.iml deleted file mode 100644 index 3d74720d2..000000000 --- a/.idea/base_zoe_fork.iml +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - - - - - - - \ No newline at end of file diff --git a/.idea/inspectionProfiles/profiles_settings.xml b/.idea/inspectionProfiles/profiles_settings.xml deleted file mode 100644 index 105ce2da2..000000000 --- a/.idea/inspectionProfiles/profiles_settings.xml +++ /dev/null @@ -1,6 +0,0 @@ - - - - \ No newline at end of file diff --git a/.idea/misc.xml b/.idea/misc.xml deleted file mode 100644 index fd9c33431..000000000 --- a/.idea/misc.xml +++ /dev/null @@ -1,7 +0,0 @@ - - - - - - \ No newline at end of file diff --git a/.idea/modules.xml b/.idea/modules.xml deleted file mode 100644 index 9d9c326b8..000000000 --- a/.idea/modules.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - \ No newline at end of file diff --git a/.idea/vcs.xml b/.idea/vcs.xml deleted file mode 100644 index 35eb1ddfb..000000000 --- a/.idea/vcs.xml +++ /dev/null @@ -1,6 +0,0 @@ - - - - - - \ No newline at end of file From dd843c21cf57dcd7480a484fcff6c5c7c61546d1 Mon Sep 17 00:00:00 2001 From: Zoe Date: Mon, 23 Oct 2023 15:41:52 +0100 Subject: [PATCH 04/80] modifying lift docs --- legacy/aruco_ros/LICENSE | 7 + legacy/aruco_ros/README.md | 86 + legacy/aruco_ros/aruco/CHANGELOG.rst | 106 + legacy/aruco_ros/aruco/CMakeLists.txt | 63 + legacy/aruco_ros/aruco/cfg/ArucoThreshold.cfg | 14 + legacy/aruco_ros/aruco/include/aruco/aruco.h | 25 + .../aruco/include/aruco/aruco_cvversioning.h | 33 + .../aruco/include/aruco/aruco_export.h | 34 + .../aruco/include/aruco/cameraparameters.h | 142 + .../aruco/include/aruco/cvdrawingutils.h | 43 + legacy/aruco_ros/aruco/include/aruco/debug.h | 127 + .../aruco/include/aruco/dictionary.h | 191 + .../aruco/include/aruco/dictionary_based.h | 68 + .../aruco/include/aruco/fractaldetector.h | 133 + .../aruco/fractallabelers/fractallabeler.h | 52 + .../aruco/fractallabelers/fractalmarker.h | 65 + .../aruco/fractallabelers/fractalmarkerset.h | 142 + .../fractallabelers/fractalposetracker.h | 147 + legacy/aruco_ros/aruco/include/aruco/ippe.h | 360 ++ .../aruco_ros/aruco/include/aruco/levmarq.h | 386 ++ 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create mode 100644 legacy/aruco_ros/aruco_ros/src/simple_single.cpp delete mode 100644 tasks/lift/debug_lift/dilation75.jpg create mode 100644 tasks/lift/debug_lift/dilation885.jpg delete mode 100644 tasks/lift/debug_lift/heightmap75.jpg create mode 100644 tasks/lift/debug_lift/heightmap885.jpg delete mode 100644 tasks/lift/debug_lift/predict_pos_zoe75.jpg create mode 100644 tasks/lift/debug_lift/predict_pos_zoe885.jpg delete mode 100644 tasks/lift/debug_lift/warped_in_extract75.jpg create mode 100644 tasks/lift/debug_lift/warped_in_extract885.jpg delete mode 100644 tasks/lift/debug_lift/zoe_predict_pos_test75.jpg create mode 100644 tasks/lift/debug_lift/zoe_predict_pos_test885.jpg diff --git a/legacy/aruco_ros/LICENSE b/legacy/aruco_ros/LICENSE new file mode 100644 index 000000000..43f1215e3 --- /dev/null +++ b/legacy/aruco_ros/LICENSE @@ -0,0 +1,7 @@ +Copyright 2020 PAL Robotics S.L. + +Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. diff --git a/legacy/aruco_ros/README.md b/legacy/aruco_ros/README.md new file mode 100644 index 000000000..0d7f7b92b --- /dev/null +++ b/legacy/aruco_ros/README.md @@ -0,0 +1,86 @@ +aruco_ros +========= + +Software package and ROS wrappers of the [Aruco][1] Augmented Reality marker detector library. + + +### Features + + + * High-framerate tracking of AR markers + + * Generate AR markers with given size and optimized for minimal perceptive ambiguity (when there are more markers to track) + + * Enhanced precision tracking by using boards of markers + + * ROS wrappers + + +### Applications + + * Object pose estimation + * Visual servoing: track object and hand at the same time + + + + +### ROS API + +#### Messages + + * aruco_ros/Marker.msg + + Header header + uint32 id + geometry_msgs/PoseWithCovariance pose + float64 confidence + + * aruco_ros/MarkerArray.msg + + Header header + aruco_ros/Marker[] markers + +### Kinetic changes + +* Updated the [Aruco][1] library to version 3.0.4 + +* Changed the coordinate system to match the library's, the convention is shown + in the image below, following rviz conventions, X is red, Y is green and Z is + blue. + + +### Test it with REEM + + * Open a REEM in simulation with a marker floating in front of the robot. This will start the stereo cameras of the robot too. Since this is only a vision test, there is nothing else in this world apart from the robot and a marker floating in front of it. An extra light source had to be added to compensate for the default darkness. + + ``` + roslaunch reem_gazebo reem_gazebo.launch world:=floating_marker + ``` + * Launch the `image_proc` node to get undistorted images from the cameras of the robot. + + ``` + ROS_NAMESPACE=/stereo/right rosrun image_proc image_proc image_raw:=image + ``` + * Start the `single` node which will start tracking the specified marker and will publish its pose in the camera frame + + ``` + roslaunch aruco_ros single.launch markerId:=26 markerSize:=0.08 eye:="right" + ``` + + the frame in which the pose is refered to can be chosen with the 'ref_frame' argument. The next example forces the marker pose to + be published with respect to the robot base_link frame: + + ``` + roslaunch aruco_ros single.launch markerId:=26 markerSize:=0.08 eye:="right" ref_frame:=/base_link + ``` + + * Visualize the result + + ``` + rosrun image_view image_view image:=/aruco_single/result + ``` + + + + +[1]: http://www.sciencedirect.com/science/article/pii/S0031320314000235 "Automatic generation and detection of highly reliable fiducial markers under occlusion by S. Garrido-Jurado and R. Muñoz-Salinas and F.J. Madrid-Cuevas and M.J. MarĂ­n-JimĂ©nez 2014" diff --git a/legacy/aruco_ros/aruco/CHANGELOG.rst b/legacy/aruco_ros/aruco/CHANGELOG.rst new file mode 100644 index 000000000..acd283216 --- /dev/null +++ b/legacy/aruco_ros/aruco/CHANGELOG.rst @@ -0,0 +1,106 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package aruco +^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.0.0 (2019-09-27) +------------------ +* Fix shadowed variables +* Add SYSTEN to include dirs +* Merge pull request `#68 `_ from aPonza/ros_format + Autoformatting as per CppStyleGuide +* removed using namespace declarations +* autoformatting as per CppStyleGuide +* Migration to aruco 3.0.4 +* Merge branch 'indigo-devel' into kinetic-devel +* Completely remove debug print +* Merge pull request `#37 `_ from pal-robotics/remove-debug-print + Remove debug log msg +* Remove debug log msg +* Merge pull request `#29 `_ from cehberlin/kinetic-devel + forcing opencv3 build for kinetic +* forcing opencv3 build for kinetic +* Contributors: Andrea Ponza, Bence Magyar, Christopher Hrabia, Jordi Pages, Victor Lopez + +2.2.2 (2022-11-23) +------------------ +* Merge branch 'fix/109/ferrum/cornerupsample' into 'ferrum-devel' + Fix/109/ferrum/cornerupsample + See merge request ros-overlays/aruco_ros!9 +* Fix/109/ferrum/cornerupsample +* Contributors: josegarcia, saikishor + +2.2.1 (2022-11-10) +------------------ +* Merge branch 'fix_disable_pal_flags' into 'ferrum-devel' + disable the shadow compilation flag + See merge request ros-overlays/aruco_ros!7 +* disable the shadow compilation flag +* Contributors: Sai Kishor Kothakota, saikishor + +2.2.0 (2022-11-07) +------------------ +* Merge branch 'feat/aruco-3.1.5-migration' into 'ferrum-devel' + ArUCO 3.1.5 migration + See merge request ros-overlays/aruco_ros!4 +* replace disable_pal_flags() with set DISABLE_PAL_FLAGS +* clang formatting +* add support for extrinsics with stereo cameras +* Add correct fisheye distortion functionality +* migrate to 3.1.5 +* Contributors: josecarlos, josegarcia, saikishor + +2.1.4 (2022-05-16) +------------------ + +2.1.3 (2022-04-05) +------------------ +* Make Sai maintainer of all +* Update license tags in the package.xml +* Contributors: Bence Magyar, Sai Kishor Kothakota + +2.1.2 (2022-02-10) +------------------ + +2.1.1 (2020-09-17) +------------------ + +2.1.0 (2020-01-21) +------------------ +* Add param to correct fisheye distortion with special CV functions +* Add support for camera extrinsics when dealing with stereo cameras +* Contributors: Victor Lopez + +2.0.2 (2019-11-09) +------------------ + +2.0.1 (2019-09-27) +------------------ +* Fix dependency +* Contributors: Victor Lopez + +0.2.2 (2017-07-25) +------------------ + +0.2.1 (2017-07-21) +------------------ + +0.2.0 (2016-10-19) +------------------ +* Fix compilation error in Ubuntu 16.04 + With this change, aruco_ros compiles properly in Ubuntu 16.04, ROS kinetic. +* Contributors: Francisco + +0.1.0 (2015-08-10) +------------------ +* Depend on libopencv-dev directly +* Replace opencv2 dependency with cv_bridge +* Update changelogs and maintainer email +* Add aruco marker generator and opencv dependency +* Remove duplicated images +* Remove old launch files +* Contributors: Bence Magyar + +0.0.1 (2015-05-20) +------------------ +* Initial release +* Contributors: Bence Magyar diff --git a/legacy/aruco_ros/aruco/CMakeLists.txt b/legacy/aruco_ros/aruco/CMakeLists.txt new file mode 100644 index 000000000..c98a6bf78 --- /dev/null +++ b/legacy/aruco_ros/aruco/CMakeLists.txt @@ -0,0 +1,63 @@ +cmake_minimum_required(VERSION 2.8.3) +project(aruco) + +find_package(catkin) +find_package(Eigen3 REQUIRED) +find_package(OpenCV 3 REQUIRED) +set(CMAKE_CXX_STANDARD 11) # C++11... +set(CMAKE_CXX_STANDARD_REQUIRED ON) #...is required... +set(CMAKE_CXX_EXTENSIONS ON) #...with compiler extensions like gnu++11 +string(REPLACE "-Werror=shadow" "" NEW_CXX_FLAGS "${CMAKE_CXX_FLAGS}") +set(CMAKE_CXX_FLAGS "${NEW_CXX_FLAGS}") + +catkin_package( + INCLUDE_DIRS include + LIBRARIES aruco +) +include_directories( + include/aruco/) + +include_directories( + SYSTEM + ${catkin_INCLUDE_DIRS} + ${OpenCV_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIRS} +) + +add_library(aruco + src/aruco/cameraparameters.cpp + src/aruco/cvdrawingutils.cpp + src/aruco/debug.cpp + src/aruco/dictionary_based.cpp + src/aruco/dictionary.cpp + src/aruco/fractaldetector.cpp + src/aruco/ippe.cpp + src/aruco/marker.cpp + src/aruco/markerdetector_impl.cpp + src/aruco/markerdetector.cpp + src/aruco/markerlabeler.cpp + src/aruco/markermap.cpp + src/aruco/posetracker.cpp + src/aruco/fractallabelers/fractallabeler.cpp + src/aruco/fractallabelers/fractalmarker.cpp + src/aruco/fractallabelers/fractalmarkerset.cpp + src/aruco/fractallabelers/fractalposetracker.cpp +) +target_link_libraries(aruco + ${catkin_LIBRARIES} ${OpenCV_LIBRARIES}) + + +############# +## Install ## +############# + +install(TARGETS aruco + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) +install(DIRECTORY include/ + DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" +) + diff --git a/legacy/aruco_ros/aruco/cfg/ArucoThreshold.cfg b/legacy/aruco_ros/aruco/cfg/ArucoThreshold.cfg new file mode 100755 index 000000000..5d467de16 --- /dev/null +++ b/legacy/aruco_ros/aruco/cfg/ArucoThreshold.cfg @@ -0,0 +1,14 @@ +#!/usr/bin/env python +PACKAGE = "aruco_ros" + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() + +gen.add("param1", int_t, 0, "blockSize parameter of cv::adaptiveThreshold", 4, 1, 15) +gen.add("param2", int_t, 0, "C parameter of cv::adaptiveThreshold", 8, 1, 15) +gen.add("normalizeImage", bool_t, 0, "normalizeImage", True) +gen.add("dctComponentsToRemove", int_t, 0, "DCT components to remove", 2, 1, 4) +gen.add("degree", int_t, 0, "Degree to rotate", 0, 0, 360) + +exit(gen.generate(PACKAGE, "double", "ArucoThreshold")) diff --git a/legacy/aruco_ros/aruco/include/aruco/aruco.h b/legacy/aruco_ros/aruco/include/aruco/aruco.h new file mode 100755 index 000000000..3c8a3a3ee --- /dev/null +++ b/legacy/aruco_ros/aruco/include/aruco/aruco.h @@ -0,0 +1,25 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + + +#include "fractaldetector.h" +#include "markerdetector.h" +#include "posetracker.h" +#include "cvdrawingutils.h" +#include "dictionary.h" + +#define ARUCO_VERSION_MAJOR 3 +#define ARUCO_VERSION_MINOR 0 diff --git a/legacy/aruco_ros/aruco/include/aruco/aruco_cvversioning.h b/legacy/aruco_ros/aruco/include/aruco/aruco_cvversioning.h new file mode 100755 index 000000000..5fb6deac7 --- /dev/null +++ b/legacy/aruco_ros/aruco/include/aruco/aruco_cvversioning.h @@ -0,0 +1,33 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef ARUCO_CV_VERSIONING +#define ARUCO_CV_VERSIONING +#include +#if CV_MAJOR_VERSION >= 4 +#include + +#define CV_CAP_PROP_FRAME_COUNT cv::CAP_PROP_FRAME_COUNT +#define CV_CAP_PROP_POS_FRAMES cv::CAP_PROP_POS_FRAMES +#define CV_BGR2GRAY cv::COLOR_BGR2GRAY +#define CV_GRAY2BGR cv::COLOR_GRAY2BGR +#define CV_FONT_HERSHEY_COMPLEX cv::FONT_HERSHEY_COMPLEX +#define CV_FILLED cv::FILLED +#define CV_RANSAC cv::RANSAC +#define CV_REDUCE_SUM cv::REDUCE_SUM +#endif + +#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/aruco_export.h b/legacy/aruco_ros/aruco/include/aruco/aruco_export.h new file mode 100755 index 000000000..1414e4b91 --- /dev/null +++ b/legacy/aruco_ros/aruco/include/aruco/aruco_export.h @@ -0,0 +1,34 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + + + +#ifndef __OPENARUCO_CORE_TYPES_H__ +#define __OPENARUCO_CORE_TYPES_H__ + +#if !defined _CRT_SECURE_NO_DEPRECATE && _MSC_VER > 1300 +#define _CRT_SECURE_NO_DEPRECATE /* to avoid multiple Visual Studio 2005 warnings */ +#endif + + +#if (defined WIN32 || defined _WIN32 || defined WINCE) && defined ARUCO_DSO_EXPORTS +#define ARUCO_EXPORT __declspec(dllexport) +#else +#define ARUCO_EXPORT +#endif + + +#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/cameraparameters.h b/legacy/aruco_ros/aruco/include/aruco/cameraparameters.h new file mode 100755 index 000000000..af0d78566 --- /dev/null +++ b/legacy/aruco_ros/aruco/include/aruco/cameraparameters.h @@ -0,0 +1,142 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ +#ifndef _Aruco_CameraParameters_H +#define _Aruco_CameraParameters_H + +#include "aruco_export.h" +#include +#include +#include + +namespace aruco +{ +/**\brief Parameters of the camera + */ + +class ARUCO_EXPORT CameraParameters +{ +public: + // 3x3 matrix (fx 0 cx, 0 fy cy, 0 0 1) + cv::Mat CameraMatrix; + // distortion matrix + cv::Mat Distorsion; + // size of the image + cv::Size CamSize; + + // 3x1 matrix (Tx, Ty, Tz), usually 0 for non-stereo cameras or stereo left cameras + cv::Mat ExtrinsicMatrix; + + /**Empty constructor + */ + CameraParameters(); + /**Creates the object from the info passed + * @param cameraMatrix 3x3 matrix (fx 0 cx, 0 fy cy, 0 0 1) + * @param distorsionCoeff 4x1 matrix (k1,k2,p1,p2) + * @param size image size + */ + CameraParameters(cv::Mat cameraMatrix, cv::Mat distorsionCoeff, cv::Size size); + /**Sets the parameters + * @param cameraMatrix 3x3 matrix (fx 0 cx, 0 fy cy, 0 0 1) + * @param distorsionCoeff 4x1 matrix (k1,k2,p1,p2) + * @param size image size + */ + void setParams(cv::Mat cameraMatrix, cv::Mat distorsionCoeff, cv::Size size); + /**Copy constructor + */ + CameraParameters(const CameraParameters &CI); + + /**Indicates whether this object is valid + */ + bool isValid() const + { + return CameraMatrix.rows != 0 && CameraMatrix.cols != 0 && Distorsion.rows != 0 && + Distorsion.cols != 0 && CamSize.width != -1 && CamSize.height != -1; + } + /**Assign operator + */ + CameraParameters &operator=(const CameraParameters &CI); + + /**Saves this to a file + */ + void saveToFile(std::string path, bool inXML = true); + + /**Reads from a YAML file generated with the opencv2.2 calibration utility + */ + void readFromXMLFile(std::string filePath); + + /**Adjust the parameters to the size of the image indicated + */ + void resize(cv::Size size); + + /**Returns the location of the camera in the reference system of the marker. + * + * Rvec and Tvec are the transform from the marker to the camera as calculated in other + * parts of the library NOT TESTED + */ + static cv::Point3f getCameraLocation(const cv::Mat &Rvec, const cv::Mat &Tvec); + + /**Given the intrinsic camera parameters returns the GL_PROJECTION matrix for opengl. + * PLease NOTE that when using OpenGL, it is assumed no camera distorsion! So, if it is + *not true, you should have undistor image + * + * @param orgImgSize size of the original image + * @param size of the image/window where to render (can be different from the real + *camera image). Please not that it must be related to CamMatrix + * @param proj_matrix output projection matrix to give to opengl + * @param gnear,gfar: visible rendering range + * @param invert: indicates if the output projection matrix has to yield a horizontally + *inverted image because image data has not been stored in the order of glDrawPixels: + *bottom-to-top. + */ + void glGetProjectionMatrix(cv::Size orgImgSize, cv::Size size, double proj_matrix[16], + double gnear, double gfar, bool invert = false); + + /** + * setup camera for an Ogre project. + * Use: + * ... + * Ogre::Matrix4 PM(proj_matrix[0], proj_matrix[1], ... , proj_matrix[15]); + * yourCamera->setCustomProjectionMatrix(true, PM); + * yourCamera->setCustomViewMatrix(true, Ogre::Matrix4::IDENTITY); + * ... + * As in OpenGL, it assumes no camera distorsion + */ + void OgreGetProjectionMatrix(cv::Size orgImgSize, cv::Size size, double proj_matrix[16], + double gnear, double gfar, bool invert = false); + + /**Returns the 4x4 homogeneous transform matrix from the R and T vectors computed + */ + static cv::Mat getRTMatrix(const cv::Mat &R_, const cv::Mat &T_, int forceType); + + + /**Makes this invalid + */ + void clear(); + + ARUCO_EXPORT friend std::ostream &operator<<(std::ostream &str, const CameraParameters &cp); + ARUCO_EXPORT friend std::istream &operator>>(std::istream &str, CameraParameters &cp); + +private: + // GL routines + + static void argConvGLcpara2(double cparam[3][4], int width, int height, double gnear, + double gfar, double m[16], bool invert); + static int arParamDecompMat(double source[3][4], double cpara[3][4], double trans[3][4]); + static double norm(double a, double b, double c); + static double dot(double a1, double a2, double a3, double b1, double b2, double b3); +}; +} // namespace aruco +#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/cvdrawingutils.h b/legacy/aruco_ros/aruco/include/aruco/cvdrawingutils.h new file mode 100755 index 000000000..b52e75b2c --- /dev/null +++ b/legacy/aruco_ros/aruco/include/aruco/cvdrawingutils.h @@ -0,0 +1,43 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef _ArUco_DrawUtils_H_ +#define _ArUco_DrawUtils_H_ + +#include "aruco.h" +#include "aruco_export.h" + +namespace aruco +{ +/**\brief A set of functions to draw in opencv images + */ +class ARUCO_EXPORT CvDrawingUtils +{ +public: + static void draw3dAxis(cv::Mat& Image, const CameraParameters& CP, const cv::Mat& Rvec, + const cv::Mat& Tvec, float axis_size); + static void draw3dAxis(cv::Mat& Image, Marker& m, const CameraParameters& CP, int lineSize = 1); + + static void draw3dCube(cv::Mat& Image, Marker& m, const CameraParameters& CP, + int lineSize = 1, bool setYperpendicular = false); + + // static void draw3dAxis(cv::Mat &Image, MarkerMap &m, const CameraParameters &CP); + // static void draw3dCube(cv::Mat &Image, MarkerMap &m, const CameraParameters &CP, + // bool setYperpendicular = false); +}; +} // namespace aruco + +#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/debug.h b/legacy/aruco_ros/aruco/include/aruco/debug.h new file mode 100755 index 000000000..f07f5481e --- /dev/null +++ b/legacy/aruco_ros/aruco/include/aruco/debug.h @@ -0,0 +1,127 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef __Debug_H +#define __Debug_H +#include +#include +#include +#include "aruco_export.h" +#include +#include +namespace aruco +{ + +class ARUCO_EXPORT Debug +{ +private: + static int level; // 0(no debug), 1 medium, 2 high + static bool isInited; + + static std::map strings; + +public: + static void init(); + static void setLevel(int l); + static int getLevel(); + + + + static void addString(std::string &label, std::string &data); + static std::string getString(std::string &str); + + + static std::string getFileName(std::string filepath) + { + // go backwards until finding a separator or start + size_t i; + for (i = filepath.size() - 1; i != 0; i--) + { + if (filepath[i] == '\\' || filepath[i] == '/') + break; + } + std::string fn; + fn.reserve(filepath.size() - i); + for (size_t s = i; s < filepath.size(); s++) + fn.push_back(filepath[s]); + return fn; + } + +#ifdef WIN32 +#define __func__ __FUNCTION__ +#endif +}; + + +// message print +#if (defined DEBUG || defined _DEBUG) +#define _debug_exec(level, x) \ + { \ + if (Debug::getLevel() >= level) \ + { \ + x \ + } \ + } +#define _debug_exec_(x) x +#ifndef WIN32 +#define _debug_msg(x, level) \ + { \ + Debug::init(); \ + if (Debug::getLevel() >= level) \ + std::cout << "#" << Debug::getFileName(__FILE__) << ":" << __LINE__ << ":" \ + << __func__ << "#" << x << std::endl; \ + } + +#define _debug_msg_(x) \ + { \ + Debug::init(); \ + if (Debug::getLevel() >= 5) \ + std::cout << "#" << Debug::getFileName(__FILE__) << ":" << __LINE__ << ":" \ + << __func__ << "#" << x << std::endl; \ + } + +#else +#define _debug_msg(x, level) \ + { \ + Debug::init(); \ + if (Debug::getLevel() >= level) \ + std::cout << __func__ << ":" << Debug::getFileName(__FILE__) << ":" << __LINE__ \ + << ": " << x << std::endl; \ + } + +#define _debug_msg_(x) \ + { \ + Debug::init(); \ + if (Debug::getLevel() >= 5) \ + std::cout << __func__ << ":" << Debug::getFileName(__FILE__) << ":" << __LINE__ \ + << ": " << x << std::endl; \ + } + +#endif + +#else +#define _debug_msg(x, level) +#define _debug_msg_(x) +#define _debug_exec(level, x) ; +#define _debug_exec_(x) ; + +#endif + + + +} // namespace aruco + +#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/dictionary.h b/legacy/aruco_ros/aruco/include/aruco/dictionary.h new file mode 100755 index 000000000..738bbfde8 --- /dev/null +++ b/legacy/aruco_ros/aruco/include/aruco/dictionary.h @@ -0,0 +1,191 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef ARUCO_DICTIONARY_ +#define ARUCO_DICTIONARY_ + +#include "aruco_export.h" + +#include + +#include +#include +#include +#include +#include + +namespace aruco +{ +class MarkerMap; +/**Represents a set of valid marker ids with a maximum size of 8x8 = 64 bits. + * In our approach, markers are seen as a pair code-id. The code is the internal binary + * code printed on the marker. Maximum size is 8x8 bits. The id is a smaller number you + * can use to identify it. You will use only the id + * + * See enum DICT_TYPES for the set of dicitionaries availables + */ + +class ARUCO_EXPORT Dictionary +{ +public: + // loads from a set of predefined ones + enum DICT_TYPES : uint64_t + { + ALL_DICTS = 0, + ARUCO_MIP_36h12 = 1, //*** recommended + ARUCO = 2, // original aruco dictionary. By default + ARUCO_MIP_25h7 = 3, + ARUCO_MIP_16h3 = 4, + ARTAG = 5, // + ARTOOLKITPLUS = 6, + ARTOOLKITPLUSBCH = 7, // + TAG16h5 = 8, + TAG25h7 = 9, + TAG25h9 = 10, + TAG36h11 = 11, + TAG36h10 = 12, // april tags + CHILITAGS = 13, // chili tags dictionary . NOT RECOMMENDED. It has distance 0. + // Markers 806 and 682 should not be used!!! + CUSTOM = 14, // for used defined dictionaries (using loadFromfile). + }; + // indicates if a code is in the dictionary + bool is(uint64_t code) const + { + return _code_id.find(code) != _code_id.end(); + } + + DICT_TYPES getType() const + { + return _type; + } + + // reutnr the numerber of ids + uint64_t size() const + { + return _code_id.size(); + } + // returns the total number of bits of the binary code + uint32_t nbits() const + { + return _nbits; + } + // returns the dictionary distance + uint32_t tau() const + { + return _tau; + } + // returns the name + std::string getName() const + { + return _name; + } + // return the set of ids + const std::map& getMapCode() const + { + return _code_id; + } + + // returns the id of a given code. + int operator[](uint64_t code) + { + return _code_id[code]; + } // returns the id of a given code. + int at(uint64_t code) + { + return _code_id[code]; + } + + // returns the image of the marker indicated by its id. It the id is not, returns empty + // matrix + //@param id of the marker image to return + //@param bit_size of the image will be AxA, A=(nbits()+2)*bit_size + //@param enclosed_corners if true, extra rectagles are added touching the marker + //corners. it can be used to allow subpixel refinement + cv::Mat getMarkerImage_id(int id, int bit_size, bool addWaterMark = true, + bool enclosed_corners = false, + bool printExternalWhiteBorder = false, bool centralCircle = false); + + // cv::Mat getMarkerMatrix_id(int id); + + // used for boards + MarkerMap createMarkerMap(cv::Size gridSize, int MarkerSize, int MarkerDistance, + const std::vector& Ids, bool chess_board = false); + + static Dictionary loadPredefined(DICT_TYPES type); + static Dictionary loadPredefined(std::string type); + + /** loads a dictionary defined in a file + * Please note that the parsing is very basic and you must be very strict. + + * Here is an example of a 3x3 dictionary of 3 markers + * 010 111 000 + * 001 101 001 + * 001 010 100 + * + * + * File: myown.dict + *------------------------------------------- + * name MYOWN + * nbits 9 + * 010001001 + * 111101010 + * 000001100 + */ + static Dictionary loadFromFile(std::string path); + + /**Loads a dictioanary using the string passed. If it is a string of the predefined + * dictionaries, then returns it. Otherwise, tries to load from a file + */ + static Dictionary load(std::string info); + + // //io functions + // void saveToFile(std::string file); + // void readFromFile(std::string file); + // void saveToStream(std::ostream & str); + // void readFromStream(std::istream &str); + + // returns the dictionary distance + static uint64_t computeDictionaryDistance(const Dictionary& d); + + // given a string,returns the type + static DICT_TYPES getTypeFromString(std::string str); + static std::string getTypeString(DICT_TYPES t); + static bool isPredefinedDictinaryString(std::string str); + static std::vector getDicTypes(); + +private: + // obfuscate start + + void insert(uint64_t code, int id) + { + _code_id.insert(std::make_pair(code, id)); + } + static void fromVector(const std::vector& codes, + std::map& code_id_map); + + std::map _code_id; // marker have and code (internal binary code), + // which correspond to an id. + + uint32_t _nbits; // total number of bits . So, there are sqrt(nbits) in each axis + uint32_t _tau; // minimum distance between elements + + DICT_TYPES _type; + std::string _name; + // obfuscate end +}; +} // namespace aruco + +#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/dictionary_based.h b/legacy/aruco_ros/aruco/include/aruco/dictionary_based.h new file mode 100755 index 000000000..c0ed7c054 --- /dev/null +++ b/legacy/aruco_ros/aruco/include/aruco/dictionary_based.h @@ -0,0 +1,68 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef ArucoDictionaryBasedMarkerDetector_H +#define ArucoDictionaryBasedMarkerDetector_H + +#include "dictionary.h" +#include "markerlabeler.h" + +#include +namespace aruco +{ +/**Labeler using a dictionary + */ +class DictionaryBased : public MarkerLabeler +{ +public: + virtual ~DictionaryBased() + { + } + // first, dictionary, second the maximum correction rate [0,1]. If 0,no correction, if + // 1, maximum allowed correction + void setParams(const Dictionary& dic, float max_correction_rate); + + // main virtual class to o detection + virtual bool detect(const cv::Mat& in, int& marker_id, int& nRotations, + std::string& additionalInfo); + // returns the dictionary name + virtual std::string getName() const; + + virtual int getNSubdivisions() const + { + return _nsubdivisions; + } // + + std::vector getDictionaries() const + { + return vdic; + } + +private: + // obfuscate start + bool getInnerCode(const cv::Mat& thres_img, int total_nbits, std::vector& ids); + cv::Mat rotate(const cv::Mat& in); + uint64_t touulong(const cv::Mat& code); + std::vector vdic; + void toMat(uint64_t code, int nbits_sq, cv::Mat& out); + int _nsubdivisions = 0; + float _max_correction_rate; + std::string dicttypename; + std::map> nbits_dict; + // obfuscate end +}; +} // namespace aruco +#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/fractaldetector.h b/legacy/aruco_ros/aruco/include/aruco/fractaldetector.h new file mode 100755 index 000000000..cc8895301 --- /dev/null +++ b/legacy/aruco_ros/aruco/include/aruco/fractaldetector.h @@ -0,0 +1,133 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef _ARUCO_FractalDetector_H +#define _ARUCO_FractalDetector_H + +#include "markerdetector.h" +#include "fractallabelers/fractallabeler.h" +#include "aruco_export.h" +namespace aruco +{ +class ARUCO_EXPORT FractalDetector +{ + struct ARUCO_EXPORT Params + { + std::string configuration_type; + }; + +public: + FractalDetector(); + + /** + * @brief setConfiguration + * @param configuration fractal id + */ + void setConfiguration(int configuration); + + /** + * @brief setConfiguration + * @param configuration fractal file + */ + void setConfiguration(std::string configuration); + + /** + * @brief setParams + * @param cam_params camera parameters + * @param markerSize in meters + */ + void setParams(const CameraParameters &cam_params, float markerSize) + { + _cam_params = cam_params; + + Tracker.setParams(cam_params, _fractalLabeler->_fractalMarkerSet, markerSize); + } + + // return fractalmarkerset + FractalMarkerSet getConfiguration() + { + return Tracker.getFractal(); + } + + // return true if any marker is detected, false otherwise + bool detect(const cv::Mat &input) + { + Markers = _markerDetector->detect(input); + + if (Markers.size() > 0) + return true; + else + return false; + } + + // return true if the pose is estimated, false otherwise + bool poseEstimation() + { + if (_cam_params.isValid()) + { + return Tracker.fractalInnerPose(_markerDetector, Markers); + } + else + return false; + } + + // return the rotation vector. Returns an empty matrix if last call to estimatePose returned false + cv::Mat getRvec() + { + return Tracker.getRvec(); + } + // return the translation vector. Returns an empty matrix if last call to estimatePose returned false + cv::Mat getTvec() + { + return Tracker.getTvec(); + } + + void drawImage(cv::Mat &img, cv::Mat &img2); + + // draw borders of markers + void drawMarkers(cv::Mat &img); + + // draw inner corners of markers + void draw2d(cv::Mat &img); + + // draw pose estimation axes + void draw3d(cv::Mat &img, bool cube = true, bool axis = true); + + // draw marker as cube + void draw3dCube(cv::Mat &Image, FractalMarker m, const CameraParameters &CP, int lineSize); + + // return detected markers + std::vector getMarkers() + { + return Markers; + } + + // return image pyramid + std::vector getImagePyramid() + { + return _markerDetector->getImagePyramid(); + } + +private: + std::vector Markers; // detected markers + FractalPoseTracker Tracker; + Params _params; + CameraParameters _cam_params; // Camera parameters + cv::Ptr _fractalLabeler; + cv::Ptr _markerDetector; +}; +} // namespace aruco +#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/fractallabelers/fractallabeler.h b/legacy/aruco_ros/aruco/include/aruco/fractallabelers/fractallabeler.h new file mode 100755 index 000000000..d24e6749b --- /dev/null +++ b/legacy/aruco_ros/aruco/include/aruco/fractallabelers/fractallabeler.h @@ -0,0 +1,52 @@ +#include "../markerlabeler.h" +#include "fractalposetracker.h" + +namespace aruco +{ +class FractalMarkerLabeler : public MarkerLabeler +{ +public: + static cv::Ptr create(std::string params) + { + FractalMarkerSet fractalMarkerSet = FractalMarkerSet::load(params); + FractalMarkerLabeler* fml = new FractalMarkerLabeler(); + fml->setConfiguration(fractalMarkerSet); + return fml; + } + + static cv::Ptr create(FractalMarkerSet::CONF_TYPES conf) + { + FractalMarkerSet fractalMarkerSet = FractalMarkerSet::loadPredefined(conf); + FractalMarkerLabeler* fml = new FractalMarkerLabeler(); + fml->setConfiguration(fractalMarkerSet); + return fml; + } + + void setConfiguration(const FractalMarkerSet& fractMarkerSet); + + static bool isFractalDictionaryFile(const std::string& path); + + virtual ~FractalMarkerLabeler() + { + } + + bool load(const std::string& path); + + // returns the configuration name + std::string getName() const; + + // main virtual class to o detection + bool detect(const cv::Mat& in, int& marker_id, int& nRotations, std::string& additionalInfo); + + int getNSubdivisions() const + { + return (sqrt(_fractalMarkerSet.nBits()) + 2); + } + + FractalMarkerSet _fractalMarkerSet; + +private: + bool getInnerCode(const cv::Mat& thres_img, int total_nbits, std::vector& ids); + cv::Mat rotate(const cv::Mat& in); +}; +} // namespace aruco diff --git a/legacy/aruco_ros/aruco/include/aruco/fractallabelers/fractalmarker.h b/legacy/aruco_ros/aruco/include/aruco/fractallabelers/fractalmarker.h new file mode 100755 index 000000000..f6966dab1 --- /dev/null +++ b/legacy/aruco_ros/aruco/include/aruco/fractallabelers/fractalmarker.h @@ -0,0 +1,65 @@ +#ifndef FRACTALMARKER_H +#define FRACTALMARKER_H + +#include +#include +#include +#include "../markermap.h" + +namespace aruco +{ +class FractalMarker : public aruco::Marker3DInfo +{ +public: + FractalMarker(); + FractalMarker(int id, cv::Mat m, std::vector corners, + std::vector id_submarkers); + + // Add new submarker + void addSubFractalMarker(FractalMarker submarker); + + // Find inner corners + std::vector findInnerCorners(); + + // Marker MAT + const cv::Mat mat() const + { + return _M; + } + + // Marker mask (mask applied to submarkers) + const cv::Mat mask() const + { + return _mask; + } + + // Total number of bits + int nBits() + { + return _M.total(); + } + + // Submarkers ids + std::vector subMarkers() + { + return _submarkers; + } + + // Get inner corners + std::vector getInnerCorners() + { + if (innerCorners.empty()) + innerCorners = findInnerCorners(); + + return innerCorners; + } + +private: + cv::Mat _M; + cv::Mat _mask; + std::vector _submarkers; // id subfractalmarkers + std::vector innerCorners; +}; +} // namespace aruco + +#endif // FRACTALMARKER_H diff --git a/legacy/aruco_ros/aruco/include/aruco/fractallabelers/fractalmarkerset.h b/legacy/aruco_ros/aruco/include/aruco/fractallabelers/fractalmarkerset.h new file mode 100755 index 000000000..20ecd80d4 --- /dev/null +++ b/legacy/aruco_ros/aruco/include/aruco/fractallabelers/fractalmarkerset.h @@ -0,0 +1,142 @@ +#include "fractalmarker.h" + +#include +#include +#include +#include "../aruco_export.h" + +namespace aruco +{ +class ARUCO_EXPORT FractalMarkerSet +{ +public: + enum CONF_TYPES : uint64_t + { + FRACTAL_2L_6 = 0, + FRACTAL_3L_6 = 1, + FRACTAL_4L_6 = 2, + FRACTAL_5L_6 = 3, + CUSTOM = 4 // for used defined dictionaries (using load). + }; + + /** create set of markers + * @brief create + * @param regionsConfig {N(f1),K(f1)}{N(f2):K(f2)}...{N(fn):K(fn)} + * @param pixSize + */ + void create(std::vector> regionsConfig, float pixSize); + + /** configure bits of inner marker + * @brief configureMat + * @param nVal N region + * @param kVal K region + * @param maxIter Number of iteration + * @return Mat configurated marker + */ + cv::Mat configureMat(int nVal, int kVal, int maxIter = 10000); + // computes the distance of a marker to itself + int dstMarker(const cv::Mat m); + + // computes distance between marker to marker + int dstMarkerToMarker(const cv::Mat m1, const cv::Mat m2); + + // computes distance between marker to set of markers + int dstMarkerToFractalDict(cv::Mat m); + + // saves to a binary stream + static void _toStream(FractalMarkerSet &configuration, std::ostream &str); + + // load from a binary stream + static void _fromStream(FractalMarkerSet &configuration, std::istream &str); + + static bool isPredefinedConfigurationString(std::string str); + + static std::string getTypeString(FractalMarkerSet::CONF_TYPES t); + + static CONF_TYPES getTypeFromString(std::string str); + + static FractalMarkerSet load(std::string info); + + static FractalMarkerSet loadPredefined(std::string info); + + static FractalMarkerSet loadPredefined(CONF_TYPES info); + + static FractalMarkerSet readFromFile(std::string path); + + // saves configuration to a text file + void saveToFile(cv::FileStorage &fs); + + // Fractal configuration. id_marker + std::map fractalMarkerCollection; + // Nbits_idmarkers + std::map> nbits_fractalMarkerIDs; + + enum Fractal3DInfoType + { + NONE = -1, + PIX = 0, + METERS = 1, + NORM = 2 + }; // indicates if the data in Fractal is expressed in meters or in pixels + + /**Indicates if the corners are expressed in meters + */ + bool isExpressedInMeters() const + { + return mInfoType == METERS; + } + /**Indicates if the corners are expressed in meters + */ + bool isExpressedInPixels() const + { + return mInfoType == PIX; + } + /**Indicates if the corners are normalized. -1..1 external marker + */ + bool isNormalize() const + { + return mInfoType == NORM; + } + + // Normalize fractal marker. The corners will go on to take the values (-1,1)(1,1),(1,-1)(-1,-1) + FractalMarkerSet normalize(); + + // Convert marker to meters + FractalMarkerSet convertToMeters(float fractalSize_meters); + + static std::vector getConfigurations(); + + // Get fractal size (external marker) + float getFractalSize() const + { + FractalMarker externalMarker = fractalMarkerCollection.at(_idExternal); + return externalMarker.getMarkerSize(); + } + + // Get number of bits (external marker) + int nBits() const + { + FractalMarker externalMarker = fractalMarkerCollection.at(_idExternal); + return externalMarker.nBits(); + } + + // Check if m is a inner marker, and get its id. + bool isFractalMarker(cv::Mat &m, int nbits, int &id); + + // Get all inners corners + std::map> getInnerCorners(); + + cv::Mat getFractalMarkerImage(int pixSize, bool border = false); + + // variable indicates if the data is expressed in meters or in pixels or are normalized + int mInfoType; /* -1:NONE, 0:PIX, 1:METERS, 2:NORMALIZE*/ + +private: + // Number of levels + int _nmarkers; + // ID external marker + int _idExternal = 0; + // Configuration dictionary + std::string config; +}; +} // namespace aruco diff --git a/legacy/aruco_ros/aruco/include/aruco/fractallabelers/fractalposetracker.h b/legacy/aruco_ros/aruco/include/aruco/fractallabelers/fractalposetracker.h new file mode 100755 index 000000000..541bc2fb8 --- /dev/null +++ b/legacy/aruco_ros/aruco/include/aruco/fractallabelers/fractalposetracker.h @@ -0,0 +1,147 @@ +#include +#include "../picoflann.h" +#include "../cameraparameters.h" +#include "../markerdetector.h" +#include "fractalmarkerset.h" +#include "../aruco_export.h" +namespace aruco +{ + + +void kfilter(std::vector &kpoints); + +/** classification of the corners + * @brief assignClass + * @param im image used in the classification + * @param kpoints to classify + * @param sizeNorm. Is it necessary to transform keypoints? When keypoints have as + * reference the center of image(0,0), it is necessary to provide the fractal marker size + * @param wsize. Window size + */ +void assignClass(const cv::Mat &im, std::vector &kpoints, + float sizeNorm = 0.f, int wsize = 5); + +struct PicoFlann_KeyPointAdapter +{ + inline float operator()(const cv::KeyPoint &elem, int dim) const + { + return dim == 0 ? elem.pt.x : elem.pt.y; + } + inline float operator()(const cv::Point2f &elem, int dim) const + { + return dim == 0 ? elem.x : elem.y; + } +}; + +class ARUCO_EXPORT FractalPoseTracker +{ +public: + FractalPoseTracker(); + /** init fractlPoseTracker parameters + * @brief setParams + * @param cam_params camera paremeters + * @param msconf FractalMarkerSet configuration + * @param markerSize FractalMarker size + */ + void setParams(const CameraParameters &cam_params, const FractalMarkerSet &msconf, + const float markerSize = -1); + /** estimate the pose of the fractal marker. + * @brief fractalInnerPose + * @param markerDetector + * @param detected markers + * @param refinement, use or not pose refinement. True by default. + * @return true if the pose is estimated and false otherwise. If not estimated, the + * parameters m.Rvec and m.Tvec and not set. + */ + bool fractalInnerPose(const cv::Ptr markerDetector, + const std::vector &markers, bool refinement = true); + /** extraction of the region of the image where the marker is estimated to be based on the previous pose + * @brief ROI + * @param imagePyramid set images + * @param img original image. The image is scaled according to the selected pyramid image. + * @param innerPoints2d collection fractal inner points. The points are scaled according + * to the selected pyramid image. + * @param offset. Position of the upper inner corner of the marker. The offset is scaled + * according to the selected pyramid image. + * @param ratio selected scaling factor + */ + bool ROI(const std::vector imagePyramid, cv::Mat &img, + std::vector &innerPoints2d, cv::Point2f &offset, float &ratio); + + /** estimate the pose of the fractal marker. Method case 2, paper. + * @brief fractal_solve_ransac + * @param ninners (number of total inners points used) + * @param inner_kpnt matches (inner points - detected keypoints) + * @param kpnts keypoints + * @param maxIter maximum number of iterations + * @param _minInliers beta in paper + * @param _thresInliers alpha in paper + * @return Mat best model homography. + */ + cv::Mat fractal_solve_ransac(int ninners, + std::vector>> inner_kpnt, + std::vector kpnts, uint32_t maxIter = 500, + float _minInliers = 0.2f, float _thresInliers = 0.7f); + + /** Draw keypoints + * @brief image + * @param kpoints + * @param text + * @param transf. Is it necessary to transform keypoints? (-MarkerSize/2 .. + * MarkerSize/2) to (0 .. ImageSize) + */ + void drawKeyPoints(const cv::Mat image, std::vector kpoints, + bool text = false, bool transf = false); + + /** Refinement of the internal points of the marker and pose estimation with these. + * @brief fractalRefinement + * @param markerDetector + * @param markerWarpPix. Optimal markerwarpPix used to select the image of the pyramid. + * Default value 10. + * @return true if the pose is estimated and false otherwise. If not estimated, the + * parameters m.Rvec and m.Tvec and not set. + */ + bool fractalRefinement(const cv::Ptr markerDetector, int markerWarpPix = 10); + + // return the rotation vector. Returns an empty matrix if last call to estimatePose returned false + const cv::Mat getRvec() const + { + return _rvec; + } + + // return the translation vector. Returns an empty matrix if last call to estimatePose returned false + const cv::Mat getTvec() const + { + return _tvec; + } + + // return all corners from fractal marker + const std::vector getInner3d() + { + return _innerp3d; + } + + // is the pose valid? + bool isPoseValid() const + { + return !_rvec.empty() && !_tvec.empty(); + } + + FractalMarkerSet getFractal() + { + return _fractalMarker; + } + +private: + FractalMarkerSet _fractalMarker; // FractalMarkerSet configuration + aruco::CameraParameters _cam_params; // Camera parameters. + cv::Mat _rvec, _tvec; // current poses + std::map> _id_innerp3d; // Id_marker-Inners_corners + std::vector _innerp3d; // All inners corners + std::vector _innerkpoints; // All inners keypoints + picoflann::KdTreeIndex<2, PicoFlann_KeyPointAdapter> _kdtree; + std::map _id_radius; // Idmarker_Radius(Optimus) + std::map _id_area; // Idmarker_projectedArea(Optimus) + float _preRadius = 0; // radius used previous iteration +}; +} // namespace aruco diff --git a/legacy/aruco_ros/aruco/include/aruco/ippe.h b/legacy/aruco_ros/aruco/include/aruco/ippe.h new file mode 100755 index 000000000..8a26fdb64 --- /dev/null +++ b/legacy/aruco_ros/aruco/include/aruco/ippe.h @@ -0,0 +1,360 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + + +// This is the core header file for IPPE. Infinitesimal Plane-based Pose Estimation (IPPE) +// is a very fast and accurate way to compute a camera's pose from a single image of a +// planar object using point correspondences. This has uses in several applications, +// including augmented reality, 3D tracking and pose estimation with planar markers, and +// 3D scene understanding. This package is free and covered by the BSD licence without any +// warranty. We hope you find this code useful and if so please cite our paper in your +// work: + +//@article{ year={2014}, issn={0920-5691}, journal={International Journal of Computer +//Vision}, volume={109}, number={3}, doi={10.1007/s11263-014-0725-5}, title={Infinitesimal +// Plane-Based Pose Estimation}, url={http://dx.doi.org/10.1007/s11263-014-0725-5}, +// publisher={Springer US}, keywords={Plane; Pose; SfM; PnP; Homography}, author={Collins, +// Toby and Bartoli, Adrien}, pages={252-286}, language={English} } + +// Please contact Toby (toby.collins@gmail.com) if you have any questions about the code, paper and IPPE. + + +#ifndef _IPPE_H_ +#define _IPPE_H_ + +#include +#include +#include "aruco_export.h" +#include + +#define IPPE_SMALL 1e-7 // a small constant used to test 'small' values close to zero. + +namespace aruco +{ +// returns the two solutions +std::vector solvePnP(const std::vector& objPoints, + const std::vector& imgPoints, + cv::InputArray cameraMatrix, cv::InputArray distCoeffs); +void solvePnP(const std::vector& objPoints, + const std::vector& imgPoints, cv::InputArray cameraMatrix, + cv::InputArray distCoeffs, cv::Mat& rvec, cv::Mat& tvec); +ARUCO_EXPORT std::vector> solvePnP_( + float size, const std::vector& imgPoints, cv::InputArray cameraMatrix, + cv::InputArray distCoeffs); + +std::vector> solvePnP_(const std::vector& objPoints, + const std::vector& imgPoints, + cv::InputArray cameraMatrix, + cv::InputArray distCoeffs); + +} // namespace aruco +namespace IPPE +{ + +class PoseSolver +{ +public: + /** + * @brief PoseSolver constructor + */ + PoseSolver(); + + /** + * @brief PoseSolver destructor + */ + ~PoseSolver(); + + /** + * @brief Finds the two possible poses of a planar object given a set of + * correspondences and their respective reprojection errors. The poses are sorted with + * the first having the lowest reprojection error. + * @param _objectPoints Array of 4 or more coplanar object points defined in object coordinates. + * 1xN/Nx1 3-channel (float or double) where N is the number of points + * @param _imagePoints Array of corresponding image points, 1xN/Nx1 2-channel. This can + * either be in pixel coordinates or normalized pixel coordinates. + * @param _cameraMatrix Intrinsic camera matrix (same definition as OpenCV). If _imagePoints + * is in normalized pixel coordinates you must set _cameraMatrix = cv::noArray() + * @param _distCoeffs Intrinsic camera distortion vector (same definition as OpenCV). + * If _imagePoints is in normalized pixel coordinates you must set _cameraMatrix = cv::noArray() + * @param _rvec1 First rotation solution (3x1 rotation vector) + * @param _tvec1 First translation solution (3x1 vector) + * @param reprojErr1 Reprojection error of first solution + * @param _rvec2 Second rotation solution (3x1 rotation vector) + * @param _tvec2 Second translation solution (3x1 vector) + * @param reprojErr2 Reprojection error of second solution + */ + void solveGeneric(cv::InputArray _objectPoints, cv::InputArray _imagePoints, + cv::InputArray _cameraMatrix, cv::InputArray _distCoeffs, + cv::OutputArray _rvec1, cv::OutputArray _tvec1, float& reprojErr1, + cv::OutputArray _rvec2, cv::OutputArray _tvec2, float& reprojErr2); + + /** @brief Finds the two possible poses of a square planar object and their + * respective reprojection errors using IPPE. These poses are sorted so that the first + * one is the one with the lowest reprojection error. + * + * @param _squareLength The square's length (which is also it's width) in object coordinate + * units (e.g. millimeters, meters, etc.) + * @param _imagePoints Array of corresponding image points, 1xN/Nx1 2-channel. This + * can either be in pixel coordinates or normalized pixel coordinates. + * @param _cameraMatrix Intrinsic camera matrix (same definition as OpenCV). If _imagePoints + * is in normalized pixel coordinates you must set _cameraMatrix = cv::noArray() + * @param _distCoeffs Intrinsic camera distortion vector (same definition as OpenCV). + * If _imagePoints is in normalized pixel coordinates you must set _cameraMatrix = cv::noArray() + * @param _rvec1 First rotation solution (3x1 rotation vector) + * @param _tvec1 First translation solution (3x1 vector) + * @param reprojErr1 Reprojection error of first solution + * @param _rvec2 Second rotation solution (3x1 rotation vector) + * @param _tvec2 Second translation solution (3x1 vector) + * @param reprojErr2 Reprojection error of second solution + */ + void solveSquare(double squareLength, cv::InputArray _imagePoints, + cv::InputArray _cameraMatrix, cv::InputArray _distCoeffs, + cv::OutputArray _rvec1, cv::OutputArray _tvec1, float& reprojErr1, + cv::OutputArray _rvec2, cv::OutputArray _tvec2, float& reprojErr2); + + /** + * @brief Generates the 4 object points of a square planar object + * @param squareLength The square's length (which is also it's width) in object + * coordinate units (e.g. millimeters, meters, etc.) + * @param _objectPoints Set of 4 object points (1x4 3-channel double) + */ + void generateSquareObjectCorners3D(double squareLength, cv::OutputArray _objectPoints); + + /** + * @brief Generates the 4 object points of a square planar object, + * without including the z-component (which is z=0 for all points). + * @param squareLength The square's length (which is also it's width) in object + * coordinate units (e.g. millimeters, meters, etc.) + * @param _objectPoints Set of 4 object points (1x4 2-channel double) + */ + void generateSquareObjectCorners2D(double squareLength, cv::OutputArray _objectPoints); + + /** + * @brief Computes the average depth of an object given its pose in + * camera coordinates + * @param objectPoints: Object points defined in 3D object space + * @param rvec: Rotation component of pose + * @param tvec: Translation component of pose + * @return: average depth of the object + */ + double meanSceneDepth(cv::InputArray objectPoints, cv::InputArray rvec, cv::InputArray tvec); + +private: + /** + * @brief Finds the two possible poses of a planar object given a + * set of correspondences in normalized pixel coordinates. These poses are **NOT** + * sorted on reprojection error. Note that the returned poses are object-to-camera + * transforms, and not camera-to-object transforms. + * @param _objectPoints Array of 4 or more coplanar object points defined in + * object coordinates. 1xN/Nx1 3-channel (float or double). + * @param _normalizedImagePoints Array of corresponding image points in normalized + * pixel coordinates, 1xN/Nx1 2-channel (float or double). + * @param _Ma First pose solution (unsorted) + * @param _Mb Second pose solution (unsorted) + */ + void solveGeneric(cv::InputArray _objectPoints, cv::InputArray _normalizedImagePoints, + cv::OutputArray _Ma, cv::OutputArray _Mb); + + /** + * @brief Finds the two possible poses of a planar object in its canonical + * position, given a set of correspondences in normalized pixel coordinates. These poses + * are **NOT** sorted on reprojection error. Note that the returned poses are object-to-camera + * transforms, and not camera-to-object transforms. + * @param _canonicalObjPoints Array of 4 or more coplanar object points defined in + * object coordinates. 1xN/Nx1 3-channel (double) where N is the number of points + * @param _normalizedInputPoints Array of corresponding image points in normalized pixel + * coordinates, 1xN/Nx1 2-channel (double) where N is the number of points + * @param _H Homography mapping canonicalObjPoints to normalizedInputPoints. + * @param _Ma + * @param _Mb + */ + void solveCanonicalForm(cv::InputArray _canonicalObjPoints, cv::InputArray _normalizedInputPoints, + cv::InputArray _H, cv::OutputArray _Ma, cv::OutputArray _Mb); + + /** @brief Computes the translation solution for a given rotation solution + * @param _objectPoints Array of corresponding object points, 1xN/Nx1 3-channel + * where N is the number of points + * @param _normalizedImagePoints Array of corresponding image points (undistorted), + * 1xN/Nx1 2-channel where N is the number of points + * @param _R Rotation solution (3x1 rotation vector) + * @param _t Translation solution Translation solution (3x1 rotation vector) + */ + void computeTranslation(cv::InputArray _objectPoints, cv::InputArray _normalizedImgPoints, + cv::InputArray _R, cv::OutputArray _t); + + /** @brief Computes the two rotation solutions from the Jacobian + * of a homography matrix H at a point (ux,uy) on the object plane. For highest accuracy + * the Jacobian should be computed at the centroid of the point correspondences (see the + * IPPE paper for the explanation of this). For a point (ux,uy) on the object plane, suppose + * the homography H maps (ux,uy) to a point (p,q) in the image (in normalized pixel coordinates). + * The Jacobian matrix [J00, J01; J10,J11] is the Jacobian of the mapping evaluated at (ux,uy). + * @param j00 Homography jacobian coefficent at (ux,uy) + * @param j01 Homography jacobian coefficent at (ux,uy) + * @param j10 Homography jacobian coefficent at (ux,uy) + * @param j11 Homography jacobian coefficent at (ux,uy) + * @param p the x coordinate of point (ux,uy) mapped into the + * image (undistorted and normalized position) + * @param q the y coordinate of point (ux,uy) mapped into the + * image (undistorted and normalized position) + */ + void computeRotations(double j00, double j01, double j10, double j11, double p, + double q, cv::OutputArray _R1, cv::OutputArray _R2); + + /** @brief Closed-form solution for the homography mapping with + * four corner correspondences of a square (it maps source points to target points). The + * source points are the four corners of a zero-centred squared defined by: point 0: [-squareLength + * / 2.0, squareLength / 2.0] point 1: [squareLength / 2.0, squareLength / 2.0] point 2: + * [squareLength / 2.0, -squareLength / 2.0] point 3: [-squareLength / 2.0, -squareLength / 2.0] + * + * @param _targetPoints Array of four corresponding target points, 1x4/4x1 + * 2-channel. Note that the points should be ordered to correspond with points 0, 1, 2 and 3. + * @param halfLength the square's half length (i.e. squareLength/2.0) + * @param _H Homograhy mapping the source points to the target points, 3x3 single channel + */ + void homographyFromSquarePoints(cv::InputArray _targetPoints, double halfLength, + cv::OutputArray _H); + + /** @brief Fast conversion from a rotation matrix to a rotation vector + * using Rodrigues' formula + * @param _R Input rotation matrix, 3x3 1-channel (double) + * @param _r Output rotation vector, 3x1/1x3 1-channel (double) + */ + void rot2vec(cv::InputArray _R, cv::OutputArray _r); + + /** + * @brief Takes a set of planar object points and transforms them + * to 'canonical' object coordinates This is when they have zero mean and are on the plane z=0 + * @param _objectPoints Array of 4 or more coplanar object points defined in + * object coordinates. 1xN/Nx1 3-channel (float or double) where N is the number of points + * @param _canonicalObjectPoints Object points in canonical coordinates 1xN/Nx1 2-channel (double) + * @param _MobjectPoints2Canonical Transform matrix mapping _objectPoints to _canonicalObjectPoints: + * 4x4 1-channel (double) + */ + void makeCanonicalObjectPoints(cv::InputArray _objectPoints, + cv::OutputArray _canonicalObjectPoints, + cv::OutputArray _MobjectPoints2Canonical); + + /** + * @brief Evaluates the Root Mean Squared (RMS) reprojection + * error of a pose solution. + * @param _objectPoints Array of 4 or more coplanar object points defined in + * object coordinates. 1xN/Nx1 3-channel (float or double) where N is the number of + * points + * @param _imagePoints Array of corresponding image points, 1xN/Nx1 + * 2-channel. This can either be in pixel coordinates or normalized pixel coordinates. + * @param _cameraMatrix Intrinsic camera matrix (same definition as OpenCV). + * If _imagePoints is in normalized pixel coordinates you must set _cameraMatrix = + * cv::noArray(). + * @param _distCoeffs Intrinsic camera distortion vector (same definition + * as OpenCV). If _imagePoints is in normalized pixel coordinates you must set + * _cameraMatrix = cv::noArray(). + * @param _M Pose matrix from 3D object to camera coordinates: + * 4x4 1-channel (double) + * @param err RMS reprojection error + */ + void evalReprojError(cv::InputArray _objectPoints, cv::InputArray _imagePoints, + cv::InputArray _cameraMatrix, cv::InputArray _distCoeffs, + cv::InputArray _M, float& err); + + /** + * @brief Sorts two pose solutions according to their RMS + * reprojection error (lowest first). + * @param _objectPoints Array of 4 or more coplanar object points defined in + * object coordinates. 1xN/Nx1 3-channel (float or double) where N is the number of + * points + * @param _imagePoints Array of corresponding image points, 1xN/Nx1 + * 2-channel. This can either be in pixel coordinates or normalized pixel coordinates. + * @param _cameraMatrix Intrinsic camera matrix (same definition as OpenCV). + * If _imagePoints is in normalized pixel coordinates you must set _cameraMatrix = + * cv::noArray(). + * @param _distCoeffs Intrinsic camera distortion vector (same definition + * as OpenCV). If _imagePoints is in normalized pixel coordinates you must set + * _cameraMatrix = cv::noArray(). + * @param _Ma Pose matrix 1: 4x4 1-channel + * @param _Mb Pose matrix 2: 4x4 1-channel + * @param _M1 Member of (Ma,Mb} with lowest RMS reprojection + * error. Performs deep copy. + * @param _M2 Member of (Ma,Mb} with highest RMS reprojection + * error. Performs deep copy. + * @param err1 RMS reprojection error of _M1 + * @param err2 RMS reprojection error of _M2 + */ + void sortPosesByReprojError(cv::InputArray _objectPoints, cv::InputArray _imagePoints, + cv::InputArray _cameraMatrix, cv::InputArray _distCoeffs, + cv::InputArray _Ma, cv::InputArray _Mb, cv::OutputArray _M1, + cv::OutputArray _M2, float& err1, float& err2); + + /** + * @brief Finds the rotation _Ra that rotates a vector _a to + * the z axis (0,0,1) + * @param _a vector: 3x1 mat (double) + * @param _Ra Rotation: 3x3 mat (double) + */ + void rotateVec2ZAxis(cv::InputArray _a, cv::OutputArray _Ra); + + + /** + * @brief Computes the rotation _R that rotates the object points + * to the plane z=0. This uses the cross-product method with the first three object points. + * @param _objectPoints Array of N>=3 coplanar object points defined in object + * coordinates. 1xN/Nx1 3-channel (float or double) where N is the number of points + * @param _R Rotation Mat: 3x3 (double) + * @return success (true) or failure (false) + */ + bool computeObjextSpaceR3Pts(cv::InputArray _objectPoints, cv::OutputArray _R); + + /** + * @brief computeObjextSpaceRSvD Computes the rotation _R that rotates the object points + * to the plane z=0. This uses the cross-product method with the first three object points. + * @param _objectPointsZeroMean zero-meaned co=planar object points: 3xN matrix (double) where N>=3 + * @param _R Rotation Mat: 3x3 (double) + * @return success (true) or failure (false) + */ + bool computeObjextSpaceRSvD(cv::InputArray _objectPointsZeroMean, cv::OutputArray _R); +}; +} // namespace IPPE + +namespace HomographyHO +{ + +/** + * @brief Computes the best-fitting homography matrix from source to + * target points using Harker and O'Leary's method: Harker, M., O'Leary, P., Computation + * of Homographies, Proceedings of the British Machine Vision Conference 2005, Oxford, + * England. This is not the author's implementation. + * @param srcPoints Array of source points: 1xN/Nx1 2-channel (float or double) + * where N is the number of points + * @param targPoints Array of target points: 1xN/Nx1 2-channel (float or double) + * @param H Homography from source to target: 3x3 1-channel (double) + */ +void homographyHO(cv::InputArray srcPoints, cv::InputArray targPoints, cv::OutputArray H); + +/** + * @brief Performs data normalization before homography estimation. + * For details see Hartley, R., Zisserman, A., Multiple View Geometry in Computer Vision, + * Cambridge University Press, Cambridge, 2001 + * @param Data Array of source data points: 1xN/Nx1 2-channel (float or double) + * where N is the number of points + * @param DataN Normalized data points: 1xN/Nx1 2-channel (float or double) + * where N is the number of points + * @param T Homogeneous transform from source to normalized: 3x3 1-channel (double) + * @param Ti Homogeneous transform from normalized to source: 3x3 1-channel (double) + */ +void normalizeDataIsotropic(cv::InputArray Data, cv::OutputArray DataN, cv::OutputArray T, + cv::OutputArray Ti); +} // namespace HomographyHO + +#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/levmarq.h b/legacy/aruco_ros/aruco/include/aruco/levmarq.h new file mode 100755 index 000000000..1e765433b --- /dev/null +++ b/legacy/aruco_ros/aruco/include/aruco/levmarq.h @@ -0,0 +1,386 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef ARUCO_MM__LevMarq_H +#define ARUCO_MM__LevMarq_H +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +namespace aruco +{ +// Levenberg-Marquardt method for general problems Inspired in +//@MISC\{IMM2004-03215, +// author = "K. Madsen and H. B. Nielsen and O. Tingleff", +// title = "Methods for Non-Linear Least Squares Problems (2nd ed.)", +// year = "2004", +// pages = "60", +// publisher = "Informatics and Mathematical Modelling, Technical University of Denmark, {DTU}", +// address = "Richard Petersens Plads, Building 321, {DK-}2800 Kgs. Lyngby", +// url = "http://www.ltu.se/cms_fs/1.51590!/nonlinear_least_squares.pdf" +//} +template +class LevMarq +{ +public: + typedef Eigen::Matrix eVector; + typedef std::function F_z_x; + typedef std::function &)> F_z_J; + LevMarq(); + /** + * @brief Constructor with parms + * @param maxIters maximum number of iterations of the algoritm + * @param minError to stop the algorithm before reaching the max iterations + * @param min_step_error_diff minimum error difference between two iterations. If below + * this level, then stop. + * @param tau parameter indicating how near the initial solution is estimated to be to + * the real one. If 1, it means that it is very far and the first + * @param der_epsilon increment to calculate the derivate of the evaluation function + * step will be very short. If near 0, means the opposite. This value is auto calculated + * in the subsequent iterations. + */ + LevMarq(int maxIters, double minError, double min_step_error_diff = 0, double tau = 1, + double der_epsilon = 1e-3); + + /** + * @brief setParams + * @param maxIters maximum number of iterations of the algoritm + * @param minError to stop the algorithm before reaching the max iterations + * @param min_step_error_diff minimum error difference between two iterations. If below + * this level, then stop. + * @param tau parameter indicating how near the initial solution is estimated to be to + * the real one. If 1, it means that it is very far and the first + * @param der_epsilon increment to calculate the derivate of the evaluation function + * step will be very short. If near 0, means the opposite. This value is auto calculated + * in the subsequent iterations. + */ + void setParams(int maxIters, double minError, double min_step_error_diff = 0, + double tau = 1, double der_epsilon = 1e-3); + + /** + * @brief solve non linear minimization problem ||F(z)||, where F(z)=f(z) f(z)^t + * @param z function params 1xP to be estimated. input-output. Contains the result of + * the optimization + * @param f_z_x evaluation function f(z)=x + * first parameter : z : input. Data is in double precision as a row vector + * (1xp) second parameter : x : output. Data must be returned in double + * @param f_J computes the jacobian of f(z) + * first parameter : z : input. Data is in double precision as a row vector + * (1xp) second parameter : J : output. Data must be returned in double + * @return final error + */ + double solve(eVector &z, F_z_x, F_z_J); + /// Step by step solve mode + + + /** + * @brief init initializes the search engine + * @param z + */ + void init(eVector &z, F_z_x); + /** + * @brief step gives a step of the search + * @param f_z_x error evaluation function + * @param f_z_J Jacobian function + * @return error of current solution + */ + bool step(F_z_x f_z_x, F_z_J f_z_J); + bool step(F_z_x f_z_x); + /** + * @brief getCurrentSolution returns the current solution + * @param z output + * @return error of the solution + */ + double getCurrentSolution(eVector &z); + /** + * @brief getBestSolution sets in z the best solution up to this moment + * @param z output + * @return error of the solution + */ + double getBestSolution(eVector &z); + + /** Automatic jacobian estimation + * @brief solve non linear minimization problem ||F(z)||, where F(z)=f(z) f(z)^t + * @param z function params 1xP to be estimated. input-output. Contains the result of + * the optimization + * @param f_z_x evaluation function f(z)=x + * first parameter : z : input. Data is in double precision as a row vector + * (1xp) second parameter : x : output. Data must be returned in double + * @return final error + */ + double solve(eVector &z, F_z_x); + // to enable verbose mode + bool &verbose() + { + return _verbose; + } + + // sets a callback func call at each step + void setStepCallBackFunc(std::function callback) + { + _step_callback = callback; + } + // sets a function that indicates when the algorithm must be stop. returns true if must stop and false otherwise + void setStopFunction(std::function stop_function) + { + _stopFunction = stop_function; + } + + void calcDerivates(const eVector &z, Eigen::Matrix &, F_z_x); + +private: + int _maxIters; + double _minErrorAllowed, _der_epsilon, _tau, _min_step_error_diff; + bool _verbose; + //-------- + eVector curr_z, x64; + double currErr, prevErr, minErr; + Eigen::Matrix I, J; + double mu, v; + std::function _step_callback; + std::function _stopFunction; +}; + + + +template +LevMarq::LevMarq() +{ + _maxIters = 1000; + _minErrorAllowed = 0; + _der_epsilon = 1e-3; + _verbose = false; + _tau = 1; + v = 5; + _min_step_error_diff = 0; +} +/** + * @brief Constructor with parms + * @param maxIters maximum number of iterations of the algoritm + * @param minError to stop the algorithm before reaching the max iterations + * @param min_step_error_diff minimum error difference between two iterations. If below + * this level, then stop. + * @param tau parameter indicating how near the initial solution is estimated to be to the + * real one. If 1, it means that it is very far and the first + * @param der_epsilon increment to calculate the derivate of the evaluation function + * step will be very short. If near 0, means the opposite. This value is auto calculated + * in the subsequent iterations. + */ +template +LevMarq::LevMarq(int maxIters, double minError, double min_step_error_diff, double tau, + double der_epsilon) +{ + _maxIters = maxIters; + _minErrorAllowed = minError; + _der_epsilon = der_epsilon; + _verbose = false; + _tau = tau; + v = 5; + _min_step_error_diff = min_step_error_diff; +} + +/** + * @brief setParams + * @param maxIters maximum number of iterations of the algoritm + * @param minError to stop the algorithm before reaching the max iterations + * @param min_step_error_diff minimum error difference between two iterations. If below + * this level, then stop. + * @param tau parameter indicating how near the initial solution is estimated to be to the + * real one. If 1, it means that it is very far and the first + * @param der_epsilon increment to calculate the derivate of the evaluation function + * step will be very short. If near 0, means the opposite. This value is auto calculated + * in the subsequent iterations. + */ +template +void LevMarq::setParams(int maxIters, double minError, double min_step_error_diff, + double tau, double der_epsilon) +{ + _maxIters = maxIters; + _minErrorAllowed = minError; + _der_epsilon = der_epsilon; + _tau = tau; + _min_step_error_diff = min_step_error_diff; +} + + +template +void LevMarq::calcDerivates(const eVector &z, + Eigen::Matrix &j, F_z_x f_z_x) +{ + for (int i = 0; i < z.rows(); i++) + { + eVector zp(z), zm(z); + zp(i) += _der_epsilon; + zm(i) -= _der_epsilon; + eVector xp, xm; + f_z_x(zp, xp); + f_z_x(zm, xm); + eVector dif = (xp - xm) / (2.f * _der_epsilon); + j.middleCols(i, 1) = dif; + } +} + +template +double LevMarq::solve(eVector &z, F_z_x f_z_x) +{ + return solve(z, f_z_x, + std::bind(&LevMarq::calcDerivates, this, std::placeholders::_1, + std::placeholders::_2, f_z_x)); +} +template +bool LevMarq::step(F_z_x f_z_x) +{ + return step(f_z_x, std::bind(&LevMarq::calcDerivates, this, std::placeholders::_1, + std::placeholders::_2, f_z_x)); +} + +template +void LevMarq::init(eVector &z, F_z_x f_z_x) +{ + curr_z = z; + I.resize(z.rows(), z.rows()); + I.setIdentity(); + f_z_x(curr_z, x64); + minErr = currErr = prevErr = x64.cwiseProduct(x64).sum(); + J.resize(x64.rows(), z.rows()); + mu = -1; +} + + +#define splm_get_time(a, b) \ + std::chrono::duration_cast>(a - b).count() + + +template +bool LevMarq::step(F_z_x f_z_x, F_z_J f_J) +{ + f_J(curr_z, J); + Eigen::Matrix Jt = J.transpose(); + Eigen::Matrix JtJ = (Jt * J); + + eVector B = -Jt * x64; + if (mu < 0) + { // first time only + int max = 0; + for (int j = 1; j < JtJ.cols(); j++) + if (JtJ(j, j) > JtJ(max, max)) + max = j; + mu = JtJ(max, max) * _tau; + } + + double gain = 0, prev_mu = 0; + int ntries = 0; + bool isStepAccepted = false; + do + { + // add/update dumping factor to JtJ. + // very efficient in any case, but particularly if initial dump does not produce improvement and must reenter + for (int j = 0; j < JtJ.cols(); j++) + JtJ(j, j) += mu - prev_mu; // update mu + prev_mu = mu; + eVector delta = JtJ.ldlt().solve(B); + eVector estimated_z = curr_z + delta; + // compute error + f_z_x(estimated_z, x64); + auto err = x64.cwiseProduct(x64).sum(); + auto L = 0.5 * delta.transpose() * ((mu * delta) - B); + gain = (err - prevErr) / L(0, 0); + // get gain + if (gain > 0) + { + mu = mu * std::max(double(0.33), 1. - pow(2 * gain - 1, 3)); + v = 5.f; + currErr = err; + curr_z = estimated_z; + isStepAccepted = true; + } + else + { + mu = mu * v; + v = v * 5; + } + + } while (gain <= 0 && ntries++ < 5); + + if (_verbose) + std::cout << std::setprecision(5) << "Curr Error=" << currErr + << " AErr(prev-curr)=" << prevErr - currErr << " gain=" << gain + << " dumping factor=" << mu << std::endl; + // //check if we must move to the new position or exit + if (currErr < prevErr) + std::swap(currErr, prevErr); + + return isStepAccepted; +} + + +template +double LevMarq::getCurrentSolution(eVector &z) +{ + z = curr_z; + return currErr; +} +template +double LevMarq::solve(eVector &z, F_z_x f_z_x, F_z_J f_J) +{ + init(z, f_z_x); + + if (_stopFunction) + { + do + { + step(f_z_x, f_J); + if (_step_callback) + _step_callback(curr_z); + } while (!_stopFunction(curr_z)); + } + else + { + // intial error estimation + int mustExit = 0; + for (int i = 0; i < _maxIters && !mustExit; i++) + { + if (_verbose) + std::cerr << "iteration " << i << "/" << _maxIters << " "; + bool isStepAccepted = step(f_z_x, f_J); + // check if we must exit + if (currErr < _minErrorAllowed) + mustExit = 1; + if (fabs(prevErr - currErr) <= _min_step_error_diff || !isStepAccepted) + mustExit = 2; + // exit if error increment + if (currErr < prevErr) + mustExit = 3; + // if ( (prevErr-currErr) < 1e-5 ) mustExit=true; + if (_step_callback) + _step_callback(curr_z); + } + + // std::cout<<"Exit code="<. +*/ + +#ifndef _Aruco_Marker_H +#define _Aruco_Marker_H + +#include "aruco_export.h" + +#include + +#include +#include +#include + +namespace aruco +{ +/**\brief This class represents a marker. It is a vector of the fours corners ot the marker + * + */ + +class CameraParameters; +class ARUCO_EXPORT Marker : public std::vector +{ +public: + // id of the marker + int id; + // size of the markers sides in meters + float ssize; + // matrices of rotation and translation respect to the camera + cv::Mat Rvec, Tvec; + // additional info about the dictionary + std::string dict_info; + // points of the contour + vector contourPoints; + + /** + */ + Marker(); + /** + */ + Marker(int id); + /** + */ + Marker(const Marker& M); + /** + */ + Marker(const std::vector& corners, int _id = -1); + /** + */ + ~Marker() + { + } + /**Indicates if this object is valid + */ + bool isValid() const + { + return id != -1 && size() == 4; + } + + bool isPoseValid() const + { + return !Rvec.empty() && !Tvec.empty(); + } + /**Draws this marker in the input image + */ + void draw(cv::Mat& in, cv::Scalar color = cv::Scalar(0, 0, 255), int lineWidth = -1, + bool writeId = true, bool writeInfo = false) const; + + /**Calculates the extrinsics (Rvec and Tvec) of the marker with respect to the camera + * @param markerSize size of the marker side expressed in meters + * @param CP parmeters of the camera + * @param setYPerpendicular If set the Y axis will be perpendicular to the surface. + * Otherwise, it will be the Z axis + */ + void calculateExtrinsics(float markerSize, const CameraParameters& CP, + bool setYPerpendicular = true); + /** + * Calculates the extrinsics (Rvec and Tvec) of the marker with respect to the camera + * @param markerSize size of the marker side expressed in meters + * @param CameraMatrix matrix with camera parameters (fx, fy, cx, cy) + * @param Distortion matrix with distortion parameters (k1, k2, p1, p2) + * @param setYPerpendicular If set the Y axis will be perpendicular to the surface. + * Otherwise, it will be the Z axis + * @param correctFisheye Correct fisheye distortion + */ + void calculateExtrinsics(float markerSize, cv::Mat CameraMatrix, + cv::Mat Distorsion = cv::Mat(), cv::Mat Extrinsics = cv::Mat(), + bool setYPerpendicular = true, bool correctFisheye = false); + + /**Given the extrinsic camera parameters returns the GL_MODELVIEW matrix for opengl. + * Setting this matrix, the reference coordinate system will be set in this marker + */ + void glGetModelViewMatrix(double modelview_matrix[16]); + + /** + * Returns position vector and orientation quaternion for an Ogre scene node or entity. + * Use: + * ... + * Ogre::Vector3 ogrePos (position[0], position[1], position[2]); + * Ogre::Quaternion ogreOrient (orientation[0], orientation[1], orientation[2], orientation[3]); + * mySceneNode->setPosition( ogrePos ); + * mySceneNode->setOrientation( ogreOrient ); + * ... + */ + void OgreGetPoseParameters(double position[3], double orientation[4]); + + /**Returns the centroid of the marker + */ + cv::Point2f getCenter() const; + /**Returns the perimeter of the marker + */ + float getPerimeter() const; + /**Returns the area + */ + float getArea() const; + /**Returns radius of enclosing circle + */ + float getRadius() const; + /**compares ids + */ + bool operator==(const Marker& m) const + { + return m.id == id; + } + + void copyTo(Marker& m) const; + /**compares ids + */ + Marker& operator=(const Marker& m); + + /** + */ + friend bool operator<(const Marker& M1, const Marker& M2) + { + return M1.id < M2.id; + } + /** + */ + friend std::ostream& operator<<(std::ostream& str, const Marker& M) + { + str << M.id << "="; + for (int i = 0; i < 4; i++) + str << "(" << M[i].x << "," << M[i].y << ") "; + if (!M.Tvec.empty() && !M.Rvec.empty()) + { + str << "Txyz="; + for (int i = 0; i < 3; i++) + str << M.Tvec.ptr(0)[i] << " "; + str << "Rxyz="; + for (int i = 0; i < 3; i++) + str << M.Rvec.ptr(0)[i] << " "; + } + return str; + } + + + // saves to a binary stream + void toStream(std::ostream& str) const; + // reads from a binary stream + void fromStream(std::istream& str); + + // returns the 3d points of a marker wrt its center + static vector get3DPoints(float msize); + // returns the 3d points of this marker wrt its center + inline vector get3DPoints() const + { + return get3DPoints(ssize); + } + + // returns the SE3 (4x4) transform matrix + + cv::Mat getTransformMatrix() const; + +private: + void rotateXAxis(cv::Mat& rotation); +}; +} // namespace aruco +#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/markerdetector.h b/legacy/aruco_ros/aruco/include/aruco/markerdetector.h new file mode 100755 index 000000000..5d8714c9e --- /dev/null +++ b/legacy/aruco_ros/aruco/include/aruco/markerdetector.h @@ -0,0 +1,463 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef _ARUCO_MarkerDetector_H +#define _ARUCO_MarkerDetector_H + +#include "aruco_export.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include "marker.h" + +#include + +namespace aruco +{ + +/** + * @brief The DetectionMode enum defines the different possibilities for detection. + * Specifies the detection mode. We have preset three types of detection modes. These are + * ways to configure the internal parameters for the most typical situations. The modes + * are: + * - DM_NORMAL: In this mode, the full resolution image is employed for detection and slow + * threshold method. Use this method when you process individual images that are not part + * of a video sequence and you are not interested in speed. + * + * - DM_FAST: In this mode, there are two main improvements. First, image is threshold + * using a faster method using a global threshold. Also, the full resolution image is + * employed for detection, but, you could speed up detection even more by indicating a + * minimum size of the markers you will accept. This is set by the variable minMarkerSize + * which shoud be in range [0,1]. When it is 0, means that you do not set a limit in the + * size of the accepted markers. However, if you set 0.1, it means that markers smaller + * than 10% of the total image area, will not be detected. Then, the detection can be + * accelated up to orders of magnitude compared to the normal mode. + * + * - DM_VIDEO_FAST: This is similar to DM_FAST, but specially adapted to video processing. + * In that case, we assume that the observed markers when you call to detect() have a size + * similar to the ones observed in the previous frame. Then, the processing can be speeded + * up by employing smaller versions of the image automatically calculated. + * + */ +enum DetectionMode : int +{ + DM_NORMAL = 0, + DM_FAST = 1, + DM_VIDEO_FAST = 2 +}; +/** Method employed to refine the estimation of the corners + * - CORNER_SUBPIX: uses subpixel refinement implemented in opencv + * - CORNER_LINES: uses all the pixels in the corner border to estimate the 4 lines of the square. Then + * estimate the point in which they intersect. In seems that it more robust to noise. However, + * it only works if input image is not resized. So, the value minMarkerSize will be set to 0. + * + * - CORNER_NONE: Does no refinement of the corner. Again, it requires minMakerSize to be 0 + */ +enum CornerRefinementMethod : int +{ + CORNER_SUBPIX = 0, + CORNER_LINES = 1, + CORNER_NONE = 2 +}; + + +class CameraParameters; +class MarkerLabeler; +class MarkerDetector_Impl; +typedef Marker MarkerCandidate; + +/**\brief Main class for marker detection + * + */ + +class ARUCO_EXPORT MarkerDetector +{ + friend class MarkerDetector_Impl; + +public: + enum ThresMethod : int + { + THRES_ADAPTIVE = 0, + THRES_AUTO_FIXED = 1 + }; + + /**Operating params + */ + struct ARUCO_EXPORT Params + { + /**Specifies the detection mode. We have preset three types of detection modes. These are + * ways to configure the internal parameters for the most typical situations. The modes are: + * - DM_NORMAL: In this mode, the full resolution image is employed for detection and + * slow threshold method. Use this method when you process individual images that are + * not part of a video sequence and you are not interested in speed. + * + * - DM_FAST: In this mode, there are two main improvements. First, image is threshold + * using a faster method using a global threshold. Also, the full resolution image is + * employed for detection, but, you could speed up detection even more by indicating a minimum size of the + * markers you will accept. This is set by the variable minMarkerSize which shoud be + * in range [0,1]. When it is 0, means that you do not set a limit in the size of the + * accepted markers. However, if you set 0.1, it means that markers smaller than 10% + * of the total image area, will not be detected. Then, the detection can be accelated + * up to orders of magnitude compared to the normal mode. + * + * - DM_VIDEO_FAST: This is similar to DM_FAST, but specially adapted to video processing. + * In that case, we assume that the observed markers when you call to detect() have a + * size similar to the ones observed in the previous frame. Then, the processing can + * be speeded up by employing smaller versions of the image automatically calculated. + * + */ + void setDetectionMode(DetectionMode dm, float minMarkerSize); + + /**Enables/Disbles the detection of enclosed markers. Enclosed markers are markers + * where corners are like opencv chessboard pattern + */ + void detectEnclosedMarkers(bool do_) + { + enclosedMarker = do_; + } + + /**Sets the corner refinement method + * - CORNER_SUBPIX: uses subpixel refinement implemented in opencv + * - CORNER_LINES: uses all the pixels in the corner border to estimate the 4 lines of + * the square. Then estimate the point in which they intersect. In seems that it more + * robust to noise. However, it only works if input image is not resized. So, the + * value minMarkerSize will be set to 0. + * + * - CORNER_NONE: Does no refinement of the corner. Again, it requires minMakerSize to + * be 0 + */ + void setCornerRefinementMethod(CornerRefinementMethod method); + + + //----------------------------------------------------------------------------- + // Below this point you probably should not use the functions + /**Sets the thresholding method manually. Do no + */ + void setThresholdMethod(ThresMethod method, int thresHold = -1, int wsize = -1, + int wsize_range = 0); + + + + void setAutoSizeSpeedUp(bool v, float Ts = 0.25) + { + autoSize = v; + ts = Ts; + } + bool getAutoSizeSpeedUp() const + { + return autoSize; + } + + + + void save(cv::FileStorage &fs) const; + void load(cv::FileStorage &fs); + + void toStream(std::ostream &str) const; + void fromStream(std::istream &str); + + static std::string toString(DetectionMode dm); + static DetectionMode getDetectionModeFromString(const std::string &str); + static std::string toString(CornerRefinementMethod dm); + static CornerRefinementMethod getCornerRefinementMethodFromString(const std::string &str); + static std::string toString(ThresMethod dm); + static ThresMethod getCornerThresMethodFromString(const std::string &str); + + // Detection mode + + DetectionMode detectMode = DM_NORMAL; + + // maximum number of parallel threads + int maxThreads = 1; //-1 means all + + // border around image limits in which corners are not allowed to be detected. (0,1) + float borderDistThres = 0.015f; + int lowResMarkerSize = 20; // minimum size of a marker in the low resolution image + + // minimum size of a contour lenght. We use the following formula + // minLenght= min ( _minSize_pix , _minSize* Is)*4 + // being Is=max(imageWidth,imageHeight) + // the value _minSize are normalized, thus, depends on camera image size + // However, _minSize_pix is expressed in pixels (you can use the one you prefer) + float minSize = -1; // tau_i in paper + int minSize_pix = -1; + bool enclosedMarker = false; // special treatment for enclosed markers + float error_correction_rate = 0; + std::string dictionary = "ALL_DICTS"; + // threshold methods + ThresMethod thresMethod = THRES_ADAPTIVE; + int NAttemptsAutoThresFix = + 3; // number of times that tries a random threshold in case of THRES_AUTO_FIXED + int trackingMinDetections = 0; // no tracking + + + // Threshold parameters + int AdaptiveThresWindowSize = -1, ThresHold = 7, AdaptiveThresWindowSize_range = 0; + // size of the image passedta to the MarkerLabeler + int markerWarpPixSize = 5; // tau_c in paper + + CornerRefinementMethod cornerRefinementM = CORNER_SUBPIX; + // enable/disables the method for automatic size estimation for speed up + bool autoSize = false; + float ts = + 0.25f; //$\tau_s$ is a factor in the range $(0,1]$ that accounts for the camera + //motion speed. For instance, when $\tau_s=0.1$, it means that in the next + //frame, $\tau_i$ is such that markers $10\%$ smaller than the smallest + //marker in the current image will be seek. To avoid loosing track of the + //markers. If no markers are detected in a frame, $\tau_i$ is set to zero + //for the next frame so that markers of any size can be detected. + /**Enables automatic image resize according to elements detected in previous frame + * @param v + * @param ts is a factor in the range $(0,1]$ that accounts for the camera motion + * speed. For instance, when ts=0.1 , it means that in the next frame, $\tau_i$ is + * such that markers $10\%$ smaller than the smallest marker in the current image will + * be seek. To avoid loosing track of the markers. + */ + float pyrfactor = 2; + int closingSize = + 0; // enables/disables morph closing operation. The actual param used is closingSize*2+1 + + private: + static void _toStream(const std::string &strg, std::ostream &str); + static void _fromStream(std::string &strg, std::istream &str); + template + static bool attemtpRead(const std::string &name, Type &var, cv::FileStorage &fs) + { + if (fs[name].type() != cv::FileNode::NONE) + { + fs[name] >> var; + return true; + } + return false; + } + }; + + /** + * See + */ + MarkerDetector(); + /**Creates indicating the dictionary. See @see setDictionary for further details + * @param dict_type Dictionary employed. See @see setDictionary for further details + * @param error_correction_rate value indicating the correction error allowed. Is in + * range [0,1]. 0 means no correction at all. So an erroneous bit will result in + * discarding the marker. 1, mean full correction. The maximum number of bits that can + * be corrected depends on each ditionary. We recommend using values from 0 to 0.5. (in + * general, this will allow up to 3 bits or correction). */ + MarkerDetector(int dict_type, float error_correction_rate = 0); + MarkerDetector(std::string dict_type, float error_correction_rate = 0); + + /**Saves the configuration of the detector to a file. + */ + void saveParamsToFile(const std::string &path) const; + + /**Loads the configuration from a file. + */ + void loadParamsFromFile(const std::string &path); + + + /** + */ + ~MarkerDetector(); + /**Specifies the detection mode. We have preset three types of detection modes. These + * are ways to configure the internal parameters for the most typical situations. The + * modes are: + * - DM_NORMAL: In this mode, the full resolution image is employed for detection and + * slow threshold method. Use this method when you process individual images that are + * not part of a video sequence and you are not interested in speed. + * + * - DM_FAST: In this mode, there are two main improvements. First, image is threshold + * using a faster method using a global threshold. Also, the full resolution image is + * employed for detection, but, you could speed up detection even more by indicating a + * minimum size of the markers you will accept. This is set by the variable + * minMarkerSize which shoud be in range [0,1]. When it is 0, means that you do not set + * a limit in the size of the accepted markers. However, if you set 0.1, it means that + * markers smaller than 10% of the total image area, will not be detected. Then, the + * detection can be accelated up to orders of magnitude compared to the normal mode. + * + * - DM_VIDEO_FAST: This is similar to DM_FAST, but specially adapted to video + * processing. In that case, we assume that the observed markers when you call to + * detect() have a size similar to the ones observed in the previous frame. Then, the + * processing can be speeded up by employing smaller versions of the image automatically + * calculated. + * + */ + void setDetectionMode(DetectionMode dm, float minMarkerSize = 0); + /**returns current detection mode + */ + DetectionMode getDetectionMode(); + /**Detects the markers in the image passed + * + * If you provide information about the camera parameters and the size of the marker, + * then, the extrinsics of the markers are detected + * + * @param input input color image + * @param camMatrix intrinsic camera information. + * @param distCoeff camera distorsion coefficient. If set Mat() if is assumed no camera + * distorion + * @param markerSizeMeters size of the marker sides expressed in meters. If not + * specified this value, the extrinsics of the markers are not detected. + * @param setYPerperdicular If set the Y axis will be perpendicular to the surface. + * Otherwise, it will be the Z axis + * @param correctFisheye Correct fisheye distortion + * @return vector with the detected markers + */ + std::vector detect(const cv::Mat &input); + std::vector detect(const cv::Mat &input, const CameraParameters &camParams, + float markerSizeMeters, bool setYPerperdicular = false, + bool correctFisheye = false); + + /**Detects the markers in the image passed + * + * If you provide information about the camera parameters and the size of the marker, + * then, the extrinsics of the markers are detected + * + * @param input input color image + * @param detectedMarkers output vector with the markers detected + * @param camParams Camera parameters + * @param markerSizeMeters size of the marker sides expressed in meters + * @param setYPerperdicular If set the Y axis will be perpendicular to the surface. + * Otherwise, it will be the Z axis + * @param correctFisheye Correct fisheye distortion + */ + void detect(const cv::Mat &input, std::vector &detectedMarkers, + CameraParameters camParams, float markerSizeMeters = -1, + bool setYPerperdicular = false, bool correctFisheye = false); + + /** + * Detects the markers in the image passed + * + * If you provide information about the camera parameters and the size of the marker, + * then, the extrinsics of the markers are detected + * + * NOTE: be sure that the camera matrix is for this image size. If you do not know what + * I am talking about, use functions above and not this one + * @param input input color image + * @param detectedMarkers output vector with the markers detected + * @param camMatrix intrinsic camera information. + * @param distCoeff camera distortion coefficient. If set Mat() if is assumed no camera + * distortion + * @param extrinsics translation (tx,ty,tz) from right stereo camera to left. Empty if + * no stereo or left camera + * @param markerSizeMeters size of the marker sides expressed in meters + * @param setYPerperdicular If set the Y axis will be perpendicular to the surface. + * Otherwise, it will be the Z axis + * @param correctFisheye Correct fisheye distortion + */ + void detect(const cv::Mat &input, std::vector &detectedMarkers, + cv::Mat camMatrix = cv::Mat(), cv::Mat distCoeff = cv::Mat(), + cv::Mat extrinsics = cv::Mat(), float markerSizeMeters = -1, + bool setYPerperdicular = false, bool correctFisheye = false); + + /**Returns operating params + */ + Params getParameters() const; + /**Returns operating params + */ + Params &getParameters(); + /** Sets the dictionary to be employed. + * You can choose:ARUCO,//original aruco dictionary. By default + ARUCO_MIP_25h7, + ARUCO_MIP_16h3, + ARUCO_MIP_36h12, **** recommended + ARTAG,// + ARTOOLKITPLUS, + ARTOOLKITPLUSBCH,// + TAG16h5,TAG25h7,TAG25h9,TAG36h11,TAG36h10//APRIL TAGS DICIONARIES + CHILITAGS,//chili tags dictionary . NOT RECOMMENDED. It has distance 0. + Markers 806 and 682 should not be used!!! + + If dict_type is none of the above ones, it is assumed you mean a CUSTOM dicionary + saved in a file @see Dictionary::loadFromFile Then, it tries to open it + */ + void setDictionary(std::string dict_type, float error_correction_rate = 0); + + /** + * @brief setDictionary Specifies the dictionary you want to use for marker decoding + * @param dict_type dictionary employed for decoding markers @see Dictionary + * @param error_correction_rate value indicating the correction error allowed. Is in + * range [0,1]. 0 means no correction at all. So an erroneous bit will result in + * discarding the marker. 1, mean full correction. The maximum number of bits that can + * be corrected depends on each ditionary. We recommend using values from 0 to 0.5. (in + * general, this will allow up to 3 bits or correction). + */ + void setDictionary(int dict_type, float error_correction_rate = 0); + + /** + * Returns a reference to the internal image thresholded. Since there can be generated + * many of them, specify which + */ + cv::Mat getThresholdedImage(uint32_t idx = 0); + /**returns the number of thresholed images available + */ + // size_t getNhresholdedImages()const{return _thres_Images.size();} + + + + ///------------------------------------------------- + /// Methods you may not need + /// Thesde methods do the hard work. They have been set public in case you want to do customizations + ///------------------------------------------------- + + /** + * @brief setMakerLabeler sets the labeler employed to analyze the squares and extract + * the inner binary code + * @param detector + */ + void setMarkerLabeler(cv::Ptr detector); + cv::Ptr getMarkerLabeler(); + + + /**Returns a list candidates to be markers (rectangles), for which no valid id was found + * after calling detectRectangles + */ + std::vector getCandidates() const; + + std::vector getImagePyramid(); + /* + * @param corners vectors of vectors + */ + void cornerUpsample(std::vector > &corners, cv::Size lowResImageSize); + void cornerUpsample(std::vector &corners, cv::Size lowResImageSize); + + /** + * Given the iput image with markers, creates an output image with it in the canonical position + * @param in input image + * @param out image with the marker + * @param size of out + * @param points 4 corners of the marker in the image in + * @return true if the operation succeed + */ + bool warp(cv::Mat &in, cv::Mat &out, cv::Size size, std::vector points); + + + // serialization in binary mode + void toStream(std::ostream &str) const; + void fromStream(std::istream &str); + // configure the detector from a set of parameters + void setParameters(const Params ¶ms); + + + +private: + MarkerDetector_Impl *_impl; +}; +}; // namespace aruco +#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/markerdetector_impl.h b/legacy/aruco_ros/aruco/include/aruco/markerdetector_impl.h new file mode 100755 index 000000000..4939a23e7 --- /dev/null +++ b/legacy/aruco_ros/aruco/include/aruco/markerdetector_impl.h @@ -0,0 +1,499 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef _ARUCO_MarkerDetector_Impl_H +#define _ARUCO_MarkerDetector_Impl_H + +#include "aruco_export.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include "marker.h" +#include "markerdetector.h" +#include + +namespace aruco +{ + +class CameraParameters; +class MarkerLabeler; +/**\brief Main class for marker detection + * + */ +class MarkerDetector_Impl +{ + friend class MarkerDetector; + +public: + /** + * See + */ + MarkerDetector_Impl(); + /**Creates indicating the dictionary. See @see setDictionary for further details + * @param dict_type Dictionary employed. See @see setDictionary for further details + * @param error_correction_rate value indicating the correction error allowed. Is in + * range [0,1]. 0 means no correction at all. So an erroneous bit will result in + * discarding the marker. 1, mean full correction. The maximum number of bits that can + * be corrected depends on each ditionary. We recommend using values from 0 to 0.5. (in + * general, this will allow up to 3 bits or correction). */ + MarkerDetector_Impl(int dict_type, float error_correction_rate = 0); + MarkerDetector_Impl(std::string dict_type, float error_correction_rate = 0); + + /**Saves the configuration of the detector to a file. + */ + void saveParamsToFile(const std::string& path) const; + + /**Loads the configuration from a file. + */ + void loadParamsFromFile(const std::string& path); + + + /** + */ + ~MarkerDetector_Impl(); + /**Specifies the detection mode. We have preset three types of detection modes. These + * are ways to configure the internal parameters for the most typical situations. The + * modes are: + * - DM_NORMAL: In this mode, the full resolution image is employed for detection and + * slow threshold method. Use this method when you process individual images that are + * not part of a video sequence and you are not interested in speed. + * + * - DM_FAST: In this mode, there are two main improvements. First, image is threshold + * using a faster method using a global threshold. Also, the full resolution image is + * employed for detection, but, you could speed up detection even more by indicating a + * minimum size of the markers you will accept. This is set by the variable + * minMarkerSize which shoud be in range [0,1]. When it is 0, means that you do not set + * a limit in the size of the accepted markers. However, if you set 0.1, it means that + * markers smaller than 10% of the total image area, will not be detected. Then, the + * detection can be accelated up to orders of magnitude compared to the normal mode. + * + * - DM_VIDEO_FAST: This is similar to DM_FAST, but specially adapted to video + * processing. In that case, we assume that the observed markers when you call to + * detect() have a size similar to the ones observed in the previous frame. Then, the + * processing can be speeded up by employing smaller versions of the image automatically + * calculated. + * + */ + void setDetectionMode(DetectionMode dm, float minMarkerSize = 0); + /**returns current detection mode + */ + DetectionMode getDetectionMode(); + /**Detects the markers in the image passed + * + * If you provide information about the camera parameters and the size of the marker, + * then, the extrinsics of the markers are detected + * + * @param input input color image + * @param camMatrix intrinsic camera information. + * @param distCoeff camera distorsion coefficient. If set Mat() if is assumed no camera + * distorion + * @param markerSizeMeters size of the marker sides expressed in meters. If not + * specified this value, the extrinsics of the markers are not detected. + * @param setYPerperdicular If set the Y axis will be perpendicular to the surface. + * Otherwise, it will be the Z axis + * @param correctFisheye Correct fisheye distortion + * @return vector with the detected markers + */ + std::vector detect(const cv::Mat& input); + std::vector detect(const cv::Mat& input, const CameraParameters& camParams, + float markerSizeMeters, bool setYPerperdicular = false, + bool correctFisheye = false); + + /**Detects the markers in the image passed + * + * If you provide information about the camera parameters and the size of the marker, + * then, the extrinsics of the markers are detected + * + * @param input input color image + * @param detectedMarkers output vector with the markers detected + * @param camParams Camera parameters + * @param markerSizeMeters size of the marker sides expressed in meters + * @param setYPerperdicular If set the Y axis will be perpendicular to the surface. + * Otherwise, it will be the Z axis + * @param correctFisheye Correct fisheye distortion + */ + void detect(const cv::Mat& input, std::vector& detectedMarkers, + CameraParameters camParams, float markerSizeMeters = -1, + bool setYPerperdicular = false, bool correctFisheye = false); + + /** + * Detects the markers in the image passed + * + * If you provide information about the camera parameters and the size of the marker, + * then, the extrinsics of the markers are detected + * + * NOTE: be sure that the camera matrix is for this image size. If you do not know what + * I am talking about, use functions above and not this one + * @param input input color image + * @param detectedMarkers output vector with the markers detected + * @param camMatrix intrinsic camera information. + * @param distCoeff camera distorsion coefficient. If set Mat() if is assumed no camera + * distorion + * @param extrinsics translation (tx,ty,tz) from right stereo camera to left. Empty if + * no stereo or left camera + * @param markerSizeMeters size of the marker sides expressed in meters + * @param setYPerperdicular If set the Y axis will be perpendicular to the surface. + * Otherwise, it will be the Z axis + * @param correctFisheye Correct fisheye distortion + */ + void detect(const cv::Mat& input, std::vector& detectedMarkers, + cv::Mat camMatrix = cv::Mat(), cv::Mat distCoeff = cv::Mat(), + cv::Mat extrinsics = cv::Mat(), float markerSizeMeters = -1, + bool setYPerperdicular = false, bool correctFisheye = false); + + + /**Returns operating params + */ + MarkerDetector::Params getParameters() const + { + return _params; + } + /**Returns operating params + */ + MarkerDetector::Params& getParameters() + { + return _params; + } + /** Sets the dictionary to be employed. + * You can choose:ARUCO,//original aruco dictionary. By default + ARUCO_MIP_25h7, + ARUCO_MIP_16h3, + ARUCO_MIP_36h12, **** recommended + ARTAG,// + ARTOOLKITPLUS, + ARTOOLKITPLUSBCH,// + TAG16h5,TAG25h7,TAG25h9,TAG36h11,TAG36h10//APRIL TAGS DICIONARIES + CHILITAGS,//chili tags dictionary . NOT RECOMMENDED. It has distance 0. + Markers 806 and 682 should not be used!!! + + If dict_type is none of the above ones, it is assumed you mean a CUSTOM dicionary + saved in a file @see Dictionary::loadFromFile Then, it tries to open it + */ + void setDictionary(std::string dict_type, float error_correction_rate = 0); + + /** + * @brief setDictionary Specifies the dictionary you want to use for marker decoding + * @param dict_type dictionary employed for decoding markers @see Dictionary + * @param error_correction_rate value indicating the correction error allowed. Is in + * range [0,1]. 0 means no correction at all. So an erroneous bit will result in + * discarding the marker. 1, mean full correction. The maximum number of bits that can + * be corrected depends on each ditionary. We recommend using values from 0 to 0.5. (in + * general, this will allow up to 3 bits or correction). + */ + void setDictionary(int dict_type, float error_correction_rate = 0); + + /** + * Returns a reference to the internal image thresholded. Since there can be generated + * many of them, specify which + */ + cv::Mat getThresholdedImage(uint32_t idx = 0); + /**returns the number of thresholed images available + */ + // size_t getNhresholdedImages()const{return _thres_Images.size();} + + + + ///------------------------------------------------- + /// Methods you may not need + /// Thesde methods do the hard work. They have been set public in case you want to do customizations + ///------------------------------------------------- + + /** + * @brief setMakerLabeler sets the labeler employed to analyze the squares and extract + * the inner binary code + * @param detector + */ + void setMarkerLabeler(cv::Ptr detector); + cv::Ptr getMarkerLabeler() + { + return markerIdDetector; + } + typedef Marker MarkerCandidate; + + + /**Returns a list candidates to be markers (rectangles), for which no valid id was found + * after calling detectRectangles + */ + std::vector getCandidates() const + { + return _candidates_wcontour; + } + + /** + * Given the iput image with markers, creates an output image with it in the canonical position + * @param in input image + * @param out image with the marker + * @param size of out + * @param points 4 corners of the marker in the image in + * @return true if the operation succeed + */ + bool warp(cv::Mat& in, cv::Mat& out, cv::Size size, std::vector points); + + + // serialization in binary mode + void toStream(std::ostream& str) const; + void fromStream(std::istream& str); + // configure the detector from a set of parameters + void setParameters(const MarkerDetector::Params& params); + + std::vector getImagePyramid() + { + return imagePyramid; + } + + + +private: + // obfuscate start + + // operating params + MarkerDetector::Params _params; + + // Images + cv::Mat grey, thres; + // pointer to the function that analizes a rectangular region so as to detect its internal marker + cv::Ptr markerIdDetector; + /** + */ + int perimeter(const std::vector& a); + + // auxiliar functions to perform LINES refinement + void interpolate2Dline(const std::vector& inPoints, cv::Point3f& outLine); + cv::Point2f getCrossPoint(const cv::Point3f& line1, const cv::Point3f& line2); + void distortPoints(std::vector in, std::vector& out, + const cv::Mat& camMatrix, const cv::Mat& distCoeff); + + // returns the number of pixels that the smallest and largest allowed markers have + int getMinMarkerSizePix(cv::Size orginput_imageSize) const; + + // returns the markerWarpSize + int getMarkerWarpSize(); + /**Given a vector vinout with elements and a boolean vector indicating the lements from + * it to remove, this function remove the elements + * @param vinout + * @param toRemove + */ + template + void removeElements(std::vector& vinout, const std::vector& toRemove) + { + // remove the invalid ones by setting the valid in the positions left by the invalids + size_t indexValid = 0; + for (size_t i = 0; i < toRemove.size(); i++) + { + if (!toRemove[i]) + { + if (indexValid != i) + vinout[indexValid] = vinout[i]; + indexValid++; + } + } + vinout.resize(indexValid); + } + + + template + void joinVectors(std::vector>& vv, std::vector& v, bool clearv = false) + { + if (clearv) + v.clear(); + for (size_t i = 0; i < vv.size(); i++) + for (size_t j = 0; j < vv[i].size(); j++) + v.push_back(vv[i][j]); + } + + std::vector imagePyramid; + void enlargeMarkerCandidate(MarkerCandidate& cand, int fact = 1); + + void cornerUpsample(std::vector>& MarkerCanditates, + cv::Size lowResImageSize); + void cornerUpsample(std::vector& MarkerCanditates, cv::Size lowResImageSize); + + + + void buildPyramid(std::vector& imagePyramid, const cv::Mat& grey, int minSize); + + + + std::vector thresholdAndDetectRectangles(const cv::Mat& input, + int thres_param1, + int thres_param2, bool erode, + cv::Mat& auxThresImage); + std::vector thresholdAndDetectRectangles(const cv::Mat& image); + std::vector prefilterCandidates(std::vector& candidates, + cv::Size orgImageSize); + + + std::vector _thres_Images; + std::vector> _vcandidates; + // std::vector > _candidates; + std::vector _candidates_wcontour; + std::vector _prevMarkers; // employed for tracking + std::map marker_ndetections; // used to keeps track only of markers with a + // minimum number of detections + + // graphical debug + void drawApproxCurve(cv::Mat& in, std::vector& approxCurve, cv::Scalar color, + int thickness = 1); + void drawContour(cv::Mat& in, std::vector& contour, cv::Scalar); + void drawAllContours(cv::Mat input, std::vector>& contours); + void draw(cv::Mat out, const std::vector& markers); + + + + enum ThreadTasks + { + THRESHOLD_TASK, + ENCLOSE_TASK, + EXIT_TASK + }; + struct ThresAndDetectRectTASK + { + int inIdx, outIdx; + int param1, param2; + ThreadTasks task; + }; + void thresholdAndDetectRectangles_thread(); + + // thread safe queue to implement producer-consumer + template + class Queue + { + public: + T pop() + { + std::unique_lock mlock(mutex_); + while (queue_.empty()) + { + cond_.wait(mlock); + } + auto item = queue_.front(); + queue_.pop(); + return item; + } + + void push(const T& item) + { + std::unique_lock mlock(mutex_); + queue_.push(item); + mlock.unlock(); + cond_.notify_one(); + } + + size_t size() + { + std::unique_lock mlock(mutex_); + size_t s = queue_.size(); + return s; + } + + private: + std::queue queue_; + std::mutex mutex_; + std::condition_variable cond_; + }; + Queue _tasks; + void refineCornerWithContourLines(aruco::Marker& marker, cv::Mat cameraMatrix = cv::Mat(), + cv::Mat distCoef = cv::Mat()); + + inline float pointSqdist(cv::Point& p, cv::Point2f& p2) + { + float dx = p.x - p2.x; + float dy = p.y - p2.y; + return dx * dx + dy * dy; + } + + float _tooNearDistance = -1; // pixel distance between nearr rectangle. Computed + // automatically based on the params + + + + struct marker_analyzer + { + void setParams(const std::vector& m) + { + corners = m; + bax = m[1].x - m[0].x; + bay = m[1].y - m[0].y; + dax = m[2].x - m[0].x; + day = m[2].y - m[0].y; + a = m[0]; + b = m[1]; + d = m[2]; + area = _getArea(); + + center = cv::Point2f(0, 0); + for (auto& p : corners) + center += p; + center *= 1. / 4.; + } + + bool isInto(const cv::Point2f& p) const + { + if (signD(corners[0], corners[1], p) < 0) + return false; + if (signD(corners[1], corners[2], p) < 0) + return false; + if (signD(corners[2], corners[3], p) < 0) + return false; + if (signD(corners[3], corners[0], p) < 0) + return false; + return true; + } + cv::Point2f getCenter() const + { + return center; + } + float getArea() const + { + return area; + } + float _getArea() const + { + // use the cross products + cv::Point2f v01 = corners[1] - corners[0]; + cv::Point2f v03 = corners[3] - corners[0]; + float area1 = fabs(v01.x * v03.y - v01.y * v03.x); + cv::Point2f v21 = corners[1] - corners[2]; + cv::Point2f v23 = corners[3] - corners[2]; + float area2 = fabs(v21.x * v23.y - v21.y * v23.x); + return (area2 + area1) / 2.f; + } + float bax, bay, dax, day; + cv::Point2f a, b, d; + float area; + cv::Point2f center; + + std::vector corners; + + inline float signD(cv::Point2f p0, cv::Point2f p1, cv::Point2f p) const + { + return ((p0.y - p1.y) * p.x + (p1.x - p0.x) * p.y + (p0.x * p1.y - p1.x * p0.y)) / + sqrt((p1.x - p0.x) * (p1.x - p0.x) + (p1.y - p0.y) * (p1.y - p0.y)); + } + }; + void addToImageHist(cv::Mat& im, std::vector& hist); + int Otsu(std::vector& hist); + + void filter_ambiguous_query(std::vector& matches); + // obfuscate end +}; +}; // namespace aruco +#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/markerlabeler.h b/legacy/aruco_ros/aruco/include/aruco/markerlabeler.h new file mode 100755 index 000000000..c3e91c10f --- /dev/null +++ b/legacy/aruco_ros/aruco/include/aruco/markerlabeler.h @@ -0,0 +1,98 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef _aruco_MarkerLabeler_ +#define _aruco_MarkerLabeler_ + +#include "aruco_export.h" +#include "dictionary.h" +#include + +namespace aruco +{ +/**\brief Base class of labelers. A labelers receive a square of the image and determines + * if it has a valid marker, its id and rotation Additionally, it implements the factory + * model + */ + +class Marker; +class ARUCO_EXPORT MarkerLabeler +{ +public: + /** Factory function that returns a labeler for a given dictionary + * @param dict_type type of dictionary + * @param error_correction_rate some dictionaries are subsceptible of error correction. + * This params specify the correction rate. 0 means no correction at all. 1 means full + * correction (maximum correction bits = (tau-1) /2, tau= predefined mimum intermarker + * distance). + * + * If you want correction capabilities and not sure how much, use 0.5 in this parameter + */ + static cv::Ptr create(Dictionary::DICT_TYPES dict_type, + float error_correction_rate = 0); + + /** Factory function that returns the desired detector + + * + * @brief create Factory function that returns the desired detector + * @param detector + * * Possible names implemented are: + * ARUCO,CHILITAGS....: original aruco markers (0-1024) + http://www.sciencedirect.com/science/article/pii/S0031320314000235 + * SVM: + * @return + */ + static cv::Ptr create(std::string detector, std::string params = ""); + + /** function that identifies a marker. + * @param in input image to analyze + * @param marker_id id of the marker (if valid) + * @param nRotations : output parameter nRotations must indicate how many times the + * marker must be rotated clockwise 90 deg to be in its ideal position. (The way you + * would see it when you print it). This is employed to know always which is the corner + * that acts as reference system. + * @return true marker valid, false otherwise + */ + virtual bool detect(const cv::Mat& in, int& marker_id, int& nRotations, + std::string& additionalInfo) = 0; + /** + * @brief getBestInputSize if desired, you can set the desired input size to the detect function + * @return -1 if detect accept any type of input, or a size otherwise + */ + virtual int getBestInputSize() + { + return -1; + } + + /** + * @brief getNSubdivisions returns the number of subdivisions in each axis that the + * iamge will be subject to. This is in dictionary based labelers, equals to the number + * of bits in each dimension plus the border bits. + * @return + */ + virtual int getNSubdivisions() const + { + return -1; + } + + // returns an string that describes the labeler and can be used to create it + virtual std::string getName() const = 0; + virtual ~MarkerLabeler() + { + } +}; +}; // namespace aruco +#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/markermap.h b/legacy/aruco_ros/aruco/include/aruco/markermap.h new file mode 100755 index 000000000..308cea123 --- /dev/null +++ b/legacy/aruco_ros/aruco/include/aruco/markermap.h @@ -0,0 +1,215 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef _Aruco_MarkerMap_h +#define _Aruco_MarkerMap_h + +#include "aruco_export.h" +#include "marker.h" + +#include + +#include +#include + +namespace aruco +{ +/** + * 3d representation of a marker + */ +class ARUCO_EXPORT Marker3DInfo +{ +public: + std::vector points; + int id; // maker id + + Marker3DInfo(); + Marker3DInfo(int _id); + inline bool operator==(const Marker3DInfo& MI) + { + return id == MI.id; + } + + // returns the distance of the marker side + inline float getMarkerSize() const + { + return static_cast(cv::norm(points[0] - points[1])); + } + inline cv::Point3f at(size_t idx) const + { + return points.at(idx); + } + inline cv::Point3f& operator[](size_t idx) + { + return points[idx]; + } + inline const cv::Point3f& operator[](size_t idx) const + { + return points[idx]; + } + inline void push_back(const cv::Point3f& p) + { + points.push_back(p); + } + inline size_t size() const + { + return points.size(); + } + +public: + inline void toStream(std::ostream& str) + { + str << id << " " << size() << " "; + for (size_t i = 0; i < size(); i++) + str << at(i).x << " " << at(i).y << " " << at(i).z << " "; + } + inline void fromStream(std::istream& str) + { + int s; + str >> id >> s; + points.resize(s); + for (size_t i = 0; i < size(); i++) + str >> points[i].x >> points[i].y >> points[i].z; + } +}; + +/**\brief This class defines a set of markers whose locations are attached to a common + * reference system, i.e., they do not move wrt each other. A MarkerMap contains several + * markers so that they are more robustly detected. + * + * A MarkerMap is only a list of the id of the markers along with the position of their + * corners. A MarkerMap may have information about the dictionary the markers belongs to + * @see getDictionary() + * + * The position of the corners can be specified either in pixels (in a non-specific size) + * or in meters. The first is the typical case in which you generate the image of board + * and the print it. Since you do not know in advance the real size of the markers, their + * corners are specified in pixels, and then, the translation to meters can be made once + * you know the real size. + * + * On the other hand, you may want to have the information of your boards in meters. The + * MarkerMap allows you to do so. + * + * The point is in the mInfoType variable. It can be either PIX or METERS according to + * your needs. + * + */ + +class ARUCO_EXPORT MarkerMap : public std::vector +{ +public: + /** + */ + MarkerMap(); + + /**Loads from file + * @param filePath to the config file + */ + MarkerMap(std::string filePath); + + /**Indicates if the corners are expressed in meters + */ + bool isExpressedInMeters() const + { + return mInfoType == METERS; + } + /**Indicates if the corners are expressed in meters + */ + bool isExpressedInPixels() const + { + return mInfoType == PIX; + } + /**converts the passed board into meters + */ + MarkerMap convertToMeters(float markerSize) const; + // simple way of knowing which elements detected in an image are from this markermap + // returns the indices of the elements in the vector 'markers' that belong to this set + // Example: The set has the elements with ids 10,21,31,41,92 + // The input vector has the markers with ids 10,88,9,12,41 + // function returns {0,4}, because element 0 (10) of the vector belongs to the set, and + // also element 4 (41) belongs to the set + std::vector getIndices(const vector& markers) const; + + /**Returns the Info of the marker with id specified. If not in the set, throws exception + */ + const Marker3DInfo& getMarker3DInfo(int id) const; + + /**Returns the index of the marker (in this object) with id indicated, if is in the vector + */ + int getIndexOfMarkerId(int id) const; + /**Set in the list passed the set of the ids + */ + void getIdList(vector& ids, bool append = true) const; + + /**Returns an image of this to be printed. This object must be in pixels @see + * isExpressedInPixels(). If not,please provide the METER2PIX conversion parameter + */ + cv::Mat getImage(float METER2PIX = 0) const; + + /**Saves the board info to a file + */ + void saveToFile(std::string sfile); + /**Reads board info from a file + */ + void readFromFile(std::string sfile); + + // calculates the camera location w.r.t. the map using the information provided + // returns the + std::pair calculateExtrinsics(const std::vector& markers, + float markerSize, cv::Mat CameraMatrix, + cv::Mat Distorsion); + + // returns string indicating the dictionary + inline std::string getDictionary() const + { + return dictionary; + } + + enum Marker3DInfoType + { + NONE = -1, + PIX = 0, + METERS = 1 + }; // indicates if the data in MakersInfo is expressed in meters or in pixels so as to do conversion internally + // returns string indicating the dictionary + void setDictionary(std::string d) + { + dictionary = d; + } + + // variable indicates if the data in MakersInfo is expressed in meters or in pixels so + // as to do conversion internally + int mInfoType; + +private: + // dictionary it belongs to (if any) + std::string dictionary; + +private: + /**Saves the board info to a file + */ + void saveToFile(cv::FileStorage& fs); + /**Reads board info from a file + */ + void readFromFile(cv::FileStorage& fs); + +public: + void toStream(std::ostream& str); + void fromStream(std::istream& str); +}; +} // namespace aruco + +#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/picoflann.h b/legacy/aruco_ros/aruco/include/aruco/picoflann.h new file mode 100755 index 000000000..3d2716a38 --- /dev/null +++ b/legacy/aruco_ros/aruco/include/aruco/picoflann.h @@ -0,0 +1,792 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ +#ifndef PicoFlann_H +#define PicoFlann_H +#include +#include +#include +#include +#include +#include +#include +namespace picoflann +{ + + +/** + * @brief The KdTreeIndex class is the simplest an minimal method to use kdtrees. + * You only must define an adapter, that tells the class how to access the i-th dimension +of your element. Here are two examples showing how easy it is: + * + * You can use any container providing the methods size() ant at(). + * You must create the adapter that must implement the method : T operator( )(const E +&elem, int dim)const; T=float or double, E is your element type + * + * You can easily save/read the index to/from an stream using toStream() and fromStream(). +Please notice that the data of the container is not copied in the KdTreeIndex so you + * must be sure it is available when doing the searchs + * + * See examples below + + * +#include +#include +#include +#include "picoflann.h" +void example1(){ + //Data type + struct Point2f{ + Point2f(float X,float Y) { x=X;y=Y; } + float x,y; + }; + + // Adapter. + // Given an Point2f element, it returns the element of the dimension specified such +that dim=0 is x and dim=1 is y struct PicoFlann_Point2fAdapter{ inline float operator( +)(const Point2f &elem, int dim)const { return dim==0?elem.x:elem.y; } + }; + + //create the points randomly + std::default_random_engine generator; + std::uniform_real_distribution distribution(-1000.0,1000.0); + std::vector data; + for(size_t i=0;i<1000;i++) + data.push_back( Point2f ( distribution(generator),distribution(generator))); + ///------------------------------------------------------------ + /// Create the kdtree + picoflann::KdTreeIndex<2,PicoFlann_Point2fAdapter> kdtree;//2 is the number of +dimensions kdtree.build(data); + //search 10 nearest neibors to point (0,0) + std::vector > res=kdtree.searchKnn(data,Point2f(0,0),10); + + //radius search in a radius of 30 (the resulting distances are squared) + res=kdtree.radiusSearch(data,Point2f(0,0),30); + //another version + kdtree.radiusSearch(res,data,Point2f(0,0),30); + + //you can save to a file + std::ofstream file_out("out.bin",std::ios::binary); + kdtree.toStream(file_out); + + //recover from the file + picoflann::KdTreeIndex<2,PicoFlann_Point2fAdapter> kdtree2; + std::ifstream file_in("out.bin",std::ios::binary); + kdtree2.fromStream(file_in); + res=kdtree2.radiusSearch(data,Point2f(0,0),30); + +} + + +//Using an array of 3d points +void example2(){ + + struct Point3f{ + Point3f(float X,float Y,float Z) { data[0]=X;data[1]=Y;data[2]=Z; } + float data[3]; + }; + struct PicoFlann_Array3f_Adapter{ + inline float operator( )(const Point3f &elem, int dim)const{ return +elem.data[dim]; } + }; + struct PicoFlann_Array3f_Container{ + const Point3f *_array; + size_t _size; + PicoFlann_Array3f_Container(float *array,size_t +Size):_array((Point3f*)array),_size(Size){} inline size_t size()const{return _size;} inline +const Point3f &at(int idx)const{ return _array [idx];} + }; + std::default_random_engine generator; + std::uniform_real_distribution distribution(-1000.0,1000.0); + + int nPoints=1000; + float *array=new float[nPoints*3]; + for(size_t i=0;i<1000*3;i++) + array[i]= distribution(generator); + + ///------------------------------------------------------------ + picoflann::KdTreeIndex<3,PicoFlann_Array3f_Adapter> kdtree;// 3 is the number of +dimensions, L2 is the type of distance kdtree.build( +PicoFlann_Array3f_Container(array,nPoints)); PicoFlann_Array3f_Container +p3container(array,nPoints); std::vector > +res=kdtree.searchKnn(p3container,Point3f(0,0,0),10); + res=kdtree.radiusSearch(p3container,Point3f(0,0,0),30); +} + * + */ +struct L2 +{ + template + double compute_distance(const ElementType &elema, const ElementType2 &elemb, + const Adapter &adapter, int ndims, double worstDist) const + { + // compute dist + double sqd = 0; + for (int i = 0; i < ndims; i++) + { + double d = adapter(elema, i) - adapter(elemb, i); + sqd += d * d; + if (sqd > worstDist) + return sqd; + } + return sqd; + } +}; + +template +class KdTreeIndex +{ +public: + /** + *Builds the index using the data passes in your container and the adapter + */ + template + inline void build(const Container &container) + { + _index.clear(); + _index.reserve(container.size() * 2); + _index.dims = DIMS; + _index.nValues = container.size(); + // Create root and assign all items + all_indices.resize(container.size()); + for (size_t i = 0; i < container.size(); i++) + all_indices[i] = i; + if (container.size() == 0) + return; + computeBoundingBox(_index.rootBBox, 0, all_indices.size(), container); + _index.push_back(Node()); + divideTree(_index, 0, 0, all_indices.size(), _index.rootBBox, container); + } + + + inline void clear() + { + _index.clear(); + all_indices.clear(); + } + + // saves to a stream. Note that the container is not saved! + inline void toStream(std::ostream &str) const; + // reads from an stream. Note that the container is not readed! + inline void fromStream(std::istream &str); + + template + inline std::vector > searchKnn(const Container &container, + const Type &val, int nn, + bool sorted = true) + { + std::vector > res; + generalSearch(res, container, val, -1, sorted, nn); + return res; + } + + + template + inline std::vector > radiusSearch(const Container &container, + const Type &val, double dist, + bool sorted = true, + int maxNN = -1) const + { + std::vector > res; + generalSearch(res, container, val, dist, sorted, maxNN); + return res; + } + + + template + inline void radiusSearch(std::vector > &res, + const Container &container, const Type &val, double dist, + bool sorted = true, int maxNN = -1) + { + generalSearch(res, container, val, dist, sorted, maxNN); + } + + + +private: + struct Node + { + inline bool isLeaf() const + { + return _ileft == -1 && _iright == -1; + } + inline void setNodesInfo(uint32_t l, uint32_t r) + { + _ileft = l; + _iright = r; + } + double div_val; + uint16_t col_index; // column index of the feature vector + std::vector idx; + float divhigh, divlow; + int64_t _ileft = -1, _iright = -1; // children + void toStream(std::ostream &str) const; + void fromStream(std::istream &str); + }; + + + typedef std::vector > BoundingBox; + + struct Index : public std::vector + { + BoundingBox rootBBox; + int dims = 0; + int nValues = 0; // number of elements of the set when call to build + inline void toStream(std::ostream &str) const; + inline void fromStream(std::istream &str); + }; + Index _index; + DistanceType _distance; + Adapter adapter; + // next are only used during build + std::vector all_indices; + int _maxLeafSize = 10; + + + + // temporal used during creation of the tree + template + void divideTree(Index &index, uint64_t nodeIdx, int startIndex, int endIndex, + BoundingBox &bbox, const Container &container) + { + // std::cout<<"CREATE="<(bbox, startIndex, endIndex, container); + // std::cout<(_bbox, startIndex, endIndex, container); + // //get the dimension with highest distnaces + double max_spread = -1; + currNode.col_index = 0; + for (int i = 0; i < DIMS; i++) + { + double spread = _bbox[i].second - _bbox[i].first; // maxV[i]-minV[i]; + if (spread > max_spread) + { + max_spread = spread; + currNode.col_index = i; + } + } + // select the split val + double split_val = (bbox[currNode.col_index].first + bbox[currNode.col_index].second) / 2; + if (split_val < _bbox[currNode.col_index].first) + currNode.div_val = _bbox[currNode.col_index].first; + else if (split_val > _bbox[currNode.col_index].second) + currNode.div_val = _bbox[currNode.col_index].second; + else + currNode.div_val = split_val; + } + else + { + /// SELECT THE COL (DIMENSION) ON WHICH PARTITION IS MADE + double var[DIMS], mean[DIMS]; + // compute the variance of the features to select the highest one + mean_var_calculate(startIndex, endIndex, var, mean, container); + currNode.col_index = 0; + // select element with highest variance + for (int i = 1; i < DIMS; i++) + if (var[i] > var[currNode.col_index]) + currNode.col_index = i; + + // now sort all indices according to the selected value + + currNode.div_val = mean[currNode.col_index]; + } + + + + // compute the variance of the features to select the highest one + // now sort all indices according to the selected value + + // std::cout<<" CUT FEAT="< +void KdTreeIndex::toStream(std::ostream &str) const +{ + _index.toStream(str); +} + +template +void KdTreeIndex::fromStream(std::istream &str) +{ + _index.fromStream(str); +} +} // namespace picoflann + +#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/posetracker.h b/legacy/aruco_ros/aruco/include/aruco/posetracker.h new file mode 100755 index 000000000..a7df97e02 --- /dev/null +++ b/legacy/aruco_ros/aruco/include/aruco/posetracker.h @@ -0,0 +1,189 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef ARUCO_POSETRACKER +#define ARUCO_POSETRACKER + +#include "aruco_export.h" +#include "cameraparameters.h" +#include "marker.h" +#include "markermap.h" + +#include +#include + +namespace aruco +{ +/**Tracks the position of a marker. Instead of trying to calculate the position from + * scratch everytime, it uses past + * observations to + * estimate the pose. It should solve the problem with ambiguities that arises in some + * circumstances + * + * To solve ambiguity we follow the following idea. We are using the IPPE method, which + * returns the two possible + * solutions s0,s1. + * Error solution has a reprojection error e(s_i) and it is assumed that e(s0)& p3d, + const std::vector& p2d, const cv::Mat& cam_matrix, + const cv::Mat& dist, cv::Mat& r_io, cv::Mat& t_io); +}; +/**Tracks the position of a markermap + */ + +class ARUCO_EXPORT MarkerMapPoseTracker +{ +public: + MarkerMapPoseTracker(); + // Sets the parameters required for operation + // If the msconf has data expressed in meters, then the markerSize parameter is not + // required. If it is in + // pixels, the markersize will be used to + // transform to meters + // Throws exception if wrong configuraiton + void setParams(const CameraParameters& cam_params, const MarkerMap& msconf, + float markerSize = -1); + // indicates if the call to setParams has been successfull and this object is ready to + // call estimatePose + bool isValid() const + { + return _isValid; + } + + // resets current state + void reset() + { + _isValid = false; + _rvec = cv::Mat(); + _tvec = cv::Mat(); + } + + // estimates camera pose wrt the markermap + // returns true if pose has been obtained and false otherwise + bool estimatePose(const std::vector& v_m); + + // returns the 4x4 transform matrix. Returns an empty matrix if last call to + // estimatePose returned false + cv::Mat getRTMatrix() const; + // return the rotation vector. Returns an empty matrix if last call to estimatePose + // returned false + const cv::Mat getRvec() const + { + return _rvec; + } + // return the translation vector. Returns an empty matrix if last call to estimatePose + // returned false + const cv::Mat getTvec() const + { + return _tvec; + } + // prevents from big jumps. If the difference between current and previous positions are + // greater than the value indicated + // assumes no good tracking and the pose will be set as null + void setMaxTrackingDifference(float maxTranslation, float maxAngle) + { + _maxTranslation = maxTranslation; + _maxAngle = maxAngle; + } + + void setMinErrorRatio(float minErrorRatio) + { + aruco_minerrratio_valid = minErrorRatio; + } + + double getInitialErr() + { + return _initial_err; + } + +protected: + cv::Mat _rvec, _tvec; // current poses + aruco::CameraParameters _cam_params; + MarkerMap _msconf; + std::map _map_mm; + bool _isValid; + cv::Mat relocalization(const std::vector& v_m); + float aruco_minerrratio_valid; /*tau_e in paper*/ + std::map marker_m2g; // for each marker, the transform from the + // global ref system to the marker ref system + float _maxTranslation = -1, _maxAngle = -1; + double _initial_err; +}; +}; // namespace aruco + +#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/timers.h b/legacy/aruco_ros/aruco/include/aruco/timers.h new file mode 100755 index 000000000..65210762f --- /dev/null +++ b/legacy/aruco_ros/aruco/include/aruco/timers.h @@ -0,0 +1,289 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef ARUCO_TIMERS_H +#define ARUCO_TIMERS_H + + +#include +#include +#include +#include +#include "aruco_export.h" +namespace aruco +{ + +// timer +struct ScopeTimer +{ + std::chrono::high_resolution_clock::time_point begin, end; + + std::string name; + bool use; + enum SCALE + { + NSEC, + MSEC, + SEC + }; + SCALE sc; + ScopeTimer(std::string name_, bool use_ = true, SCALE _sc = MSEC) + { +#ifdef USE_TIMERS + name = name_; + use = use_; + sc = _sc; + begin = std::chrono::high_resolution_clock::now(); +#else + (void)name_; + (void)use_; + (void)_sc; + +#endif + } + ~ScopeTimer() + { +#ifdef USE_TIMERS + if (use) + { + end = std::chrono::high_resolution_clock::now(); + double fact = 1; + std::string str; + switch (sc) + { + case NSEC: + fact = 1; + str = "ns"; + break; + case MSEC: + fact = 1e6; + str = "ms"; + break; + case SEC: + fact = 1e9; + str = "s"; + break; + }; + + std::cout << "Time(" << name << ")= " + << double( + std::chrono::duration_cast(end - begin).count()) / + fact + << str << std::endl; + ; + } +#endif + } +}; + +struct ScopedTimerEvents +{ + enum SCALE + { + NSEC, + MSEC, + SEC + }; + SCALE sc; + std::vector vtimes; + std::vector names; + std::string _name; + + ScopedTimerEvents(std::string name = "", bool start = true, SCALE _sc = MSEC) + { +#ifdef USE_TIMERS + if (start) + add("start"); + sc = _sc; + _name = name; +#else + (void)name; + (void)start; + (void)_sc; +#endif + } + + void add(std::string name) + { +#ifdef USE_TIMERS + vtimes.push_back(std::chrono::high_resolution_clock::now()); + names.push_back(name); +#else + (void)name; +#endif + } + void addspaces(std::vector &str) + { + // get max size + size_t m = 0; + for (auto &s : str) + m = std::max(size_t(s.size()), m); + for (auto &s : str) + { + while (s.size() < m) + s.push_back(' '); + } + } + + ~ScopedTimerEvents() + { +#ifdef USE_TIMERS + double fact = 1; + std::string str; + switch (sc) + { + case NSEC: + fact = 1; + str = "ns"; + break; + case MSEC: + fact = 1e6; + str = "ms"; + break; + case SEC: + fact = 1e9; + str = "s"; + break; + }; + + add("total"); + addspaces(names); + for (size_t i = 1; i < vtimes.size(); i++) + { + std::cout << "Time(" << _name << "|" << names[i] << " ):" + << double(std::chrono::duration_cast( + vtimes[i] - vtimes[i - 1]) + .count()) / + fact + << str << " " + << double(std::chrono::duration_cast(vtimes[i] - + vtimes[0]) + .count()) / + fact + << str /*<<"\t"<< vtimes[i].time_since_epoch().count()*/ << std::endl; + } +#endif + } +}; + +struct ARUCO_EXPORT Timer +{ + enum SCALE + { + NSEC, + MSEC, + SEC + }; + + std::chrono::high_resolution_clock::time_point _s; + double sum = 0, n = 0; + std::string _name; + Timer() + { + } + + Timer(std::string name) : _name(name) + { + } + void setName(std::string name) + { + _name = name; + } + void start() + { + _s = std::chrono::high_resolution_clock::now(); + } + void end() + { + auto e = std::chrono::high_resolution_clock::now(); + sum += double(std::chrono::duration_cast(e - _s).count()); + n++; + } + + void print(SCALE sc = MSEC) + { +#ifdef USE_TIMERS + double fact = 1; + std::string str; + switch (sc) + { + case NSEC: + fact = 1; + str = "ns"; + break; + case MSEC: + fact = 1e6; + str = "ms"; + break; + case SEC: + fact = 1e9; + str = "s"; + break; + }; + std::cout << "Time(" << _name << ")= " << (sum / n) / fact << str << std::endl; +#else + (void)sc; + +#endif + } + + double getAverage(SCALE sc = MSEC) const + { + double fact = 1; + switch (sc) + { + case NSEC: + fact = 1; + break; + case MSEC: + fact = 1e6; + break; + case SEC: + fact = 1e9; + break; + }; + return (sum / n) / fact; + } +}; +inline std::string __pf_aruco_methodName(std::string prettyFunction) +{ + std::string res; + res.reserve(prettyFunction.size()); + bool spaceFound = false; + for (auto c : prettyFunction) + { + if (c == ' ' && !spaceFound) + spaceFound = true; + else if (c != '(' && spaceFound) + res.push_back(c); + else if (c == '(' && spaceFound) + break; + } + return res; +} +#ifdef USE_TIMERS + +#define __ARUCO_ADDTIMER__ \ + ScopedTimerEvents XTIMER_X(__pf_aruco_methodName(__PRETTY_FUNCTION__)); +#define __ARUCO_TIMER_EVENT__(Y) XTIMER_X.add(Y); +#else +#define __ARUCO_ADDTIMER__ +#define __ARUCO_TIMER_EVENT__(Y) +#endif +} // namespace aruco + + +#endif diff --git a/legacy/aruco_ros/aruco/package.xml b/legacy/aruco_ros/aruco/package.xml new file mode 100644 index 000000000..917b8a197 --- /dev/null +++ b/legacy/aruco_ros/aruco/package.xml @@ -0,0 +1,18 @@ + + + aruco + 2.2.2 + + The ARUCO Library has been developed by the Ava group of the Univeristy of Cordoba(Spain). + It provides real-time marker based 3D pose estimation using AR markers. + + Sai Kishor Kothakota + MIT + http://www.uco.es/investiga/grupos/ava/node/26 + Rafael Muñoz Salinas + Bence Magyar + + catkin + cv_bridge + eigen + diff --git a/legacy/aruco_ros/aruco/src/aruco/CMakeLists.txt b/legacy/aruco_ros/aruco/src/aruco/CMakeLists.txt new file mode 100644 index 000000000..5acd69442 --- /dev/null +++ b/legacy/aruco_ros/aruco/src/aruco/CMakeLists.txt @@ -0,0 +1,77 @@ +set(sources + cameraparameters.cpp + cvdrawingutils.cpp + dictionary.cpp + ippe.cpp + marker.cpp + markerdetector.cpp + markerlabeler.cpp + markermap.cpp + posetracker.cpp + markerlabelers/dictionary_based.cpp + debug.cpp + markerlabelers/svmmarkers.cpp +) + +set(headers + aruco_export.h + cameraparameters.h + cvdrawingutils.h + dictionary.h + ippe.h + marker.h + markerdetector.h + markerlabeler.h + markermap.h + posetracker.h + markerlabelers/dictionary_based.h + timers.h + debug.h + aruco.h + markerlabelers/svmmarkers.h +) + +add_library(aruco ${sources} ${headers}) +IF(NOT ARUCO_ANDROID) + +set_target_properties(aruco PROPERTIES # create *nix style library versions + symbolic links + DEFINE_SYMBOL ARUCO_DSO_EXPORTS + VERSION ${PROJECT_VERSION} + SOVERSION ${PROJECT_SOVERSION} + CLEAN_DIRECT_OUTPUT 1 # allow creating static and shared libs without conflicts + OUTPUT_NAME "aruco${PROJECT_DLLVERSION}" # avoid conflicts between library and binary target names +) + +#include(GenerateExportHeader) +#generate_export_header(aruco) + +target_link_libraries(aruco PUBLIC opencv_core) +target_link_libraries(aruco PRIVATE opencv_imgproc opencv_calib3d opencv_features2d opencv_ml) + +target_include_directories(aruco PUBLIC +# $ +# $ + $ +) + +install(TARGETS aruco EXPORT arucoConfig + RUNTIME DESTINATION bin + LIBRARY DESTINATION lib PERMISSIONS OWNER_READ OWNER_WRITE OWNER_EXECUTE GROUP_READ GROUP_EXECUTE WORLD_READ WORLD_EXECUTE + ARCHIVE DESTINATION lib +) + +install(FILES ${headers} + DESTINATION include/aruco +) + +install(EXPORT arucoConfig DESTINATION "share/aruco/cmake") +ELSE() +MESSAGE(STATUS "ARUCO COMPILATION") +target_link_libraries( # Specifies the target library. + aruco lib_opencv + + # Links the target library to the log library + # included in the NDK. + ${log-lib} ) + +ENDIF() diff --git a/legacy/aruco_ros/aruco/src/aruco/cameraparameters.cpp b/legacy/aruco_ros/aruco/src/aruco/cameraparameters.cpp new file mode 100755 index 000000000..cb6f44053 --- /dev/null +++ b/legacy/aruco_ros/aruco/src/aruco/cameraparameters.cpp @@ -0,0 +1,558 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ +#include "cameraparameters.h" + +#include +#include + +#include +#include + +using namespace std; +namespace aruco +{ +CameraParameters::CameraParameters() +{ + CameraMatrix = cv::Mat(); + Distorsion = cv::Mat(); + ExtrinsicMatrix = cv::Mat(); + CamSize = cv::Size(-1, -1); +} +/**Creates the object from the info passed + * @param cameraMatrix 3x3 matrix (fx 0 cx, 0 fy cy, 0 0 1) + * @param distorsionCoeff 4x1 matrix (k1,k2,p1,p2) + * @param size image size + */ +CameraParameters::CameraParameters(cv::Mat cameraMatrix, cv::Mat distorsionCoeff, cv::Size size) +{ + setParams(cameraMatrix, distorsionCoeff, size); +} +/** + */ +CameraParameters::CameraParameters(const CameraParameters &CI) +{ + CI.CameraMatrix.copyTo(CameraMatrix); + CI.Distorsion.copyTo(Distorsion); + CI.ExtrinsicMatrix.copyTo(ExtrinsicMatrix); + CamSize = CI.CamSize; +} + +/** + */ +CameraParameters &CameraParameters::operator=(const CameraParameters &CI) +{ + CI.CameraMatrix.copyTo(CameraMatrix); + CI.Distorsion.copyTo(Distorsion); + CI.ExtrinsicMatrix.copyTo(ExtrinsicMatrix); + CamSize = CI.CamSize; + return *this; +} +void CameraParameters::clear() +{ + CameraMatrix = cv::Mat(); + CamSize = cv::Size(-1, -1); + Distorsion = cv::Mat(); +} +/** + */ +void CameraParameters::setParams(cv::Mat cameraMatrix, cv::Mat distorsionCoeff, cv::Size size) +{ + cv::Mat auxCamMatrix; + ExtrinsicMatrix = cv::Mat::zeros(1, 3, CV_64FC1); + if (cameraMatrix.rows == 3 && cameraMatrix.cols == 4) + { + ExtrinsicMatrix.at(0, 0) = cameraMatrix.at(0, 3); + ExtrinsicMatrix.at(0, 1) = cameraMatrix.at(1, 3); + ExtrinsicMatrix.at(0, 2) = cameraMatrix.at(2, 3); + + // Change size to 3x3 + auxCamMatrix = cameraMatrix(cv::Rect(0, 0, 3, 3)).clone(); + cameraMatrix = auxCamMatrix; + } + + if (cameraMatrix.rows != 3 || cameraMatrix.cols != 3) + throw cv::Exception(9000, "invalid input cameraMatrix", "CameraParameters::setParams", + __FILE__, __LINE__); + cameraMatrix.convertTo(CameraMatrix, CV_32FC1); + if (distorsionCoeff.total() < 4 || distorsionCoeff.total() >= 7) + throw cv::Exception(9000, "invalid input distorsionCoeff", + "CameraParameters::setParams", __FILE__, __LINE__); + cv::Mat auxD; + + distorsionCoeff.convertTo(Distorsion, CV_32FC1); + + // Distorsion.create(1,4,CV_32FC1); + // for (int i=0;i<4;i++) + // Distorsion.ptr(0)[i]=auxD.ptr(0)[i]; + + CamSize = size; +} + +/** + */ +cv::Point3f CameraParameters::getCameraLocation(const cv::Mat &Rvec, const cv::Mat &Tvec) +{ + cv::Mat m33(3, 3, CV_32FC1); + cv::Rodrigues(Rvec, m33); + + cv::Mat m44 = cv::Mat::eye(4, 4, CV_32FC1); + for (int i = 0; i < 3; i++) + for (int j = 0; j < 3; j++) + m44.at(i, j) = m33.at(i, j); + + // now, add translation information + for (int i = 0; i < 3; i++) + m44.at(i, 3) = Tvec.ptr(0)[i]; + + + // invert the matrix + m44.inv(); + return cv::Point3f(m44.at(0, 3), m44.at(1, 3), m44.at(2, 3)); +} + +/**Saves this to a file + */ +void CameraParameters::saveToFile(string path, bool inXML) +{ + if (!isValid()) + throw cv::Exception(9006, "invalid object", "CameraParameters::saveToFile", __FILE__, __LINE__); + if (!inXML) + { + ofstream file(path.c_str()); + if (!file) + throw cv::Exception(9006, "could not open file:" + path, + "CameraParameters::saveToFile", __FILE__, __LINE__); + file << "# Aruco 1.0 CameraParameters" << endl; + file << "fx = " << CameraMatrix.at(0, 0) << endl; + file << "cx = " << CameraMatrix.at(0, 2) << endl; + file << "fy = " << CameraMatrix.at(1, 1) << endl; + file << "cy = " << CameraMatrix.at(1, 2) << endl; + file << "k1 = " << Distorsion.at(0, 0) << endl; + file << "k2 = " << Distorsion.at(1, 0) << endl; + file << "p1 = " << Distorsion.at(2, 0) << endl; + file << "p2 = " << Distorsion.at(3, 0) << endl; + file << "tx = " << ExtrinsicMatrix.at(0, 0) << std::endl; + file << "ty = " << ExtrinsicMatrix.at(1, 0) << std::endl; + file << "tz = " << ExtrinsicMatrix.at(2, 0) << std::endl; + file << "width = " << CamSize.width << endl; + file << "height = " << CamSize.height << endl; + } + else + { + cv::FileStorage fs(path, cv::FileStorage::WRITE); + fs << "image_width" << CamSize.width; + fs << "image_height" << CamSize.height; + fs << "camera_matrix" << CameraMatrix; + fs << "distortion_coefficients" << Distorsion; + fs << "extrinsics" << ExtrinsicMatrix; + } +} + +/**Adjust the parameters to the size of the image indicated + */ +void CameraParameters::resize(cv::Size size) +{ + if (!isValid()) + throw cv::Exception(9007, "invalid object", "CameraParameters::resize", __FILE__, __LINE__); + if (size == CamSize) + return; + // now, read the camera size + // resize the camera parameters to fit this image size + float AxFactor = float(size.width) / float(CamSize.width); + float AyFactor = float(size.height) / float(CamSize.height); + CameraMatrix.at(0, 0) *= AxFactor; + CameraMatrix.at(0, 2) *= AxFactor; + CameraMatrix.at(1, 1) *= AyFactor; + CameraMatrix.at(1, 2) *= AyFactor; + CamSize = size; +} + +/**** + * + * + * + * + */ +void CameraParameters::readFromXMLFile(string filePath) +{ + cv::FileStorage fs(filePath, cv::FileStorage::READ); + if (!fs.isOpened()) + throw std::runtime_error("CameraParameters::readFromXMLFile could not open file:" + filePath); + int w = -1, h = -1; + cv::Mat MCamera, MDist, MExtrinsics; + + + fs["image_width"] >> w; + fs["image_height"] >> h; + fs["distortion_coefficients"] >> MDist; + fs["camera_matrix"] >> MCamera; + fs["extrinsics"] >> MExtrinsics; + + if (MCamera.cols == 0 || MCamera.rows == 0) + { + fs["Camera_Matrix"] >> MCamera; + if (MCamera.cols == 0 || MCamera.rows == 0) + throw cv::Exception(9007, "File :" + filePath + " does not contains valid camera matrix", + "CameraParameters::readFromXML", __FILE__, __LINE__); + } + + if (w == -1 || h == 0) + { + fs["image_Width"] >> w; + fs["image_Height"] >> h; + if (w == -1 || h == 0) + throw cv::Exception(9007, "File :" + filePath + " does not contains valid camera dimensions", + "CameraParameters::readFromXML", __FILE__, __LINE__); + } + if (MCamera.type() != CV_32FC1) + MCamera.convertTo(CameraMatrix, CV_32FC1); + else + CameraMatrix = MCamera; + + if (MDist.total() < 4) + { + fs["Distortion_Coefficients"] >> MDist; + if (MDist.total() < 4) + throw cv::Exception(9007, "File :" + filePath + " does not contains valid distortion_coefficients", + "CameraParameters::readFromXML", __FILE__, __LINE__); + } + // convert to 32 and get the 4 first elements only + cv::Mat mdist32; + MDist.convertTo(mdist32, CV_32FC1); + // Distorsion.create(1,4,CV_32FC1); + // for (int i=0;i<4;i++) + // Distorsion.ptr(0)[i]=mdist32.ptr(0)[i]; + + Distorsion.create(1, 5, CV_32FC1); + for (int i = 0; i < 5; i++) + Distorsion.ptr(0)[i] = mdist32.ptr(0)[i]; + CamSize.width = w; + CamSize.height = h; +} +/**** + * + */ +void CameraParameters::glGetProjectionMatrix(cv::Size orgImgSize, cv::Size size, + double proj_matrix[16], double gnear, + double gfar, bool invert) +{ + if (cv::countNonZero(Distorsion) != 0) + std::cerr << "CameraParameters::glGetProjectionMatrix :: The camera has distortion coefficients " + << __FILE__ << " " << __LINE__ << endl; + if (isValid() == false) + throw cv::Exception(9100, "invalid camera parameters", + "CameraParameters::glGetProjectionMatrix", __FILE__, __LINE__); + + // Deterime the rsized info + double Ax = double(size.width) / double(orgImgSize.width); + double Ay = double(size.height) / double(orgImgSize.height); + double _fx = CameraMatrix.at(0, 0) * Ax; + double _cx = CameraMatrix.at(0, 2) * Ax; + double _fy = CameraMatrix.at(1, 1) * Ay; + double _cy = CameraMatrix.at(1, 2) * Ay; + double cparam[3][4] = { { _fx, 0, _cx, 0 }, { 0, _fy, _cy, 0 }, { 0, 0, 1, 0 } }; + + argConvGLcpara2(cparam, size.width, size.height, gnear, gfar, proj_matrix, invert); +} + +/******************* + * + * + *******************/ +double CameraParameters::norm(double a, double b, double c) +{ + return (sqrt(a * a + b * b + c * c)); +} + +/******************* + * + * + *******************/ + +double CameraParameters::dot(double a1, double a2, double a3, double b1, double b2, double b3) +{ + return (a1 * b1 + a2 * b2 + a3 * b3); +} + +/******************* + * + * + *******************/ + +void CameraParameters::argConvGLcpara2(double cparam[3][4], int width, int height, + double gnear, double gfar, double m[16], bool invert) +{ + double icpara[3][4]; + double trans[3][4]; + double p[3][3], q[4][4]; + int i, j; + + cparam[0][2] *= -1.0; + cparam[1][2] *= -1.0; + cparam[2][2] *= -1.0; + + if (arParamDecompMat(cparam, icpara, trans) < 0) + throw cv::Exception(9002, "parameter error", "MarkerDetector::argConvGLcpara2", + __FILE__, __LINE__); + + for (i = 0; i < 3; i++) + { + for (j = 0; j < 3; j++) + { + p[i][j] = icpara[i][j] / icpara[2][2]; + } + } + q[0][0] = (2.0 * p[0][0] / width); + q[0][1] = (2.0 * p[0][1] / width); + q[0][2] = ((2.0 * p[0][2] / width) - 1.0); + q[0][3] = 0.0; + + q[1][0] = 0.0; + q[1][1] = (2.0 * p[1][1] / height); + q[1][2] = ((2.0 * p[1][2] / height) - 1.0); + q[1][3] = 0.0; + + q[2][0] = 0.0; + q[2][1] = 0.0; + q[2][2] = (gfar + gnear) / (gfar - gnear); + q[2][3] = -2.0 * gfar * gnear / (gfar - gnear); + + q[3][0] = 0.0; + q[3][1] = 0.0; + q[3][2] = 1.0; + q[3][3] = 0.0; + + for (i = 0; i < 4; i++) + { + for (j = 0; j < 3; j++) + { + m[i + j * 4] = q[i][0] * trans[0][j] + q[i][1] * trans[1][j] + q[i][2] * trans[2][j]; + } + m[i + 3 * 4] = + q[i][0] * trans[0][3] + q[i][1] * trans[1][3] + q[i][2] * trans[2][3] + q[i][3]; + } + + if (!invert) + { + m[13] = -m[13]; + m[1] = -m[1]; + m[5] = -m[5]; + m[9] = -m[9]; + } +} +/******************* + * + * + *******************/ + +int CameraParameters::arParamDecompMat(double source[3][4], double cpara[3][4], + double trans[3][4]) +{ + int r, c; + double Cpara[3][4]; + double rem1, rem2, rem3; + + if (source[2][3] >= 0) + { + for (r = 0; r < 3; r++) + { + for (c = 0; c < 4; c++) + { + Cpara[r][c] = source[r][c]; + } + } + } + else + { + for (r = 0; r < 3; r++) + { + for (c = 0; c < 4; c++) + { + Cpara[r][c] = -(source[r][c]); + } + } + } + + for (r = 0; r < 3; r++) + { + for (c = 0; c < 4; c++) + { + cpara[r][c] = 0.0; + } + } + cpara[2][2] = norm(Cpara[2][0], Cpara[2][1], Cpara[2][2]); + trans[2][0] = Cpara[2][0] / cpara[2][2]; + trans[2][1] = Cpara[2][1] / cpara[2][2]; + trans[2][2] = Cpara[2][2] / cpara[2][2]; + trans[2][3] = Cpara[2][3] / cpara[2][2]; + + cpara[1][2] = + dot(trans[2][0], trans[2][1], trans[2][2], Cpara[1][0], Cpara[1][1], Cpara[1][2]); + rem1 = Cpara[1][0] - cpara[1][2] * trans[2][0]; + rem2 = Cpara[1][1] - cpara[1][2] * trans[2][1]; + rem3 = Cpara[1][2] - cpara[1][2] * trans[2][2]; + cpara[1][1] = norm(rem1, rem2, rem3); + trans[1][0] = rem1 / cpara[1][1]; + trans[1][1] = rem2 / cpara[1][1]; + trans[1][2] = rem3 / cpara[1][1]; + + cpara[0][2] = + dot(trans[2][0], trans[2][1], trans[2][2], Cpara[0][0], Cpara[0][1], Cpara[0][2]); + cpara[0][1] = + dot(trans[1][0], trans[1][1], trans[1][2], Cpara[0][0], Cpara[0][1], Cpara[0][2]); + rem1 = Cpara[0][0] - cpara[0][1] * trans[1][0] - cpara[0][2] * trans[2][0]; + rem2 = Cpara[0][1] - cpara[0][1] * trans[1][1] - cpara[0][2] * trans[2][1]; + rem3 = Cpara[0][2] - cpara[0][1] * trans[1][2] - cpara[0][2] * trans[2][2]; + cpara[0][0] = norm(rem1, rem2, rem3); + trans[0][0] = rem1 / cpara[0][0]; + trans[0][1] = rem2 / cpara[0][0]; + trans[0][2] = rem3 / cpara[0][0]; + + trans[1][3] = (Cpara[1][3] - cpara[1][2] * trans[2][3]) / cpara[1][1]; + trans[0][3] = + (Cpara[0][3] - cpara[0][1] * trans[1][3] - cpara[0][2] * trans[2][3]) / cpara[0][0]; + + for (r = 0; r < 3; r++) + { + for (c = 0; c < 3; c++) + { + cpara[r][c] /= cpara[2][2]; + } + } + + return 0; +} + +/****** + * + */ +void CameraParameters::OgreGetProjectionMatrix(cv::Size orgImgSize, cv::Size size, + double proj_matrix[16], double gnear, + double gfar, bool invert) +{ + double temp_matrix[16]; + (*this).glGetProjectionMatrix(orgImgSize, size, temp_matrix, gnear, gfar, invert); + proj_matrix[0] = -temp_matrix[0]; + proj_matrix[1] = -temp_matrix[4]; + proj_matrix[2] = -temp_matrix[8]; + proj_matrix[3] = temp_matrix[12]; + + proj_matrix[4] = -temp_matrix[1]; + proj_matrix[5] = -temp_matrix[5]; + proj_matrix[6] = -temp_matrix[9]; + proj_matrix[7] = temp_matrix[13]; + + proj_matrix[8] = -temp_matrix[2]; + proj_matrix[9] = -temp_matrix[6]; + proj_matrix[10] = -temp_matrix[10]; + proj_matrix[11] = temp_matrix[14]; + + proj_matrix[12] = -temp_matrix[3]; + proj_matrix[13] = -temp_matrix[7]; + proj_matrix[14] = -temp_matrix[11]; + proj_matrix[15] = temp_matrix[15]; +} +/****** + * + */ + +cv::Mat CameraParameters::getRTMatrix(const cv::Mat &R_, const cv::Mat &T_, int forceType) +{ + cv::Mat M; + cv::Mat R, T; + R_.copyTo(R); + T_.copyTo(T); + if (R.type() == CV_64F) + { + assert(T.type() == CV_64F); + cv::Mat Matrix = cv::Mat::eye(4, 4, CV_64FC1); + + cv::Mat R33 = cv::Mat(Matrix, cv::Rect(0, 0, 3, 3)); + if (R.total() == 3) + { + cv::Rodrigues(R, R33); + } + else if (R.total() == 9) + { + cv::Mat R64; + R.convertTo(R64, CV_64F); + R.copyTo(R33); + } + for (int i = 0; i < 3; i++) + Matrix.at(i, 3) = T.ptr(0)[i]; + M = Matrix; + } + else if (R.depth() == CV_32F) + { + cv::Mat Matrix = cv::Mat::eye(4, 4, CV_32FC1); + cv::Mat R33 = cv::Mat(Matrix, cv::Rect(0, 0, 3, 3)); + if (R.total() == 3) + { + cv::Rodrigues(R, R33); + } + else if (R.total() == 9) + { + cv::Mat R32; + R.convertTo(R32, CV_32F); + R.copyTo(R33); + } + + for (int i = 0; i < 3; i++) + Matrix.at(i, 3) = T.ptr(0)[i]; + M = Matrix; + } + + if (forceType == -1) + return M; + else + { + cv::Mat MTyped; + M.convertTo(MTyped, forceType); + return MTyped; + } +} + +std::ostream &operator<<(std::ostream &str, const CameraParameters &cp) +{ + str << cp.CamSize.width << " " << cp.CamSize.height << " "; + for (std::size_t i = 0; i < cp.CameraMatrix.total(); i++) + str << cp.CameraMatrix.ptr(0)[i] << " "; + str << cp.Distorsion.total() << " "; + for (std::size_t i = 0; i < cp.Distorsion.total(); i++) + str << cp.Distorsion.ptr(0)[i] << " "; + for (std::size_t i = 0; i < cp.ExtrinsicMatrix.total(); i++) + str << cp.ExtrinsicMatrix.ptr(0)[i] << " "; + return str; +} + +std::istream &operator>>(std::istream &str, CameraParameters &cp) +{ + str >> cp.CamSize.width >> cp.CamSize.height; + cp.CameraMatrix.create(3, 3, CV_32F); + for (std::size_t i = 0; i < cp.CameraMatrix.total(); i++) + str >> cp.CameraMatrix.ptr(0)[i]; + int t; + str >> t; + cp.Distorsion.create(1, t, CV_32F); + for (std::size_t i = 0; i < cp.Distorsion.total(); i++) + str >> cp.Distorsion.ptr(0)[i]; + cp.Distorsion.create(1, 3, CV_32F); + for (std::size_t i = 0; i < cp.ExtrinsicMatrix.total(); i++) + str >> cp.ExtrinsicMatrix.ptr(0)[i]; + return str; +} + +}; // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/cvdrawingutils.cpp b/legacy/aruco_ros/aruco/src/aruco/cvdrawingutils.cpp new file mode 100755 index 000000000..37484dfeb --- /dev/null +++ b/legacy/aruco_ros/aruco/src/aruco/cvdrawingutils.cpp @@ -0,0 +1,164 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ +#include +#include +#include "cvdrawingutils.h" +#include "cameraparameters.h" +using namespace cv; +namespace aruco +{ +void CvDrawingUtils::draw3dAxis(cv::Mat& Image, const CameraParameters& CP, + const cv::Mat& Rvec, const cv::Mat& Tvec, float axis_size) +{ + Mat objectPoints(4, 3, CV_32FC1); + objectPoints.at(0, 0) = 0; + objectPoints.at(0, 1) = 0; + objectPoints.at(0, 2) = 0; + objectPoints.at(1, 0) = axis_size; + objectPoints.at(1, 1) = 0; + objectPoints.at(1, 2) = 0; + objectPoints.at(2, 0) = 0; + objectPoints.at(2, 1) = axis_size; + objectPoints.at(2, 2) = 0; + objectPoints.at(3, 0) = 0; + objectPoints.at(3, 1) = 0; + objectPoints.at(3, 2) = axis_size; + + std::vector imagePoints; + cv::projectPoints(objectPoints, Rvec, Tvec, CP.CameraMatrix, CP.Distorsion, imagePoints); + // draw lines of different colours + cv::line(Image, imagePoints[0], imagePoints[1], Scalar(0, 0, 255, 255), 1); + cv::line(Image, imagePoints[0], imagePoints[2], Scalar(0, 255, 0, 255), 1); + cv::line(Image, imagePoints[0], imagePoints[3], Scalar(255, 0, 0, 255), 1); + putText(Image, "x", imagePoints[1], FONT_HERSHEY_SIMPLEX, 0.6, Scalar(0, 0, 255, 255), 2); + putText(Image, "y", imagePoints[2], FONT_HERSHEY_SIMPLEX, 0.6, Scalar(0, 255, 0, 255), 2); + putText(Image, "z", imagePoints[3], FONT_HERSHEY_SIMPLEX, 0.6, Scalar(255, 0, 0, 255), 2); +} +/**** + * + * + * + ****/ +void CvDrawingUtils::draw3dAxis(cv::Mat& Image, Marker& m, const CameraParameters& CP, int lineSize) +{ + float size = m.ssize * 0.6; + Mat objectPoints(4, 3, CV_32FC1); + objectPoints.at(0, 0) = 0; + objectPoints.at(0, 1) = 0; + objectPoints.at(0, 2) = 0; + objectPoints.at(1, 0) = size; + objectPoints.at(1, 1) = 0; + objectPoints.at(1, 2) = 0; + objectPoints.at(2, 0) = 0; + objectPoints.at(2, 1) = size; + objectPoints.at(2, 2) = 0; + objectPoints.at(3, 0) = 0; + objectPoints.at(3, 1) = 0; + objectPoints.at(3, 2) = size; + + std::vector imagePoints; + cv::projectPoints(objectPoints, m.Rvec, m.Tvec, CP.CameraMatrix, CP.Distorsion, imagePoints); + // draw lines of different colours + cv::line(Image, imagePoints[0], imagePoints[1], Scalar(0, 0, 255, 255), lineSize); + cv::line(Image, imagePoints[0], imagePoints[2], Scalar(0, 255, 0, 255), lineSize); + cv::line(Image, imagePoints[0], imagePoints[3], Scalar(255, 0, 0, 255), lineSize); + putText(Image, "x", imagePoints[1], FONT_HERSHEY_SIMPLEX, 0.6, Scalar(0, 0, 255, 255), 2); + putText(Image, "y", imagePoints[2], FONT_HERSHEY_SIMPLEX, 0.6, Scalar(0, 255, 0, 255), 2); + putText(Image, "z", imagePoints[3], FONT_HERSHEY_SIMPLEX, 0.6, Scalar(255, 0, 0, 255), 2); +} + +/**** + * + * + * + ****/ +void CvDrawingUtils::draw3dCube(cv::Mat& Image, Marker& m, const CameraParameters& CP, + int lineSize, bool setYperpendicular) +{ + Mat objectPoints(8, 3, CV_32FC1); + float halfSize = m.ssize / 2.f; + + if (setYperpendicular) + { + objectPoints.at(0, 0) = -halfSize; + objectPoints.at(0, 1) = 0; + objectPoints.at(0, 2) = -halfSize; + objectPoints.at(1, 0) = halfSize; + objectPoints.at(1, 1) = 0; + objectPoints.at(1, 2) = -halfSize; + objectPoints.at(2, 0) = halfSize; + objectPoints.at(2, 1) = 0; + objectPoints.at(2, 2) = halfSize; + objectPoints.at(3, 0) = -halfSize; + objectPoints.at(3, 1) = 0; + objectPoints.at(3, 2) = halfSize; + + objectPoints.at(4, 0) = -halfSize; + objectPoints.at(4, 1) = m.ssize; + objectPoints.at(4, 2) = -halfSize; + objectPoints.at(5, 0) = halfSize; + objectPoints.at(5, 1) = m.ssize; + objectPoints.at(5, 2) = -halfSize; + objectPoints.at(6, 0) = halfSize; + objectPoints.at(6, 1) = m.ssize; + objectPoints.at(6, 2) = halfSize; + objectPoints.at(7, 0) = -halfSize; + objectPoints.at(7, 1) = m.ssize; + objectPoints.at(7, 2) = halfSize; + } + else + { + objectPoints.at(0, 0) = -halfSize; + objectPoints.at(0, 1) = -halfSize; + objectPoints.at(0, 2) = 0; + objectPoints.at(1, 0) = halfSize; + objectPoints.at(1, 1) = -halfSize; + objectPoints.at(1, 2) = 0; + objectPoints.at(2, 0) = halfSize; + objectPoints.at(2, 1) = halfSize; + objectPoints.at(2, 2) = 0; + objectPoints.at(3, 0) = -halfSize; + objectPoints.at(3, 1) = halfSize; + objectPoints.at(3, 2) = 0; + + objectPoints.at(4, 0) = -halfSize; + objectPoints.at(4, 1) = -halfSize; + objectPoints.at(4, 2) = m.ssize; + objectPoints.at(5, 0) = halfSize; + objectPoints.at(5, 1) = -halfSize; + objectPoints.at(5, 2) = m.ssize; + objectPoints.at(6, 0) = halfSize; + objectPoints.at(6, 1) = halfSize; + objectPoints.at(6, 2) = m.ssize; + objectPoints.at(7, 0) = -halfSize; + objectPoints.at(7, 1) = halfSize; + objectPoints.at(7, 2) = m.ssize; + } + + std::vector imagePoints; + projectPoints(objectPoints, m.Rvec, m.Tvec, CP.CameraMatrix, CP.Distorsion, imagePoints); + // draw lines of different colours + for (int i = 0; i < 4; i++) + cv::line(Image, imagePoints[i], imagePoints[(i + 1) % 4], Scalar(0, 0, 255, 255), lineSize); + + for (int i = 0; i < 4; i++) + cv::line(Image, imagePoints[i + 4], imagePoints[4 + (i + 1) % 4], + Scalar(0, 0, 255, 255), lineSize); + + for (int i = 0; i < 4; i++) + cv::line(Image, imagePoints[i], imagePoints[i + 4], Scalar(0, 0, 255, 255), lineSize); +} +} // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/debug.cpp b/legacy/aruco_ros/aruco/src/aruco/debug.cpp new file mode 100755 index 000000000..8bce9ee68 --- /dev/null +++ b/legacy/aruco_ros/aruco/src/aruco/debug.cpp @@ -0,0 +1,63 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#include "debug.h" +#include +namespace aruco +{ +int Debug::level = 2; +std::map Debug::strings; +void Debug::addString(std::string &label, std::string &data) +{ + strings.insert(make_pair(label, data)); +} + +std::string Debug::getString(std::string &str) +{ + auto it = strings.find(str); + if (it == strings.end()) + return ""; + else + return it->second; +} + + +bool Debug::isInited = false; + +void Debug::setLevel(int l) +{ + level = l; + isInited = false; + init(); +} +int Debug::getLevel() +{ + init(); + return level; +} +void Debug::init() +{ + if (!isInited) + { + isInited = true; + if (level >= 1) + { + } + } +} + + +} // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/dictionary.cpp b/legacy/aruco_ros/aruco/src/aruco/dictionary.cpp new file mode 100755 index 000000000..c399c579c --- /dev/null +++ b/legacy/aruco_ros/aruco/src/aruco/dictionary.cpp @@ -0,0 +1,3715 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ +#include "dictionary.h" +#include +#include +#include +#include +#include +#include +#include +#include "markermap.h" +#include +#include +using namespace std; +namespace aruco +{ + + +Dictionary Dictionary::load(string info) +{ + if (isPredefinedDictinaryString(info)) + return loadPredefined(info); + else + return loadFromFile(info); +} + + +Dictionary Dictionary::loadFromFile(std::string path) +{ + auto parse = [](const string &str) + { + stringstream sstr(str); + string a, b; + sstr >> a >> b; + return b; + }; + auto _stoi = [](string str) + { + int i; + sscanf(str.c_str(), "%d", &i); + return i; + }; + + ifstream file(path); + if (!file) + throw std::runtime_error("Dictionary::loadFromFile could not open file"); + string line; + std::getline(file, line); + if (line.find("name") == std::string::npos) + throw std::runtime_error("Dictionary::loadFromFile 'name' not found"); + Dictionary d; + d._name = parse(line); + std::getline(file, line); + if (line.find("nbits") == std::string::npos) + throw std::runtime_error("Dictionary::loadFromFile 'nbits' not found"); + d._nbits = _stoi(parse(line)); + if (d._nbits > 64) + throw std::runtime_error("Dictionary::loadFromFile no more than 64 bits allowed "); + + + d._type = CUSTOM; + // go reading the data + while (!file.eof()) + { + std::getline(file, line); + if (line.size() == d._nbits) + { + bitset<64> marker; + // parse the bits + int idx = 0; + for (auto it = line.rbegin(); it != line.rend(); it++) + { + marker[idx++] = *it == '1'; + } + d._code_id.insert({ marker.to_ullong(), static_cast(d._code_id.size()) }); + } + } + d._tau = static_cast(computeDictionaryDistance(d)); + if (d._tau == 0) + { + cerr << "IMPORTANT MESSAGE:::: Your dictionary " << d._name << " has a distance of 0" << endl; + cerr << "It means that that there are markers that can be confused. Please check" << endl; + } + // cout<<"tau="< &codes, std::map &code_id_map) +{ + code_id_map.clear(); + int id = 0; + for (auto c : codes) + code_id_map.insert(make_pair(c, id++)); +} +Dictionary Dictionary::loadPredefined(std::string type) +{ + return loadPredefined(getTypeFromString(type)); +} + +Dictionary Dictionary::loadPredefined(DICT_TYPES type) +{ + Dictionary d; + switch (type) + { + case ARUCO: + { + vector codes = { + 0x1084210UL, 0x1084217UL, 0x1084209UL, 0x108420eUL, 0x10842f0UL, 0x10842f7UL, + 0x10842e9UL, 0x10842eeUL, 0x1084130UL, 0x1084137UL, 0x1084129UL, 0x108412eUL, + 0x10841d0UL, 0x10841d7UL, 0x10841c9UL, 0x10841ceUL, 0x1085e10UL, 0x1085e17UL, + 0x1085e09UL, 0x1085e0eUL, 0x1085ef0UL, 0x1085ef7UL, 0x1085ee9UL, 0x1085eeeUL, + 0x1085d30UL, 0x1085d37UL, 0x1085d29UL, 0x1085d2eUL, 0x1085dd0UL, 0x1085dd7UL, + 0x1085dc9UL, 0x1085dceUL, 0x1082610UL, 0x1082617UL, 0x1082609UL, 0x108260eUL, + 0x10826f0UL, 0x10826f7UL, 0x10826e9UL, 0x10826eeUL, 0x1082530UL, 0x1082537UL, + 0x1082529UL, 0x108252eUL, 0x10825d0UL, 0x10825d7UL, 0x10825c9UL, 0x10825ceUL, + 0x1083a10UL, 0x1083a17UL, 0x1083a09UL, 0x1083a0eUL, 0x1083af0UL, 0x1083af7UL, + 0x1083ae9UL, 0x1083aeeUL, 0x1083930UL, 0x1083937UL, 0x1083929UL, 0x108392eUL, + 0x10839d0UL, 0x10839d7UL, 0x10839c9UL, 0x10839ceUL, 0x10bc210UL, 0x10bc217UL, + 0x10bc209UL, 0x10bc20eUL, 0x10bc2f0UL, 0x10bc2f7UL, 0x10bc2e9UL, 0x10bc2eeUL, + 0x10bc130UL, 0x10bc137UL, 0x10bc129UL, 0x10bc12eUL, 0x10bc1d0UL, 0x10bc1d7UL, + 0x10bc1c9UL, 0x10bc1ceUL, 0x10bde10UL, 0x10bde17UL, 0x10bde09UL, 0x10bde0eUL, + 0x10bdef0UL, 0x10bdef7UL, 0x10bdee9UL, 0x10bdeeeUL, 0x10bdd30UL, 0x10bdd37UL, + 0x10bdd29UL, 0x10bdd2eUL, 0x10bddd0UL, 0x10bddd7UL, 0x10bddc9UL, 0x10bddceUL, + 0x10ba610UL, 0x10ba617UL, 0x10ba609UL, 0x10ba60eUL, 0x10ba6f0UL, 0x10ba6f7UL, + 0x10ba6e9UL, 0x10ba6eeUL, 0x10ba530UL, 0x10ba537UL, 0x10ba529UL, 0x10ba52eUL, + 0x10ba5d0UL, 0x10ba5d7UL, 0x10ba5c9UL, 0x10ba5ceUL, 0x10bba10UL, 0x10bba17UL, + 0x10bba09UL, 0x10bba0eUL, 0x10bbaf0UL, 0x10bbaf7UL, 0x10bbae9UL, 0x10bbaeeUL, + 0x10bb930UL, 0x10bb937UL, 0x10bb929UL, 0x10bb92eUL, 0x10bb9d0UL, 0x10bb9d7UL, + 0x10bb9c9UL, 0x10bb9ceUL, 0x104c210UL, 0x104c217UL, 0x104c209UL, 0x104c20eUL, + 0x104c2f0UL, 0x104c2f7UL, 0x104c2e9UL, 0x104c2eeUL, 0x104c130UL, 0x104c137UL, + 0x104c129UL, 0x104c12eUL, 0x104c1d0UL, 0x104c1d7UL, 0x104c1c9UL, 0x104c1ceUL, + 0x104de10UL, 0x104de17UL, 0x104de09UL, 0x104de0eUL, 0x104def0UL, 0x104def7UL, + 0x104dee9UL, 0x104deeeUL, 0x104dd30UL, 0x104dd37UL, 0x104dd29UL, 0x104dd2eUL, + 0x104ddd0UL, 0x104ddd7UL, 0x104ddc9UL, 0x104ddceUL, 0x104a610UL, 0x104a617UL, + 0x104a609UL, 0x104a60eUL, 0x104a6f0UL, 0x104a6f7UL, 0x104a6e9UL, 0x104a6eeUL, + 0x104a530UL, 0x104a537UL, 0x104a529UL, 0x104a52eUL, 0x104a5d0UL, 0x104a5d7UL, + 0x104a5c9UL, 0x104a5ceUL, 0x104ba10UL, 0x104ba17UL, 0x104ba09UL, 0x104ba0eUL, + 0x104baf0UL, 0x104baf7UL, 0x104bae9UL, 0x104baeeUL, 0x104b930UL, 0x104b937UL, + 0x104b929UL, 0x104b92eUL, 0x104b9d0UL, 0x104b9d7UL, 0x104b9c9UL, 0x104b9ceUL, + 0x1074210UL, 0x1074217UL, 0x1074209UL, 0x107420eUL, 0x10742f0UL, 0x10742f7UL, + 0x10742e9UL, 0x10742eeUL, 0x1074130UL, 0x1074137UL, 0x1074129UL, 0x107412eUL, + 0x10741d0UL, 0x10741d7UL, 0x10741c9UL, 0x10741ceUL, 0x1075e10UL, 0x1075e17UL, + 0x1075e09UL, 0x1075e0eUL, 0x1075ef0UL, 0x1075ef7UL, 0x1075ee9UL, 0x1075eeeUL, + 0x1075d30UL, 0x1075d37UL, 0x1075d29UL, 0x1075d2eUL, 0x1075dd0UL, 0x1075dd7UL, + 0x1075dc9UL, 0x1075dceUL, 0x1072610UL, 0x1072617UL, 0x1072609UL, 0x107260eUL, + 0x10726f0UL, 0x10726f7UL, 0x10726e9UL, 0x10726eeUL, 0x1072530UL, 0x1072537UL, + 0x1072529UL, 0x107252eUL, 0x10725d0UL, 0x10725d7UL, 0x10725c9UL, 0x10725ceUL, + 0x1073a10UL, 0x1073a17UL, 0x1073a09UL, 0x1073a0eUL, 0x1073af0UL, 0x1073af7UL, + 0x1073ae9UL, 0x1073aeeUL, 0x1073930UL, 0x1073937UL, 0x1073929UL, 0x107392eUL, + 0x10739d0UL, 0x10739d7UL, 0x10739c9UL, 0x10739ceUL, 0x1784210UL, 0x1784217UL, + 0x1784209UL, 0x178420eUL, 0x17842f0UL, 0x17842f7UL, 0x17842e9UL, 0x17842eeUL, + 0x1784130UL, 0x1784137UL, 0x1784129UL, 0x178412eUL, 0x17841d0UL, 0x17841d7UL, + 0x17841c9UL, 0x17841ceUL, 0x1785e10UL, 0x1785e17UL, 0x1785e09UL, 0x1785e0eUL, + 0x1785ef0UL, 0x1785ef7UL, 0x1785ee9UL, 0x1785eeeUL, 0x1785d30UL, 0x1785d37UL, + 0x1785d29UL, 0x1785d2eUL, 0x1785dd0UL, 0x1785dd7UL, 0x1785dc9UL, 0x1785dceUL, + 0x1782610UL, 0x1782617UL, 0x1782609UL, 0x178260eUL, 0x17826f0UL, 0x17826f7UL, + 0x17826e9UL, 0x17826eeUL, 0x1782530UL, 0x1782537UL, 0x1782529UL, 0x178252eUL, + 0x17825d0UL, 0x17825d7UL, 0x17825c9UL, 0x17825ceUL, 0x1783a10UL, 0x1783a17UL, + 0x1783a09UL, 0x1783a0eUL, 0x1783af0UL, 0x1783af7UL, 0x1783ae9UL, 0x1783aeeUL, + 0x1783930UL, 0x1783937UL, 0x1783929UL, 0x178392eUL, 0x17839d0UL, 0x17839d7UL, + 0x17839c9UL, 0x17839ceUL, 0x17bc210UL, 0x17bc217UL, 0x17bc209UL, 0x17bc20eUL, + 0x17bc2f0UL, 0x17bc2f7UL, 0x17bc2e9UL, 0x17bc2eeUL, 0x17bc130UL, 0x17bc137UL, + 0x17bc129UL, 0x17bc12eUL, 0x17bc1d0UL, 0x17bc1d7UL, 0x17bc1c9UL, 0x17bc1ceUL, + 0x17bde10UL, 0x17bde17UL, 0x17bde09UL, 0x17bde0eUL, 0x17bdef0UL, 0x17bdef7UL, + 0x17bdee9UL, 0x17bdeeeUL, 0x17bdd30UL, 0x17bdd37UL, 0x17bdd29UL, 0x17bdd2eUL, + 0x17bddd0UL, 0x17bddd7UL, 0x17bddc9UL, 0x17bddceUL, 0x17ba610UL, 0x17ba617UL, + 0x17ba609UL, 0x17ba60eUL, 0x17ba6f0UL, 0x17ba6f7UL, 0x17ba6e9UL, 0x17ba6eeUL, + 0x17ba530UL, 0x17ba537UL, 0x17ba529UL, 0x17ba52eUL, 0x17ba5d0UL, 0x17ba5d7UL, + 0x17ba5c9UL, 0x17ba5ceUL, 0x17bba10UL, 0x17bba17UL, 0x17bba09UL, 0x17bba0eUL, + 0x17bbaf0UL, 0x17bbaf7UL, 0x17bbae9UL, 0x17bbaeeUL, 0x17bb930UL, 0x17bb937UL, + 0x17bb929UL, 0x17bb92eUL, 0x17bb9d0UL, 0x17bb9d7UL, 0x17bb9c9UL, 0x17bb9ceUL, + 0x174c210UL, 0x174c217UL, 0x174c209UL, 0x174c20eUL, 0x174c2f0UL, 0x174c2f7UL, + 0x174c2e9UL, 0x174c2eeUL, 0x174c130UL, 0x174c137UL, 0x174c129UL, 0x174c12eUL, + 0x174c1d0UL, 0x174c1d7UL, 0x174c1c9UL, 0x174c1ceUL, 0x174de10UL, 0x174de17UL, + 0x174de09UL, 0x174de0eUL, 0x174def0UL, 0x174def7UL, 0x174dee9UL, 0x174deeeUL, + 0x174dd30UL, 0x174dd37UL, 0x174dd29UL, 0x174dd2eUL, 0x174ddd0UL, 0x174ddd7UL, + 0x174ddc9UL, 0x174ddceUL, 0x174a610UL, 0x174a617UL, 0x174a609UL, 0x174a60eUL, + 0x174a6f0UL, 0x174a6f7UL, 0x174a6e9UL, 0x174a6eeUL, 0x174a530UL, 0x174a537UL, + 0x174a529UL, 0x174a52eUL, 0x174a5d0UL, 0x174a5d7UL, 0x174a5c9UL, 0x174a5ceUL, + 0x174ba10UL, 0x174ba17UL, 0x174ba09UL, 0x174ba0eUL, 0x174baf0UL, 0x174baf7UL, + 0x174bae9UL, 0x174baeeUL, 0x174b930UL, 0x174b937UL, 0x174b929UL, 0x174b92eUL, + 0x174b9d0UL, 0x174b9d7UL, 0x174b9c9UL, 0x174b9ceUL, 0x1774210UL, 0x1774217UL, + 0x1774209UL, 0x177420eUL, 0x17742f0UL, 0x17742f7UL, 0x17742e9UL, 0x17742eeUL, + 0x1774130UL, 0x1774137UL, 0x1774129UL, 0x177412eUL, 0x17741d0UL, 0x17741d7UL, + 0x17741c9UL, 0x17741ceUL, 0x1775e10UL, 0x1775e17UL, 0x1775e09UL, 0x1775e0eUL, + 0x1775ef0UL, 0x1775ef7UL, 0x1775ee9UL, 0x1775eeeUL, 0x1775d30UL, 0x1775d37UL, + 0x1775d29UL, 0x1775d2eUL, 0x1775dd0UL, 0x1775dd7UL, 0x1775dc9UL, 0x1775dceUL, + 0x1772610UL, 0x1772617UL, 0x1772609UL, 0x177260eUL, 0x17726f0UL, 0x17726f7UL, + 0x17726e9UL, 0x17726eeUL, 0x1772530UL, 0x1772537UL, 0x1772529UL, 0x177252eUL, + 0x17725d0UL, 0x17725d7UL, 0x17725c9UL, 0x17725ceUL, 0x1773a10UL, 0x1773a17UL, + 0x1773a09UL, 0x1773a0eUL, 0x1773af0UL, 0x1773af7UL, 0x1773ae9UL, 0x1773aeeUL, + 0x1773930UL, 0x1773937UL, 0x1773929UL, 0x177392eUL, 0x17739d0UL, 0x17739d7UL, + 0x17739c9UL, 0x17739ceUL, 0x984210UL, 0x984217UL, 0x984209UL, 0x98420eUL, + 0x9842f0UL, 0x9842f7UL, 0x9842e9UL, 0x9842eeUL, 0x984130UL, 0x984137UL, + 0x984129UL, 0x98412eUL, 0x9841d0UL, 0x9841d7UL, 0x9841c9UL, 0x9841ceUL, + 0x985e10UL, 0x985e17UL, 0x985e09UL, 0x985e0eUL, 0x985ef0UL, 0x985ef7UL, + 0x985ee9UL, 0x985eeeUL, 0x985d30UL, 0x985d37UL, 0x985d29UL, 0x985d2eUL, + 0x985dd0UL, 0x985dd7UL, 0x985dc9UL, 0x985dceUL, 0x982610UL, 0x982617UL, + 0x982609UL, 0x98260eUL, 0x9826f0UL, 0x9826f7UL, 0x9826e9UL, 0x9826eeUL, + 0x982530UL, 0x982537UL, 0x982529UL, 0x98252eUL, 0x9825d0UL, 0x9825d7UL, + 0x9825c9UL, 0x9825ceUL, 0x983a10UL, 0x983a17UL, 0x983a09UL, 0x983a0eUL, + 0x983af0UL, 0x983af7UL, 0x983ae9UL, 0x983aeeUL, 0x983930UL, 0x983937UL, + 0x983929UL, 0x98392eUL, 0x9839d0UL, 0x9839d7UL, 0x9839c9UL, 0x9839ceUL, + 0x9bc210UL, 0x9bc217UL, 0x9bc209UL, 0x9bc20eUL, 0x9bc2f0UL, 0x9bc2f7UL, + 0x9bc2e9UL, 0x9bc2eeUL, 0x9bc130UL, 0x9bc137UL, 0x9bc129UL, 0x9bc12eUL, + 0x9bc1d0UL, 0x9bc1d7UL, 0x9bc1c9UL, 0x9bc1ceUL, 0x9bde10UL, 0x9bde17UL, + 0x9bde09UL, 0x9bde0eUL, 0x9bdef0UL, 0x9bdef7UL, 0x9bdee9UL, 0x9bdeeeUL, + 0x9bdd30UL, 0x9bdd37UL, 0x9bdd29UL, 0x9bdd2eUL, 0x9bddd0UL, 0x9bddd7UL, + 0x9bddc9UL, 0x9bddceUL, 0x9ba610UL, 0x9ba617UL, 0x9ba609UL, 0x9ba60eUL, + 0x9ba6f0UL, 0x9ba6f7UL, 0x9ba6e9UL, 0x9ba6eeUL, 0x9ba530UL, 0x9ba537UL, + 0x9ba529UL, 0x9ba52eUL, 0x9ba5d0UL, 0x9ba5d7UL, 0x9ba5c9UL, 0x9ba5ceUL, + 0x9bba10UL, 0x9bba17UL, 0x9bba09UL, 0x9bba0eUL, 0x9bbaf0UL, 0x9bbaf7UL, + 0x9bbae9UL, 0x9bbaeeUL, 0x9bb930UL, 0x9bb937UL, 0x9bb929UL, 0x9bb92eUL, + 0x9bb9d0UL, 0x9bb9d7UL, 0x9bb9c9UL, 0x9bb9ceUL, 0x94c210UL, 0x94c217UL, + 0x94c209UL, 0x94c20eUL, 0x94c2f0UL, 0x94c2f7UL, 0x94c2e9UL, 0x94c2eeUL, + 0x94c130UL, 0x94c137UL, 0x94c129UL, 0x94c12eUL, 0x94c1d0UL, 0x94c1d7UL, + 0x94c1c9UL, 0x94c1ceUL, 0x94de10UL, 0x94de17UL, 0x94de09UL, 0x94de0eUL, + 0x94def0UL, 0x94def7UL, 0x94dee9UL, 0x94deeeUL, 0x94dd30UL, 0x94dd37UL, + 0x94dd29UL, 0x94dd2eUL, 0x94ddd0UL, 0x94ddd7UL, 0x94ddc9UL, 0x94ddceUL, + 0x94a610UL, 0x94a617UL, 0x94a609UL, 0x94a60eUL, 0x94a6f0UL, 0x94a6f7UL, + 0x94a6e9UL, 0x94a6eeUL, 0x94a530UL, 0x94a537UL, 0x94a529UL, 0x94a52eUL, + 0x94a5d0UL, 0x94a5d7UL, 0x94a5c9UL, 0x94a5ceUL, 0x94ba10UL, 0x94ba17UL, + 0x94ba09UL, 0x94ba0eUL, 0x94baf0UL, 0x94baf7UL, 0x94bae9UL, 0x94baeeUL, + 0x94b930UL, 0x94b937UL, 0x94b929UL, 0x94b92eUL, 0x94b9d0UL, 0x94b9d7UL, + 0x94b9c9UL, 0x94b9ceUL, 0x974210UL, 0x974217UL, 0x974209UL, 0x97420eUL, + 0x9742f0UL, 0x9742f7UL, 0x9742e9UL, 0x9742eeUL, 0x974130UL, 0x974137UL, + 0x974129UL, 0x97412eUL, 0x9741d0UL, 0x9741d7UL, 0x9741c9UL, 0x9741ceUL, + 0x975e10UL, 0x975e17UL, 0x975e09UL, 0x975e0eUL, 0x975ef0UL, 0x975ef7UL, + 0x975ee9UL, 0x975eeeUL, 0x975d30UL, 0x975d37UL, 0x975d29UL, 0x975d2eUL, + 0x975dd0UL, 0x975dd7UL, 0x975dc9UL, 0x975dceUL, 0x972610UL, 0x972617UL, + 0x972609UL, 0x97260eUL, 0x9726f0UL, 0x9726f7UL, 0x9726e9UL, 0x9726eeUL, + 0x972530UL, 0x972537UL, 0x972529UL, 0x97252eUL, 0x9725d0UL, 0x9725d7UL, + 0x9725c9UL, 0x9725ceUL, 0x973a10UL, 0x973a17UL, 0x973a09UL, 0x973a0eUL, + 0x973af0UL, 0x973af7UL, 0x973ae9UL, 0x973aeeUL, 0x973930UL, 0x973937UL, + 0x973929UL, 0x97392eUL, 0x9739d0UL, 0x9739d7UL, 0x9739c9UL, 0x9739ceUL, + 0xe84210UL, 0xe84217UL, 0xe84209UL, 0xe8420eUL, 0xe842f0UL, 0xe842f7UL, + 0xe842e9UL, 0xe842eeUL, 0xe84130UL, 0xe84137UL, 0xe84129UL, 0xe8412eUL, + 0xe841d0UL, 0xe841d7UL, 0xe841c9UL, 0xe841ceUL, 0xe85e10UL, 0xe85e17UL, + 0xe85e09UL, 0xe85e0eUL, 0xe85ef0UL, 0xe85ef7UL, 0xe85ee9UL, 0xe85eeeUL, + 0xe85d30UL, 0xe85d37UL, 0xe85d29UL, 0xe85d2eUL, 0xe85dd0UL, 0xe85dd7UL, + 0xe85dc9UL, 0xe85dceUL, 0xe82610UL, 0xe82617UL, 0xe82609UL, 0xe8260eUL, + 0xe826f0UL, 0xe826f7UL, 0xe826e9UL, 0xe826eeUL, 0xe82530UL, 0xe82537UL, + 0xe82529UL, 0xe8252eUL, 0xe825d0UL, 0xe825d7UL, 0xe825c9UL, 0xe825ceUL, + 0xe83a10UL, 0xe83a17UL, 0xe83a09UL, 0xe83a0eUL, 0xe83af0UL, 0xe83af7UL, + 0xe83ae9UL, 0xe83aeeUL, 0xe83930UL, 0xe83937UL, 0xe83929UL, 0xe8392eUL, + 0xe839d0UL, 0xe839d7UL, 0xe839c9UL, 0xe839ceUL, 0xebc210UL, 0xebc217UL, + 0xebc209UL, 0xebc20eUL, 0xebc2f0UL, 0xebc2f7UL, 0xebc2e9UL, 0xebc2eeUL, + 0xebc130UL, 0xebc137UL, 0xebc129UL, 0xebc12eUL, 0xebc1d0UL, 0xebc1d7UL, + 0xebc1c9UL, 0xebc1ceUL, 0xebde10UL, 0xebde17UL, 0xebde09UL, 0xebde0eUL, + 0xebdef0UL, 0xebdef7UL, 0xebdee9UL, 0xebdeeeUL, 0xebdd30UL, 0xebdd37UL, + 0xebdd29UL, 0xebdd2eUL, 0xebddd0UL, 0xebddd7UL, 0xebddc9UL, 0xebddceUL, + 0xeba610UL, 0xeba617UL, 0xeba609UL, 0xeba60eUL, 0xeba6f0UL, 0xeba6f7UL, + 0xeba6e9UL, 0xeba6eeUL, 0xeba530UL, 0xeba537UL, 0xeba529UL, 0xeba52eUL, + 0xeba5d0UL, 0xeba5d7UL, 0xeba5c9UL, 0xeba5ceUL, 0xebba10UL, 0xebba17UL, + 0xebba09UL, 0xebba0eUL, 0xebbaf0UL, 0xebbaf7UL, 0xebbae9UL, 0xebbaeeUL, + 0xebb930UL, 0xebb937UL, 0xebb929UL, 0xebb92eUL, 0xebb9d0UL, 0xebb9d7UL, + 0xebb9c9UL, 0xebb9ceUL, 0xe4c210UL, 0xe4c217UL, 0xe4c209UL, 0xe4c20eUL, + 0xe4c2f0UL, 0xe4c2f7UL, 0xe4c2e9UL, 0xe4c2eeUL, 0xe4c130UL, 0xe4c137UL, + 0xe4c129UL, 0xe4c12eUL, 0xe4c1d0UL, 0xe4c1d7UL, 0xe4c1c9UL, 0xe4c1ceUL, + 0xe4de10UL, 0xe4de17UL, 0xe4de09UL, 0xe4de0eUL, 0xe4def0UL, 0xe4def7UL, + 0xe4dee9UL, 0xe4deeeUL, 0xe4dd30UL, 0xe4dd37UL, 0xe4dd29UL, 0xe4dd2eUL, + 0xe4ddd0UL, 0xe4ddd7UL, 0xe4ddc9UL, 0xe4ddceUL, 0xe4a610UL, 0xe4a617UL, + 0xe4a609UL, 0xe4a60eUL, 0xe4a6f0UL, 0xe4a6f7UL, 0xe4a6e9UL, 0xe4a6eeUL, + 0xe4a530UL, 0xe4a537UL, 0xe4a529UL, 0xe4a52eUL, 0xe4a5d0UL, 0xe4a5d7UL, + 0xe4a5c9UL, 0xe4a5ceUL, 0xe4ba10UL, 0xe4ba17UL, 0xe4ba09UL, 0xe4ba0eUL, + 0xe4baf0UL, 0xe4baf7UL, 0xe4bae9UL, 0xe4baeeUL, 0xe4b930UL, 0xe4b937UL, + 0xe4b929UL, 0xe4b92eUL, 0xe4b9d0UL, 0xe4b9d7UL, 0xe4b9c9UL, 0xe4b9ceUL, + 0xe74210UL, 0xe74217UL, 0xe74209UL, 0xe7420eUL, 0xe742f0UL, 0xe742f7UL, + 0xe742e9UL, 0xe742eeUL, 0xe74130UL, 0xe74137UL, 0xe74129UL, 0xe7412eUL, + 0xe741d0UL, 0xe741d7UL, 0xe741c9UL, 0xe741ceUL, 0xe75e10UL, 0xe75e17UL, + 0xe75e09UL, 0xe75e0eUL, 0xe75ef0UL, 0xe75ef7UL, 0xe75ee9UL, 0xe75eeeUL, + 0xe75d30UL, 0xe75d37UL, 0xe75d29UL, 0xe75d2eUL, 0xe75dd0UL, 0xe75dd7UL, + 0xe75dc9UL, 0xe75dceUL, 0xe72610UL, 0xe72617UL, 0xe72609UL, 0xe7260eUL, + 0xe726f0UL, 0xe726f7UL, 0xe726e9UL, 0xe726eeUL, 0xe72530UL, 0xe72537UL, + 0xe72529UL, 0xe7252eUL, 0xe725d0UL, 0xe725d7UL, 0xe725c9UL, 0xe725ceUL, + 0xe73a10UL, 0xe73a17UL, 0xe73a09UL, 0xe73a0eUL, 0xe73af0UL, 0xe73af7UL, + 0xe73ae9UL, 0xe73aeeUL, 0xe73930UL, 0xe73937UL, 0xe73929UL, 0xe7392eUL, + 0xe739d0UL, 0xe739d7UL, 0xe739c9UL + }; + fromVector(codes, d._code_id); + d._nbits = 25; + d._tau = 1; // + d._type = ARUCO; + d._name = "ARUCO"; + } + break; + case ARTAG: + { + vector codes = { + 0xf89c68ea2UL, 0xf021c83fdUL, 0x9b2f835a2UL, 0xf8ffdb019UL, 0xf2d12b272UL, + 0xf0e6afe8bUL, 0xe19dee435UL, 0xdbe424132UL, 0xa9885a341UL, 0x3add1e6caUL, + 0x600aa0d15UL, 0xf9d5c0938UL, 0xf85b0f3d4UL, 0xf838bcd6fUL, 0xfa6c8bf2dUL, + 0xfb469060cUL, 0xfb25238b7UL, 0xff8d4dc33UL, 0xfc3406a26UL, 0xfc57b549dUL, + 0xfcf361750UL, 0xfd7daedbcUL, 0xf42d724b4UL, 0xf1ccb47aaUL, 0xe1fe5da8eUL, + 0xe2e3c2f56UL, 0xe280711edUL, 0xe224a5220UL, 0xe36d0d5baUL, 0xed2cf4e23UL, + 0xecc188a74UL, 0xcf7ea3892UL, 0xcca45b03cUL, 0xc4de9c015UL, 0xc0b1959e7UL, + 0xd027a870eUL, 0xd1a967de2UL, 0xd3fd50fa0UL, 0xd67f25205UL, 0xdcf5013a3UL, + 0xdea1361e1UL, 0xdb8797f89UL, 0xd8f9bb4eaUL, 0x98321c07aUL, 0x9dd3da364UL, + 0x9162c0972UL, 0x91c614abfUL, 0x81339aaedUL, 0x3f3cd85d4UL, 0x3907e6e64UL, + 0x2231e480aUL, 0x287ca74daUL, 0xee52d854UL, 0x3b94b615UL, 0x1ab8cdc82UL, + 0x4463c9014UL, 0x6588d50b0UL, 0xf912a744eUL, 0xf97114af5UL, 0xfb81f7b7aUL, + 0xfbe2445c1UL, 0xff4a2a145UL, 0xfea756512UL, 0xfe03826dfUL, 0xfc90d29ebUL, + 0xfdbac90caUL, 0xfdd97ae71UL, 0xf564da32eUL, 0xf5c00e0e3UL, 0xf679456f6UL, + 0xf6be22b80UL, 0xf6dd9153bUL, 0xf7f78ac1aUL, 0xf35fe489eUL, 0xf33c57625UL, + 0xf398835e8UL, 0xf3fb30b53UL, 0xf2b298cc9UL, 0xf2164cf04UL, 0xf275ff1bfUL, + 0xf10bd3adcUL, 0xf16860467UL, 0xe1393a7f8UL, 0xe07092062UL, 0xe0b7f5d14UL, + 0xe0d4463afUL, 0xe7c56313eUL, 0xe7a6d0f85UL, 0xe70204c48UL, 0xe6281f569UL, + 0xe47c2872bUL, 0xed8820deeUL, 0xedeb93355UL, 0xed4f47098UL, 0xec06ef702UL, + 0xeef60c68dUL, 0xef78c3c61UL, 0xefbfa4117UL, 0xebb31e65eUL, 0xebd0ad8e5UL, + 0xeb7479b28UL, 0xeb17ca593UL, 0xea5e62209UL, 0xeafab61c4UL, 0xe8ae81386UL, + 0xe9204e96aUL, 0xe9e72941cUL, 0xe9849aaa7UL, 0xc86f86a03UL, 0xc9e1490efUL, + 0xcbb57e2adUL, 0xcb7219fdbUL, 0xca58026faUL, 0xca9f65b8cUL, 0xcef06c27eUL, + 0xce54b81b3UL, 0xcf1d10629UL, 0xcd8e4091dUL, 0xcc633cd4aUL, 0xccc7e8e87UL, + 0xc7c3035cdUL, 0xc767d7600UL, 0xc62e7f19aUL, 0xc64dccf21UL, 0xc6e918cecUL, + 0xc68aab257UL, 0xc2861151eUL, 0xc24176868UL, 0xc15ce9db0UL, 0xc0d22675cUL, + 0xd0e0cfa78UL, 0xd0837c4c3UL, 0xd16e00094UL, 0xd2739f54cUL, 0xd2102cbf7UL, + 0xd6dbf11c8UL, 0xd79259652UL, 0xd7368d59fUL, 0xd562ba7ddUL, 0xd5c66e410UL, + 0xd5a5ddaabUL, 0xd48fc638aUL, 0xd4ec75d31UL, 0xdc96b2d18UL, 0xddbca9439UL, + 0xdf4c4a5b6UL, 0xde05e222cUL, 0xdaad8c6a8UL, 0xdace3f813UL, 0xd9b013370UL, + 0xd9d3a0dcbUL, 0xd85d6f727UL, 0x9aa14cf4eUL, 0x9ac2ff1f5UL, 0x9b4c30b19UL, + 0x9be8e48d4UL, 0x9b8b5766fUL, 0x99bcd3a96UL, 0x99df6042dUL, 0x96b482695UL, + 0x979e99fb4UL, 0x95caaedf6UL, 0x950dc9080UL, 0x956e7ae3bUL, 0x9427d29a1UL, + 0x908fbcd25UL, 0x9392238fdUL, 0x92b8381dcUL, 0x824db618eUL, 0x83c379b62UL, + 0x83041e614UL, 0x81f4fd79bUL, 0x80dee6ebaUL, 0x8019813ccUL, 0x853f20da4UL, + 0x87cfc3c2bUL, 0x8e5878855UL, 0x8fb504c02UL, 0x8b1d6a886UL, 0x8a93a526aUL, + 0xabdc6d103UL, 0xaa3111554UL, 0xaa52a2befUL, 0xa8a241a60UL, 0xa8c1f24dbUL, + 0xa92c8e08cUL, 0xad438797eUL, 0xa156490a5UL, 0xa0d886a49UL, 0xb04ebb4a0UL, + 0xb1c074e4cUL, 0xb616361abUL, 0xb73c2d88aUL, 0xbf2559618UL, 0xbd716e45aUL, + 0xb8347c489UL, 0xb890a8744UL, 0xba604b6cbUL, 0xbb29e3151UL, 0x3c42f4eb7UL, + 0x388929488UL, 0x3b94b6150UL, 0x33ee71179UL, 0x311e920f6UL, 0x30905da1aUL, + 0x343833e9eUL, 0x35b6fc472UL, 0x360fb7267UL, 0x26998ac8eUL, 0x271745662UL, + 0x20a2b473eUL, 0x20c107985UL, 0x2188afe1fUL, 0x23bf2b2e6UL, 0x229530bc7UL, + 0x2a2890698UL, 0x2ba65fc74UL, 0x281f14a61UL, 0x2fc956586UL, 0x2f6d8264bUL, + 0x2e80fe21cUL, 0xe869e6efUL, 0xc767d760UL, 0x8bda0d5fUL, 0xae997f1dUL, + 0xa2ef026bUL, 0xb04ebb4aUL, 0xb67585f1UL, 0x37e2cb63UL, 0x25437242UL, + 0x149a879aUL, 0x69fea87dUL, 0x71125291UL, 0x1609d7694UL, 0x143e53a6dUL, + 0x11bc267c8UL, 0x12c20acabUL, 0x132f768fcUL, 0x134cc5647UL, 0x1a1c19f4fUL, + 0x182b9d3b6UL, 0x1c27274ffUL, 0x5a10d96a9UL, 0x50f94e9b4UL, 0x509afd70fUL, + 0x57e86bb25UL, 0x56c270204UL, 0x477e565ccUL, 0x43115fc3eUL, 0x493fafe55UL, + 0x48b1604b9UL, 0x4a2230b8dUL, 0x6cd8099b8UL, 0x6d3575defUL, 0x6bc92cb29UL, + 0x687067d3cUL, 0x652c0137dUL, 0x757d5b0e2UL, 0x76a7a384cUL, 0x72ab19f05UL, + 0x73e2b189fUL, 0x709c9d3fcUL, 0x7885e9d6eUL, 0x7bfbc560dUL, 0x7e79b0ba8UL, + 0x7dc0fbdbdUL, 0x7d642fe70UL, 0x7c4e34751UL, 0xf9b673783UL, 0xfa0f38196UL, + 0xfac85fce0UL, 0xfaabec25bUL, 0xff2999ffeUL, 0xfec4e5ba9UL, 0xfd1e1d307UL, + 0xf50769d95UL, 0xf5a3bde58UL, 0xf489a6779UL, 0xf44ec1a0fUL, 0xf794392a1UL, + 0xf7535efd7UL, 0xf0427bd46UL, 0xf1af07911UL, 0xe15a89943UL, 0xe01321ed9UL, + 0xe24716c9bUL, 0xe30ebeb01UL, 0xe3aa6a8ccUL, 0xe3c9d9677UL, 0xe761b72f3UL, + 0xe64bacbd2UL, 0xe68ccb6a4UL, 0xe4d8fc4e6UL, 0xe4bb4fa5dUL, 0xe41f9b990UL, + 0xe55633e0aUL, 0xe535800b1UL, 0xe5915437cUL, 0xe5f2e7dc7UL, 0xec655c9b9UL, + 0xeca23b4cfUL, 0xee95bf836UL, 0xee52d8540UL, 0xee316bbfbUL, 0xef1b702daUL, + 0xefdc17facUL, 0xea3dd1cb2UL, 0xea9905f7fUL, 0xe869e6ef0UL, 0xe80a5504bUL, + 0xe943fd7d1UL, 0xc8cb529ceUL, 0xc8a8e1775UL, 0xc80c354b8UL, 0xc9459d322UL, + 0xc982fae54UL, 0xcbd6cdc16UL, 0xcb11aa160UL, 0xca3bb1841UL, 0xcafcd6537UL, + 0xce93dfcc5UL, 0xce370bf08UL, 0xcfb9c45e4UL, 0xcfda77b5fUL, 0xcdedf37a6UL, + 0xcd2a94ad0UL, 0xcd492746bUL, 0xcc008f3f1UL, 0xc4bd2feaeUL, 0xc419fbd63UL, + 0xc533e0442UL, 0xc55053af9UL, 0xc5f487934UL, 0xc5973478fUL, 0xc7a0b0b76UL, + 0xc704648bbUL, 0xc2e5a2ba5UL, 0xc308deff2UL, 0xc19b8e0c6UL, 0xc01541a2aUL, + 0xd0441b9b5UL, 0xd1cad4359UL, 0xd10db3e2fUL, 0xd33a372d6UL, 0xd35984c6dUL, + 0xd2b4f883aUL, 0xd2d74b681UL, 0xd50109966UL, 0xd448a1efcUL, 0xdc51d506eUL, + 0xdd187d7f4UL, 0xdd7bce94fUL, 0xdf2ff9b0dUL, 0xdf8b2d8c0UL, 0xdfe89e67bUL, + 0xdec285f5aUL, 0xde6651c97UL, 0xda6aebbdeUL, 0xda0958565UL, 0xdb2343c44UL, + 0xd97774e06UL, 0xd914c70bdUL, 0xd89a08a51UL, 0xd83edc99cUL, 0x9a662b238UL, + 0x9a0598c83UL, 0x997bb47e0UL, 0x99180795bUL, 0x9851afec1UL, 0x9896c83b7UL, + 0x9c9a724feUL, 0x9cf9c1a45UL, 0x9c5d15988UL, 0x9c3ea6733UL, 0x9d14bde12UL, + 0x9d770e0a9UL, 0x9db069ddfUL, 0x9f87ed126UL, 0x9fe45ef9dUL, 0x9f408ac50UL, + 0x9f23392ebUL, 0x9e6a91571UL, 0x9ece456bcUL, 0x96d73182eUL, 0x961056558UL, + 0x9673e5be3UL, 0x9759fe2c2UL, 0x973a4dc79UL, 0x95a91d34dUL, 0x94446171aUL, + 0x94e0b54d7UL, 0x90ec0f39eUL, 0x902b68ee8UL, 0x9048db053UL, 0x9101737c9UL, + 0x93f190646UL, 0x93554458bUL, 0x921cec211UL, 0x82e962243UL, 0x83a0ca5d9UL, + 0x8367ad8afUL, 0x815029456UL, 0x81974e920UL, 0x80bd55001UL, 0x807a32d77UL, + 0x847688a3eUL, 0x84153b485UL, 0x84b1ef748UL, 0x84d25c9f3UL, 0x85f8470d2UL, + 0x855c9331fUL, 0x876b17fe6UL, 0x87ac70290UL, 0x86e5d850aUL, 0x8622bf87cUL, + 0x8e3bcb6eeUL, 0x8efcacb98UL, 0x8f7263174UL, 0x8f11d0fcfUL, 0x8d2654336UL, + 0x8d45e7d8dUL, 0x8de133e40UL, 0x8d82800fbUL, 0x8ca89b9daUL, 0x8c6ffc4acUL, + 0x8c0c4fa17UL, 0x8800f5d5eUL, 0x8863463e5UL, 0x88c792028UL, 0x88a421e93UL, + 0x898e3a7b2UL, 0x89ed89909UL, 0x89495dac4UL, 0x892aee47fUL, 0x8bda0d5f0UL, + 0x8bb9beb4bUL, 0x8af016cd1UL, 0x8a54c2f1cUL, 0x8a37711a7UL, 0xab1b0ac75UL, + 0xaa95c5699UL, 0xa86526716UL, 0xa806959adUL, 0xa9ebe9dfaUL, 0xa94f3de37UL, + 0xad20347c5UL, 0xade753ab3UL, 0xaccd48392UL, 0xacaefbd29UL, 0xac0a2fee4UL, + 0xae5e18ca6UL, 0xae3dab21dUL, 0xae997f1d0UL, 0xafd0d764aUL, 0xafb3648f1UL, + 0xa70ec45aeUL, 0xa76d77b15UL, 0xa7c9a38d8UL, 0xa7aa10663UL, 0xa6800bf42UL, + 0xa6e3b81f9UL, 0xa624dfc8fUL, 0xa4135b076UL, 0xa4d43cd00UL, 0xa59d94a9aUL, + 0xa5fe27421UL, 0xa55af37ecUL, 0xa135fae1eUL, 0xa1f29d368UL, 0xa1912edd3UL, + 0xa0bb354f2UL, 0xa24bd657dUL, 0xa2ef026b0UL, 0xa28cb180bUL, 0xa3a6aa12aUL, + 0xa361cdc5cUL, 0xa3027e2e7UL, 0xb39443c0eUL, 0xb3f7f02b5UL, 0xb35324178UL, + 0xb33097fc3UL, 0xb2793f859UL, 0xb2ddebb94UL, 0xb089dc9d6UL, 0xb0ea6f76dUL, + 0xb02d08a1bUL, 0xb1071333aUL, 0xb164a0d81UL, 0xb5af7d7beUL, 0xb5ccce905UL, + 0xb5681aac8UL, 0xb50ba9473UL, 0xb421b2d52UL, 0xb442013e9UL, 0xb4e6d5024UL, + 0xb48566e9fUL, 0xb6b2e2266UL, 0xb6d151cddUL, 0xb67585f10UL, 0xb75f9e631UL, + 0xb7fb4a5fcUL, 0xbfe23eb6eUL, 0xbf46ea8a3UL, 0xbe6cf1182UL, 0xbeab96cf4UL, + 0xbec82524fUL, 0xbc9c1200dUL, 0xbc38c63c0UL, 0xbc5b75d7bUL, 0xbdb60992cUL, + 0xbdd5ba797UL, 0xb9d9000deUL, 0xb9bab3e65UL, 0xb91e67da8UL, 0xb857cfa32UL, + 0xb8f31b9ffUL, 0xbac49f506UL, 0xbaa72cbbdUL, 0xba03f8870UL, 0xbb4a50feaUL, + 0xbb8d3729cUL, 0xbbee84c27UL, 0x3e757024eUL, 0x3e16c3cf5UL, 0x3eb217f38UL, + 0x3ed1a4183UL, 0x3ffbbf8a2UL, 0x3f980c619UL, 0x3f5f6bb6fUL, 0x3d0b5c92dUL, + 0x3dcc3b45bUL, 0x3ce620d7aUL, 0x3c85933c1UL, 0x3c214700cUL, 0x384e4e9feUL, + 0x38ea9aa33UL, 0x39c081312UL, 0x39a332da9UL, 0x3964550dfUL, 0x3b53d1c26UL, + 0x3b306229dUL, 0x3bf705febUL, 0x3a1a79bbcUL, 0x3a79ca507UL, 0x32030d52eUL, + 0x3260beb95UL, 0x32c46a858UL, 0x32a7d96e3UL, 0x338dc2fc2UL, 0x334aa52b4UL, + 0x332916c0fUL, 0x317d21e4dUL, 0x31d9f5d80UL, 0x31ba4633bUL, 0x30f3ee4a1UL, + 0x30573a76cUL, 0x3034899d7UL, 0x345b80025UL, 0x34ff543e8UL, 0x349ce7d53UL, + 0x35d54fac9UL, 0x3512287bfUL, 0x37461f5fdUL, 0x37e2cb630UL, 0x37817888bUL, + 0x36ab631aaUL, 0x36c8d0f11UL, 0x366c04cdcUL, 0x265eed1f8UL, 0x2774f68d9UL, + 0x27b3915afUL, 0x258415956UL, 0x25e7a67edUL, 0x254372420UL, 0x2520c1a9bUL, + 0x240ada3baUL, 0x246969d01UL, 0x24cdbdeccUL, 0x24ae0e077UL, 0x2006604f3UL, + 0x23dc98c5dUL, 0x23784cf90UL, 0x231bff12bUL, 0x2252576b1UL, 0x22f68357cUL, + 0x2aeff7beeUL, 0x2a8c44555UL, 0x2a4b23823UL, 0x2b6138102UL, 0x29f268e36UL, + 0x29350f340UL, 0x2956bcdfbUL, 0x28d873717UL, 0x2cd4c905eUL, 0x2cb77aee5UL, + 0x2c13aed28UL, 0x2d5a06ab2UL, 0x2faae5b3dUL, 0x2f0e318f0UL, 0x2e4799f6aUL, + 0x2ee34dca7UL, 0xfac85fceUL, 0xf6be22b8UL, 0xe224a522UL, 0xe41f9b99UL, + 0xcd2a94adUL, 0xd3fd50faUL, 0x9f408ac5UL, 0x950dc908UL, 0x9336f7b3UL, + 0x81974e92UL, 0x87ac7029UL, 0x8de133e4UL, 0xa4d43cd0UL, 0xbc38c63cUL, + 0xba03f887UL, 0x3daf88aeUL, 0x31d9f5d8UL, 0x29350f34UL, 0xc767d76UL, + 0xa4d43cdUL, 0x63b3ebbUL, 0x12a1b921UL, 0x1ed7c457UL, 0x526a1e68UL, + 0x545120d3UL, 0x40cba749UL, 0x4a86e484UL, 0x6fc596c6UL, 0x63b3ebb0UL, + 0x77296c2aUL, 0x7b5f115cUL, 0x7d642fe7UL, 0x17407f10eUL, 0x1723ccfb5UL, + 0x17e4ab2c3UL, 0x16ceb0be2UL, 0x16ad03559UL, 0x14f93471bUL, 0x15d32fe3aUL, + 0x15b09c081UL, 0x15144834cUL, 0x1577fbdf7UL, 0x117b41abeUL, 0x1118f2405UL, + 0x11df95973UL, 0x10963dee9UL, 0x1032e9d24UL, 0x1266def66UL, 0x12056d1ddUL, + 0x12a1b9210UL, 0x13e81158aUL, 0x1b55b18d5UL, 0x1bf165b18UL, 0x1b92d65a3UL, + 0x1adb7e239UL, 0x1a7faa1f4UL, 0x18482ed0dUL, 0x18ecfaec0UL, 0x188f4907bUL, + 0x19a55295aUL, 0x190186a97UL, 0x1dca5b0a8UL, 0x1da9e8e13UL, 0x1c83f3732UL, + 0x1ce040989UL, 0x1c4494a44UL, 0x1e10a3806UL, 0x1ed7c4570UL, 0x1eb477bcbUL, + 0x1f9e6c2eaUL, 0x1ffddfc51UL, 0x1f590bf9cUL, 0x1f3ab8127UL, 0x5da5287f5UL, + 0x5d624fa83UL, 0x5c2be7d19UL, 0x5edb04c96UL, 0x5e1c631e0UL, 0x5e7fd0f5bUL, + 0x5f92acb0cUL, 0x5ff11f5b7UL, 0x5b9e16c45UL, 0x5b5971133UL, 0x5a736a812UL, + 0x5ab40d564UL, 0x58e03a726UL, 0x58838999dUL, 0x596ef5dcaUL, 0x59a9920bcUL, + 0x59ca21e07UL, 0x51b0e6e2eUL, 0x51d355095UL, 0x511432de3UL, 0x503e294c2UL, + 0x52ceca54dUL, 0x526a1e680UL, 0x5209ad83bUL, 0x5323b611aUL, 0x53e4d1c6cUL, + 0x5387622d7UL, 0x574cbf8e8UL, 0x572f0c653UL, 0x560517f72UL, 0x56a1c3cbfUL, + 0x549647046UL, 0x54f5f4efdUL, 0x545120d30UL, 0x557b3b411UL, 0x55bc5c967UL, + 0x45ed06af8UL, 0x458eb5443UL, 0x44a4aed62UL, 0x44007aeafUL, 0x4637fe256UL, + 0x46f099f20UL, 0x47da82601UL, 0x4372ec285UL, 0x429f906d2UL, 0x4258f7ba4UL, + 0x423b4451fUL, 0x40cba7490UL, 0x40a814a2bUL, 0x41820f30aUL, 0x41e1bcdb1UL, + 0x414568e7cUL, 0x495c1c0eeUL, 0x499b7bd98UL, 0x49f8c8323UL, 0x4815b4774UL, + 0x4a4183536UL, 0x4a86e4840UL, 0x4ae5576fbUL, 0x4bcf4cfdaUL, 0x4bacff161UL, + 0x4b082b2acUL, 0x4b6b98c17UL, 0x4f04915e5UL, 0x4fc3f6893UL, 0x4ee9ed1b2UL, + 0x4e8a5ef09UL, 0x4e2e8acc4UL, 0x4e4d3927fUL, 0x4c7abde86UL, 0x4c190e03dUL, + 0x4cbdda3f0UL, 0x4cde69d4bUL, 0x4df47246aUL, 0x4d97c1ad1UL, 0x4d331591cUL, + 0x6c1f6e4ceUL, 0x6c7cdda75UL, 0x6cbbba703UL, 0x6d91a1e22UL, 0x6df212099UL, + 0x6d56c6354UL, 0x6f6142fadUL, 0x6fc596c60UL, 0x6e8c3ebfaUL, 0x6eef8d541UL, + 0x6e28ea837UL, 0x6a2450f7eUL, 0x6a47e31c5UL, 0x6ae337208UL, 0x6baa9f592UL, + 0x6b6df88e4UL, 0x6b0e4b65fUL, 0x6939cfaa6UL, 0x69fea87d0UL, 0x699d1b96bUL, + 0x68b70004aUL, 0x68d4b3ef1UL, 0x6813d4387UL, 0x6069133aeUL, 0x60ae74ed8UL, + 0x60cdc7063UL, 0x61846f7f9UL, 0x6120bb434UL, 0x614308a8fUL, 0x63748c676UL, + 0x63173f8cdUL, 0x63d0585bbUL, 0x62fa43c9aUL, 0x6299f0221UL, 0x66522d81eUL, + 0x66319e6a5UL, 0x66954a568UL, 0x66f6f9bd3UL, 0x67bf51c49UL, 0x671b85f84UL, + 0x67783613fUL, 0x654fb2dc6UL, 0x64c17d72aUL, 0x64a2ce991UL, 0x64061aa5cUL, + 0x6465a94e7UL, 0x74f394a0eUL, 0x7490274b5UL, 0x7434f3778UL, 0x77ee0bfd6UL, + 0x778db816dUL, 0x774adfc1bUL, 0x7660c453aUL, 0x760377b81UL, 0x720fcdcc8UL, + 0x726c7e273UL, 0x734665b52UL, 0x7325d65e9UL, 0x738102624UL, 0x71d535466UL, + 0x711252910UL, 0x7171e17abUL, 0x705bfae8aUL, 0x70ff2ed47UL, 0x78213dea3UL, + 0x790b26782UL, 0x79cc41af4UL, 0x7b98768b6UL, 0x7b5f115c0UL, 0x7b3ca2b7bUL, + 0x7a16b925aUL, 0x7a750ace1UL, 0x7ad1def2cUL, 0x7ab26d197UL, 0x7ebed76deUL, + 0x7edd64865UL, 0x7e1a03513UL, 0x7f3018c32UL, 0x7f53ab289UL, 0x7ff77f144UL, + 0x7f94ccfffUL, 0x7da348306UL, 0x7d079c0cbUL, 0x7c8953a27UL, 0xffeefe288UL, + 0xfe6031864UL, 0xf4ea159c2UL, 0xf61af684dUL, 0xf730ed16cUL, 0xf0851c030UL, + 0xe6ef7881fUL, 0xe8cd32d3dUL, 0xc9262ed99UL, 0xc47a483d8UL, 0xc222c56d3UL, + 0xc36b6d149UL, 0xc3ac0ac3fUL, 0xc1f83de7dUL, 0xc13f5a30bUL, 0xc076f2491UL, + 0xd39ee311bUL, 0xd61c96cbeUL, 0xd6b842f73UL, 0xd7f1ea8e9UL, 0xd7553eb24UL, + 0xd42b12047UL, 0xdc3266ed5UL, 0xdddf1aa82UL, 0x9e0922bcaUL, 0x9eadf6807UL, + 0x97fd2a10fUL, 0x948306a6cUL, 0x91a5a7404UL, 0x9336f7b30UL, 0x927f5fcaaUL, + 0x92db8bf67UL, 0x822e05f35UL, 0x828ad1cf8UL, 0x859bf4e69UL, 0x8708a415dUL, + 0x86866bbb1UL, 0x86410c6c7UL, 0x8e9f1f523UL, 0x8fd6b72b9UL, 0x8ccb28761UL, + 0xabbfdefb8UL, 0xaaf676822UL, 0xad84e0408UL, 0xac699c05fUL, 0xaefaccf6bUL, + 0xaf17b0b3cUL, 0xaf7403587UL, 0xa6476c234UL, 0xa470e8ecdUL, 0xa4b78f3bbUL, + 0xa53940957UL, 0xa07c52984UL, 0xa01fe173fUL, 0xa22865bc6UL, 0xa3c519f91UL, + 0xb21a8c6e2UL, 0xb2be5852fUL, 0xb1a3c70f7UL, 0xb798f9b47UL, 0xbf818d5d5UL, + 0xbe0f42f39UL, 0xbcffa1eb6UL, 0xbd12ddae1UL, 0xb97dd4313UL, 0x3d68ef796UL, + 0x3daf88ae0UL, 0x382dfd745UL, 0x3abead871UL, 0x35719b904UL, 0x3725acb46UL, + 0x26fa39235UL, 0x263d5ef43UL, 0x27d022b14UL, 0x2065d3a48UL, 0x212c7bdd2UL, + 0x214fc8369UL, 0x21eb1c0a4UL, 0x2b028bfb9UL, 0x2bc5ec2cfUL, 0x2991db08dUL, + 0x28bbc09acUL, 0x2c701d393UL, 0x2d39b5409UL, 0x2d9d617c4UL, 0x2dfed297fUL, + 0x2e242a1d1UL, 0xfcf36175UL, 0xc15ce9dbUL, 0xd5c66e41UL, 0xdf8b2d8cUL, + 0x997bb47eUL, 0xa8a241a6UL, 0x23784cf9UL, 0x2f0e318fUL, 0x5e1c631eUL, + 0x58275da5UL, 0x4cbdda3fUL, 0x6588d50bUL, 0x178718c78UL, 0x166a6482fUL, + 0x145de04d6UL, 0x149a879a0UL, 0x10f58e052UL, 0x10515a39fUL, 0x138ba2b31UL, + 0x19c6e17e1UL, 0x19623542cUL, 0x1d0d3cddeUL, 0x1d6e8f365UL, 0x1e73106bdUL, + 0x5dc69b94eUL, 0x5d01fc438UL, 0x5c48543a2UL, 0x5c8f33ed4UL, 0x5cec8006fUL, + 0x5eb8b722dUL, 0x5f55cb67aUL, 0x5f36788c1UL, 0x5bfda52feUL, 0x5b3ac2f88UL, + 0x58275da50UL, 0x5844ee4ebUL, 0x590d46371UL, 0x517781358UL, 0x505d9aa79UL, + 0x52ad79bf6UL, 0x534005fa1UL, 0x578bd859eUL, 0x5666a41c9UL, 0x54329338bUL, + 0x55dfef7dcUL, 0x452a6178eUL, 0x4549d2935UL, 0x44c71d3d9UL, 0x46544dcedUL, + 0x46932a19bUL, 0x47b9318baUL, 0x471de5b77UL, 0x43d638148UL, 0x43b58bff3UL, + 0x42fc23869UL, 0x400cc09e6UL, 0x406f7375dUL, 0x4126db0c7UL, 0x48d2d3a02UL, + 0x4876079cfUL, 0x4f6722b5eUL, 0x4fa045628UL, 0x4d50a67a7UL, 0x6f02f1116UL, + 0x6fa6252dbUL, 0x6e4b5968cUL, 0x6a8084cb3UL, 0x695a7c41dUL, 0x61e7dc942UL, + 0x623d241ecUL, 0x625e97f57UL, 0x67dce22f2UL, 0x65eb66e0bUL, 0x7457409c3UL, + 0x751ee8e59UL, 0x75d98f32fUL, 0x77296c2a0UL, 0x76c4106f7UL, 0x72c8aa1beUL, + 0x71b686addUL, 0x703849031UL, 0x78e65a3d5UL, 0x78428e018UL, 0x796895939UL, + 0x79aff244fUL, 0x7c2d879eaUL, 0x7ceae049cUL, 0xc3cfb9284UL, 0xdb40f02ffUL, + 0x8b7ed963dUL, 0xab78b92ceUL, 0xf0851c03UL, 0xcb11aa16UL, 0xd9b01337UL, + 0x18ecfaecUL, 0x46f099f2UL, 0x1b360266eUL, 0x5ad7bebdfUL, 0x551888aaaUL, + 0x63b3ebb00UL, 0x75ba3cd94UL, 0x98f57bd0cUL, 0xf912a744eUL + }; + fromVector(codes, d._code_id); + d._nbits = 36; + d._tau = 0; + d._type = ARTAG; + d._name = "ARTAG"; + } + break; + case ARTOOLKITPLUS: + { + vector codes = { + 0x6dc269c27UL, 0x6d4229e26UL, 0x6cc2e9825UL, 0x6c42a9a24UL, 0x6fc369423UL, + 0x6f4329622UL, 0x6ec3e9021UL, 0x6e43a9220UL, 0x69c068c2fUL, 0x694028e2eUL, + 0x68c0e882dUL, 0x6840a8a2cUL, 0x6bc16842bUL, 0x6b412862aUL, 0x6ac1e8029UL, + 0x6a41a8228UL, 0x65c66bc37UL, 0x65462be36UL, 0x64c6eb835UL, 0x6446aba34UL, + 0x67c76b433UL, 0x67472b632UL, 0x66c7eb031UL, 0x6647ab230UL, 0x61c46ac3fUL, + 0x61442ae3eUL, 0x60c4ea83dUL, 0x6044aaa3cUL, 0x63c56a43bUL, 0x63452a63aUL, + 0x62c5ea039UL, 0x6245aa238UL, 0x7dca6dc07UL, 0x7d4a2de06UL, 0x7ccaed805UL, + 0x7c4aada04UL, 0x7fcb6d403UL, 0x7f4b2d602UL, 0x7ecbed001UL, 0x7e4bad200UL, + 0x79c86cc0fUL, 0x79482ce0eUL, 0x78c8ec80dUL, 0x7848aca0cUL, 0x7bc96c40bUL, + 0x7b492c60aUL, 0x7ac9ec009UL, 0x7a49ac208UL, 0x75ce6fc17UL, 0x754e2fe16UL, + 0x74ceef815UL, 0x744eafa14UL, 0x77cf6f413UL, 0x774f2f612UL, 0x76cfef011UL, + 0x764faf210UL, 0x71cc6ec1fUL, 0x714c2ee1eUL, 0x70ccee81dUL, 0x704caea1cUL, + 0x73cd6e41bUL, 0x734d2e61aUL, 0x72cdee019UL, 0x724dae218UL, 0x4dd261c67UL, + 0x4d5221e66UL, 0x4cd2e1865UL, 0x4c52a1a64UL, 0x4fd361463UL, 0x4f5321662UL, + 0x4ed3e1061UL, 0x4e53a1260UL, 0x49d060c6fUL, 0x495020e6eUL, 0x48d0e086dUL, + 0x4850a0a6cUL, 0x4bd16046bUL, 0x4b512066aUL, 0x4ad1e0069UL, 0x4a51a0268UL, + 0x45d663c77UL, 0x455623e76UL, 0x44d6e3875UL, 0x4456a3a74UL, 0x47d763473UL, + 0x475723672UL, 0x46d7e3071UL, 0x4657a3270UL, 0x41d462c7fUL, 0x415422e7eUL, + 0x40d4e287dUL, 0x4054a2a7cUL, 0x43d56247bUL, 0x43552267aUL, 0x42d5e2079UL, + 0x4255a2278UL, 0x5dda65c47UL, 0x5d5a25e46UL, 0x5cdae5845UL, 0x5c5aa5a44UL, + 0x5fdb65443UL, 0x5f5b25642UL, 0x5edbe5041UL, 0x5e5ba5240UL, 0x59d864c4fUL, + 0x595824e4eUL, 0x58d8e484dUL, 0x5858a4a4cUL, 0x5bd96444bUL, 0x5b592464aUL, + 0x5ad9e4049UL, 0x5a59a4248UL, 0x55de67c57UL, 0x555e27e56UL, 0x54dee7855UL, + 0x545ea7a54UL, 0x57df67453UL, 0x575f27652UL, 0x56dfe7051UL, 0x565fa7250UL, + 0x51dc66c5fUL, 0x515c26e5eUL, 0x50dce685dUL, 0x505ca6a5cUL, 0x53dd6645bUL, + 0x535d2665aUL, 0x52dde6059UL, 0x525da6258UL, 0x2de279ca7UL, 0x2d6239ea6UL, + 0x2ce2f98a5UL, 0x2c62b9aa4UL, 0x2fe3794a3UL, 0x2f63396a2UL, 0x2ee3f90a1UL, + 0x2e63b92a0UL, 0x29e078cafUL, 0x296038eaeUL, 0x28e0f88adUL, 0x2860b8aacUL, + 0x2be1784abUL, 0x2b61386aaUL, 0x2ae1f80a9UL, 0x2a61b82a8UL, 0x25e67bcb7UL, + 0x25663beb6UL, 0x24e6fb8b5UL, 0x2466bbab4UL, 0x27e77b4b3UL, 0x27673b6b2UL, + 0x26e7fb0b1UL, 0x2667bb2b0UL, 0x21e47acbfUL, 0x21643aebeUL, 0x20e4fa8bdUL, + 0x2064baabcUL, 0x23e57a4bbUL, 0x23653a6baUL, 0x22e5fa0b9UL, 0x2265ba2b8UL, + 0x3dea7dc87UL, 0x3d6a3de86UL, 0x3ceafd885UL, 0x3c6abda84UL, 0x3feb7d483UL, + 0x3f6b3d682UL, 0x3eebfd081UL, 0x3e6bbd280UL, 0x39e87cc8fUL, 0x39683ce8eUL, + 0x38e8fc88dUL, 0x3868bca8cUL, 0x3be97c48bUL, 0x3b693c68aUL, 0x3ae9fc089UL, + 0x3a69bc288UL, 0x35ee7fc97UL, 0x356e3fe96UL, 0x34eeff895UL, 0x346ebfa94UL, + 0x37ef7f493UL, 0x376f3f692UL, 0x36efff091UL, 0x366fbf290UL, 0x31ec7ec9fUL, + 0x316c3ee9eUL, 0x30ecfe89dUL, 0x306cbea9cUL, 0x33ed7e49bUL, 0x336d3e69aUL, + 0x32edfe099UL, 0x326dbe298UL, 0xdf271ce7UL, 0xd7231ee6UL, 0xcf2f18e5UL, + 0xc72b1ae4UL, 0xff3714e3UL, 0xf73316e2UL, 0xef3f10e1UL, 0xe73b12e0UL, + 0x9f070cefUL, 0x97030eeeUL, 0x8f0f08edUL, 0x870b0aecUL, 0xbf1704ebUL, + 0xb71306eaUL, 0xaf1f00e9UL, 0xa71b02e8UL, 0x5f673cf7UL, 0x57633ef6UL, + 0x4f6f38f5UL, 0x476b3af4UL, 0x7f7734f3UL, 0x777336f2UL, 0x6f7f30f1UL, + 0x677b32f0UL, 0x1f472cffUL, 0x17432efeUL, 0xf4f28fdUL, 0x74b2afcUL, + 0x3f5724fbUL, 0x375326faUL, 0x2f5f20f9UL, 0x275b22f8UL, 0x1dfa75cc7UL, + 0x1d7a35ec6UL, 0x1cfaf58c5UL, 0x1c7ab5ac4UL, 0x1ffb754c3UL, 0x1f7b356c2UL, + 0x1efbf50c1UL, 0x1e7bb52c0UL, 0x19f874ccfUL, 0x197834eceUL, 0x18f8f48cdUL, + 0x1878b4accUL, 0x1bf9744cbUL, 0x1b79346caUL, 0x1af9f40c9UL, 0x1a79b42c8UL, + 0x15fe77cd7UL, 0x157e37ed6UL, 0x14fef78d5UL, 0x147eb7ad4UL, 0x17ff774d3UL, + 0x177f376d2UL, 0x16fff70d1UL, 0x167fb72d0UL, 0x11fc76cdfUL, 0x117c36edeUL, + 0x10fcf68ddUL, 0x107cb6adcUL, 0x13fd764dbUL, 0x137d366daUL, 0x12fdf60d9UL, + 0x127db62d8UL, 0xed8249d27UL, 0xed0209f26UL, 0xec82c9925UL, 0xec0289b24UL, + 0xef8349523UL, 0xef0309722UL, 0xee83c9121UL, 0xee0389320UL, 0xe98048d2fUL, + 0xe90008f2eUL, 0xe880c892dUL, 0xe80088b2cUL, 0xeb814852bUL, 0xeb010872aUL, + 0xea81c8129UL, 0xea0188328UL, 0xe5864bd37UL, 0xe5060bf36UL, 0xe486cb935UL, + 0xe4068bb34UL, 0xe7874b533UL, 0xe7070b732UL, 0xe687cb131UL, 0xe6078b330UL, + 0xe1844ad3fUL, 0xe1040af3eUL, 0xe084ca93dUL, 0xe0048ab3cUL, 0xe3854a53bUL, + 0xe3050a73aUL, 0xe285ca139UL, 0xe2058a338UL, 0xfd8a4dd07UL, 0xfd0a0df06UL, + 0xfc8acd905UL, 0xfc0a8db04UL, 0xff8b4d503UL, 0xff0b0d702UL, 0xfe8bcd101UL, + 0xfe0b8d300UL, 0xf9884cd0fUL, 0xf9080cf0eUL, 0xf888cc90dUL, 0xf8088cb0cUL, + 0xfb894c50bUL, 0xfb090c70aUL, 0xfa89cc109UL, 0xfa098c308UL, 0xf58e4fd17UL, + 0xf50e0ff16UL, 0xf48ecf915UL, 0xf40e8fb14UL, 0xf78f4f513UL, 0xf70f0f712UL, + 0xf68fcf111UL, 0xf60f8f310UL, 0xf18c4ed1fUL, 0xf10c0ef1eUL, 0xf08cce91dUL, + 0xf00c8eb1cUL, 0xf38d4e51bUL, 0xf30d0e71aUL, 0xf28dce119UL, 0xf20d8e318UL, + 0xcd9241d67UL, 0xcd1201f66UL, 0xcc92c1965UL, 0xcc1281b64UL, 0xcf9341563UL, + 0xcf1301762UL, 0xce93c1161UL, 0xce1381360UL, 0xc99040d6fUL, 0xc91000f6eUL, + 0xc890c096dUL, 0xc81080b6cUL, 0xcb914056bUL, 0xcb110076aUL, 0xca91c0169UL, + 0xca1180368UL, 0xc59643d77UL, 0xc51603f76UL, 0xc496c3975UL, 0xc41683b74UL, + 0xc79743573UL, 0xc71703772UL, 0xc697c3171UL, 0xc61783370UL, 0xc19442d7fUL, + 0xc11402f7eUL, 0xc094c297dUL, 0xc01482b7cUL, 0xc3954257bUL, 0xc3150277aUL, + 0xc295c2179UL, 0xc21582378UL, 0xdd9a45d47UL, 0xdd1a05f46UL, 0xdc9ac5945UL, + 0xdc1a85b44UL, 0xdf9b45543UL, 0xdf1b05742UL, 0xde9bc5141UL, 0xde1b85340UL, + 0xd99844d4fUL, 0xd91804f4eUL, 0xd898c494dUL, 0xd81884b4cUL, 0xdb994454bUL, + 0xdb190474aUL, 0xda99c4149UL, 0xda1984348UL, 0xd59e47d57UL, 0xd51e07f56UL, + 0xd49ec7955UL, 0xd41e87b54UL, 0xd79f47553UL, 0xd71f07752UL, 0xd69fc7151UL, + 0xd61f87350UL, 0xd19c46d5fUL, 0xd11c06f5eUL, 0xd09cc695dUL, 0xd01c86b5cUL, + 0xd39d4655bUL, 0xd31d0675aUL, 0xd29dc6159UL, 0xd21d86358UL, 0xada259da7UL, + 0xad2219fa6UL, 0xaca2d99a5UL, 0xac2299ba4UL, 0xafa3595a3UL, 0xaf23197a2UL, + 0xaea3d91a1UL, 0xae23993a0UL, 0xa9a058dafUL, 0xa92018faeUL, 0xa8a0d89adUL, + 0xa82098bacUL, 0xaba1585abUL, 0xab21187aaUL, 0xaaa1d81a9UL, 0xaa21983a8UL, + 0xa5a65bdb7UL, 0xa5261bfb6UL, 0xa4a6db9b5UL, 0xa4269bbb4UL, 0xa7a75b5b3UL, + 0xa7271b7b2UL, 0xa6a7db1b1UL, 0xa6279b3b0UL, 0xa1a45adbfUL, 0xa1241afbeUL, + 0xa0a4da9bdUL, 0xa0249abbcUL, 0xa3a55a5bbUL, 0xa3251a7baUL, 0xa2a5da1b9UL, + 0xa2259a3b8UL, 0xbdaa5dd87UL, 0xbd2a1df86UL, 0xbcaadd985UL, 0xbc2a9db84UL, + 0xbfab5d583UL, 0xbf2b1d782UL, 0xbeabdd181UL, 0xbe2b9d380UL, 0xb9a85cd8fUL, + 0xb9281cf8eUL, 0xb8a8dc98dUL, 0xb8289cb8cUL, 0xbba95c58bUL, 0xbb291c78aUL, + 0xbaa9dc189UL, 0xba299c388UL, 0xb5ae5fd97UL, 0xb52e1ff96UL, 0xb4aedf995UL, + 0xb42e9fb94UL, 0xb7af5f593UL, 0xb72f1f792UL, 0xb6afdf191UL, 0xb62f9f390UL, + 0xb1ac5ed9fUL, 0xb12c1ef9eUL, 0xb0acde99dUL, 0xb02c9eb9cUL, 0xb3ad5e59bUL, + 0xb32d1e79aUL, 0xb2adde199UL, 0xb22d9e398UL, 0x8db251de7UL, 0x8d3211fe6UL, + 0x8cb2d19e5UL, 0x8c3291be4UL, 0x8fb3515e3UL, 0x8f33117e2UL, 0x8eb3d11e1UL, + 0x8e33913e0UL, 0x89b050defUL, 0x893010feeUL, 0x88b0d09edUL, 0x883090becUL, + 0x8bb1505ebUL, 0x8b31107eaUL, 0x8ab1d01e9UL, 0x8a31903e8UL, 0x85b653df7UL, + 0x853613ff6UL, 0x84b6d39f5UL, 0x843693bf4UL, 0x87b7535f3UL, 0x8737137f2UL, + 0x86b7d31f1UL, 0x8637933f0UL, 0x81b452dffUL, 0x813412ffeUL, 0x80b4d29fdUL, + 0x803492bfcUL, 0x83b5525fbUL, 0x8335127faUL, 0x82b5d21f9UL, 0x8235923f8UL, + 0x9dba55dc7UL, 0x9d3a15fc6UL, 0x9cbad59c5UL, 0x9c3a95bc4UL, 0x9fbb555c3UL, + 0x9f3b157c2UL, 0x9ebbd51c1UL, 0x9e3b953c0UL, 0x99b854dcfUL, 0x993814fceUL, + 0x98b8d49cdUL, 0x983894bccUL, 0x9bb9545cbUL, 0x9b39147caUL, 0x9ab9d41c9UL, + 0x9a39943c8UL, 0x95be57dd7UL, 0x953e17fd6UL, 0x94bed79d5UL, 0x943e97bd4UL, + 0x97bf575d3UL, 0x973f177d2UL, 0x96bfd71d1UL, 0x963f973d0UL, 0x91bc56ddfUL, + 0x913c16fdeUL, 0x90bcd69ddUL, 0x903c96bdcUL, 0x93bd565dbUL, 0x933d167daUL, + 0x92bdd61d9UL, 0x923d963d8UL + }; + fromVector(codes, d._code_id); + d._nbits = 36; + d._tau = 4; // + d._type = ARTOOLKITPLUS; + d._name = "ARTOOLKITPLUS"; + } + break; + case ARTOOLKITPLUSBCH: + { + vector codes = { + 0x8f80b8750UL, 0x8f9d0a027UL, 0x8fa66eec9UL, 0x8fbbdc9beUL, 0x8fcd15462UL, + 0x8fd0a7315UL, 0x8febc3dfbUL, 0x8ff671a8cUL, 0x8f0650643UL, 0x8f1be2134UL, + 0x8f2086fdaUL, 0x8f3d348adUL, 0x8f4bfd571UL, 0x8f564f206UL, 0x8f6d2bce8UL, + 0x8f7099b9fUL, 0x8e8d68576UL, 0x8e90da201UL, 0x8eabbecefUL, 0x8eb60cb98UL, + 0x8ec0c5644UL, 0x8edd77133UL, 0x8ee613fddUL, 0x8efba18aaUL, 0x8e0b80465UL, + 0x8e1632312UL, 0x8e2d56dfcUL, 0x8e30e4a8bUL, 0x8e462d757UL, 0x8e5b9f020UL, + 0x8e60fbeceUL, 0x8e7d499b9UL, 0x8d86aa46bUL, 0x8d9b1831cUL, 0x8da07cdf2UL, + 0x8dbdcea85UL, 0x8dcb07759UL, 0x8dd6b502eUL, 0x8dedd1ec0UL, 0x8df0639b7UL, + 0x8d0042578UL, 0x8d1df020fUL, 0x8d2694ce1UL, 0x8d3b26b96UL, 0x8d4def64aUL, + 0x8d505d13dUL, 0x8d6b39fd3UL, 0x8d768b8a4UL, 0x8c8b7a64dUL, 0x8c96c813aUL, + 0x8cadacfd4UL, 0x8cb01e8a3UL, 0x8cc6d757fUL, 0x8cdb65208UL, 0x8ce001ce6UL, + 0x8cfdb3b91UL, 0x8c0d9275eUL, 0x8c1020029UL, 0x8c2b44ec7UL, 0x8c36f69b0UL, + 0x8c403f46cUL, 0x8c5d8d31bUL, 0x8c66e9df5UL, 0x8c7b5ba82UL, 0x8b8c9c126UL, + 0x8b912e651UL, 0x8baa4a8bfUL, 0x8bb7f8fc8UL, 0x8bc131214UL, 0x8bdc83563UL, + 0x8be7e7b8dUL, 0x8bfa55cfaUL, 0x8b0a74035UL, 0x8b17c6742UL, 0x8b2ca29acUL, + 0x8b3110edbUL, 0x8b47d9307UL, 0x8b5a6b470UL, 0x8b610fa9eUL, 0x8b7cbdde9UL, + 0x8a814c300UL, 0x8a9cfe477UL, 0x8aa79aa99UL, 0x8aba28deeUL, 0x8acce1032UL, + 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0x6a46e608eUL, 0x6a5b547f9UL, 0x6a6030917UL, 0x6a7d82e60UL, + 0x6986613b2UL, 0x699bd34c5UL, 0x69a0b7a2bUL, 0x69bd05d5cUL, 0x69cbcc080UL, + 0x69d67e7f7UL, 0x69ed1a919UL, 0x69f0a8e6eUL, 0x6900892a1UL, 0x691d3b5d6UL, + 0x69265fb38UL, 0x693bedc4fUL, 0x694d24193UL, 0x6950966e4UL, 0x696bf280aUL, + 0x697640f7dUL, 0x688bb1194UL, 0x6896036e3UL, 0x68ad6780dUL, 0x68b0d5f7aUL, + 0x68c61c2a6UL, 0x68dbae5d1UL, 0x68e0cab3fUL, 0x68fd78c48UL, 0x680d59087UL, + 0x6810eb7f0UL, 0x682b8f91eUL, 0x68363de69UL, 0x6840f43b5UL, 0x685d464c2UL, + 0x686622a2cUL, 0x687b90d5bUL, 0x6789add64UL, 0x67941fa13UL, 0x67af7b4fdUL, + 0x67b2c938aUL, 0x67c400e56UL, 0x67d9b2921UL, 0x67e2d67cfUL, 0x67ff640b8UL, + 0x670f45c77UL, 0x6712f7b00UL, 0x6729935eeUL, 0x673421299UL, 0x6742e8f45UL, + 0x675f5a832UL, 0x67643e6dcUL, 0x67798c1abUL, 0x66847df42UL, 0x6699cf835UL, + 0x66a2ab6dbUL, 0x66bf191acUL, 0x66c9d0c70UL, 0x66d462b07UL, 0x66ef065e9UL, + 0x66f2b429eUL, 0x660295e51UL, 0x661f27926UL, 0x6624437c8UL, 0x6639f10bfUL, + 0x664f38d63UL, 0x66528aa14UL, 0x6669ee4faUL, 0x66745c38dUL, 0x658fbfe5fUL, + 0x65920d928UL, 0x65a9697c6UL, 0x65b4db0b1UL, 0x65c212d6dUL, 0x65dfa0a1aUL, + 0x65e4c44f4UL, 0x65f976383UL, 0x650957f4cUL, 0x6514e583bUL, 0x652f816d5UL, + 0x6532331a2UL, 0x6544fac7eUL, 0x655948b09UL, 0x65622c5e7UL, 0x657f9e290UL, + 0x64826fc79UL, 0x649fddb0eUL, 0x64a4b95e0UL, 0x64b90b297UL, 0x64cfc2f4bUL, + 0x64d27083cUL, 0x64e9146d2UL, 0x64f4a61a5UL, 0x640487d6aUL, 0x641935a1dUL, + 0x6422514f3UL, 0x643fe3384UL, 0x64492ae58UL, 0x64549892fUL, 0x646ffc7c1UL, + 0x64724e0b6UL, 0x638589b12UL, 0x63983bc65UL, 0x63a35f28bUL, 0x63beed5fcUL, + 0x63c824820UL, 0x63d596f57UL, 0x63eef21b9UL, 0x63f3406ceUL, 0x630361a01UL, + 0x631ed3d76UL, 0x6325b7398UL, 0x6338054efUL, 0x634ecc933UL, 0x63537ee44UL, + 0x63681a0aaUL, 0x6375a87ddUL, 0x628859934UL, 0x6295ebe43UL, 0x62ae8f0adUL, + 0x62b33d7daUL, 0x62c5f4a06UL, 0x62d846d71UL, 0x62e32239fUL, 0x62fe904e8UL, + 0x620eb1827UL, 0x621303f50UL, 0x6228671beUL, 0x6235d56c9UL, 0x62431cb15UL, + 0x625eaec62UL, 0x6265ca28cUL, 0x6278785fbUL, 0x61839b829UL, 0x619e29f5eUL, + 0x61a54d1b0UL, 0x61b8ff6c7UL, 0x61ce36b1bUL, 0x61d384c6cUL, 0x61e8e0282UL, + 0x61f5525f5UL, 0x61057393aUL, 0x6118c1e4dUL, 0x6123a50a3UL, 0x613e177d4UL, + 0x6148dea08UL, 0x61556cd7fUL, 0x616e08391UL, 0x6173ba4e6UL, 0x608e4ba0fUL, + 0x6093f9d78UL, 0x60a89d396UL, 0x60b52f4e1UL, 0x60c3e693dUL, 0x60de54e4aUL, + 0x60e5300a4UL, 0x60f8827d3UL, 0x6008a3b1cUL, 0x601511c6bUL, 0x602e75285UL, + 0x6033c75f2UL, 0x60450e82eUL, 0x6058bcf59UL, 0x6063d81b7UL, 0x607e6a6c0UL, + 0x7f87a21c9UL, 0x7f9a106beUL, 0x7fa174850UL, 0x7fbcc6f27UL, 0x7fca0f2fbUL, + 0x7fd7bd58cUL, 0x7fecd9b62UL, 0x7ff16bc15UL, 0x7f014a0daUL, 0x7f1cf87adUL, + 0x7f279c943UL, 0x7f3a2ee34UL, 0x7f4ce73e8UL, 0x7f515549fUL, 0x7f6a31a71UL, + 0x7f7783d06UL, 0x7e8a723efUL, 0x7e97c0498UL, 0x7eaca4a76UL, 0x7eb116d01UL, + 0x7ec7df0ddUL, 0x7eda6d7aaUL, 0x7ee109944UL, 0x7efcbbe33UL, 0x7e0c9a2fcUL, + 0x7e112858bUL, 0x7e2a4cb65UL, 0x7e37fec12UL, 0x7e41371ceUL, 0x7e5c856b9UL, + 0x7e67e1857UL, 0x7e7a53f20UL, 0x7d81b02f2UL, 0x7d9c02585UL, 0x7da766b6bUL, + 0x7dbad4c1cUL, 0x7dcc1d1c0UL, 0x7dd1af6b7UL, 0x7deacb859UL, 0x7df779f2eUL, + 0x7d07583e1UL, 0x7d1aea496UL, 0x7d218ea78UL, 0x7d3c3cd0fUL, 0x7d4af50d3UL, + 0x7d57477a4UL, 0x7d6c2394aUL, 0x7d7191e3dUL, 0x7c8c600d4UL, 0x7c91d27a3UL, + 0x7caab694dUL, 0x7cb704e3aUL, 0x7cc1cd3e6UL, 0x7cdc7f491UL, 0x7ce71ba7fUL, + 0x7cfaa9d08UL, 0x7c0a881c7UL, 0x7c173a6b0UL, 0x7c2c5e85eUL, 0x7c31ecf29UL, + 0x7c47252f5UL, 0x7c5a97582UL, 0x7c61f3b6cUL, 0x7c7c41c1bUL, 0x7b8b867bfUL, + 0x7b96340c8UL, 0x7bad50e26UL, 0x7bb0e2951UL, 0x7bc62b48dUL, 0x7bdb993faUL, + 0x7be0fdd14UL, 0x7bfd4fa63UL, 0x7b0d6e6acUL, 0x7b10dc1dbUL, 0x7b2bb8f35UL, + 0x7b360a842UL, 0x7b40c359eUL, 0x7b5d712e9UL, 0x7b6615c07UL, 0x7b7ba7b70UL, + 0x7a8656599UL, 0x7a9be42eeUL, 0x7aa080c00UL, 0x7abd32b77UL, 0x7acbfb6abUL, + 0x7ad6491dcUL, 0x7aed2df32UL, 0x7af09f845UL, 0x7a00be48aUL, 0x7a1d0c3fdUL, + 0x7a2668d13UL, 0x7a3bdaa64UL, 0x7a4d137b8UL, 0x7a50a10cfUL, 0x7a6bc5e21UL, + 0x7a7677956UL, 0x798d94484UL, 0x7990263f3UL, 0x79ab42d1dUL, 0x79b6f0a6aUL, + 0x79c0397b6UL, 0x79dd8b0c1UL, 0x79e6efe2fUL, 0x79fb5d958UL, 0x790b7c597UL, + 0x7916ce2e0UL, 0x792daac0eUL, 0x793018b79UL, 0x7946d16a5UL, 0x795b631d2UL, + 0x796007f3cUL, 0x797db584bUL, 0x7880446a2UL, 0x789df61d5UL, 0x78a692f3bUL, + 0x78bb2084cUL, 0x78cde9590UL, 0x78d05b2e7UL, 0x78eb3fc09UL, 0x78f68db7eUL, + 0x7806ac7b1UL, 0x781b1e0c6UL, 0x78207ae28UL, 0x783dc895fUL, 0x784b01483UL, + 0x7856b33f4UL, 0x786dd7d1aUL, 0x787065a6dUL, 0x778258a52UL, 0x779fead25UL, + 0x77a48e3cbUL, 0x77b93c4bcUL, 0x77cff5960UL, 0x77d247e17UL, 0x77e9230f9UL, + 0x77f49178eUL, 0x7704b0b41UL, 0x771902c36UL, 0x7722662d8UL, 0x773fd45afUL, + 0x77491d873UL, 0x7754aff04UL, 0x776fcb1eaUL, 0x77727969dUL, 0x768f88874UL, + 0x76923af03UL, 0x76a95e1edUL, 0x76b4ec69aUL, 0x76c225b46UL, 0x76df97c31UL, + 0x76e4f32dfUL, 0x76f9415a8UL, 0x760960967UL, 0x7614d2e10UL, 0x762fb60feUL, + 0x763204789UL, 0x7644cda55UL, 0x76597fd22UL, 0x76621b3ccUL, 0x767fa94bbUL, + 0x75844a969UL, 0x7599f8e1eUL, 0x75a29c0f0UL, 0x75bf2e787UL, 0x75c9e7a5bUL, + 0x75d455d2cUL, 0x75ef313c2UL, 0x75f2834b5UL, 0x7502a287aUL, 0x751f10f0dUL, + 0x7524741e3UL, 0x7539c6694UL, 0x754f0fb48UL, 0x7552bdc3fUL, 0x7569d92d1UL, + 0x75746b5a6UL, 0x74899ab4fUL, 0x749428c38UL, 0x74af4c2d6UL, 0x74b2fe5a1UL, + 0x74c43787dUL, 0x74d985f0aUL, 0x74e2e11e4UL, 0x74ff53693UL, 0x740f72a5cUL, + 0x7412c0d2bUL, 0x7429a43c5UL, 0x7434164b2UL, 0x7442df96eUL, 0x745f6de19UL, + 0x7464090f7UL, 0x7479bb780UL, 0x738e7cc24UL, 0x7393ceb53UL, 0x73a8aa5bdUL, + 0x73b5182caUL, 0x73c3d1f16UL, 0x73de63861UL, 0x73e50768fUL, 0x73f8b51f8UL, + 0x730894d37UL, 0x731526a40UL, 0x732e424aeUL, 0x7333f03d9UL, 0x734539e05UL, + 0x73588b972UL, 0x7363ef79cUL, 0x737e5d0ebUL, 0x7283ace02UL, 0x729e1e975UL, + 0x72a57a79bUL, 0x72b8c80ecUL, 0x72ce01d30UL, 0x72d3b3a47UL, 0x72e8d74a9UL, + 0x72f5653deUL, 0x720544f11UL, 0x7218f6866UL, 0x722392688UL, 0x723e201ffUL, + 0x7248e9c23UL, 0x72555bb54UL, 0x726e3f5baUL, 0x72738d2cdUL, 0x71886ef1fUL, + 0x7195dc868UL, 0x71aeb8686UL, 0x71b30a1f1UL, 0x71c5c3c2dUL, 0x71d871b5aUL, + 0x71e3155b4UL, 0x71fea72c3UL, 0x710e86e0cUL, 0x71133497bUL, 0x712850795UL, + 0x7135e20e2UL, 0x71432bd3eUL, 0x715e99a49UL, 0x7165fd4a7UL, 0x71784f3d0UL, + 0x7085bed39UL, 0x70980ca4eUL, 0x70a3684a0UL, 0x70beda3d7UL, 0x70c813e0bUL, + 0x70d5a197cUL, 0x70eec5792UL, 0x70f3770e5UL, 0x700356c2aUL, 0x701ee4b5dUL, + 0x7025805b3UL, 0x7038322c4UL, 0x704efbf18UL, 0x70534986fUL, 0x70682d681UL, + 0x70759f1f6UL + }; + fromVector(codes, d._code_id); + d._nbits = 36; + d._tau = 2; // + d._type = ARTOOLKITPLUSBCH; + d._name = "ARTOOLKITPLUSBCH"; + } + break; + case TAG36h11: + { + vector codes = { + 0xd5d628584UL, 0xd97f18b49UL, 0xdd280910eUL, 0xe479e9c98UL, 0xebcbca822UL, + 0xf31dab3acUL, 0x56a5d085UL, 0x10652e1d4UL, 0x22b1dfeadUL, 0x265ad0472UL, + 0x34fe91b86UL, 0x3ff962cd5UL, 0x43a25329aUL, 0x474b4385fUL, 0x4e9d243e9UL, + 0x5246149aeUL, 0x5997f5538UL, 0x683bb6c4cUL, 0x6be4a7211UL, 0x7e3158eeaUL, + 0x81da494afUL, 0x858339a74UL, 0x8cd51a5feUL, 0x9f21cc2d7UL, 0xa2cabc89cUL, + 0xadc58d9ebUL, 0xb16e7dfb0UL, 0xb8c05eb3aUL, 0xd25ef139dUL, 0xd607e1962UL, + 0xe4aba3076UL, 0x2dde6a3daUL, 0x43d40c678UL, 0x5620be351UL, 0x64c47fa65UL, + 0x686d7002aUL, 0x6c16605efUL, 0x6fbf50bb4UL, 0x8d06d39dcUL, 0x9f53856b5UL, + 0xadf746dc9UL, 0xbc9b084ddUL, 0xd290aa77bUL, 0xd9e28b305UL, 0xe4dd5c454UL, + 0xfad2fe6f2UL, 0x181a8151aUL, 0x26be42c2eUL, 0x2e10237b8UL, 0x405cd5491UL, + 0x7742eab1cUL, 0x85e6ac230UL, 0x8d388cdbaUL, 0x9f853ea93UL, 0xc41ea2445UL, + 0xcf1973594UL, 0x14a34a333UL, 0x31eacd15bUL, 0x6c79d2dabUL, 0x73cbb3935UL, + 0x89c155bd3UL, 0x8d6a46198UL, 0x91133675dUL, 0xa708d89fbUL, 0xae5ab9585UL, + 0xb9558a6d4UL, 0xb98743ab2UL, 0xd6cec68daUL, 0x1506bcaefUL, 0x4becd217aUL, + 0x4f95c273fUL, 0x658b649ddUL, 0xa76c4b1b7UL, 0xecf621f56UL, 0x1c8a56a57UL, + 0x3628e92baUL, 0x53706c0e2UL, 0x5e6b3d231UL, 0x7809cfa94UL, 0xe97eead6fUL, + 0x5af40604aUL, 0x7492988adUL, 0xed5994712UL, 0x5eceaf9edUL, 0x7c1632815UL, + 0xc1a0095b4UL, 0xe9e25d52bUL, 0x3a6705419UL, 0xa8333012fUL, 0x4ce5704d0UL, + 0x508e60a95UL, 0x877476120UL, 0xa864e950dUL, 0xea45cfce7UL, 0x19da047e8UL, + 0x24d4d5937UL, 0x6e079cc9bUL, 0x99f2e11d7UL, 0x33aa50429UL, 0x499ff26c7UL, + 0x50f1d3251UL, 0x66e7754efUL, 0x96ad633ceUL, 0x9a5653993UL, 0xaca30566cUL, + 0xc298a790aUL, 0x8be44b65dUL, 0xdc68f354bUL, 0x16f7f919bUL, 0x4dde0e826UL, + 0xd548cbd9fUL, 0xe0439ceeeUL, 0xfd8b1fd16UL, 0x76521bb7bUL, 0xd92375742UL, + 0xcab16d40cUL, 0x730c9dd72UL, 0xad9ba39c2UL, 0xb14493f87UL, 0x52b15651fUL, + 0x185409cadUL, 0x77ae2c68dUL, 0x94f5af4b5UL, 0xa13bad55UL, 0x61ea437cdUL, + 0xa022399e2UL, 0x203b163d1UL, 0x7bba8f40eUL, 0x95bc9442dUL, 0x41c0b5358UL, + 0x8e9c6cc81UL, 0xeb549670UL, 0x9da3a0b51UL, 0xd832a67a1UL, 0xdcd4350bcUL, + 0x4aa05fdd2UL, 0x60c7bb44eUL, 0x4b358b96cUL, 0x67299b45UL, 0xb9c89b5faUL, + 0x6975acaeaUL, 0x62b8f7afaUL, 0x33567c3d7UL, 0xbac139950UL, 0xa5927c62aUL, + 0x5c916e6a4UL, 0x260ecb7d5UL, 0x29b7bbd9aUL, 0x903205f26UL, 0xae72270a4UL, + 0x3d2ec51a7UL, 0x82ea55324UL, 0x11a6f3427UL, 0x1ca1c4576UL, 0xa40c81aefUL, + 0xbddccd730UL, 0xe617561eUL, 0x969317b0fUL, 0x67f781364UL, 0x610912f96UL, + 0xb2549fdfcUL, 0x6e5aaa6bUL, 0xb6c475339UL, 0xc56836a4dUL, 0x844e351ebUL, + 0x4647f83b4UL, 0x908a04f5UL, 0x7f51034c9UL, 0xaee537fcaUL, 0x5e92494baUL, + 0xd445808f4UL, 0x28d68b563UL, 0x4d25374bUL, 0x2bc065f65UL, 0x96dc3ea0cUL, + 0x4b2ade817UL, 0x7c3fd502UL, 0xe768b5cafUL, 0x17605cf6cUL, 0x182741ee4UL, + 0x62846097cUL, 0x72b5ebf80UL, 0x263da6e13UL, 0xfa841bcb5UL, 0x7e45e8c69UL, + 0x653c81fa0UL, 0x7443b5e70UL, 0xa5234afdUL, 0x74756f24eUL, 0x157ebf02aUL, + 0x82ef46939UL, 0x80d420264UL, 0x2aeed3e98UL, 0xb0a1dd4f8UL, 0xb5436be13UL, + 0x7b7b4b13bUL, 0x1ce80d6d3UL, 0x16c08427dUL, 0xee54462ddUL, 0x1f7644cceUL, + 0x9c7b5cc92UL, 0xe369138f8UL, 0x5d5a66e91UL, 0x485d62f49UL, 0xe6e819e94UL, + 0xb1f340eb5UL, 0x9d198ce2UL, 0xd60717437UL, 0x196b856cUL, 0xf0a6173a5UL, + 0x12c0e1ec6UL, 0x62b82d5cfUL, 0xad154c067UL, 0xce3778832UL, 0x6b0a7b864UL, + 0x4c7686694UL, 0x5058ff3ecUL, 0xd5e21ea23UL, 0x9ff4a76eeUL, 0x9dd981019UL, + 0x1bad4d30aUL, 0xc601896d1UL, 0x973439b48UL, 0x1ce7431a8UL, 0x57a8021d6UL, + 0xf9dba96e6UL, 0x83a2e4e7cUL, 0x8ea585380UL, 0xaf6c0e744UL, 0x875b73babUL, + 0xda34ca901UL, 0x2ab9727efUL, 0xd39f21b9aUL, 0x8a10b742fUL, 0x5f8952dbaUL, + 0xf8da71ab0UL, 0xc25f9df96UL, 0x6f8a5d94UL, 0xe42e63e1aUL, 0xb78409d1bUL, + 0x792229addUL, 0x5acf8c455UL, 0x2fc29a9b0UL, 0xea486237bUL, 0xb0c9685a0UL, + 0x1ad748a47UL, 0x3b4712d5UL, 0xf29216d30UL, 0x8dad65e49UL, 0xa2cf09ddUL, + 0xb5f174c6UL, 0xe54f57743UL, 0xb9cf54d78UL, 0x4a312a88aUL, 0x27babc962UL, + 0xb86897111UL, 0xf2ff6c116UL, 0x82274bd8aUL, 0x97023505eUL, 0x52d46edd1UL, + 0x585c1f538UL, 0xbddd00e43UL, 0x5590b74dfUL, 0x729404a1fUL, 0x65320855eUL, + 0xd3d4b6956UL, 0x7ae374f14UL, 0x2d7a60e06UL, 0x315cd9b5eUL, 0xfd36b4eacUL, + 0xf1df7642bUL, 0x55db27726UL, 0x8f15ebc19UL, 0x992f8c531UL, 0x62dea2a40UL, + 0x928275cabUL, 0x69c263cb9UL, 0xa774cca9eUL, 0x266b2110eUL, 0x1b14acbb8UL, + 0x624b8a71bUL, 0x1c539406bUL, 0x3086d529bUL, 0x111dd66eUL, 0x98cd630bfUL, + 0x8b9d1ffdcUL, 0x72b2f61e7UL, 0x9ed9d672bUL, 0x96cdd15f3UL, 0x6366c2504UL, + 0x6ca9df73aUL, 0xa066d60f0UL, 0xe7a4b8addUL, 0x8264647efUL, 0xaa195bf81UL, + 0x9a3db8244UL, 0x14d2df6aUL, 0xb63265b7UL, 0x2f010de73UL, 0x97e774986UL, + 0x248affc29UL, 0xfb57dcd11UL, 0xb1a7e4d9UL, 0x4bfa2d07dUL, 0x54e5cdf96UL, + 0x4c15c1c86UL, 0xcd9c61166UL, 0x499380b2aUL, 0x540308d09UL, 0x8b63fe66fUL, + 0xc81aeb35eUL, 0x86fe0bd5cUL, 0xce2480c2aUL, 0x1ab29ee60UL, 0x8048daa15UL, + 0xdbfeb2d39UL, 0x567c9858cUL, 0x2b6edc5bcUL, 0x2078fca82UL, 0xadacc22aaUL, + 0xb92486f49UL, 0x51fac5964UL, 0x691ee6420UL, 0xf63b3e129UL, 0x39be7e572UL, + 0xda2ce6c74UL, 0x20cf17a5cUL, 0xee55f9b6eUL, 0xfb8572726UL, 0xb2c2de548UL, + 0xcaa9bce92UL, 0xae9182db3UL, 0x74b6e5bd1UL, 0x137b252afUL, 0x51f686881UL, + 0xd672f6c02UL, 0x654146ce4UL, 0xf944bc825UL, 0xe8327f809UL, 0x76a73fd59UL, + 0xf79da4cb4UL, 0x956f8099bUL, 0x7b5f2655cUL, 0xd06b114a6UL, 0xd0697ca50UL, + 0x27c390797UL, 0xbc61ed9b2UL, 0xcc12dd19bUL, 0xeb7818d2cUL, 0x92fcecdaUL, + 0x89ded4ea1UL, 0x256a0ba34UL, 0xb6948e627UL, 0x1ef6b1054UL, 0x8639294a2UL, + 0xeda3780a4UL, 0x39ee2af1dUL, 0xcd257edc5UL, 0x2d9d6bc22UL, 0x121d3b47dUL, + 0x37e23f8adUL, 0x119f31cf6UL, 0x2c97f4f09UL, 0xd502abfe0UL, 0x10bc3ca77UL, + 0x53d7190efUL, 0x90c3e62a6UL, 0x7e9ebf675UL, 0x979ce23d1UL, 0x27f0c98e9UL, + 0xeafb4ae59UL, 0x7ca7fe2bdUL, 0x1490ca8f6UL, 0x9123387baUL, 0xb3bc73888UL, + 0x3ea87e325UL, 0x4888964aaUL, 0xa0188a6b9UL, 0xcd383c666UL, 0x40029a3fdUL, + 0xe1c00ac5cUL, 0x39e6f2b6eUL, 0xde664f622UL, 0xe979a75e8UL, 0x7c6b4c86cUL, + 0xfd492e071UL, 0x8fbb35118UL, 0x40b4a09b7UL, 0xaf80bd6daUL, 0x70e0b2521UL, + 0x2f5c54d93UL, 0x3f4a118d5UL, 0x9c1897b9UL, 0x79776eacUL, 0x84b00b17UL, + 0x3a95ad90eUL, 0x28c544095UL, 0x39d457c05UL, 0x7a3791a78UL, 0xbb770e22eUL, + 0x9a822bd6cUL, 0x68a4b1fedUL, 0xa5fd27b3bUL, 0xc3995b79UL, 0xd1519dff1UL, + 0x8e7eee359UL, 0xcd3ca50b1UL, 0xb73b8b793UL, 0x57aca1c43UL, 0xec2655277UL, + 0x785a2c1b3UL, 0x75a07985aUL, 0xa4b01eb69UL, 0xa18a11347UL, 0xdb1f28ca3UL, + 0x877ec3e25UL, 0x31f6341b8UL, 0x1363a3a4cUL, 0x75d8b9baUL, 0x7ae0792a9UL, + 0xa83a21651UL, 0x7f08f9fb5UL, 0xd0cf73a9UL, 0xb04dcc98eUL, 0xf65c7b0f8UL, + 0x65ddaf69aUL, 0x2cf9b86b3UL, 0x14cb51e25UL, 0xf48027b5bUL, 0xec26ea8bUL, + 0x44bafd45cUL, 0xb12c7c0c4UL, 0x959fd9d82UL, 0xc77c9725aUL, 0x48a22d462UL, + 0x8398e8072UL, 0xec89b05ceUL, 0xbb682d4c9UL, 0xe5a86d2ffUL, 0x358f01134UL, + 0x8556ddcf6UL, 0x67584b6e2UL, 0x11609439fUL, 0x8488816eUL, 0xaaf1a2c46UL, + 0xf879898cfUL, 0x8bbe5e2f7UL, 0x101eee363UL, 0x690f69377UL, 0xf5bd93cd9UL, + 0xcea4c2bf6UL, 0x9550be706UL, 0x2c5b38a60UL, 0xe72033547UL, 0x4458b0629UL, + 0xee8d9ed41UL, 0xd2f918d72UL, 0x78dc39fd3UL, 0x8212636f6UL, 0x7450a72a7UL, + 0xc4f0cf4c6UL, 0x367bcddcdUL, 0xc1caf8cc6UL, 0xa7f5b853dUL, 0x9d536818bUL, + 0x535e021b0UL, 0xa7eb8729eUL, 0x422a67b49UL, 0x929e928a6UL, 0x48e8aefccUL, + 0xa9897393cUL, 0x5eb81d37eUL, 0x1e80287b7UL, 0x34770d903UL, 0x2eef86728UL, + 0x59266ccb6UL, 0x110bba61UL, 0x1dfd284efUL, 0x447439d1bUL, 0xfece0e599UL, + 0x9309f3703UL, 0x80764d1ddUL, 0x353f1e6a0UL, 0x2c1c12dccUL, 0xc1d21b9d7UL, + 0x457ee453eUL, 0xd66faf540UL, 0x44831e652UL, 0xcfd49a848UL, 0x9312d4133UL, + 0x3f097d3eeUL, 0x8c9ebef7aUL, 0xa99e29e88UL, 0xe9fab22cUL, 0x4e748f4fbUL, + 0xecdee4288UL, 0xabce5f1d0UL, 0xc42f6876cUL, 0x7ed402ea0UL, 0xe5c4242c3UL, + 0xd5b2c31aeUL, 0x286863be6UL, 0x160444d94UL, 0x5f0f5808eUL, 0xae3d44b2aUL, + 0x9f5c5d109UL, 0x8ad9316d7UL, 0x3422ba064UL, 0x2fed11d56UL, 0xbea6e3e04UL, + 0x4b029eecUL, 0x6deed7435UL, 0x3718ce17cUL, 0x55857f5e2UL, 0x2edac7b62UL, + 0x85d6c512UL, 0xd6ca88e0fUL, 0x2b7e1fc69UL, 0xa699d5c1bUL, 0xf05ad74deUL, + 0x4cf5fb56dUL, 0x5725e07e1UL, 0x72f18a2deUL, 0x1cec52609UL, 0x48534243cUL, + 0x2523a4d69UL, 0x35c1b80d1UL, 0xa4d7338a7UL, 0xdb1af012UL, 0xe61a9475dUL, + 0x5df03f91UL, 0x97ae260bbUL, 0x32d627fefUL, 0xb640f73c2UL, 0x45a1ac9c6UL, + 0x6a2202de1UL, 0x57d3e25f2UL, 0x5aa9f986eUL, 0xcc859d8aUL, 0xe3ec6cca8UL, + 0x54e95e1aeUL, 0x446887b06UL, 0x7516732beUL, 0x3817ac8f5UL, 0x3e26d938cUL, + 0xaa81bc235UL, 0xdf387ca1bUL, 0xf3a3b3f2UL, 0xb4bf69677UL, 0xae21868edUL, + 0x81e1d2d9dUL, 0xa0a9ea14cUL, 0x8eee297a9UL, 0x4740c0559UL, 0xe8b141837UL, + 0xac69e0a3dUL, 0x9ed83a1e1UL, 0x5edb55ecbUL, 0x7340fe81UL, 0x50dfbc6bfUL, + 0x4f583508aUL, 0xcb1fb78bcUL, 0x4025ced2fUL, 0x39791ebecUL, 0x53ee388f1UL, + 0x7d6c0bd23UL, 0x93a995fbeUL, 0x8a41728deUL, 0x2fe70e053UL, 0xab3db443aUL, + 0x1364edb05UL, 0x47b6eeed6UL, 0x12e71af01UL, 0x52ff83587UL, 0x3a1575dd8UL, + 0x3feaa3564UL, 0xeacf78ba7UL, 0x872b94f8UL, 0xda8ddf9a2UL, 0x9aa920d2bUL, + 0x1f350ed36UL, 0x18a5e861fUL, 0x2c35b89c3UL, 0x3347ac48aUL, 0x7f23e022eUL, + 0x2459068fbUL, 0xe83be4b73UL + }; + fromVector(codes, d._code_id); + d._nbits = 36; + d._tau = 11; + d._type = TAG36h11; + d._name = "TAG36h11"; + } + break; + case TAG36h10: + { + vector codes = { + 0x1ca92a687UL, 0x20521ac4cUL, 0x27a3fb7d6UL, 0x2b4cebd9bUL, 0x3647bceeaUL, + 0x39f0ad4afUL, 0x3d999da74UL, 0x44eb7e5feUL, 0x538f3fd12UL, 0x5738302d7UL, + 0x65dbf19ebUL, 0x70d6c2b3aUL, 0x7f7a8424eUL, 0x832374813UL, 0x86cc64dd8UL, + 0x8a755539dUL, 0x9570264ecUL, 0x991916ab1UL, 0xa06af763bUL, 0xab65c878aUL, + 0xb2b7a9314UL, 0xb660998d9UL, 0xbdb27a463UL, 0xcc563bb77UL, 0xe24bdde15UL, + 0xed46aef64UL, 0xf4988faeeUL, 0x6e5417c7UL, 0x158902edbUL, 0x1cdae3a65UL, + 0x242cc45efUL, 0x27d5b4bb4UL, 0x2b7ea5179UL, 0x32d085d03UL, 0x3679762c8UL, + 0x3a226688dUL, 0x3dcb56e52UL, 0x48c627fa1UL, 0x5769e96b5UL, 0x6264ba804UL, + 0x660daadc9UL, 0x6d5f8b953UL, 0x74b16c4ddUL, 0x7fac3d62cUL, 0x91f8ef305UL, + 0x95a1df8caUL, 0x994acfe8fUL, 0xa09cb0a19UL, 0xa445a0fdeUL, 0xa7ee915a3UL, + 0xab9781b68UL, 0xaf407212dUL, 0xb69252cb7UL, 0xc8df04990UL, 0xd3d9d5adfUL, + 0xd782c60a4UL, 0xf12158907UL, 0x1d0c9ce43UL, 0x20b58d408UL, 0x2f594eb1cUL, + 0x3a541fc6bUL, 0x454ef0dbaUL, 0x53f2b24ceUL, 0x629673be2UL, 0x74e3258bbUL, + 0x8ad8c7b59UL, 0x9d2579832UL, 0xa8204a981UL, 0xaf722b50bUL, 0xb6c40c095UL, + 0xba6cfc65aUL, 0xf15311ce5UL, 0x748b3f83UL, 0xaf1a4548UL, 0xe9a94b0dUL, + 0x2be217935UL, 0x3e2ec960eUL, 0x4cd28ad22UL, 0x507b7b2e7UL, 0x54246b8acUL, + 0x57cd5be71UL, 0x6a1a0db4aUL, 0x6dc2fe10fUL, 0x876190972UL, 0x99ae4264bUL, + 0xabfaf4324UL, 0xc9427714cUL, 0xd09457cd6UL, 0xd43d4829bUL, 0xea32ea539UL, + 0xf52dbb688UL, 0x161e2ea75UL, 0x286ae074eUL, 0x66a2d6963UL, 0x8b3c3a315UL, + 0x8ee52a8daUL, 0xa131dc5b3UL, 0xe6bbb3352UL, 0xf55f74a66UL, 0x5a45bb5UL, + 0x7ac2673fUL, 0x1da1c89ddUL, 0x289c99b2cUL, 0x3ae94b805UL, 0x50deedaa3UL, + 0x5830ce62dUL, 0x5bd9bebf2UL, 0x632b9f77cUL, 0x6e26708cbUL, 0x841c12b69UL, + 0x92bfd427dUL, 0x9668c4842UL, 0x9dbaa53ccUL, 0xb007570a5UL, 0xb3b04766aUL, + 0xc25408d7eUL, 0xea965ccf5UL, 0xf93a1e409UL, 0x434ef558UL, 0x1681a1231UL, + 0x1dd381dbbUL, 0x302033a94UL, 0x75aa0a833UL, 0x92f18d65bUL, 0x9a436e1e5UL, + 0xa1954ed6fUL, 0xb78af100dUL, 0xbb33e15d2UL, 0xc62eb2721UL, 0x466a8936UL, + 0xf6179a85UL, 0x16b35a60fUL, 0x589440de9UL, 0x6738024fdUL, 0x847f85325UL, + 0x9e1e17b88UL, 0xacc1d929cUL, 0xb06ac9861UL, 0xd5042d213UL, 0xfd468118aUL, + 0xf9332e63UL, 0x342c96815UL, 0x37d586ddaUL, 0x551d09c02UL, 0x5c6eea78cUL, + 0x6017dad51UL, 0x9354ffe17UL, 0x9aa6e09a1UL, 0xa94aa20b5UL, 0xacf39267aUL, + 0xbb9753d8eUL, 0xbf4044353UL, 0x8730b6b7UL, 0x1716ccdcbUL, 0x22119df1aUL, + 0x3f5920d42UL, 0x58f7b35a5UL, 0x6b446527eUL, 0x972fa97baUL, 0x9e818a344UL, + 0xa5d36aeceUL, 0xd1beaf40aUL, 0xdcb980559UL, 0xf65812dbcUL, 0x139f95be4UL, + 0x6b761e65cUL, 0x6f1f0ec21UL, 0xa605242acUL, 0xe43d1a4c1UL, 0x29c6f1260UL, + 0x386ab2974UL, 0x4e6054c12UL, 0x8c984ae27UL, 0x97931bf76UL, 0x9ee4fcb00UL, + 0xd22221bc6UL, 0xe46ed389fUL, 0xebc0b4429UL, 0x6f82813ddUL, 0x732b719a2UL, + 0x9072f47caUL, 0x941be4d8fUL, 0x97c4d5354UL, 0x9f16b5edeUL, 0xb8b548741UL, + 0xd253dafa4UL, 0xd5fccb569UL, 0xd9a5bbb2eUL, 0xe4a08cc7dUL, 0x3c77156f5UL, + 0x7aaf0b90aUL, 0xb53e1155aUL, 0xb8e701b1fUL, 0x5c2b9448UL, 0x14667ab5cUL, + 0x47a39fc22UL, 0x4ef5807acUL, 0x64eb22a4aUL, 0x982847b10UL, 0xaa74f97e9UL, + 0xae1de9daeUL, 0xb56fca938UL, 0xf750b1112UL, 0x1bea14ac4UL, 0x1f9305089UL, + 0x233bf564eUL, 0x31dfb6d62UL, 0x3931978ecUL, 0x52d02a14fUL, 0x5a220acd9UL, + 0xb1f893751UL, 0xfb2b5aab5UL, 0x40b531854UL, 0x5a53c40b7UL, 0x8d90e917dUL, + 0x9139d9742UL, 0x94e2c9d07UL, 0xd6c3b04e1UL, 0xe910621baUL, 0xf40b33309UL, + 0x1152b6131UL, 0x32432951eUL, 0x3d3dfa66dUL, 0x65804e5e4UL, 0xab0a25383UL, + 0xb604f64d2UL, 0xde474a449UL, 0x11846f50fUL, 0x6d03e854cUL, 0x7455c90d6UL, + 0xab3bde761UL, 0xdad013262UL, 0xe973d4976UL, 0x2b54bb150UL, 0x9577f58a1UL, + 0x9920e5e66UL, 0xb66868c8eUL, 0xf4a05eea3UL, 0x3dd326207UL, 0x5b1aa902fUL, + 0x99529f244UL, 0xb2f131aa7UL, 0xd038b48cfUL, 0xd3e1a4e94UL, 0x24664cd82UL, + 0x36b2fea5bUL, 0x95db6805dUL, 0xa0d6391acUL, 0xabd10a2fbUL, 0x15f444a4cUL, + 0x2be9e6ceaUL, 0x57d52b226UL, 0x5f270bdb0UL, 0xb6fd94828UL, 0x879b19105UL, + 0xd476d0a2eUL, 0xe6c382707UL, 0xdbfa6a996UL, 0x1689705e6UL, 0x3b22d3f98UL, + 0x636527f0fUL, 0x7d03ba772UL, 0xee78d5a4dUL, 0xbf165a32aUL, 0xc2bf4a8efUL, + 0x517be89f2UL, 0x67718ac90UL, 0x6b1a7b255UL, 0x726c5bddfUL, 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0xc88d267e6UL, + 0x73a0ac25fUL, 0xe7b75690fUL, 0xdcbb95be2UL, 0x7a1d2a059UL, 0xd8fac361eUL, + 0x6312ff5c9UL, 0xd2cf50d54UL, 0x8c65fd00fUL, 0xaa1636532UL, 0x870c7285dUL, + 0x1894f0b84UL, 0x4260cc5c3UL, 0xe9997b9ecUL, 0x87a052144UL, 0x8706babf6UL, + 0xbd5f62ad3UL, 0x1a7895439UL, 0xf7e294bbcUL, 0xbcc27ca26UL, 0x3186a63d4UL, + 0x7f3ede4a4UL, 0xb64e32468UL, 0x71f250d53UL, 0x7c6513783UL, 0xb1778714aUL, + 0x94bf2c57fUL, 0x64a9f893aUL, 0x1305be654UL, 0x493e0c9f6UL, 0x5ba6fed8UL, + 0xc4a0c7a06UL, 0xcc2ec0ddUL, 0xd9a6769afUL, 0x724c78a49UL, 0xc85c981a4UL, + 0x12553c4cdUL, 0x83cb892b1UL, 0xbc324ccc7UL, 0xef43f6c1dUL, 0x2d6748bb7UL, + 0x5efdce2d7UL, 0x94af64f28UL, 0xf9d58feb3UL, 0xcf547ac63UL, 0xceb309febUL, + 0x30beba8caUL, 0x8ab2e486aUL, 0x4a95d58adUL, 0x25ce07c46UL, 0x712b93fd7UL, + 0x7f46acc81UL, 0x64049d4beUL, 0x65303aa09UL, 0xf3aad21b3UL, 0x2903a6cd0UL, + 0x5a0e0467dUL, 0x3c4fa64e4UL, 0x5c6655126UL, 0xb40a2a67fUL, 0xb0c22c6e5UL, + 0x1507e039bUL, 0xb282b16b8UL, 0xc0e14a3d3UL, 0x93d381427UL, 0x6bb55bb87UL, + 0xb675af72fUL, 0xfceb4f95eUL, 0x66af6ebbdUL, 0x20a44d1f2UL, 0x6bc873916UL, + 0xb8947bee8UL, 0x4b6bed8a6UL, 0x7012f7867UL, 0x7eda3c150UL, 0xab3ef1b8eUL, + 0x6d71466eeUL, 0x408c4e225UL, 0xe117838b1UL, 0xaef3a075UL, 0x5a0779d4fUL, + 0x70a3b1d69UL, 0x26ccd31fdUL, 0xed64dd1b2UL, 0x981d4f60cUL, 0x6a6e4fb61UL, + 0x52f15fc93UL, 0x32b3a64dUL, 0xecb17d667UL, 0xa983fb935UL, 0x37d23c88dUL, + 0xb8590fbcbUL, 0xec2f1a277UL, 0x90d3053e6UL, 0xa36fa8ccdUL, 0x44bd08eccUL, + 0x61dd197d9UL, 0xa307cfd82UL, 0x1d09c2de4UL, 0x5f6d74368UL, 0x1327d1b2dUL, + 0x594cc36b9UL, 0xfea1cba7cUL, 0x50c31262dUL, 0xd99b1a6baUL, 0x1bf789cd2UL, + 0xe2f6f66f9UL, 0x13d5edfc6UL, 0xbc3a9ab0cUL, 0x1da5b2734UL, 0x25ef4f2deUL, + 0xdcb55a50aUL, 0x9c6dbc6acUL, 0x89a838853UL, 0x168f099eeUL, 0xd51601760UL, + 0x89f324f1aUL, 0x2cb1ec1eaUL, 0x6306de366UL, 0x12a2f11eUL, 0xb5c0bf797UL, + 0x5c5f02be4UL, 0x5019f54beUL, 0x6ae4a096aUL, 0x4bce78778UL, 0x94b65b97fUL, + 0xd3f6e7bd2UL, 0x1fbd2a84cUL, 0x6d0127ab1UL, 0x3e82799aaUL, 0x4c1264dfeUL, + 0xcf69c9360UL, 0x4b43e5342UL, 0x35d1f0372UL, 0xd78c18eb4UL, 0x262574101UL, + 0xc2c5c7335UL, 0xbad04051aUL, 0x1c481f94eUL, 0x3285aa0deUL, 0x8973e1f69UL, + 0x5d238c694UL, 0x7b71847b9UL, 0x242f5675cUL, 0xcc5751c2dUL, 0xe09bc620bUL, + 0xe4e904ddUL, 0x7ca4f1a7UL, 0x2ac79ae43UL, 0xe213d4250UL, 0xd4137c2b5UL, + 0xddfce11bcUL, 0xd1d658566UL, 0x213f5b1bbUL, 0xcd35be0a8UL, 0xcc67d7f91UL, + 0x509bde098UL, 0x74d3d8f46UL, 0x51309c970UL, 0x53e2bdf66UL, 0xa5dd3fed3UL, + 0xa4e69b212UL, 0xb1d39936dUL, 0x6b6c8926bUL, 0x46540a7b0UL, 0x2eebc599fUL, + 0x2e54a283eUL, 0xf9a328a9cUL, 0x7ea9cfc53UL, 0x5cffa2bdbUL, 0x464d16f8eUL, + 0xeb09444bcUL, 0x3f341b259UL, 0x4d112b108UL, 0x70cb94242UL, 0x974ed4ffdUL, + 0x1084da291UL, 0x85673ca39UL, 0xd4d74766fUL, 0x64a68e1deUL, 0xe35630caeUL, + 0x2073229dbUL, 0x63d3a3902UL, 0x31598ee06UL, 0x808d61126UL, 0x29957984UL, + 0xd4f5f2649UL, 0x9ec8a706bUL, 0x349981760UL, 0xc93ab23a6UL, 0x2c7aa80daUL, + 0x866f102baUL, 0xb15cff7bcUL, 0x66a13a4caUL, 0x54a755048UL, 0xd13fdb8d9UL, + 0x16ad5edf3UL, 0xe043bb154UL, 0xcc8755671UL, 0xcf9b2bfd5UL, 0x3608890b4UL, + 0x330fef315UL, 0xe3299ca65UL, 0xb60765e1UL, 0xe9bb17dcUL, 0x95f474d8bUL, + 0xe721d3d00UL, 0xd4679e565UL, 0xc80da6113UL, 0x98deeff30UL, 0xc293bb871UL, + 0xe79132f48UL, 0xb152dafbbUL, 0x55f6a4386UL, 0xa1b8a4044UL, 0x4f4187b05UL, + 0xb17c2ed3UL, 0x95d75ba04UL, 0xbbf12e96dUL, 0x6abd1a52fUL, 0xf300bc991UL, + 0xf0a7385d4UL, 0x52964f82aUL, 0xa9962925fUL, 0x613b2eef1UL, 0x5fd2c92a8UL, + 0x9ebecd05UL, 0x36002b87aUL, 0x902c79eefUL, 0x394e63c7eUL, 0x133285064UL, + 0xf7cfe2d4bUL, 0x4f068522cUL, 0x96fea1a0fUL, 0xc5a927b13UL, 0xe9a2c1994UL, + 0x5c53b3803UL, 0xf636b6188UL, 0x7c656e3UL, 0x26af1fc5fUL, 0xec2f40b78UL, + 0xfaa1921e5UL, 0x6137a8b30UL, 0x28674f7bUL, 0x3de184e35UL, 0xeeef093e6UL, + 0xd44b3dae0UL, 0xbb7ab7d93UL, 0x2ae18c956UL, 0xcde492bd6UL, 0x1cee0216eUL, + 0xf1e5830adUL, 0x76f6c3299UL, 0xdea24af84UL, 0x277e75586UL, 0xa17318024UL, + 0x5c4739486UL, 0x5e3de4725UL, 0x6f67c9f6dUL, 0x25f42791dUL, 0x3c54d15b3UL, + 0xef98d9c32UL, 0x42f64819dUL, 0x16d5fd070UL, 0x63cb98d4fUL, 0x45a3ad27cUL, + 0x1b496b0acUL, 0xaa471c42dUL, 0x599346a2UL, 0xdc8d1c2dUL, 0x7498928c1UL, + 0xea06e90ffUL, 0xb683baa32UL, 0xf93014e16UL, 0x20575d56eUL, 0x794325589UL, + 0x1533e9935UL, 0x86b8bcb70UL, 0xce11faf5dUL, 0x36c0bd318UL, 0xe5e8c1167UL, + 0xe1831ba64UL, 0xe088dbfa4UL, 0x984479674UL, 0xafef02b29UL, 0x48518c716UL, + 0x4301564ceUL, 0x21cc88710UL, 0xd5c995278UL, 0xd8367de1cUL, 0x4a51125e8UL, + 0x113e1c226UL, 0xef141e076UL, 0x44097011dUL, 0x4ca9d707cUL, 0x40d8831f1UL, + 0xbd9c3b1d8UL, 0x978364177UL, 0x10f7606a9UL, 0x46a64270aUL, 0x42df1b22bUL, + 0xe906cf2a0UL, 0x997da6fa5UL, 0xa5722c26fUL, 0xb14f58aaaUL, 0xafc167ad8UL, + 0x37be56e60UL, 0xde7f80d62UL, 0xc3fb0a64UL, 0xce8ca802cUL, 0x35032ed9dUL, + 0xaa8ba3ee6UL, 0x94b2e707cUL, 0x2debbdae1UL, 0xf53e25fcfUL, 0xe935543ebUL, + 0x1462f0e90UL, 0x54ce7d18cUL, 0x2ddafdc5fUL, 0x700565deeUL, 0xfd408e0afUL, + 0x17d089decUL, 0x833ea2459UL, 0x3c8d3776aUL, 0x2e5eebac8UL, 0x20cbf49b0UL, + 0xc44675eb7UL, 0x3a4b6beb1UL, 0xce6f37c1eUL, 0x63fba2e7cUL, 0x5a05b553dUL, + 0x1286445b0UL, 0x5e07a9b61UL, 0x7d8397ea4UL, 0x8084b7bbbUL, 0xb05b38097UL, + 0x29c3019eeUL, 0xed1d2708bUL, 0x9df8a4d47UL, 0xe4891e436UL, 0x2a762ab72UL, + 0x92f70600fUL, 0x92329a2cdUL, 0x3e200c6edUL, 0x8c0a7233eUL, 0x60866806aUL, + 0xf4fddd24aUL, 0xf78464c71UL, 0x9c3d22242UL, 0x3877ea6d1UL, 0xe2a6d54acUL, + 0x497d2a5e7UL, 0xca82f781eUL, 0x481524f4cUL, 0xdee088814UL, 0xb2a82d3a4UL, + 0x8e6afe6e5UL, 0xd6279a5daUL, 0x4567cbc1aUL, 0x5bec2b2fdUL, 0x4ef452505UL, + 0x61d992cbaUL, 0xab96be0cbUL, 0x708ef35d9UL, 0xb3f6f3623UL, 0x36eb1801dUL, + 0xbadfee917UL, 0xa3db13cd0UL, 0x1d1a12828UL, 0x2500816ceUL, 0xcf7612148UL, + 0xbe6a3f4bUL, 0x74142f3daUL, 0xce5deed92UL, 0xf9530a786UL, 0x47c8bb38UL, + 0xfcabfe88fUL, 0xbc83accb1UL, 0x20cd9fb1fUL, 0x23dcceb3UL, 0x9e969b8c4UL, + 0x6e28de934UL, 0x80a399667UL, 0x76a0b85adUL, 0x21a84be3cUL, 0xa28d028b5UL, + 0xc4e7690dfUL, 0xbfd9621e8UL, 0x6f4bc0c24UL, 0xaa8e76bd7UL, 0xdeb55dac9UL, + 0xbb344fa8bUL, 0xfcaab4decUL, 0x146aba6cbUL, 0xf49ed6eb8UL, 0xdd57e9deaUL, + 0x225d5d090UL, 0xd6e86c1c5UL, 0x639be5f39UL, 0xf5e7a6132UL, 0xd2968b09fUL, + 0x82b30ba1eUL, 0x803fa46ccUL, 0xc290fab00UL, 0x10df59de5UL, 0x51ae9dcfbUL, + 0x49af8516dUL, 0x2b564ce6UL, 0xc615a1de0UL, 0xfef9864a4UL, 0xc16e27341UL, + 0x39e846736UL, 0x1ecbb6746UL, 0x588d03a7cUL, 0x10a0eaf9cUL, 0x671ccea6bUL, + 0x33a154603UL, 0xa7b003bc1UL, 0xc5fc3848dUL, 0x78e50a9c7UL, 0x17dbfb88eUL, + 0x4fd0ed541UL, 0x84221debaUL, 0x3132cf7e6UL, 0xb67e7ac53UL, 0xdf6b28024UL, + 0x785b9f7edUL, 0xe3d35320dUL, 0x159c06583UL, 0x5c54a80a3UL, 0xed4d4533bUL, + 0xcf16c601aUL, 0x5e94efbd1UL, 0x5d587126eUL, 0xeef2f2807UL, 0x9f3c558eUL, + 0x736cfd539UL, 0xf5a922ae1UL, 0x4e2ab9959UL, 0x6a2dd34e7UL, 0x8c9d30d23UL, + 0xeba20b791UL, 0xd5c5095e3UL, 0x423d75a82UL, 0x40cebaafeUL, 0x65e08d288UL, + 0x2e4f6d767UL, 0xfe10d2f21UL, 0x110347bdaUL, 0xe43a9bfb3UL, 0xcdea483ccUL, + 0xfb1e2d8c6UL, 0xd8a0af7a7UL, 0x37d05b182UL, 0x8d1241d83UL, 0xda1ea7b6eUL, + 0x65bea93dbUL, 0x2a02f8753UL, 0x454243289UL, 0x4150bc5a2UL, 0xbbabe5911UL, + 0x4cbcdbc59UL, 0xf0e61340bUL, 0x30a2cdea8UL, 0x5daecb091UL, 0x5dc93d891UL, + 0xc501b4051UL, 0x782cfba78UL, 0x4c191b61eUL, 0xb7e27ef35UL, 0x5a476838UL, + 0x9b0209574UL, 0xa775164cfUL, 0xd33d21701UL, 0x3afcb7d45UL, 0x4df2035cdUL, + 0x498819a21UL, 0x293f9e506UL, 0x9a35ff1c8UL, 0xc090ebe6bUL, 0xa4f0551d4UL, + 0x5dc0dc194UL, 0x1388aeb31UL, 0x340b27bf4UL, 0x3a0f320abUL, 0x996be75dUL, + 0xb257ecf39UL, 0x78d86f2f1UL, 0x673f5ff91UL, 0x4538d7e3eUL, 0xde5bc4369UL + }; + fromVector(codes, d._code_id); + d._nbits = 36; + d._tau = 10; + d._type = TAG36h10; + d._name = "TAG36h10"; + } + break; + case TAG16h5: + { + vector codes = { 0x231bUL, 0x2ea5UL, 0x346aUL, 0x45b9UL, 0x79a6UL, + 0x7f6bUL, 0xb358UL, 0xe745UL, 0xfe59UL, 0x156dUL, + 0x380bUL, 0xf0abUL, 0xd84UL, 0x4736UL, 0x8c72UL, + 0xaf10UL, 0x93cUL, 0x93b4UL, 0xa503UL, 0x468fUL, + 0xe137UL, 0x5795UL, 0xdf42UL, 0x1c1dUL, 0xe9dcUL, + 0x73adUL, 0xad5fUL, 0xd530UL, 0x7caUL, 0xaf2eUL }; + fromVector(codes, d._code_id); + d._nbits = 16; + d._tau = 5; + d._type = TAG16h5; + d._name = "TAG16h5"; + } + break; + case TAG25h7: + { + vector codes = { + 0x4b770dUL, 0x11693e6UL, 0x1a599abUL, 0xc3a535UL, 0x152aafaUL, 0xaccd98UL, + 0x1cad922UL, 0x2c2fadUL, 0xbb3572UL, 0x14a3b37UL, 0x186524bUL, 0xc99d4cUL, + 0x23bfeaUL, 0x141cb74UL, 0x1d0d139UL, 0x1670aebUL, 0x851675UL, 0x150334eUL, + 0x6e3ed8UL, 0xfd449dUL, 0xaa55ecUL, 0x1c86176UL, 0x15e9b28UL, 0x7ca6b2UL, + 0x147c38bUL, 0x1d6c950UL, 0x8b0e8cUL, 0x11a1451UL, 0x1562b65UL, 0x13f53c8UL, + 0xd58d7aUL, 0x829ec9UL, 0xfaccf1UL, 0x136e405UL, 0x7a2f06UL, 0x10934cbUL, + 0x16a8b56UL, 0x1a6a26aUL, 0xf85545UL, 0x195c2e4UL, 0x24c8a9UL, 0x12bfc96UL, + 0x16813aaUL, 0x1a42abeUL, 0x1573424UL, 0x1044573UL, 0xb156c2UL, 0x5e6811UL, + 0x1659bfeUL, 0x1d55a63UL, 0x5bf065UL, 0xe28667UL, 0x1e9ba54UL, 0x17d7c5aUL, + 0x1f5aa82UL, 0x1a2bbd1UL, 0x1ae9f9UL, 0x1259e51UL, 0x134062bUL, 0xe1177aUL, + 0xed07a8UL, 0x162be24UL, 0x59128bUL, 0x1663e8fUL, 0x1a83cbUL, 0x45bb59UL, + 0x189065aUL, 0x4bb370UL, 0x16fb711UL, 0x122c077UL, 0xeca17aUL, 0xdbc1f4UL, + 0x88d343UL, 0x58ac5dUL, 0xba02e8UL, 0x1a1d9dUL, 0x1c72eecUL, 0x924bc5UL, + 0xdccab3UL, 0x886d15UL, 0x178c965UL, 0x5bc69aUL, 0x1716261UL, 0x174e2ccUL, + 0x1ed10f4UL, 0x156aa8UL, 0x3e2a8aUL, 0x2752edUL, 0x153c651UL, 0x1741670UL, + 0x765b05UL, 0x119c0bbUL, 0x172a783UL, 0x4faca1UL, 0xf31257UL, 0x12441fcUL, + 0xd3748UL, 0xc21f15UL, 0xac5037UL, 0x180e592UL, 0x7d3210UL, 0xa27187UL, + 0x2beeafUL, 0x26ff57UL, 0x690e82UL, 0x77765cUL, 0x1a9e1d7UL, 0x140be1aUL, + 0x1aa1e3aUL, 0x1944f5cUL, 0x19b5032UL, 0x169897UL, 0x1068eb9UL, 0xf30dbcUL, + 0x106a151UL, 0x1d53e95UL, 0x1348ceeUL, 0xcf4fcaUL, 0x1728bb5UL, 0xdc1eecUL, + 0x69e8dbUL, 0x16e1523UL, 0x105fa25UL, 0x18abb0cUL, 0xc4275dUL, 0x6d8e76UL, + 0xe8d6dbUL, 0xe16fd7UL, 0x1ac2682UL, 0x77435bUL, 0xa359ddUL, 0x3a9c4eUL, + 0x123919aUL, 0x1e25817UL, 0x2a836UL, 0x1545a4UL, 0x1209c8dUL, 0xbb5f69UL, + 0x1dc1f02UL, 0x5d5f7eUL, 0x12d0581UL, 0x13786c2UL, 0xe15409UL, 0x1aa3599UL, + 0x139aad8UL, 0xb09d2aUL, 0x54488fUL, 0x13c351cUL, 0x976079UL, 0xb25b12UL, + 0x1addb34UL, 0x1cb23aeUL, 0x1175738UL, 0x1303bb8UL, 0xd47716UL, 0x188ceeaUL, + 0xbaf967UL, 0x1226d39UL, 0x135e99bUL, 0x34adc5UL, 0x2e384dUL, 0x90d3faUL, + 0x232713UL, 0x17d49b1UL, 0xaa84d6UL, 0xc2ddf8UL, 0x1665646UL, 0x4f345fUL, + 0x2276b1UL, 0x1255dd7UL, 0x16f4cccUL, 0x4aaffcUL, 0xc46da6UL, 0x85c7b3UL, + 0x1311fcbUL, 0x9c6c4fUL, 0x187d947UL, 0x8578e4UL, 0xe2bf0bUL, 0xa01b4cUL, + 0xa1493bUL, 0x7ad766UL, 0xccfe82UL, 0x1981b5bUL, 0x1cacc85UL, 0x562cdbUL, + 0x15b0e78UL, 0x8f66c5UL, 0x3332bfUL, 0x12ce754UL, 0x96a76UL, 0x1d5e3baUL, + 0x27ea41UL, 0x14412dfUL, 0x67b9b4UL, 0xdaa51aUL, 0x1dcb17UL, 0x4d4afdUL, + 0x6335d5UL, 0xee2334UL, 0x17d4e55UL, 0x1b8b0f0UL, 0x14999e3UL, 0x1513dfaUL, + 0x765cf2UL, 0x56af90UL, 0x12e16acUL, 0x1d3d86cUL, 0xff279bUL, 0x18822ddUL, + 0x99d478UL, 0x8dc0d2UL, 0x34b666UL, 0xcf9526UL, 0x186443dUL, 0x7a8e29UL, + 0x19c6aa5UL, 0x1f2a27dUL, 0x12b2136UL, 0xd0cd0dUL, 0x12cb320UL, 0x17ddb0bUL, + 0x5353bUL, 0x15b2cafUL, 0x1e5a507UL, 0x120f1e5UL, 0x114605aUL, 0x14efe4cUL, + 0x568134UL, 0x11b9f92UL, 0x174d2a7UL, 0x692b1dUL, 0x39e4feUL, 0xaaff3dUL, + 0x96224cUL, 0x13c9f77UL, 0x110ee8fUL, 0xf17beaUL, 0x99fb5dUL, 0x337141UL, + 0x2b54dUL, 0x1233a70UL + }; + fromVector(codes, d._code_id); + d._nbits = 25; + d._tau = 7; + d._type = TAG25h7; + d._name = "TAG25h7"; + } + break; + case TAG25h9: + { + vector codes = { + 0x155cbf1UL, 0x1e4d1b6UL, 0x17b0b68UL, 0x1eac9cdUL, 0x12e14ceUL, 0x3548bbUL, + 0x7757e6UL, 0x1065dabUL, 0x1baa2e7UL, 0xdea688UL, 0x81d927UL, 0x51b241UL, + 0xdbc8aeUL, 0x1e50e19UL, 0x15819d2UL, 0x16d8282UL, 0x163e035UL, 0x9d9b81UL, + 0x173eec4UL, 0xae3a09UL, 0x5f7c51UL, 0x1a137fcUL, 0xdc9562UL, 0x1802e45UL, + 0x1c3542cUL, 0x870fa4UL, 0x914709UL, 0x16684f0UL, 0xc8f2a5UL, 0x833ebbUL, + 0x59717fUL, 0x13cd050UL, 0xfa0ad1UL, 0x1b763b0UL, 0xb991ceUL + }; + fromVector(codes, d._code_id); + d._nbits = 25; + d._tau = 9; + d._type = TAG25h9; + d._name = "TAG25h9"; + } + break; + case ARUCO_MIP_16h3: + { + vector codes = { + 0x5867UL, 0x8b03UL, 0x2537UL, 0xb6c7UL, 0xe45UL, 0x161UL, 0x219UL, 0x859bUL, + 0x87UL, 0xc93fUL, 0x905fUL, 0x3e73UL, 0x6ab7UL, 0x1bafUL, 0x6f0fUL, 0x23d3UL, + 0x47a5UL, 0x8cf7UL, 0x83cfUL, 0x9205UL, 0x29a5UL, 0x8033UL, 0x857dUL, 0xa4afUL, + 0x422fUL, 0x1d07UL, 0x4ee3UL, 0x64c5UL, 0xaa7fUL, 0x4b75UL, 0x34dbUL, 0x926UL, + 0x262UL, 0x501dUL, 0x415UL, 0x6201UL, 0x2064UL, 0x2d5UL, 0x10bUL, 0x9427UL, + 0xc16bUL, 0xa603UL, 0x911UL, 0x1043UL, 0x87bUL, 0xccfUL, 0x162bUL, 0x9ab3UL, + 0x30b7UL, 0xad0bUL, 0x60a6UL, 0x3845UL, 0xce2bUL, 0xadc7UL, 0x612UL, 0x4253UL, + 0x9cc3UL, 0xc23UL, 0x409bUL, 0x8e87UL, 0x98e5UL, 0x20f1UL, 0xa807UL, 0x1bfUL, + 0x7023UL, 0xdf1UL, 0x2957UL, 0x26b3UL, 0xd80fUL, 0x4076UL, 0x233bUL, 0x32e3UL, + 0x7a85UL, 0x4349UL, 0xc857UL, 0x41c6UL, 0x3813UL, 0x6d97UL, 0x324fUL, 0xe3fUL, + 0x47ffUL, 0x2217UL, 0xdd6fUL, 0x48b1UL, 0x8b95UL, 0xd9c7UL, 0x1a7dUL, 0x867bUL, + 0xb7ffUL, 0x7fa7UL, 0x478bUL, 0x6d43UL, 0x6167UL, 0x8f67UL, 0xcda7UL, 0x5cb7UL, + 0xf3afUL, 0x889fUL, 0x2fdfUL, 0xd2e7UL, 0x553UL, 0xbc1fUL, 0x7607UL, 0x2a61UL, + 0x11ebUL, 0xa457UL, 0x789fUL, 0x2e95UL, 0xb46bUL, 0x39ffUL, 0x4fb6UL, 0x647fUL, + 0x250dUL, 0x5883UL, 0xc5d7UL, 0xe73fUL, 0x129fUL, 0x548fUL, 0xb253UL, 0x635fUL, + 0x1ed7UL, 0xc647UL, 0xa1f7UL, 0x565fUL, 0x7e6fUL, 0xe10fUL, 0xf56UL, 0xf2dfUL, + 0x87a3UL, 0x4b87UL, 0x24f6UL, 0xafb7UL, 0x3bc7UL, 0x51a7UL, 0x6a47UL, 0x4c46UL, + 0x6723UL, 0x2787UL, 0x2667UL, 0x2f13UL, 0x50d7UL, 0x680dUL, 0x7ad3UL, 0x454fUL, + 0x6c35UL, 0xf17fUL, 0x6b91UL, 0x4011UL, 0x16UL, 0x2022UL, 0xa1UL, 0x142UL, + 0x40fUL, 0x1025UL, 0xcbUL, 0x45UL, 0x4427UL, 0x8491UL, 0x2292UL, 0x482bUL, + 0x8221UL, 0x8293UL, 0xf7UL, 0x7dUL, 0x601UL, 0x84a5UL, 0x2443UL, 0x806fUL, + 0x21c1UL, 0x4825UL, 0x466UL, 0x742dUL, 0xca07UL, 0x20bbUL, 0x88a3UL, 0x2251UL, + 0xa81UL, 0x202dUL, 0x205bUL, 0x1a07UL, 0x8119UL, 0x6413UL, 0x6105UL, 0x820bUL, + 0x8715UL, 0x1c0bUL, 0xb003UL, 0x307UL, 0x147bUL, 0x135UL, 0x62a3UL, 0x6c0bUL, + 0x14b3UL, 0x5c05UL, 0xd81UL, 0x36dUL, 0x8d3UL, 0x8ba7UL, 0xb25UL, 0x4c5bUL, + 0x2867UL, 0x242bUL, 0x1237UL, 0x4206UL, 0xa0c3UL, 0xa4f3UL, 0x984bUL, 0x8507UL, + 0x4529UL, 0xf0dUL, 0xb2bUL, 0x2891UL, 0x1a3bUL, 0x234bUL, 0x8d43UL, 0x22e6UL, + 0x7245UL, 0x1c77UL, 0x825dUL, 0x3487UL, 0x60d6UL, 0x5403UL, 0x90e3UL, 0xa43UL, + 0x6519UL, 0x6169UL, 0xc397UL, 0x2285UL, 0xc127UL, 0x2c05UL, 0x8871UL, 0x5a0bUL, + 0x4e26UL, 0x15afUL, 0xf97UL, 0x258bUL, 0x463bUL, 0x86c3UL, 0x292fUL, 0x9e3UL, + 0x2571UL, 0x4ce5UL, 0x81d5UL, 0x459UL, 0x40e2UL, 0x5b6UL, 0x4a33UL, 0x837UL, + 0xa2a7UL, 0xf4bUL + }; + fromVector(codes, d._code_id); + d._nbits = 16; + d._tau = 3; + d._type = ARUCO_MIP_16h3; + d._name = "ARUCO_MIP_16h3"; + } + break; + + case ARUCO_MIP_25h7: + { + vector codes = { + 0x1ad2487UL, 0x141b6e9UL, 0x1780e66UL, 0x1a86ad8UL, 0x1146916UL, 0x14ebcb6UL, + 0x1a1893cUL, 0xd79525UL, 0xf8db53UL, 0x1b5928UL, 0x127bf52UL, 0x1cb3a02UL, + 0x145ed8cUL, 0x3970efUL, 0xc8934cUL, 0x5badedUL, 0x53c9daUL, 0x1991f79UL, + 0x1d40a4dUL, 0x1631993UL, 0x74d97cUL, 0x62c8a5UL, 0x1a6ce96UL, 0x1c71456UL, + 0x18d8df2UL, 0xe290faUL, 0x494061UL, 0xedc6cdUL, 0x12bd8f0UL, 0x1a5d254UL, + 0x172eb3aUL, 0x9d6e92UL, 0x10a2172UL, 0x1bd085aUL, 0x186e528UL, 0xb4af45UL, + 0x55a5b2UL, 0x5e5136UL, 0x88508bUL, 0xea2c6fUL, 0x1a9274cUL, 0xbbb977UL, + 0x5ede62UL, 0x105ba85UL, 0x18a79bcUL, 0x18d4b9dUL, 0x1a144deUL, 0x1ba5390UL, + 0x1b8a652UL, 0x1c4948dUL, 0x3ce285UL, 0xb5cce7UL, 0x16d2cb9UL, 0xb7d338UL, + 0xb650e9UL, 0x130e4b1UL, 0xd3badcUL, 0xf2161dUL, 0x17a45a7UL, 0x14c5c50UL, + 0x14be8abUL, 0x1230de9UL, 0xf7c242UL, 0x508697UL, 0x14b1cc5UL, 0x2c1e94UL, + 0xf89469UL, 0xdc52d8UL, 0x6eb5c4UL, 0xd8ea08UL, 0x16c779dUL, 0x1770dbeUL, + 0x90a4ecUL, 0x1bf212eUL, 0x1a4b99aUL, 0x1d2d3a9UL, 0xf4f5aeUL, 0x842e89UL, + 0x1c0e8d4UL, 0x1af4a4cUL, 0x189044bUL, 0xdd3108UL, 0x1ab639eUL, 0x18836c5UL, + 0x5f5ad3UL, 0x1410f5dUL, 0xeb532fUL, 0xbda0baUL, 0x9edf2dUL, 0xd5ae4eUL, + 0x165d1b8UL, 0x187d07aUL, 0x1dd616dUL, 0x912527UL, 0x940c3cUL, 0x516b8dUL, + 0xc1da19UL, 0xc7db85UL, 0x144cb34UL, 0xcd7a34UL + }; + fromVector(codes, d._code_id); + d._nbits = 25; + d._tau = 7; + d._type = ARUCO_MIP_25h7; + d._name = "ARUCO_MIP_25h7"; + } + break; + + case ARUCO_MIP_36h12: + { + vector codes = { + 0xd2b63a09dUL, 0x6001134e5UL, 0x1206fbe72UL, 0xff8ad6cb4UL, 0x85da9bc49UL, + 0xb461afe9cUL, 0x6db51fe13UL, 0x5248c541fUL, 0x8f34503UL, 0x8ea462eceUL, + 0xeac2be76dUL, 0x1af615c44UL, 0xb48a49f27UL, 0x2e4e1283bUL, 0x78b1f2fa8UL, + 0x27d34f57eUL, 0x89222fff1UL, 0x4c1669406UL, 0xbf49b3511UL, 0xdc191cd5dUL, + 0x11d7c3f85UL, 0x16a130e35UL, 0xe29f27effUL, 0x428d8ae0cUL, 0x90d548477UL, + 0x2319cbc93UL, 0xc3b0c3dfcUL, 0x424bccc9UL, 0x2a081d630UL, 0x762743d96UL, + 0xd0645bf19UL, 0xf38d7fd60UL, 0xc6cbf9a10UL, 0x3c1be7c65UL, 0x276f75e63UL, + 0x4490a3f63UL, 0xda60acd52UL, 0x3cc68df59UL, 0xab46f9daeUL, 0x88d533d78UL, + 0xb6d62ec21UL, 0xb3c02b646UL, 0x22e56d408UL, 0xac5f5770aUL, 0xaaa993f66UL, + 0x4caa07c8dUL, 0x5c9b4f7b0UL, 0xaa9ef0e05UL, 0x705c5750UL, 0xac81f545eUL, + 0x735b91e74UL, 0x8cc35cee4UL, 0xe44694d04UL, 0xb5e121de0UL, 0x261017d0fUL, + 0xf1d439eb5UL, 0xa1a33ac96UL, 0x174c62c02UL, 0x1ee27f716UL, 0x8b1c5ece9UL, + 0x6a05b0c6aUL, 0xd0568dfcUL, 0x192d25e5fUL, 0x1adbeccc8UL, 0xcfec87f00UL, + 0xd0b9dde7aUL, 0x88dcef81eUL, 0x445681cb9UL, 0xdbb2ffc83UL, 0xa48d96df1UL, + 0xb72cc2e7dUL, 0xc295b53fUL, 0xf49832704UL, 0x9968edc29UL, 0x9e4e1af85UL, + 0x8683e2d1bUL, 0x810b45c04UL, 0x6ac44bfe2UL, 0x645346615UL, 0x3990bd598UL, + 0x1c9ed0f6aUL, 0xc26729d65UL, 0x83993f795UL, 0x3ac05ac5dUL, 0x357adff3bUL, + 0xd5c05565UL, 0x2f547ef44UL, 0x86c115041UL, 0x640fd9e5fUL, 0xce08bbcf7UL, + 0x109bb343eUL, 0xc21435c92UL, 0x35b4dfce4UL, 0x459752cf2UL, 0xec915b82cUL, + 0x51881eed0UL, 0x2dda7dc97UL, 0x2e0142144UL, 0x42e890f99UL, 0x9a8856527UL, + 0x8e80d9d80UL, 0x891cbcf34UL, 0x25dd82410UL, 0x239551d34UL, 0x8fe8f0c70UL, + 0x94106a970UL, 0x82609b40cUL, 0xfc9caf36UL, 0x688181d11UL, 0x718613c08UL, + 0xf1ab7629UL, 0xa357bfc18UL, 0x4c03b7a46UL, 0x204dedce6UL, 0xad6300d37UL, + 0x84cc4cd09UL, 0x42160e5c4UL, 0x87d2adfa8UL, 0x7850e7749UL, 0x4e750fc7cUL, + 0xbf2e5dfdaUL, 0xd88324da5UL, 0x234b52f80UL, 0x378204514UL, 0xabdf2ad53UL, + 0x365e78ef9UL, 0x49caa6ca2UL, 0x3c39ddf3UL, 0xc68c5385dUL, 0x5bfcbbf67UL, + 0x623241e21UL, 0xabc90d5ccUL, 0x388c6fe85UL, 0xda0e2d62dUL, 0x10855dfe9UL, + 0x4d46efd6bUL, 0x76ea12d61UL, 0x9db377d3dUL, 0xeed0efa71UL, 0xe6ec3ae2fUL, + 0x441faee83UL, 0xba19c8ff5UL, 0x313035eabUL, 0x6ce8f7625UL, 0x880dab58dUL, + 0x8d3409e0dUL, 0x2be92ee21UL, 0xd60302c6cUL, 0x469ffc724UL, 0x87eebeed3UL, + 0x42587ef7aUL, 0x7a8cc4e52UL, 0x76a437650UL, 0x999e41ef4UL, 0x7d0969e42UL, + 0xc02baf46bUL, 0x9259f3e47UL, 0x2116a1dc0UL, 0x9f2de4d84UL, 0xeffac29UL, + 0x7b371ff8cUL, 0x668339da9UL, 0xd010aee3fUL, 0x1cd00b4c0UL, 0x95070fc3bUL, + 0xf84c9a770UL, 0x38f863d76UL, 0x3646ff045UL, 0xce1b96412UL, 0x7a5d45da8UL, + 0x14e00ef6cUL, 0x5e95abfd8UL, 0xb2e9cb729UL, 0x36c47dd7UL, 0xb8ee97c6bUL, + 0xe9e8f657UL, 0xd4ad2ef1aUL, 0x8811c7f32UL, 0x47bde7c31UL, 0x3adadfb64UL, + 0x6e5b28574UL, 0x33e67cd91UL, 0x2ab9fdd2dUL, 0x8afa67f2bUL, 0xe6a28fc5eUL, + 0x72049cdbdUL, 0xae65dac12UL, 0x1251a4526UL, 0x1089ab841UL, 0xe2f096ee0UL, + 0xb0caee573UL, 0xfd6677e86UL, 0x444b3f518UL, 0xbe8b3a56aUL, 0x680a75cfcUL, + 0xac02baea8UL, 0x97d815e1cUL, 0x1d4386e08UL, 0x1a14f5b0eUL, 0xe658a8d81UL, + 0xa3868efa7UL, 0x3668a9673UL, 0xe8fc53d85UL, 0x2e2b7edd5UL, 0x8b2470f13UL, + 0xf69795f32UL, 0x4589ffc8eUL, 0x2e2080c9cUL, 0x64265f7dUL, 0x3d714dd10UL, + 0x1692c6ef1UL, 0x3e67f2f49UL, 0x5041dad63UL, 0x1a1503415UL, 0x64c18c742UL, + 0xa72eec35UL, 0x1f0f9dc60UL, 0xa9559bc67UL, 0xf32911d0dUL, 0x21c0d4ffcUL, + 0xe01cef5b0UL, 0x4e23a3520UL, 0xaa4f04e49UL, 0xe1c4fcc43UL, 0x208e8f6e8UL, + 0x8486774a5UL, 0x9e98c7558UL, 0x2c59fb7dcUL, 0x9446a4613UL, 0x8292dcc2eUL, + 0x4d61631UL, 0xd05527809UL, 0xa0163852dUL, 0x8f657f639UL, 0xcca6c3e37UL, + 0xcb136bc7aUL, 0xfc5a83e53UL, 0x9aa44fc30UL, 0xbdec1bd3cUL, 0xe020b9f7cUL, + 0x4b8f35fb0UL, 0xb8165f637UL, 0x33dc88d69UL, 0x10a2f7e4dUL, 0xc8cb5ff53UL, + 0xde259ff6bUL, 0x46d070dd4UL, 0x32d3b9741UL, 0x7075f1c04UL, 0x4d58dbea0UL + }; + fromVector(codes, d._code_id); + d._nbits = 36; + d._tau = 12; + d._type = ARUCO_MIP_36h12; + d._name = "ARUCO_MIP_36h12"; + } + break; + case CHILITAGS: + { + vector codes = { 0x7c765c6e0c3e00UL, + 0x7c765c14121e00UL, + 0x7c765a06763e00UL, + 0x7c765a7c681e00UL, + 0x7c764248643e00UL, + 0x7c7642327a1e00UL, + 0x7c7644201e3e00UL, + 0x7c76445a001e00UL, + 0x7c7626702c3800UL, + 0x7c76260a321800UL, + 0x7c762018563800UL, + 0x7c762062481800UL, + 0x7c763856443800UL, + 0x7c76382c5a1800UL, + 0x7c763e3e3e3800UL, + 0x7c763e44201800UL, + 0x7c70346e120000UL, + 0x7c7034140c2000UL, + 0x7c703206680000UL, + 0x7c70327c762000UL, + 0x7c702a487a0000UL, + 0x7c702a32642000UL, + 0x7c702c20000000UL, + 0x7c702c5a1e2000UL, + 0x7c704e70320600UL, + 0x7c704e0a2c2600UL, + 0x7c704818480600UL, + 0x7c704862562600UL, + 0x7c7050565a0600UL, + 0x7c70502c442600UL, + 0x7c70563e200600UL, + 0x7c7056443e2600UL, + 0x7c687c6e764400UL, + 0x7c687c14686400UL, + 0x7c687a060c4400UL, + 0x7c687a7c126400UL, + 0x7c6862481e4400UL, + 0x7c686232006400UL, + 0x7c686420644400UL, + 0x7c68645a7a6400UL, + 0x7c680670564200UL, + 0x7c68060a486200UL, + 0x7c6800182c4200UL, + 0x7c680062326200UL, + 0x7c6818563e4200UL, + 0x7c68182c206200UL, + 0x7c681e3e444200UL, + 0x7c681e445a6200UL, + 0x7c6e146e687a00UL, + 0x7c6e1414765a00UL, + 0x7c6e1206127a00UL, + 0x7c6e127c0c5a00UL, + 0x7c6e0a48007a00UL, + 0x7c6e0a321e5a00UL, + 0x7c6e0c207a7a00UL, + 0x7c6e0c5a645a00UL, + 0x7c6e6e70487c00UL, + 0x7c6e6e0a565c00UL, + 0x7c6e6818327c00UL, + 0x7c6e68622c5c00UL, + 0x7c6e7056207c00UL, + 0x7c6e702c3e5c00UL, + 0x7c6e763e5a7c00UL, + 0x7c6e7644445c00UL, + 0x7c0c5c68625600UL, + 0x7c0c5c127c7600UL, + 0x7c0c5a00185600UL, + 0x7c0c5a7a067600UL, + 0x7c0c424e0a5600UL, + 0x7c0c4234147600UL, + 0x7c0c4426705600UL, + 0x7c0c445c6e7600UL, + 0x7c0c2676425000UL, + 0x7c0c260c5c7000UL, + 0x7c0c201e385000UL, + 0x7c0c2064267000UL, + 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0x1e5a622c267600UL, + 0x1e5a643e425600UL, + 0x1e5a64445c7600UL, + 0x1e5a066e705000UL, + 0x1e5a06146e7000UL, + 0x1e5a00060a5000UL, + 0x1e5a007c147000UL, + 0x1e5a1848185000UL, + 0x1e5a1832067000UL, + 0x1e5a1e20625000UL, + 0x1e5a1e5a7c7000UL, + 0x1e5c14704e6800UL, + 0x1e5c140a504800UL, + 0x1e5c1218346800UL, + 0x1e5c12622a4800UL, + 0x1e5c0a56266800UL, + 0x1e5c0a2c384800UL, + 0x1e5c0c3e5c6800UL, + 0x1e5c0c44424800UL, + 0x1e5c6e6e6e6e00UL, + 0x1e5c6e14704e00UL, + 0x1e5c6806146e00UL, + 0x1e5c687c0a4e00UL, + 0x1e5c7048066e00UL, + 0x1e5c7032184e00UL, + 0x1e5c76207c6e00UL, + 0x1e5c765a624e00UL }; + fromVector(codes, d._code_id); + d._nbits = 64; + d._tau = 5; + d._type = CHILITAGS; + d._name = "CHILITAGS"; + } + break; + case CUSTOM: + throw cv::Exception(-1, "CUSTOM type is only set by loading from file", + "Dictionary::loadPredefined", "dictionary.h", -1); + break; + case ALL_DICTS: + { + d._nbits = 64; + d._tau = 1; // + d._type = ALL_DICTS; + d._name = "ALL_DICTS"; + } + break; + + default: + throw cv::Exception(9001, "Invalid Dictionary type requested", + "Dictionary::loadPredefined", __FILE__, __LINE__); + }; + return d; +} +/** + * @brief Dictionary::getMarkerImage_id + * @param id + * @return + */ +// cv::Mat Dictionary::getMarkerMatrix_id(int id){ +// const int nBitsSquared = static_cast(std::sqrt(nbits())); +// const int A=bit_size*(2+nBitsSquared); + +// cv::Mat img=cv::Mat::zeros(A,A,CV_8UC1); +//} + + +cv::Mat Dictionary::getMarkerImage_id(int id, int bit_size, bool addWaterMark, + bool enclosed_corners, bool externalWhiteBorder, + bool centralCircle) +{ + const int nBitsSquared = static_cast(std::sqrt(nbits())); + const int A = bit_size * (2 + nBitsSquared); + + cv::Mat img = cv::Mat::zeros(A, A, CV_8UC1); + + // find the code in the map + uint64_t code; + bool found = false; + for (auto c_id : _code_id) + if (c_id.second == id) + { + found = true; + code = c_id.first; + break; + } + if (!found) + { + cerr << "marker " << id << " not found" << endl; + return cv::Mat(); + } + // get the code as a bitset + bitset<64> bset = code; + + int bidx = 0; + for (int y = nBitsSquared - 1; y >= 0; y--) + for (int x = nBitsSquared - 1; x >= 0; x--) + { + if (bset[bidx++]) + { + cv::Mat bit_pix = img(cv::Range((1 + y) * bit_size, (2 + y) * bit_size), + cv::Range((1 + x) * bit_size, (2 + x) * bit_size)); + bit_pix.setTo(cv::Scalar::all(255)); + } + } + + if (addWaterMark) + { + char idcad[30]; + sprintf(idcad, "#%d", id); + float ax = static_cast(A) / 100.f; + int linew = 1 + (img.rows / 500); + cv::putText(img, idcad, cv::Point(0, img.rows - img.rows / 40), + cv::FONT_HERSHEY_COMPLEX, ax * 0.15f, cv::Scalar::all(30), linew); + } + + + if (enclosed_corners) + { + cv::Mat biggerImage(img.rows + img.rows / 2, img.cols + img.cols / 2, img.type()); + biggerImage.setTo(cv::Scalar::all(255)); + // set the image in the center + int sy = img.rows / 4; + int sx = img.cols / 4; + cv::Mat center = biggerImage(cv::Range(sy, sy + img.rows), cv::Range(sx, sx + img.cols)); + img.copyTo(center); + biggerImage(cv::Range(0, sy), cv::Range(0, sx)).setTo(cv::Scalar::all(0)); + biggerImage(cv::Range(biggerImage.rows - sy, biggerImage.rows), cv::Range(0, sx)) + .setTo(cv::Scalar::all(0)); + biggerImage(cv::Range(biggerImage.rows - sy, biggerImage.rows), + cv::Range(biggerImage.cols - sx, biggerImage.cols)) + .setTo(cv::Scalar::all(0)); + biggerImage(cv::Range(0, sy), cv::Range(biggerImage.cols - sx, biggerImage.cols)) + .setTo(cv::Scalar::all(0)); + + img = biggerImage; + } + + if (externalWhiteBorder && !enclosed_corners) + { + int borderSize = bit_size; + // Create another image in white and put the marker in the middle + cv::Mat biggerImage(img.rows + 2 * borderSize, img.cols + 2 * borderSize, img.type()); + biggerImage.setTo(cv::Scalar::all(255)); + // set the image in the center + cv::Mat center = biggerImage(cv::Range(borderSize, borderSize + img.rows), + cv::Range(borderSize, borderSize + img.cols)); + img.copyTo(center); + img = biggerImage; + } + + if (centralCircle) + { + // at the image center, draw a circle to mark the center + cv::Point2f center(img.cols / 2, img.rows / 2); + cv::Mat mask(img.size(), CV_8UC1); + mask.setTo(cv::Scalar::all(0)); + cv::circle(mask, center, sqrt(bit_size), cv::Scalar::all(255), -1); + // now, invert the color in the image + for (int r = 0; r < img.rows; r++) + { + uchar *imgptr = img.ptr(r); + uchar *maskptr = mask.ptr(r); + for (int c = 0; c < img.cols; c++) + { + if (maskptr[c]) + imgptr[c] = 255 - imgptr[c]; + } + } + } + return img; +} + + +std::string Dictionary::getTypeString(DICT_TYPES t) +{ + switch (t) + { + case ARUCO: + return "ARUCO"; + case ARUCO_MIP_16h3: + return "ARUCO_MIP_16h3"; + case ARUCO_MIP_25h7: + return "ARUCO_MIP_25h7"; + case ARTAG: + return "ARTAG"; + + case ARUCO_MIP_36h12: + return "ARUCO_MIP_36h12"; + case ARTOOLKITPLUS: + return "ARTOOLKITPLUS"; + case ARTOOLKITPLUSBCH: + return "ARTOOLKITPLUSBCH"; + case TAG16h5: + return "TAG16h5"; + case TAG25h7: + return "TAG25h7"; + case TAG25h9: + return "TAG25h9"; + case TAG36h11: + return "TAG36h11"; + case TAG36h10: + return "TAG36h10"; + case CHILITAGS: + return "CHILITAGS"; + case CUSTOM: + return "CUSTOM"; + case ALL_DICTS: + return "ALL_DICTS"; + }; + return "Non valid DICT_TYPE"; +} + +Dictionary::DICT_TYPES Dictionary::getTypeFromString(std::string str) +{ + if (str == "ARUCO") + return ARUCO; + if (str == "ARUCO_MIP_16h3") + return ARUCO_MIP_16h3; + if (str == "ARUCO_MIP_25h7") + return ARUCO_MIP_25h7; + if (str == "ARUCO_MIP_36h12") + return ARUCO_MIP_36h12; + if (str == "ARTOOLKITPLUS") + return ARTOOLKITPLUS; + if (str == "ARTOOLKITPLUSBCH") + return ARTOOLKITPLUSBCH; + if (str == "ARTAG") + return ARTAG; + if (str == "TAG16h5") + return TAG16h5; + if (str == "TAG25h7") + return TAG25h7; + if (str == "TAG25h9") + return TAG25h9; + if (str == "TAG36h11") + return TAG36h11; + if (str == "TAG36h10") + return TAG36h10; + if (str == "CHILITAGS") + return CHILITAGS; + if (str == "ALL_DICTS") + return ALL_DICTS; + else + return CUSTOM; + + // throw cv::Exception(9001, "Invalid string <"+str+"> to convert to Dictionary + // type", "Dictionary::getTypeFromString", __FILE__, __LINE__); +} + +bool Dictionary::isPredefinedDictinaryString(string str) +{ + return getTypeFromString(str) != CUSTOM; +} + +vector Dictionary::getDicTypes() +{ + return { "ARUCO", "ARUCO_MIP_16h3", "ARUCO_MIP_25h7", "ARUCO_MIP_36h12", + "ARTOOLKITPLUS", "ARTOOLKITPLUSBCH", "TAG16h5", "TAG25h7", + "TAG25h9", "TAG36h11", "TAG36h10", "CHILITAGS", + "ALL_DICTS" }; +} + +MarkerMap Dictionary::createMarkerMap(cv::Size gridSize, int MarkerSize, int MarkerDistance, + const std::vector &ids, bool chess_board) +{ + if (gridSize.height * gridSize.width != int(ids.size())) + throw cv::Exception(9001, "gridSize != ids.size()Invalid ", + "Dictionary::createMarkerMap", __FILE__, __LINE__); + MarkerMap TInfo; + + TInfo.mInfoType = MarkerMap::PIX; + TInfo.setDictionary(getTypeString(_type)); + const float markerSizeFloat = static_cast(MarkerSize); + + + if (!chess_board) + { + TInfo.resize(ids.size()); + for (size_t i = 0; i < ids.size(); i++) + TInfo[i].id = ids[i]; + int idp = 0; + float mtotal = static_cast(MarkerDistance) + markerSizeFloat; + for (int y = 0; y < gridSize.height; y++) + for (int x = 0; x < gridSize.width; x++, idp++) + { + /// \todo use const auto & + for (auto p : aruco::Marker::get3DPoints(markerSizeFloat)) + TInfo[idp].points.push_back(p + cv::Point3f(x * mtotal, y * mtotal, 0)); + } + } + else + { + // find the center so that the ref systeem is in it + int CurMarkerIdx = 0; + for (int y = 0; y < gridSize.height; y++) + { + bool toWrite; + if (y % 2 == 0) + toWrite = false; + else + toWrite = true; + for (int x = 0; x < gridSize.width; x++) + { + toWrite = !toWrite; + if (toWrite) + { + if (CurMarkerIdx >= int(ids.size())) + throw cv::Exception(999, " FiducidalMarkers::createMarkerMapImage_ChessMarkerMap", + "INTERNAL ERROR. REWRITE THIS!!", __FILE__, __LINE__); + TInfo.push_back(Marker3DInfo(ids[CurMarkerIdx++])); + /// \todo use const auto & + for (auto p : aruco::Marker::get3DPoints(markerSizeFloat)) + TInfo.back().points.push_back( + p + cv::Point3f(x * markerSizeFloat, y * markerSizeFloat, 0)); + } + } + } + } + + // cv::Point3f center(0,0,0); + // double n=0; + // for(auto &ti:TInfo)for(auto p:ti) {center+=p;n++;} + // center*=1./n; + cv::Point3f center(gridSize.width / 2.0f * markerSizeFloat - markerSizeFloat / 2.0f, + gridSize.height / 2.0f * markerSizeFloat - markerSizeFloat / 2.0f, 0.f); + for (auto &ti : TInfo) + for (auto &p : ti.points) + p -= center; + + + return TInfo; +} + +/** + * @brief Dictionary::computeDictionaryDistance + * @param dict + * @return + */ +uint64_t Dictionary::computeDictionaryDistance(const Dictionary &dict) +{ + auto rotate = [](const cv::Mat &in) + { + cv::Mat out; + in.copyTo(out); + for (int i = 0; i < in.rows; i++) + { + for (int j = 0; j < in.cols; j++) + { + out.at(i, j) = in.at(in.cols - j - 1, i); + } + } + return out; + }; + auto getImage = [](uint64_t tag, int nbits) + { + std::bitset<64> bs(tag); + cv::Mat im(nbits, nbits, CV_8UC1); + int bit = (nbits * nbits) - 1; + for (int i = 0; i < nbits; i++) + for (int j = 0; j < nbits; j++) + im.at(i, j) = bs[bit--]; + return im; + }; + + auto getCode = [](const cv::Mat &in) + { + assert(in.type() == CV_8UC1); + std::bitset<64> bs; + size_t bit = in.total() - 1; + for (int i = 0; i < in.rows; i++) + for (int j = 0; j < in.cols; j++) + bs[bit--] = in.at(i, j); + return bs.to_ullong(); + }; + + + // convert each element into its 4 rorations first + std::vector all_rotations; + + std::vector ids; + // for chilitag + auto code_id2 = dict._code_id; + for (auto tag_id : code_id2) + { + all_rotations.push_back(tag_id.first); + auto m = getImage(tag_id.first, static_cast(sqrt(dict._nbits))); + for (int i = 0; i < 3; i++) + { + m = rotate(m); + all_rotations.push_back(getCode(m)); + ids.push_back(tag_id.second); + } + assert(getCode(rotate(m)) == tag_id.first); + } + + // now, compute minimum distance + std::map > errors; + uint64_t mind = std::numeric_limits::max(); + for (size_t i = 0; i < all_rotations.size(); i++) + { + for (size_t j = 0; j < all_rotations.size(); j++) + { + if (i != j) + { + auto d = bitset<64>(all_rotations[i] ^ all_rotations[j]).count(); + if (d == 0) + { + if (errors[ids[i]].count(ids[j]) == 0) + { + cerr << " Dictionary::computeDictionaryDistance ERROR IN YOUR DICT!!!!!" << endl; + if (ids[i] == ids[j]) + { + cerr << "marker " << ids[i] + << " can be confused with one of its rotations. It is imposible to determine properly its rotation. You should remove this marker from the dictionary" + << endl; + } + else + { + cerr << "marker " << ids[i] << " and " << ids[j] + << " can be confused. It is imposible to determine distinguish them . You should remove any of this marker from the dictionary" + << endl; + } + errors[ids[i]].insert(ids[j]); + errors[ids[j]].insert(ids[i]); + } + } + mind = std::min(mind, uint64_t(d)); + } + } + } + return mind; +} + +}; // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/dictionary_based.cpp b/legacy/aruco_ros/aruco/src/aruco/dictionary_based.cpp new file mode 100755 index 000000000..67ed69d94 --- /dev/null +++ b/legacy/aruco_ros/aruco/src/aruco/dictionary_based.cpp @@ -0,0 +1,309 @@ +/** +Copyright 2017 Rafael Muñoz Salinas. All rights reserved. + +Redistribution and use in source and binary forms, with or without modification, are +permitted provided that the following conditions are met: + + 1. Redistributions of source code must retain the above copyright notice, this list of + conditions and the following disclaimer. + + 2. Redistributions in binary form must reproduce the above copyright notice, this list + of conditions and the following disclaimer in the documentation and/or other +materials provided with the distribution. + +THIS SOFTWARE IS PROVIDED BY Rafael Muñoz Salinas ''AS IS'' AND ANY EXPRESS OR IMPLIED +WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND +FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Rafael Muñoz Salinas OR +CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON +ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING +NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF +ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + +The views and conclusions contained in the software and documentation are those of the +authors and should not be interpreted as representing official policies, either expressed +or implied, of Rafael Muñoz Salinas. +*/ + +#include "dictionary_based.h" + +#include +#include +#include +#include "aruco_cvversioning.h" +namespace aruco +{ +void DictionaryBased::setParams(const Dictionary& dic, float max_correction_rate) +{ + _nsubdivisions = sqrt(dic.nbits()) + 2; + nbits_dict.clear(); + dicttypename = dic.getName(); + if (dic.getType() == Dictionary::ALL_DICTS) + { + for (auto& dt : Dictionary::getDicTypes()) + if (dt != "ALL_DICTS" && dt != "CUSTOM") + vdic.push_back(Dictionary ::loadPredefined(dt)); + } + else + vdic.push_back(dic); + + // + for (auto& dic : vdic) + nbits_dict[dic.nbits()].push_back(&dic); + + _max_correction_rate = std::max(0.f, std::min(1.0f, max_correction_rate)); +} + +std::string DictionaryBased::getName() const +{ + return dicttypename; +} + +void DictionaryBased::toMat(uint64_t code, int nbits_sq, cv::Mat& out) +{ + out.create(nbits_sq, nbits_sq, CV_8UC1); + std::bitset<64> bs(code); + int curbit = 0; + for (int r = 0; r < nbits_sq; r++) + { + uchar* pr = out.ptr(r); + for (int c = 0; c < nbits_sq; c++) + pr[c] = bs[curbit]; + } +} + +int hamm_distance(uint64_t a, uint64_t b) +{ + return static_cast(std::bitset<64>(a ^ b).count()); +} + +bool DictionaryBased::detect(const cv::Mat& in, int& marker_id, int& nRotations, + std::string& additionalInfo) +{ + assert(in.rows == in.cols); + + cv::Mat grey; + if (in.type() == CV_8UC1) + grey = in; + else + cv::cvtColor(in, grey, CV_BGR2GRAY); + // threshold image + cv::threshold(grey, grey, 125, 255, cv::THRESH_BINARY | cv::THRESH_OTSU); + + + std::map > nbits_ids; + // for each + for (auto& bitsids : nbits_dict) + { + int nbits = bitsids.first; + std::vector ids; + getInnerCode(grey, nbits, ids); + if (ids.size() > 0) + { + if (ids[0] != 0) + { + nbits_ids[nbits] = ids; + } + } + } + // how many are there? + + if (nbits_ids.size() == 0) + return false; + // check if any dictionary recognizes it + for (auto nbits : nbits_ids) + { + const auto& ids = nbits.second; + // check in every dictionary + for (auto& dic : nbits_dict[nbits.first]) + { + // try a perfecf match + for (int rot = 0; rot < 4; rot++) + if (dic->is(ids[rot])) + { + // std::cout<<"MATCH:"<getName()<<" "<at(ids[rot]); + additionalInfo = dic->getName(); + return true; + } + + // try with some error/correction if allowed + if (_max_correction_rate > 0) + { // find distance to map elements + int _maxCorrectionAllowed = + static_cast(static_cast(dic->tau()) * _max_correction_rate); + + int min_dist = 100000000; + bool found = false; + for (auto ci : dic->getMapCode()) + { + for (int i = 0; i < 4; i++) + { + int curr_dist = hamm_distance(ci.first, ids[i]); + if (curr_dist < _maxCorrectionAllowed && curr_dist < min_dist) + { + found = true; + min_dist = curr_dist; + marker_id = ci.second; + nRotations = i; + additionalInfo = dic->getName(); + } + } + } + return found; + } + } + } + + + return false; +} + + +bool DictionaryBased::getInnerCode(const cv::Mat& thres_img, int total_nbits, + std::vector& ids) +{ + int bits_noborder = static_cast(std::sqrt(total_nbits)); + int bits_withborder = bits_noborder + 2; + // Markers are divided in (bits_a+2)x(bits_a+2) regions, of which the inner + // bits_axbits_a belongs to marker info the external border shoould be entirely black + cv::Mat nonZeros(bits_withborder, bits_withborder, CV_32SC1); + cv::Mat nValues(bits_withborder, bits_withborder, CV_32SC1); + nonZeros.setTo(cv::Scalar::all(0)); + nValues.setTo(cv::Scalar::all(0)); + for (int y = 0; y < thres_img.rows; y++) + { + const uchar* ptr = thres_img.ptr(y); + int my = float(bits_withborder) * float(y) / float(thres_img.rows); + for (int x = 0; x < thres_img.cols; x++) + { + int mx = float(bits_withborder) * float(x) / float(thres_img.cols); + if (ptr[x] > 125) + nonZeros.at(my, mx)++; + nValues.at(my, mx)++; + } + } + cv::Mat binaryCode(bits_withborder, bits_withborder, CV_8UC1); + // now, make the theshold + for (int y = 0; y < bits_withborder; y++) + for (int x = 0; x < bits_withborder; x++) + { + if (nonZeros.at(y, x) > nValues.at(y, x) / 2) + binaryCode.at(y, x) = 1; + else + binaryCode.at(y, x) = 0; + } + + // check if border is completely black + for (int y = 0; y < bits_withborder; y++) + { + int inc = bits_withborder - 1; + if (y == 0 || y == bits_withborder - 1) + inc = 1; // for first and last row, check the whole border + for (int x = 0; x < bits_withborder; x += inc) + if (binaryCode.at(y, x) != 0) + return false; + } + + // take the inner code + + cv::Mat _bits(bits_noborder, bits_noborder, CV_8UC1); + for (int y = 0; y < bits_noborder; y++) + for (int x = 0; x < bits_noborder; x++) + _bits.at(y, x) = binaryCode.at(y + 1, x + 1); + + // now, get the 64bits ids + + int nr = 0; + do + { + ids.push_back(touulong(_bits)); + _bits = rotate(_bits); + nr++; + } while (nr < 4); + return true; +} + + +// bool DictionaryBased::getInnerCode(const cv::Mat& thres_img, int total_nbits, +// std::vector& ids) +// { +// auto toInt=[](float v){return int(v+0.5);}; +// int bits_a = static_cast(std::sqrt(total_nbits)); +// int bits_a2 = bits_a + 2; +// // Markers are divided in (bits_a+2)x(bits_a+2) regions, of which the inner +// bits_axbits_a belongs to marker +// // info +// // the external border shoould be entirely black + +// float swidth = float(thres_img.rows) / float(bits_a2); +// for (int y = 0; y < bits_a2; y++) +// { +// int inc = bits_a2 - 1; +// if (y == 0 || y == bits_a2 - 1) +// inc = 1; // for first and last row, check the whole border +// for (int x = 0; x < bits_a2; x += inc) +// { +// cv::Mat square = thres_img(cv::Rect( toInt(float(x) * swidth ), toInt(float(y) +// * swidth), swidth, swidth)); if (cv::countNonZero(square) > (swidth * swidth) / 2) +// return false; // can not be a marker because the border element is not black! +// } +// } + +// // now, +// // get information(for each inner square, determine if it is black or white) + +// // now, +// cv::Mat _bits = cv::Mat::zeros(bits_a, bits_a, CV_8UC1); +// // get information(for each inner square, determine if it is black or white) + +// for (int y = 0; y < bits_a; y++) +// { +// for (int x = 0; x < bits_a; x++) +// { +// int Xstart = toInt(float(x + 1) * swidth); +// int Ystart = toInt(float(y + 1) * swidth); +// cv::Mat square = thres_img(cv::Rect(Xstart, Ystart, swidth, swidth)); +// int nZ = cv::countNonZero(square); +// if (nZ > (swidth * swidth) / 2) +// _bits.at(y, x) = 1; +// } +// } +// // now, get the 64bits ids + +// int nr = 0; +// do +// { +// ids.push_back(touulong(_bits)); +// _bits = rotate(_bits); +// nr++; +// } while (nr < 4); +// return true; +// } + +// convert matrix of (0,1)s in a 64 bit value +uint64_t DictionaryBased::touulong(const cv::Mat& code) +{ + std::bitset<64> bits; + int bidx = 0; + for (int y = code.rows - 1; y >= 0; y--) + for (int x = code.cols - 1; x >= 0; x--) + bits[bidx++] = code.at(y, x); + return bits.to_ullong(); +} +cv::Mat DictionaryBased::rotate(const cv::Mat& in) +{ + cv::Mat out; + in.copyTo(out); + for (int i = 0; i < in.rows; i++) + { + for (int j = 0; j < in.cols; j++) + { + out.at(i, j) = in.at(in.cols - j - 1, i); + } + } + return out; +} +} // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/fractaldetector.cpp b/legacy/aruco_ros/aruco/src/aruco/fractaldetector.cpp new file mode 100755 index 000000000..56db5a135 --- /dev/null +++ b/legacy/aruco_ros/aruco/src/aruco/fractaldetector.cpp @@ -0,0 +1,185 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ +#include "fractaldetector.h" +#include "opencv2/calib3d/calib3d.hpp" +#include "cvdrawingutils.h" +#include +#include "aruco_cvversioning.h" + +namespace aruco +{ +FractalDetector::FractalDetector() +{ + _markerDetector = new MarkerDetector(); + MarkerDetector::Params p; + p.markerWarpPixSize = 10; + _markerDetector->setParameters(p); +}; + +void FractalDetector::setConfiguration(int params) +{ + _fractalLabeler = FractalMarkerLabeler::create((FractalMarkerSet::CONF_TYPES)params); + _params.configuration_type = + FractalMarkerSet::getTypeString((FractalMarkerSet::CONF_TYPES)params); + _markerDetector->setMarkerLabeler(_fractalLabeler); +} + +void FractalDetector::setConfiguration(std::string params) +{ + _params.configuration_type = params; + _fractalLabeler = FractalMarkerLabeler::create(params); + _markerDetector->setMarkerLabeler(_fractalLabeler); +} + +void FractalDetector::drawMarkers(cv::Mat &img) +{ + float size = std::max(1., float(img.cols) / 1280.); + for (auto m : Markers) + m.draw(img, cv::Scalar(0, 0, 255), size, false); +} + +void FractalDetector::draw2d(cv::Mat &img) +{ + if (Markers.size() > 0) + { + std::map id_fmarker = + _fractalLabeler->_fractalMarkerSet.fractalMarkerCollection; + + std::vector inners; + std::map> id_innerCorners = + _fractalLabeler->_fractalMarkerSet.getInnerCorners(); + for (auto id_innerC : id_innerCorners) + { + std::vector inner3d; + for (auto pt : id_innerC.second) + inners.push_back(cv::Point2f(pt.x, pt.y)); + } + + std::vector points3d; + std::vector points2d; + for (auto m : Markers) + { + for (auto p : id_fmarker[m.id].points) + points3d.push_back(cv::Point2f(p.x, p.y)); + + for (auto p : m) + points2d.push_back(p); + } + + cv::Mat H = cv::findHomography(points3d, points2d); + std::vector dstPnt; + cv::perspectiveTransform(inners, dstPnt, H); + + float size = std::max(1., float(img.cols) / 1280.); + for (auto p : dstPnt) + cv::circle(img, p, size, cv::Scalar(0, 0, 255), CV_FILLED); + } +} + +void FractalDetector::draw3d(cv::Mat &img, bool cube, bool axis) +{ + if (Tracker.isPoseValid()) + { + cv::Mat rot; + cv::Rodrigues(Tracker.getRvec(), rot); + + std::vector innerPoints3d; + for (auto pt : Tracker.getInner3d()) + { + cv::Mat_ src(3, 1, rot.type()); + src(0, 0) = pt.x; + src(1, 0) = pt.y; + src(2, 0) = pt.z; + + cv::Mat cam_image_point = rot * src + Tracker.getTvec(); + cam_image_point = cam_image_point / cv::norm(cam_image_point); + + if (cam_image_point.at(2, 0) > 0.85) + innerPoints3d.push_back(pt); + } + // Draw inner points + if (innerPoints3d.size() > 0) + { + std::vector innerPoints; + projectPoints(innerPoints3d, Tracker.getRvec(), Tracker.getTvec(), + _cam_params.CameraMatrix, _cam_params.Distorsion, innerPoints); + for (auto p : innerPoints) + circle(img, p, 3, cv::Scalar(0, 0, 255), CV_FILLED); + } + // Draw cube + if (cube) + { + std::map id_fmarker = Tracker.getFractal().fractalMarkerCollection; + for (auto m : Markers) + draw3dCube(img, id_fmarker[m.id], _cam_params, 2); + } + + // Draw axes + if (axis) + CvDrawingUtils::draw3dAxis(img, _cam_params, getRvec(), getTvec(), + Tracker.getFractal().getFractalSize() / 2); + } +} + +void FractalDetector::draw3dCube(cv::Mat &Image, FractalMarker m, + const CameraParameters &CP, int lineSize) +{ + cv::Mat objectPoints(8, 3, CV_32FC1); + + float msize = m.getMarkerSize(); + float halfSize = msize / 2; + + objectPoints.at(0, 0) = -halfSize; + objectPoints.at(0, 1) = -halfSize; + objectPoints.at(0, 2) = 0; + objectPoints.at(1, 0) = halfSize; + objectPoints.at(1, 1) = -halfSize; + objectPoints.at(1, 2) = 0; + objectPoints.at(2, 0) = halfSize; + objectPoints.at(2, 1) = halfSize; + objectPoints.at(2, 2) = 0; + objectPoints.at(3, 0) = -halfSize; + objectPoints.at(3, 1) = halfSize; + objectPoints.at(3, 2) = 0; + + objectPoints.at(4, 0) = -halfSize; + objectPoints.at(4, 1) = -halfSize; + objectPoints.at(4, 2) = msize; + objectPoints.at(5, 0) = halfSize; + objectPoints.at(5, 1) = -halfSize; + objectPoints.at(5, 2) = msize; + objectPoints.at(6, 0) = halfSize; + objectPoints.at(6, 1) = halfSize; + objectPoints.at(6, 2) = msize; + objectPoints.at(7, 0) = -halfSize; + objectPoints.at(7, 1) = halfSize; + objectPoints.at(7, 2) = msize; + + + std::vector imagePoints; + projectPoints(objectPoints, getRvec(), getTvec(), CP.CameraMatrix, CP.Distorsion, imagePoints); + + for (int i = 0; i < 4; i++) + cv::line(Image, imagePoints[i], imagePoints[(i + 1) % 4], cv::Scalar(0, 0, 255, 255), lineSize); + + for (int i = 0; i < 4; i++) + cv::line(Image, imagePoints[i + 4], imagePoints[4 + (i + 1) % 4], + cv::Scalar(0, 0, 255, 255), lineSize); + + for (int i = 0; i < 4; i++) + cv::line(Image, imagePoints[i], imagePoints[i + 4], cv::Scalar(0, 0, 255, 255), lineSize); +} +}; // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/fractallabelers/fractallabeler.cpp b/legacy/aruco_ros/aruco/src/aruco/fractallabelers/fractallabeler.cpp new file mode 100755 index 000000000..dd0b8be48 --- /dev/null +++ b/legacy/aruco_ros/aruco/src/aruco/fractallabelers/fractallabeler.cpp @@ -0,0 +1,145 @@ +#include "fractallabelers/fractallabeler.h" + +#include "aruco_cvversioning.h" +namespace aruco +{ + +void FractalMarkerLabeler::setConfiguration(const FractalMarkerSet& fractMarkerSet) +{ + _fractalMarkerSet = fractMarkerSet; +} + +bool FractalMarkerLabeler::detect(const cv::Mat& in, int& marker_id, int& nRotations, + std::string& additionalInfo) +{ + assert(in.rows == in.cols); + cv::Mat grey; + if (in.type() == CV_8UC1) + grey = in; + else + cv::cvtColor(in, grey, CV_BGR2GRAY); + // threshold image + cv::threshold(grey, grey, 125, 255, cv::THRESH_BINARY | cv::THRESH_OTSU); + + std::map > nbits_innerCodes; + + for (auto bitsids : _fractalMarkerSet.nbits_fractalMarkerIDs) + { + int nbits = bitsids.first; + std::vector innerCodes; + getInnerCode(grey, nbits, innerCodes); + + if (innerCodes.size() > 0) + { + if (sum(innerCodes[0])[0] != 0) + { + nbits_innerCodes[nbits] = innerCodes; + } + } + } + + if (nbits_innerCodes.size() == 0) + return false; + + // check if any dictionary recognizes it + for (auto bit_innerCodes : nbits_innerCodes) + { + uint32_t nb = bit_innerCodes.first; + auto innerCodes = bit_innerCodes.second; + + for (int i = 0; i < 4; i++) + { + if (_fractalMarkerSet.isFractalMarker(innerCodes[i], nb, marker_id)) + { + // is in the set? + nRotations = i; // how many rotations are and its id + return true; // bye bye + } + } + } + return false; +} + + +std::string FractalMarkerLabeler::getName() const +{ + return "fractal"; + ; +} + +bool FractalMarkerLabeler::getInnerCode(const cv::Mat& thres_img, int total_nbits, + std::vector& innerCodes) +{ + int bits_noborder = static_cast(std::sqrt(total_nbits)); + int bits_withborder = bits_noborder + 2; + // Markers are divided in (bits_a+2)x(bits_a+2) regions, of which the inner + // bits_axbits_a belongs to marker info the external border shoould be entirely black + cv::Mat nonZeros(bits_withborder, bits_withborder, CV_32SC1); + cv::Mat nValues(bits_withborder, bits_withborder, CV_32SC1); + nonZeros.setTo(cv::Scalar::all(0)); + nValues.setTo(cv::Scalar::all(0)); + for (int y = 0; y < thres_img.rows; y++) + { + const uchar* ptr = thres_img.ptr(y); + int my = float(bits_withborder) * float(y) / float(thres_img.rows); + for (int x = 0; x < thres_img.cols; x++) + { + int mx = float(bits_withborder) * float(x) / float(thres_img.cols); + if (ptr[x] > 125) + nonZeros.at(my, mx)++; + nValues.at(my, mx)++; + } + } + cv::Mat binaryCode(bits_withborder, bits_withborder, CV_8UC1); + // now, make the theshold + for (int y = 0; y < bits_withborder; y++) + for (int x = 0; x < bits_withborder; x++) + { + if (nonZeros.at(y, x) > nValues.at(y, x) / 2) + binaryCode.at(y, x) = 1; + else + binaryCode.at(y, x) = 0; + } + + // check if border is completely black + for (int y = 0; y < bits_withborder; y++) + { + int inc = bits_withborder - 1; + if (y == 0 || y == bits_withborder - 1) + inc = 1; // for first and last row, check the whole border + for (int x = 0; x < bits_withborder; x += inc) + if (binaryCode.at(y, x) != 0) + return false; + } + + // take the inner code + cv::Mat _bits(bits_noborder, bits_noborder, CV_8UC1); + for (int y = 0; y < bits_noborder; y++) + for (int x = 0; x < bits_noborder; x++) + _bits.at(y, x) = binaryCode.at(y + 1, x + 1); + + // now, get the 64bits ids + int nr = 0; + do + { + innerCodes.push_back(_bits); + _bits = rotate(_bits); + nr++; + } while (nr < 4); + return true; +} + +cv::Mat FractalMarkerLabeler::rotate(const cv::Mat& in) +{ + cv::Mat out; + in.copyTo(out); + for (int i = 0; i < in.rows; i++) + { + for (int j = 0; j < in.cols; j++) + { + out.at(i, j) = in.at(in.cols - j - 1, i); + } + } + return out; +} +} // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/fractallabelers/fractalmarker.cpp b/legacy/aruco_ros/aruco/src/aruco/fractallabelers/fractalmarker.cpp new file mode 100755 index 000000000..aafd78a0f --- /dev/null +++ b/legacy/aruco_ros/aruco/src/aruco/fractallabelers/fractalmarker.cpp @@ -0,0 +1,76 @@ +#include "fractallabelers/fractalmarker.h" + +#include + + +namespace aruco +{ +FractalMarker::FractalMarker() +{ +} + +FractalMarker::FractalMarker(int id, cv::Mat m, std::vector corners, + std::vector id_submarkers) +{ + this->id = id; + this->_M = m; + for (auto p : corners) + push_back(p); + + _submarkers = id_submarkers; + _mask = cv::Mat::ones(m.size(), CV_8UC1); +} + +void FractalMarker::addSubFractalMarker(FractalMarker submarker) +{ + float bitSize = (at(1).x - at(0).x) / int(mat().cols + 2); + float nsubBits = (submarker.at(1).x - submarker.at(0).x) / bitSize; + + int x_min = int(round(submarker[0].x / bitSize + mat().cols / 2)); + int x_max = x_min + nsubBits; + int y_min = int(round(-submarker[0].y / bitSize + mat().cols / 2)); + int y_max = y_min + nsubBits; + + for (int y = y_min; y < y_max; y++) + { + for (int x = x_min; x < x_max; x++) + { + _mask.at(y, x) = 0; + } + } +} + +std::vector FractalMarker::findInnerCorners() +{ + int nBitsSquared = int(sqrt(mat().total())); + float bitSize = getMarkerSize() / (nBitsSquared + 2); + + // Set submarker pixels (=1) and add border + cv::Mat marker; + mat().copyTo(marker); + marker += -1 * (mask() - 1); + cv::Mat markerBorder; + copyMakeBorder(marker, markerBorder, 1, 1, 1, 1, cv::BORDER_CONSTANT, 0); + + // Get inner corners + std::vector innerCorners; + for (int y = 0; y < markerBorder.rows - 1; y++) + { + for (int x = 0; x < markerBorder.cols - 1; x++) + { + if (((markerBorder.at(y, x) == markerBorder.at(y + 1, x + 1)) && + (markerBorder.at(y, x) != markerBorder.at(y, x + 1) || + markerBorder.at(y, x) != markerBorder.at(y + 1, x))) + + || + + ((markerBorder.at(y, x + 1) == markerBorder.at(y + 1, x)) && + (markerBorder.at(y, x + 1) != markerBorder.at(y, x) || + markerBorder.at(y, x + 1) != markerBorder.at(y + 1, x + 1)))) + innerCorners.push_back( + cv::Point3f(x - nBitsSquared / 2.f, -(y - nBitsSquared / 2.f), 0) * bitSize); + } + } + return innerCorners; +} +} // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/fractallabelers/fractalmarkerset.cpp b/legacy/aruco_ros/aruco/src/aruco/fractallabelers/fractalmarkerset.cpp new file mode 100755 index 000000000..75f1f1cd1 --- /dev/null +++ b/legacy/aruco_ros/aruco/src/aruco/fractallabelers/fractalmarkerset.cpp @@ -0,0 +1,866 @@ +#include "fractallabelers/fractalmarkerset.h" +#include +#include + +namespace aruco +{ + +FractalMarkerSet FractalMarkerSet::load(std::string info) +{ + if (isPredefinedConfigurationString(info)) + return loadPredefined(info); + else + return readFromFile(info); +} + +FractalMarkerSet FractalMarkerSet::loadPredefined(std::string type) +{ + return loadPredefined(getTypeFromString(type)); +} + +FractalMarkerSet FractalMarkerSet::loadPredefined(CONF_TYPES type) +{ + FractalMarkerSet fms; + + switch (type) + { + case FRACTAL_2L_6: + { + unsigned char _conf_2L_6[] = { + 0x02, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x64, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xbf, 0x00, 0x00, + 0x80, 0x3f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x3f, 0x00, 0x00, 0x80, + 0x3f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x3f, 0x00, 0x00, 0x80, 0xbf, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xbf, 0x00, 0x00, 0x80, 0xbf, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, + 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, 0x01, + 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, + 0x00, 0x01, 0x01, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, + 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, + 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x01, 0x01, 0x00, 0x01, 0x01, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x01, + 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x24, 0x00, + 0x00, 0x00, 0xab, 0xaa, 0xaa, 0xbe, 0xab, 0xaa, 0xaa, 0x3e, 0x00, 0x00, 0x00, + 0x00, 0xab, 0xaa, 0xaa, 0x3e, 0xab, 0xaa, 0xaa, 0x3e, 0x00, 0x00, 0x00, 0x00, + 0xab, 0xaa, 0xaa, 0x3e, 0xab, 0xaa, 0xaa, 0xbe, 0x00, 0x00, 0x00, 0x00, 0xab, + 0xaa, 0xaa, 0xbe, 0xab, 0xaa, 0xaa, 0xbe, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, + 0x00, 0x01, 0x01, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x01, + 0x00, 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00 + }; + unsigned int _conf_2L_6_len = 272; + + std::stringstream stream; + stream.write((char *)_conf_2L_6, sizeof(unsigned char) * _conf_2L_6_len); + _fromStream(fms, stream); + } + break; + case FRACTAL_3L_6: + { + unsigned char _conf_3L_6[] = { + 0x02, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x90, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xbf, 0x00, 0x00, + 0x80, 0x3f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x3f, 0x00, 0x00, 0x80, + 0x3f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x3f, 0x00, 0x00, 0x80, 0xbf, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xbf, 0x00, 0x00, 0x80, 0xbf, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x01, 0x01, 0x00, 0x00, + 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x01, 0x01, 0x00, + 0x01, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, + 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, + 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x01, 0x01, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x01, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x00, 0x01, 0x01, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, + 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 0x01, 0x00, 0x01, 0x01, 0x01, 0x00, 0x01, + 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x01, 0x01, 0x00, 0x01, 0x01, 0x00, 0x01, + 0x00, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, + 0x00, 0x00, 0x00, 0x64, 0x00, 0x00, 0x00, 0xb7, 0x6d, 0xdb, 0xbe, 0xb7, 0x6d, + 0xdb, 0x3e, 0x00, 0x00, 0x00, 0x00, 0xb7, 0x6d, 0xdb, 0x3e, 0xb7, 0x6d, 0xdb, + 0x3e, 0x00, 0x00, 0x00, 0x00, 0xb7, 0x6d, 0xdb, 0x3e, 0xb7, 0x6d, 0xdb, 0xbe, + 0x00, 0x00, 0x00, 0x00, 0xb7, 0x6d, 0xdb, 0xbe, 0xb7, 0x6d, 0xdb, 0xbe, 0x00, + 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, + 0x00, 0x01, 0x00, 0x01, 0x01, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01, + 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, + 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, + 0x01, 0x01, 0x01, 0x00, 0x00, 0x01, 0x00, 0x01, 0x01, 0x00, 0x00, 0x01, 0x01, + 0x01, 0x01, 0x01, 0x00, 0x01, 0x01, 0x01, 0x00, 0x01, 0x01, 0x01, 0x00, 0x01, + 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x24, 0x00, + 0x00, 0x00, 0x25, 0x49, 0x12, 0xbe, 0x25, 0x49, 0x12, 0x3e, 0x00, 0x00, 0x00, + 0x00, 0x25, 0x49, 0x12, 0x3e, 0x25, 0x49, 0x12, 0x3e, 0x00, 0x00, 0x00, 0x00, + 0x25, 0x49, 0x12, 0x3e, 0x25, 0x49, 0x12, 0xbe, 0x00, 0x00, 0x00, 0x00, 0x25, + 0x49, 0x12, 0xbe, 0x25, 0x49, 0x12, 0xbe, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x01, 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x01, + 0x00, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 + }; + unsigned int _conf_3L_6_len = 480; + + std::stringstream stream; + stream.write((char *)_conf_3L_6, sizeof(unsigned char) * _conf_3L_6_len); + _fromStream(fms, stream); + } + break; + case FRACTAL_4L_6: + { + unsigned char _conf_4L_6[] = { + 0x02, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0xa9, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xbf, 0x00, 0x00, + 0x80, 0x3f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x3f, 0x00, 0x00, 0x80, + 0x3f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x3f, 0x00, 0x00, 0x80, 0xbf, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xbf, 0x00, 0x00, 0x80, 0xbf, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x01, 0x00, + 0x01, 0x01, 0x00, 0x01, 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01, + 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, + 0x01, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x01, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x01, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x01, 0x00, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x01, 0x01, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x01, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x01, 0x00, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, + 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, 0x01, 0x01, 0x00, 0x01, 0x00, 0x01, 0x00, + 0x01, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, + 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, + 0x00, 0x00, 0x90, 0x00, 0x00, 0x00, 0xef, 0xee, 0xee, 0xbe, 0xef, 0xee, 0xee, + 0x3e, 0x00, 0x00, 0x00, 0x00, 0xef, 0xee, 0xee, 0x3e, 0xef, 0xee, 0xee, 0x3e, + 0x00, 0x00, 0x00, 0x00, 0xef, 0xee, 0xee, 0x3e, 0xef, 0xee, 0xee, 0xbe, 0x00, + 0x00, 0x00, 0x00, 0xef, 0xee, 0xee, 0xbe, 0xef, 0xee, 0xee, 0xbe, 0x00, 0x00, + 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x00, 0x00, 0x01, 0x01, + 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, + 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x01, 0x00, 0x01, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, + 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x01, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, + 0x01, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x02, 0x00, + 0x00, 0x00, 0x64, 0x00, 0x00, 0x00, 0xcd, 0xcc, 0x4c, 0xbe, 0xcd, 0xcc, 0x4c, + 0x3e, 0x00, 0x00, 0x00, 0x00, 0xcd, 0xcc, 0x4c, 0x3e, 0xcd, 0xcc, 0x4c, 0x3e, + 0x00, 0x00, 0x00, 0x00, 0xcd, 0xcc, 0x4c, 0x3e, 0xcd, 0xcc, 0x4c, 0xbe, 0x00, + 0x00, 0x00, 0x00, 0xcd, 0xcc, 0x4c, 0xbe, 0xcd, 0xcc, 0x4c, 0xbe, 0x00, 0x00, + 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x01, 0x01, 0x00, 0x01, 0x00, 0x01, + 0x01, 0x01, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x01, 0x01, 0x00, 0x01, 0x01, + 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x01, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, + 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x01, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x01, + 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 0x01, 0x01, 0x01, 0x00, 0x00, 0x01, + 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, 0x01, 0x00, 0x01, 0x01, 0x00, + 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, + 0x00, 0x89, 0x88, 0x88, 0xbd, 0x89, 0x88, 0x88, 0x3d, 0x00, 0x00, 0x00, 0x00, + 0x89, 0x88, 0x88, 0x3d, 0x89, 0x88, 0x88, 0x3d, 0x00, 0x00, 0x00, 0x00, 0x89, + 0x88, 0x88, 0x3d, 0x89, 0x88, 0x88, 0xbd, 0x00, 0x00, 0x00, 0x00, 0x89, 0x88, + 0x88, 0xbd, 0x89, 0x88, 0x88, 0xbd, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, + 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x01, 0x01, + 0x01, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x01, 0x00, 0x01, 0x01, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00 + }; + unsigned int _conf_4L_6_len = 713; + + std::stringstream stream; + stream.write((char *)_conf_4L_6, sizeof(unsigned char) * _conf_4L_6_len); + _fromStream(fms, stream); + } + break; + case FRACTAL_5L_6: + { + unsigned char _conf_5L_6[] = { + 0x02, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x79, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xbf, 0x00, 0x00, + 0x80, 0x3f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x3f, 0x00, 0x00, 0x80, + 0x3f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x3f, 0x00, 0x00, 0x80, 0xbf, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xbf, 0x00, 0x00, 0x80, 0xbf, 0x00, + 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 0x01, 0x01, 0x00, + 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x01, 0x00, 0x00, + 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x01, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x01, 0x01, 0x00, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, + 0x00, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, + 0x00, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, 0x00, 0x01, + 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x01, 0x01, + 0x00, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, + 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xa9, 0x00, 0x00, 0x00, 0x4f, 0xec, 0xc4, + 0xbe, 0x4f, 0xec, 0xc4, 0x3e, 0x00, 0x00, 0x00, 0x00, 0x4f, 0xec, 0xc4, 0x3e, + 0x4f, 0xec, 0xc4, 0x3e, 0x00, 0x00, 0x00, 0x00, 0x4f, 0xec, 0xc4, 0x3e, 0x4f, + 0xec, 0xc4, 0xbe, 0x00, 0x00, 0x00, 0x00, 0x4f, 0xec, 0xc4, 0xbe, 0x4f, 0xec, + 0xc4, 0xbe, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x00, 0x01, 0x01, 0x00, + 0x00, 0x00, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x01, + 0x00, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, + 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, + 0x00, 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0x00, 0x00, 0x00, 0x00, 0x01, 0x00, + 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, + 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x01, + 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x00, 0x00, 0x01, 0x01, + 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, 0x01, 0x00, 0x01, + 0x00, 0x01, 0x00, 0x00, 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, 0x01, 0x00, 0x00, + 0x01, 0x01, 0x00, 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, + 0x00, 0x03, 0x00, 0x00, 0x00, 0x64, 0x00, 0x00, 0x00, 0xd9, 0x89, 0x9d, 0xbd, + 0xd9, 0x89, 0x9d, 0x3d, 0x00, 0x00, 0x00, 0x00, 0xd9, 0x89, 0x9d, 0x3d, 0xd9, + 0x89, 0x9d, 0x3d, 0x00, 0x00, 0x00, 0x00, 0xd9, 0x89, 0x9d, 0x3d, 0xd9, 0x89, + 0x9d, 0xbd, 0x00, 0x00, 0x00, 0x00, 0xd9, 0x89, 0x9d, 0xbd, 0xd9, 0x89, 0x9d, + 0xbd, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x01, 0x00, 0x01, 0x01, + 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, + 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, + 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x01, 0x01, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, + 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x01, 0x01, + 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x00, + 0x01, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x24, 0x00, 0x00, 0x00, 0x21, 0x0d, 0xd2, 0xbc, 0x21, 0x0d, 0xd2, 0x3c, 0x00, + 0x00, 0x00, 0x00, 0x21, 0x0d, 0xd2, 0x3c, 0x21, 0x0d, 0xd2, 0x3c, 0x00, 0x00, + 0x00, 0x00, 0x21, 0x0d, 0xd2, 0x3c, 0x21, 0x0d, 0xd2, 0xbc, 0x00, 0x00, 0x00, + 0x00, 0x21, 0x0d, 0xd2, 0xbc, 0x21, 0x0d, 0xd2, 0xbc, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x01, 0x01, + 0x01, 0x00, 0x01, 0x00, 0x01, 0x01, 0x00, 0x01, 0x00, 0x01, 0x01, 0x01, 0x00, + 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00 + }; + unsigned int _conf_5L_6_len = 898; + + std::stringstream stream; + stream.write((char *)_conf_5L_6, sizeof(unsigned char) * _conf_5L_6_len); + _fromStream(fms, stream); + } + break; + case CUSTOM: + throw cv::Exception(-1, "CUSTOM type is only set by loading from file", + "FractalMarkerSet::loadPredefined", "fractalmarkerset.h", -1); + break; + + default: + throw cv::Exception(9001, "Invalid Dictionary type requested", + "Dictionary::loadPredefined", __FILE__, __LINE__); + } + return fms; +} + +bool FractalMarkerSet::isPredefinedConfigurationString(std::string str) +{ + return getTypeFromString(str) != CUSTOM; +} + +std::string FractalMarkerSet::getTypeString(CONF_TYPES t) +{ + switch (t) + { + case FRACTAL_2L_6: + return "FRACTAL_2L_6"; + case FRACTAL_3L_6: + return "FRACTAL_3L_6"; + case FRACTAL_4L_6: + return "FRACTAL_4L_6"; + case FRACTAL_5L_6: + return "FRACTAL_5L_6"; + case CUSTOM: + return "CUSTOM"; + }; + return "Non valid CONF_TYPE"; +} + +FractalMarkerSet::CONF_TYPES FractalMarkerSet::getTypeFromString(std::string str) +{ + if (str == "FRACTAL_2L_6") + return FRACTAL_2L_6; + if (str == "FRACTAL_3L_6") + return FRACTAL_3L_6; + if (str == "FRACTAL_4L_6") + return FRACTAL_4L_6; + if (str == "FRACTAL_5L_6") + return FRACTAL_5L_6; + else + return CUSTOM; +} + +std::vector FractalMarkerSet::getConfigurations() +{ + return { "FRACTAL_2L_6", "FRACTAL_3L_6", "FRACTAL_4L_6", "FRACTAL_5L_6" }; +} + +void FractalMarkerSet::_toStream(FractalMarkerSet &configuration, std::ostream &str) +{ + str.write((char *)&configuration.mInfoType, sizeof(mInfoType)); + str.write((char *)&configuration._nmarkers, sizeof(_nmarkers)); + str.write((char *)&configuration._idExternal, sizeof(_idExternal)); + + for (auto fractal : configuration.fractalMarkerCollection) + { + // ID + int id = fractal.first; + str.write((char *)&id, sizeof(id)); + // NBITS + int nbits = fractal.second.nBits(); + str.write((char *)&nbits, sizeof(nbits)); + // CORNERS + std::vector corners = fractal.second.points; + str.write((char *)&corners[0], sizeof(cv::Point3f) * 4); + // MAT + cv::Mat mat = fractal.second.mat(); + str.write((char *)mat.data, mat.elemSize() * mat.total()); + // SUBMARKERS + std::vector sub = fractal.second.subMarkers(); + int nsub = sub.size(); + str.write((char *)&nsub, sizeof(nsub)); + str.write((char *)&sub[0], sizeof(int) * nsub); + } +} + +void FractalMarkerSet::_fromStream(FractalMarkerSet &configuration, std::istream &str) +{ + str.read((char *)&configuration.mInfoType, sizeof(mInfoType)); + str.read((char *)&configuration._nmarkers, sizeof(_nmarkers)); + str.read((char *)&configuration._idExternal, sizeof(_idExternal)); + + for (int i = 0; i < configuration._nmarkers; i++) + { + // ID + int id; + str.read((char *)&id, sizeof(id)); + // NBITS + int nbits; + str.read((char *)&nbits, sizeof(nbits)); + + // CORNERS + std::vector corners(4); + str.read((char *)&corners[0], sizeof(cv::Point3f) * 4); + // MAT + cv::Mat mat; + mat.create(sqrt(nbits), sqrt(nbits), CV_8UC1); + str.read((char *)mat.data, mat.elemSize() * mat.total()); + // SUBMARKERS + int nsub; + str.read((char *)&nsub, sizeof(nsub)); + std::vector id_submarkers(nsub); + if (nsub > 0) + str.read((char *)&id_submarkers[0], sizeof(int) * nsub); + + FractalMarker fractalMarker = FractalMarker(id, mat, corners, id_submarkers); + configuration.nbits_fractalMarkerIDs[mat.total()].push_back(fractalMarker.id); + configuration.fractalMarkerCollection[fractalMarker.id] = fractalMarker; + } + + // Add subfractals + for (auto &id_marker : configuration.fractalMarkerCollection) + { + FractalMarker &marker = id_marker.second; + for (auto id : id_marker.second.subMarkers()) + marker.addSubFractalMarker(configuration.fractalMarkerCollection[id]); + } +} + +void FractalMarkerSet::create(std::vector> regionsConfig, float pixSize) +{ + if (pixSize == -1) + { + mInfoType = NORM; + pixSize = 1; + } + else + mInfoType = PIX; + + _nmarkers = regionsConfig.size(); + _idExternal = 0; + + std::vector submarkers; + submarkers.clear(); + float pix = 0; + for (int n = regionsConfig.size() - 1; n >= 0; n--) + { + int nVal = regionsConfig[n].first; + int kVal = regionsConfig[n].second; + + cv::Mat mat = configureMat(nVal, kVal); + + pix = (nVal + 2) * pixSize; + std::vector corners = { cv::Point3f(-pix / 2, pix / 2, 0.), + cv::Point3f(pix / 2, pix / 2, 0.), + cv::Point3f(pix / 2, -pix / 2, 0.), + cv::Point3f(-pix / 2, -pix / 2, 0.) }; + + FractalMarker fractal = FractalMarker(n, mat, corners, submarkers); + fractalMarkerCollection[n] = fractal; + submarkers.clear(); + submarkers.push_back(n); + + + float kValSup = regionsConfig[n - 1].second - 2; + float newP = (nVal + 2) / (kValSup); + pixSize = newP * pixSize; + } + + // Normalize corners. Fractal marker: (-1,1,0)(1,1,0)(1,-1,0)(-1,-1,0) + if (isNormalize()) + { + for (auto &m : fractalMarkerCollection) + { + for (auto &c : m.second.points) + { + c.x /= pix / 2; + c.y /= pix / 2; + } + } + } +} + +cv::Mat FractalMarkerSet::configureMat(int nVal, int kVal, int maxIter) +{ + // Pixels to configure (n-k region) + std::vector pixels; + for (int y = 0; y < nVal; y++) + { + for (int x = 0; x < nVal; x++) + { + if ((x <= ((nVal - kVal) / 2) - 1 || x >= kVal + (nVal - kVal) / 2) || + (y <= ((nVal - kVal) / 2) - 1 || y >= kVal + (nVal - kVal) / 2)) + { + pixels.push_back(cv::Point2i(x, y)); + } + } + } + + int dst_mkr = 0; + int dst_set = 0; + + cv::Mat m; + int markerIters = 0; + do + { + std::vector conf_pixels = pixels; + m = cv::Mat::ones(nVal, nVal, CV_8UC1); + + // struct timespec ts; + // clock_gettime(CLOCK_MONOTONIC, &ts); + // srand((time_t)ts.tv_nsec); + + // Random delete half of pixels + int npix = conf_pixels.size() / 2; + for (int i = 0; i < npix; i++) + { + int idxSelected = rand() % conf_pixels.size(); + conf_pixels.erase(conf_pixels.begin() + idxSelected); + } + + // Put the new configuration (0 selected pixels) + for (auto p : conf_pixels) + m.at(p.y, p.x) = 0; + + // Check marker distance to itself + int new_dst_mkr = dstMarker(m); + if (new_dst_mkr > dst_mkr) + { + // Check marker distance to set + int new_dst_set = dstMarkerToFractalDict(m); + if (new_dst_set > dst_set) + { + dst_mkr = new_dst_mkr; + dst_set = new_dst_set; + } + } + } while (markerIters++ < maxIter); + + for (int y = ((nVal - kVal) / 2) + 1; y < kVal + (nVal - kVal) / 2 - 1; y++) + { + for (int x = ((nVal - kVal) / 2) + 1; x < kVal + (nVal - kVal) / 2 - 1; x++) + { + m.at(y, x) = 0; + } + } + + return m; +} + +/* + * Calculate minimum distance between marker 'm' and the 4 rotations of each word in the dictionary + */ +int FractalMarkerSet::dstMarkerToFractalDict(cv::Mat m) +{ + int HDist = m.cols * m.rows; // distancia maxima + int HDistTemp; + + for (auto marker : fractalMarkerCollection) + { + if (marker.second.nBits() == m.total()) + { + HDistTemp = dstMarkerToMarker(marker.second.mat(), m); + + if (HDistTemp == 0) + return 0; + else if (HDistTemp < HDist) + HDist = HDistTemp; + } + } + return HDist; +} + +/* + * Calculate minimum distance between marker1 'm' and the 4 rotations of marker2 'm2' + */ +auto rotate = [](const cv::Mat &m) +{ + cv::Mat out; + m.copyTo(out); + for (int i = 0; i < m.rows; i++) + { + for (int j = 0; j < m.cols; j++) + { + out.at(i, j) = m.at(m.cols - j - 1, i); + } + } + return out; +}; + +int FractalMarkerSet::dstMarker(const cv::Mat m) +{ + int HDist = m.cols * m.rows; // maximum distance + int HDistTemp; + + cv::Mat rot; + m.copyTo(rot); + + + for (int i = 0; i < 3; i++) + { + cv::Mat diff; + rot = rotate(rot); + cv::compare(rot, m, diff, cv::CMP_NE); + HDistTemp = cv::countNonZero(diff); + if (HDistTemp < HDist) + HDist = HDistTemp; + } + return HDist; +} + +int FractalMarkerSet::dstMarkerToMarker(const cv::Mat m1, const cv::Mat m2) +{ + int HDist = m2.cols * m2.rows; // maximum distance + int HDistTemp; + + for (int i = 0; i < 4; i++) + { + cv::Mat diff; + cv::compare(rotate(m2), m1, diff, cv::CMP_NE); + HDistTemp = cv::countNonZero(diff); + if (HDistTemp < HDist) + HDist = HDistTemp; + } + + return HDist; +} + + +FractalMarkerSet FractalMarkerSet::readFromFile(std::string path) +{ + cv::FileStorage fs; + try + { + fs.open(path, cv::FileStorage::READ); + } + catch (std::exception &ex) + { + throw cv::Exception(81818, "FractalMarkerSet::readFromFile", + ex.what() + std::string(" file=)") + path, __FILE__, __LINE__); + } + + FractalMarkerSet configuration; + + fs["mInfoType"] >> configuration.mInfoType; + fs["fractal_levels"] >> configuration._nmarkers; + fs["fractal_external_id"] >> configuration._idExternal; + + cv::FileNode markers = fs["markers"]; + int i = 0; + for (cv::FileNodeIterator it = markers.begin(); it != markers.end(); ++it, i++) + { + int id = (*it)["id"]; + std::vector bits; + + std::vector corners; + std::vector submarkers_id; + + cv::FileNode bitsMarker = (*it)["bits"]; + for (cv::FileNodeIterator itb = bitsMarker.begin(); itb != bitsMarker.end(); ++itb) + { + bits.push_back(*itb); + } + cv::Mat m = cv::Mat(sqrt(bits.size()), sqrt(bits.size()), CV_32SC1); + memcpy(m.data, bits.data(), bits.size() * sizeof(int)); + + m.convertTo(m, CV_8UC1); + + cv::FileNode cornersFractal = (*it)["corners"]; + for (cv::FileNodeIterator itp = cornersFractal.begin(); itp != cornersFractal.end(); ++itp) + { + std::vector coordinates3d; + (*itp) >> coordinates3d; + if (coordinates3d.size() != 3) + throw cv::Exception(81818, "FractalMarkerSet::readFromFile", + "invalid file type 3", __FILE__, __LINE__); + cv::Point3f point(coordinates3d[0], coordinates3d[1], coordinates3d[2]); + corners.push_back(point); + } + + cv::FileNode submarkersID = (*it)["submarkers_id"]; + for (cv::FileNodeIterator itm = submarkersID.begin(); itm != submarkersID.end(); ++itm) + { + submarkers_id.push_back((*itm)); + } + + FractalMarker fractalMarker = FractalMarker(id, m, corners, submarkers_id); + configuration.nbits_fractalMarkerIDs[m.total()].push_back(fractalMarker.id); + configuration.fractalMarkerCollection[fractalMarker.id] = fractalMarker; + } + + // Add subfractals + for (auto &id_marker : configuration.fractalMarkerCollection) + { + FractalMarker &marker = id_marker.second; + for (auto id : id_marker.second.subMarkers()) + marker.addSubFractalMarker(configuration.fractalMarkerCollection[id]); + } + + return configuration; +} + +void FractalMarkerSet::saveToFile(cv::FileStorage &fs) +{ + fs << "codeid" + << "fractalmarkers"; + fs << "mInfoType" << mInfoType; + fs << "fractal_levels" << _nmarkers; + fs << "fractal_external_id" << _idExternal; + fs << "markers" + << "["; + for (auto id_marker : fractalMarkerCollection) + { + FractalMarker marker = id_marker.second; + + fs << "{:" + << "id" << (int)id_marker.first; + + fs << "bits" + << "[:"; + cv::Mat m = marker.mat(); + for (int y = 0; y < m.cols; y++) + for (int x = 0; x < m.rows; x++) + if (m.at(y, x) == 2) + fs << 0; + else + fs << m.at(y, x); + fs << "]"; + + fs << "corners" + << "[:"; + for (auto corner : marker.points) + fs << corner; + fs << "]"; + + fs << "submarkers_id" + << "[:"; + for (auto idsub : marker.subMarkers()) + fs << (int)idsub; + fs << "]"; + + fs << "}"; + } + fs << "]"; +} + +bool FractalMarkerSet::isFractalMarker(cv::Mat &m, int nbits, int &markerid) +{ + bool found = false; + + for (auto id : nbits_fractalMarkerIDs[nbits]) + { + FractalMarker fm = fractalMarkerCollection[id]; + + // Apply mask to substract submarkers + cv::Mat m2; + m.copyTo(m2, fm.mask()); + + // Code without submarkers == fractal marker? + if (cv::countNonZero(m2 != fm.mat()) == 0) + { + found = true; + + // Change new code!! + ////////////// + markerid = fm.id; + ///////////// + + break; + } + } + + return found; +} + +FractalMarkerSet FractalMarkerSet::convertToMeters(float fractalSizeM) +{ + if (!(isExpressedInPixels() || isNormalize())) + throw cv::Exception(-1, "The FractalMarkers are not expressed in pixels", + "FractalMarkerSet::convertToMeters", __FILE__, __LINE__); + + FractalMarkerSet BInfo(*this); + BInfo.mInfoType = FractalMarkerSet::METERS; + + // now, get the size of a pixel, and change scale + float pixSizeM = fractalSizeM / float(BInfo.getFractalSize()); + + for (size_t i = 0; i < BInfo.fractalMarkerCollection.size(); i++) + { + // Convert to meters the position fractal marker + for (int c = 0; c < 4; c++) + { + BInfo.fractalMarkerCollection[i][c] *= pixSizeM; + } + } + return BInfo; +} + +FractalMarkerSet FractalMarkerSet::normalize() +{ + if (!(isExpressedInPixels() || isExpressedInMeters())) + throw cv::Exception(-1, "The FractalMarkers are not expressed in pixels or meters", + "FractalMarkerSet::convertToMeters", __FILE__, __LINE__); + + FractalMarkerSet BInfo(*this); + BInfo.mInfoType = FractalMarkerSet::NORM; + + float currentHalfSize = BInfo.getFractalSize() / 2.f; + + for (size_t i = 0; i < BInfo.fractalMarkerCollection.size(); i++) + { + // Normalize the position fractal marker + for (size_t c = 0; c < 4; c++) + { + BInfo.fractalMarkerCollection[i][c] /= currentHalfSize; + } + } + + return BInfo; +} + +std::map> FractalMarkerSet::getInnerCorners() +{ + std::map> id_innerCorners; + + for (auto id_fm : fractalMarkerCollection) + { + int id = id_fm.first; + FractalMarker fm = id_fm.second; + + for (auto ic : fm.getInnerCorners()) + id_innerCorners[id].push_back(ic); // Conversion + } + return id_innerCorners; +} + +cv::Mat FractalMarkerSet::getFractalMarkerImage(int pixSize, bool border) +{ + if (fractalMarkerCollection.size() < 1) + throw cv::Exception(9001, "There is not any fractal marker loaded", + "FractalMarkerSet::getFractalMarkerImage", __FILE__, __LINE__); + + // Smallest fractal marker + FractalMarker innerM = (--fractalMarkerCollection.end())->second; + float bitSize = innerM.getMarkerSize() / (pixSize * (sqrt(innerM.nBits()) + 2)); + + FractalMarker externMarker = fractalMarkerCollection[_idExternal]; + float markerSize = externMarker.getMarkerSize() / bitSize; + float markerBitSize = markerSize / (sqrt(externMarker.nBits()) + 2); + cv::Mat img = cv::Mat::zeros(markerSize, markerSize, CV_8U); + + // Asign value pixels + cv::Mat m = externMarker.mat(); + + for (int y = m.cols - 1; y >= 0; y--) + for (int x = m.cols - 1; x >= 0; x--) + { + if (m.at(y, x) == 1) + { + cv::Range val1 = cv::Range((1 + y) * markerBitSize, (y + 2) * markerBitSize); + cv::Range val2 = cv::Range((1 + x) * markerBitSize, (x + 2) * markerBitSize); + + cv::Mat bit_pix = img(val1, val2); + bit_pix.setTo(cv::Scalar::all(255)); + } + } + + for (auto idSubmarker : externMarker.subMarkers()) + { + std::vector idds; + idds.push_back(idSubmarker); + while (!idds.empty()) + { + idSubmarker = idds.back(); + idds.pop_back(); + + FractalMarker submarker = fractalMarkerCollection[idSubmarker]; + + cv::Mat m = submarker.mat(); + cv::Point3f coord = submarker.points[0]; + + float markerSize = submarker.getMarkerSize() / bitSize; + float markerBitSize = markerSize / (sqrt(submarker.nBits()) + 2); + + // Get position inside fractal marker + float offsetX = fabs(coord.x - externMarker.points[0].x) / bitSize; + float offsetY = fabs(coord.y - externMarker.points[0].y) / bitSize; + + // Asign value pixels + for (int y = m.cols - 1; y >= 0; y--) + for (int x = m.cols - 1; x >= 0; x--) + { + if (m.at(y, x) == 1) + { + cv::Range val1 = cv::Range((1 + y) * markerBitSize + offsetY, + (2 + y) * markerBitSize + offsetY); + cv::Range val2 = cv::Range((1 + x) * markerBitSize + offsetX, + (2 + x) * markerBitSize + offsetX); + + cv::Mat bit_pix = img(val1, val2); + bit_pix.setTo(cv::Scalar::all(255)); + } + } + + // Add submarkers to draw + for (auto idsm : submarker.subMarkers()) + idds.push_back(idsm); + } + } + + if (border) + copyMakeBorder(img, img, markerBitSize, markerBitSize, markerBitSize, markerBitSize, + cv::BORDER_CONSTANT, cv::Scalar::all(255)); + + return img; +} +}; // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/fractallabelers/fractalposetracker.cpp b/legacy/aruco_ros/aruco/src/aruco/fractallabelers/fractalposetracker.cpp new file mode 100755 index 000000000..ac17b7f3c --- /dev/null +++ b/legacy/aruco_ros/aruco/src/aruco/fractallabelers/fractalposetracker.cpp @@ -0,0 +1,1093 @@ +#include "fractallabelers/fractalposetracker.h" +#include "levmarq.h" +#include "ippe.h" +#include "aruco_export.h" +#include "timers.h" + + +#include "opencv2/calib3d/calib3d.hpp" +#include "aruco_cvversioning.h" + +namespace aruco +{ + +/* + * KeyPoint cornersubpixel + */ +void kcornerSubPix(const cv::Mat image, std::vector &kpoints) +{ + std::vector points; + cv::KeyPoint::convert(kpoints, points); + + cv::Size winSize = cv::Size(4, 4); + cv::Size zeroZone = cv::Size(-1, -1); + cv::TermCriteria criteria(cv::TermCriteria::MAX_ITER | cv::TermCriteria::EPS, 12, + 0.005); // cv::cornerSubPix(image, points, winSize, zeroZone, criteria); + cornerSubPix(image, points, winSize, zeroZone, criteria); + + // Update kpoints + uint32_t i = 0; + for (auto &k : kpoints) + { + k.pt = points[i]; + i++; + } +} + +/* + * KeyPoints Filter. Delete kpoints with low response and duplicated. + */ +void kfilter(std::vector &kpoints) +{ + float minResp = kpoints[0].response; + float maxResp = kpoints[0].response; + for (auto &p : kpoints) + { + p.size = 40; + if (p.response < minResp) + minResp = p.response; + if (p.response > maxResp) + maxResp = p.response; + } + float thresoldResp = (maxResp - minResp) * 0.20f + minResp; + + for (uint32_t xi = 0; xi < kpoints.size(); xi++) + { + // Erase keypoints with low response (20%) + if (kpoints[xi].response < thresoldResp) + { + kpoints[xi].size = -1; + continue; + } + + // Duplicated keypoints (closer) + for (uint32_t xj = xi + 1; xj < kpoints.size(); xj++) + { + if (pow(kpoints[xi].pt.x - kpoints[xj].pt.x, 2) + + pow(kpoints[xi].pt.y - kpoints[xj].pt.y, 2) < + 200) + { + if (kpoints[xj].response > kpoints[xi].response) + kpoints[xi] = kpoints[xj]; + + kpoints[xj].size = -1; + } + } + } + kpoints.erase(std::remove_if(kpoints.begin(), kpoints.end(), + [](const cv::KeyPoint &kpt) { return kpt.size == -1; }), + kpoints.end()); +} + +void assignClass(const cv::Mat &im, std::vector &kpoints, float sizeNorm, int wsize) +{ + if (im.type() != CV_8UC1) + throw std::runtime_error("assignClass Input image must be 8UC1"); + int wsizeFull = wsize * 2 + 1; + + cv::Mat labels = cv::Mat::zeros(wsize * 2 + 1, wsize * 2 + 1, CV_8UC1); + cv::Mat thresIm = cv::Mat(wsize * 2 + 1, wsize * 2 + 1, CV_8UC1); + + for (auto &kp : kpoints) + { + float x = kp.pt.x; + float y = kp.pt.y; + + // Convert point range from norm (-size/2, size/2) to (0,imageSize) + if (sizeNorm > 0) + { + // x = im.cols * (x/_fractalMarker.getFractalSize() + 0.5f); + // y = im.rows * (-y/_fractalMarker.getFractalSize() + 0.5f); + x = im.cols * (x / sizeNorm + 0.5f); + y = im.rows * (-y / sizeNorm + 0.5f); + } + + x = int(x + 0.5f); + y = int(y + 0.5f); + + cv::Rect r = cv::Rect(x - wsize, y - wsize, wsize * 2 + 1, wsize * 2 + 1); + // Check boundaries + if (r.x < 0 || r.x + r.width > im.cols || r.y < 0 || r.y + r.height > im.rows) + continue; + + int endX = r.x + r.width; + int endY = r.y + r.height; + uchar minV = 255, maxV = 0; + for (int y = r.y; y < endY; y++) + { + const uchar *ptr = im.ptr(y); + for (int x = r.x; x < endX; x++) + { + if (minV > ptr[x]) + minV = ptr[x]; + if (maxV < ptr[x]) + maxV = ptr[x]; + } + } + + if ((maxV - minV) < 25) + { + kp.class_id = 0; + continue; + } + + double thres = (maxV + minV) / 2.0; + + unsigned int nZ = 0; + // count non zero considering the threshold + for (int y = 0; y < wsizeFull; y++) + { + const uchar *ptr = im.ptr(r.y + y) + r.x; + uchar *thresPtr = thresIm.ptr(y); + for (int x = 0; x < wsizeFull; x++) + { + if (ptr[x] > thres) + { + nZ++; + thresPtr[x] = 255; + } + else + thresPtr[x] = 0; + } + } + // set all to zero labels.setTo(cv::Scalar::all(0)); + for (int y = 0; y < thresIm.rows; y++) + { + uchar *labelsPtr = labels.ptr(y); + for (int x = 0; x < thresIm.cols; x++) + labelsPtr[x] = 0; + } + + uchar newLab = 1; + std::map unions; + for (int y = 0; y < thresIm.rows; y++) + { + uchar *thresPtr = thresIm.ptr(y); + uchar *labelsPtr = labels.ptr(y); + for (int x = 0; x < thresIm.cols; x++) + { + uchar reg = thresPtr[x]; + uchar lleft_px = 0; + uchar ltop_px = 0; + + if (x - 1 > -1) + { + if (reg == thresPtr[x - 1]) + lleft_px = labelsPtr[x - 1]; + } + + if (y - 1 > -1) + { + if (reg == thresIm.ptr(y - 1)[x]) // thresIm.at(y-1, x) + ltop_px = labels.at(y - 1, x); + } + + if (lleft_px == 0 && ltop_px == 0) + labelsPtr[x] = newLab++; + + else if (lleft_px != 0 && ltop_px != 0) + { + if (lleft_px < ltop_px) + { + labelsPtr[x] = lleft_px; + unions[ltop_px] = lleft_px; + } + else if (lleft_px > ltop_px) + { + labelsPtr[x] = ltop_px; + unions[lleft_px] = ltop_px; + } + else + { // IGuales + labelsPtr[x] = ltop_px; + } + } + else + { + if (lleft_px != 0) + labelsPtr[x] = lleft_px; + else + labelsPtr[x] = ltop_px; + } + } + } + + int nc = newLab - 1 - unions.size(); + if (nc == 2) + { + if (nZ > thresIm.total() - nZ) + kp.class_id = 0; + else + kp.class_id = 1; + } + else if (nc > 2) + { + kp.class_id = 2; + } + } +} + +FractalPoseTracker::FractalPoseTracker() +{ +} + +void FractalPoseTracker::setParams(const CameraParameters &cam_params, + const FractalMarkerSet &msconf, const float markerSize) +{ + _cam_params = cam_params; + _fractalMarker = msconf; + + if (!cam_params.isValid()) + throw cv::Exception(9001, "Invalid camera parameters", + "FractalPoseTracker::setParams", __FILE__, __LINE__); + if (_fractalMarker.mInfoType == aruco::FractalMarkerSet::NONE) + throw cv::Exception(9001, "Invalid FractalMarker", "FractalPoseTracker::setParams", + __FILE__, __LINE__); + if ((_fractalMarker.mInfoType == aruco::FractalMarkerSet::PIX || + _fractalMarker.mInfoType == aruco::FractalMarkerSet::NORM) && + markerSize <= 0) + throw cv::Exception(9001, "You should indicate the markersize since the Fractal Marker is in pixels or normalized", + "FractalPoseTracker::setParams", __FILE__, __LINE__); + if (_fractalMarker.mInfoType == aruco::FractalMarkerSet::PIX || + _fractalMarker.mInfoType == aruco::FractalMarkerSet::NORM) + _fractalMarker = _fractalMarker.convertToMeters(markerSize); + + for (auto id_innerMarker : _fractalMarker.fractalMarkerCollection) + { + int markerId = id_innerMarker.first; + FractalMarker innerMarker = id_innerMarker.second; + + // Inner corners + _id_innerp3d[markerId] = innerMarker.getInnerCorners(); + for (auto pt : _id_innerp3d[markerId]) + { + _innerp3d.push_back(pt); + _innerkpoints.push_back(cv::KeyPoint(cv::Point2f(pt.x, pt.y), 20, -1, 0, markerId)); + } + + // radius search by marker + float radiusF = 0.25; + float ratio = innerMarker.getMarkerSize() / _fractalMarker.getFractalSize(); + float NBits = float(sqrt(_fractalMarker.nBits()) + 2) * ratio; + _id_radius[markerId] = + ((2 * NBits) / ((sqrt(innerMarker.nBits()) + 2) * (sqrt(_fractalMarker.nBits()) + 2))) * + radiusF * _fractalMarker.getFractalSize() / 2; + } + + // Get synthetic image (pixsize 6 in order to get inner corners classification) + cv::Mat imageGray = _fractalMarker.getFractalMarkerImage(6) * 255; + assignClass(imageGray, _innerkpoints, _fractalMarker.getFractalSize()); + _kdtree.build(_innerkpoints); + + // #define _fractal_debug_classification +#ifdef _fractal_debug_classification + drawKeyPoints(imageGray, _innerkpoints, false, true); +#endif +} + +bool FractalPoseTracker::fractalRefinement(const cv::Ptr markerDetector, + int markerWarpPix) +{ + // ScopedTimerEvents Timer("fractal-refinement"); + + std::vector imagePyramid = markerDetector->getImagePyramid(); + std::vector _ref_inner3d; + std::vector _ref_inner2d; + + cv::Mat _p_rvec; + _rvec.copyTo(_p_rvec); + cv::Mat _p_tvec; + _tvec.copyTo(_p_tvec); + + cv::Mat rot; + cv::Rodrigues(_rvec, rot); + + for (auto id_marker : _fractalMarker.fractalMarkerCollection) + { + // Check z value for 4 external corners + std::vector marker3d; + for (auto pt : id_marker.second.points) + { + cv::Mat_ src(3, 1, rot.type()); + src(0, 0) = pt.x; + src(1, 0) = pt.y; + src(2, 0) = pt.z; + + cv::Mat cam_image_point = rot * src + _tvec; + cam_image_point = cam_image_point / cv::norm(cam_image_point); + + if (cam_image_point.at(2, 0) > 0.85) + marker3d.push_back(pt); + else + break; + } + + std::vector _inners3d; + std::vector _inners2d; + float area = 0; + if (marker3d.size() < 4) + { + if (_id_area.find(id_marker.first) != _id_area.end()) + area = _id_area[id_marker.first]; + else + return false; + + for (auto pt : _id_innerp3d[id_marker.first]) + { + cv::Mat_ src(3, 1, _rvec.type()); + src(0, 0) = pt.x; + src(1, 0) = pt.y; + src(2, 0) = pt.z; + + cv::Mat cam_image_point = rot * src + _tvec; + cam_image_point = cam_image_point / cv::norm(cam_image_point); + + if (cam_image_point.at(2, 0) > 0.85) + _inners3d.push_back(pt); + } + + if (_inners3d.size() == 0) + return false; + + cv::projectPoints(_inners3d, _rvec, _tvec, _cam_params.CameraMatrix, + _cam_params.Distorsion, _inners2d); + } + else + { + std::vector marker2d; + cv::projectPoints(marker3d, _rvec, _tvec, _cam_params.CameraMatrix, + _cam_params.Distorsion, marker2d); + + cv::Point2f v01 = marker2d[1] - marker2d[0]; + cv::Point2f v03 = marker2d[3] - marker2d[0]; + float area1 = fabs(v01.x * v03.y - v01.y * v03.x); + cv::Point2f v21 = marker2d[1] - marker2d[2]; + cv::Point2f v23 = marker2d[3] - marker2d[2]; + float area2 = fabs(v21.x * v23.y - v21.y * v23.x); + + area = (area2 + area1) / 2.f; + _id_area[id_marker.first] = area; + + _inners3d = _id_innerp3d[id_marker.first]; + cv::projectPoints(_inners3d, _rvec, _tvec, _cam_params.CameraMatrix, + _cam_params.Distorsion, _inners2d); + } + + size_t imgPyrIdx = 0; + auto markerWarpSize = (sqrt(id_marker.second.nBits()) + 2) * markerWarpPix; + float desiredarea = std::pow(static_cast(markerWarpSize), 2.f); + for (size_t p = 1; p < imagePyramid.size(); p++) + { + if (area / pow(4, p) >= desiredarea) + imgPyrIdx = p; + else + break; + } + + float ratio = float(imagePyramid[imgPyrIdx].cols) / float(imagePyramid[0].cols); + + // std::cout << "REFINE["<< id_marker.first <<"], imgPyrId:"< _inners2d_error; + if (ratio == 1 && area >= desiredarea) + { + int halfwsize = + 4 * float(imagePyramid[imgPyrIdx].cols) / float(imagePyramid[imgPyrIdx].cols) + 0.5; + + std::vector _inners2d_copy; + for (auto pt : _inners2d) + { + _inners2d_copy.push_back(pt); + } + cornerSubPix( + imagePyramid[imgPyrIdx], _inners2d, cv::Size(halfwsize, halfwsize), cv::Size(-1, -1), + cv::TermCriteria(cv::TermCriteria::MAX_ITER | cv::TermCriteria::EPS, 12, 0.005)); + int idx = 0; + for (auto pt : _inners2d) + { + _inners2d_error.push_back(sqrt(pow(_inners2d_copy[idx].x - pt.x, 2) + + pow(_inners2d_copy[idx].y - pt.y, 2))); + idx++; + } + } + else if (ratio != 1 && area >= desiredarea) + { + std::vector _inners2d_copy; + for (auto &pt : _inners2d) + { + _inners2d_copy.push_back(pt); + pt *= ratio; + } + + std::vector> vpnts; + vpnts.push_back(_inners2d); + markerDetector->cornerUpsample(vpnts, imagePyramid[imgPyrIdx].size()); + + int idx = 0; + for (auto pt : vpnts[0]) + { + _inners2d_error.push_back(sqrt(pow(_inners2d_copy[idx].x - pt.x, 2) + + pow(_inners2d_copy[idx].y - pt.y, 2))); + _inners2d[idx++] = pt; + } + } + + // Elimina puntos que no son esquinas + if (area >= desiredarea) + { + // We discard outliers. Points above limit Q3+3*(Q3-1) + std::vector _inners2d_error_copy; + for (auto err : _inners2d_error) + _inners2d_error_copy.push_back(err); + sort(_inners2d_error_copy.begin(), _inners2d_error_copy.end()); + int q1 = (_inners2d_error_copy.size() + 1) / 4; + int q3 = 3 * (_inners2d_error_copy.size() + 1) / 4; + + double limit = _inners2d_error_copy[q3] + + 3 * (_inners2d_error_copy[q3] - _inners2d_error_copy[q1]); + + int wsize = 10; + for (int idx = 0; idx < _inners2d.size(); idx++) + { + if (_inners2d_error[idx] > limit) + continue; + + float x = int(_inners2d[idx].x + 0.5f); + float y = int(_inners2d[idx].y + 0.5f); + + cv::Rect r = cv::Rect(x - wsize, y - wsize, wsize * 2 + 1, wsize * 2 + 1); + // Check boundaries + if (r.x < 0 || r.x + r.width > imagePyramid[0].cols || r.y < 0 || + r.y + r.height > imagePyramid[0].rows) + continue; + + int endX = r.x + r.width; + int endY = r.y + r.height; + uchar minV = 255, maxV = 0; + for (int y = r.y; y < endY; y++) + { + const uchar *ptr = imagePyramid[0].ptr(y); + for (int x = r.x; x < endX; x++) + { + if (minV > ptr[x]) + minV = ptr[x]; + if (maxV < ptr[x]) + maxV = ptr[x]; + } + } + + if ((maxV - minV) < 25) + continue; + + _ref_inner3d.push_back(_inners3d[idx]); + _ref_inner2d.push_back(_inners2d[idx]); + } + } + // Timer.add("refine-"+std::to_string(id_marker.first)); + } + + // Solve + if (_ref_inner3d.size() > 4) + { + aruco::solvePnP(_ref_inner3d, _ref_inner2d, _cam_params.CameraMatrix, + _cam_params.Distorsion, _rvec, _tvec); + +//#define _fractal_debug_inners +#ifdef _fractal_debug_inners + cv::Mat InImageCopy; + cv::cvtColor(imagePyramid[0], InImageCopy, CV_GRAY2RGB); + + // Show first position (estimation with detected markers) + std::vector preinnersPrj; + for (auto id_marker : _fractalMarker.fractalMarkerCollection) + { + cv::projectPoints(_id_innerp3d[id_marker.first], _p_rvec, _p_tvec, + _cam_params.CameraMatrix, _cam_params.Distorsion, preinnersPrj); + for (auto pt : preinnersPrj) + cv::circle(InImageCopy, pt, 5, cv::Scalar(0, 0, 255), CV_FILLED); + } + + // Show first position with refinement + for (auto p : _ref_inner2d) + cv::circle(InImageCopy, p, 5, cv::Scalar(255, 0, 0), CV_FILLED); + + _rvec.convertTo(_rvec, CV_32F); + _tvec.convertTo(_tvec, CV_32F); + cv::Rodrigues(_rvec, rot); + + std::vector _inners; + for (auto pt : _inner_corners_3d) + { + cv::Mat_ src(3, 1, rot.type()); + src(0, 0) = pt.x; + src(1, 0) = pt.y; + src(2, 0) = pt.z; + + cv::Mat cam_image_point = rot * src + _tvec; + cam_image_point = cam_image_point / cv::norm(cam_image_point); + + if (cam_image_point.at(2, 0) > 0.85f) + _inners.push_back(pt); + } + std::vector _inners_prj; + cv::projectPoints(_inners, _rvec, _tvec, _cam_params.CameraMatrix, + _cam_params.Distorsion, _inners_prj); + + // Show new projection using all inner points + for (auto pt : _inners_prj) + cv::circle(InImageCopy, pt, 5, cv::Scalar(0, 255, 0), CV_FILLED); + + cv::namedWindow("AA", cv::WINDOW_NORMAL); + imshow("AA", InImageCopy); + cv::waitKey(); +#endif + // Timer.add("solve"); + + return true; + } + else + return false; +} + +bool FractalPoseTracker::fractalInnerPose(const cv::Ptr markerDetector, + const std::vector &vmarkers, + bool refinement) +{ + if (vmarkers.size() > 0) + { + // ScopedTimerEvents Timer("pnp"); + // std::cout << "[Case 1]"<< std::endl; + std::vector p2d; + std::vector p3d; + for (auto marker : vmarkers) + { + if (_fractalMarker.fractalMarkerCollection.find(marker.id) != + _fractalMarker.fractalMarkerCollection.end()) + { + for (auto p : marker) + p2d.push_back(p); + + for (auto p : _fractalMarker.fractalMarkerCollection[marker.id].points) + p3d.push_back(p); + } + } + + // Initial pose estimation + aruco::solvePnP(p3d, p2d, _cam_params.CameraMatrix, _cam_params.Distorsion, _rvec, _tvec); + + // Timer.add("solve"); + + // REFINE + if (refinement) + { + fractalRefinement(markerDetector); + // Timer.add("refine-solution"); + } + + return true; + } + else + { + if (!_rvec.empty()) + { + // std::cout << "[Case 2]"<< std::endl; + // ScopedTimerEvents Timer("ransac"); + // Timer.add("detect"); + + std::vector innerPoints2d; + std::vector innerPoints3d; + + float radius = 0; + cv::Mat rot; + cv::Rodrigues(_rvec, rot); + + // Getting the keypoints search radius + for (auto id_marker : _fractalMarker.fractalMarkerCollection) + { + std::vector marker2d; + std::vector marker3d; + for (auto pt : _fractalMarker.fractalMarkerCollection[id_marker.first].points) + { + cv::Mat_ src(3, 1, rot.type()); + src(0, 0) = pt.x; + src(1, 0) = pt.y; + src(2, 0) = pt.z; + cv::Mat cam_image_point = rot * src + _tvec; + cam_image_point = cam_image_point / cv::norm(cam_image_point); + + if (cam_image_point.at(2, 0) > 0.85) + marker3d.push_back(pt); + else + break; + } + + if (marker3d.size() == 4) + { + cv::projectPoints(marker3d, _rvec, _tvec, _cam_params.CameraMatrix, + _cam_params.Distorsion, marker2d); + + // Find marker area + cv::Point2f v01 = marker2d[1] - marker2d[0]; + cv::Point2f v03 = marker2d[3] - marker2d[0]; + float area1 = fabs(v01.x * v03.y - v01.y * v03.x); + cv::Point2f v21 = marker2d[1] - marker2d[2]; + cv::Point2f v23 = marker2d[3] - marker2d[2]; + float area2 = fabs(v21.x * v23.y - v21.y * v23.x); + double area = (area2 + area1) / 2.f; + + auto markerWarpSize = + (sqrt(_fractalMarker.fractalMarkerCollection[id_marker.first].nBits()) + 2) * 10; + float desiredarea = std::pow(static_cast(markerWarpSize), 2.f); + if (area >= desiredarea) + { + for (auto pt : _id_innerp3d[id_marker.first]) + innerPoints3d.push_back(pt); + } + + if (radius == 0.f) + radius = sqrt(area) / (sqrt(id_marker.second.nBits()) + 2.f); + } + else + { + for (auto pt : _id_innerp3d[id_marker.first]) + innerPoints3d.push_back(pt); + } + } + + if (radius == 0) + radius = _preRadius; + _preRadius = radius; + + if (innerPoints3d.size() > 0 && radius > 0) + { + cv::projectPoints(innerPoints3d, _rvec, _tvec, _cam_params.CameraMatrix, + _cam_params.Distorsion, innerPoints2d); + + cv::Mat region; + cv::Point2f offset; + float ratio; + if (!ROI(markerDetector->getImagePyramid(), region, innerPoints2d, offset, ratio)) + return false; + radius = radius * ratio; + // Timer.add("roi"); + + + std::cout << "radius: " << radius << std::endl; + +//#define _fractal_debug_region +#ifdef _fractal_debug_region + cv::Mat out; + cv::cvtColor(region, out, CV_GRAY2RGB); + for (uint32_t i = 0; i < innerPoints2d.size(); i++) + circle(out, innerPoints2d[i], radius, cv::Scalar(0, 0, 255), 2); + cv::imshow("REGION ", out); + cv::waitKey(); +#endif + + // FAST + std::vector kpoints; + cv::Ptr fd = cv::FastFeatureDetector::create(); + fd->detect(region, kpoints); + // Timer.add("fast"); + + + if (kpoints.size() > 0) + { + // Filter kpoints (low response) and removing duplicated. + kfilter(kpoints); + // Timer.add("fast-filter"); + // std::cout << "fast-filter" << std::endl; + + // Assign class to keypoints + assignClass(region, kpoints); +// Timer.add("fast-class"); + +//#define _fractal_debug_classification +#ifdef _fractal_debug_classification + drawKeyPoints(region, kpoints); + cv::waitKey(); +#endif + // Get keypoints with better response in a radius + picoflann::KdTreeIndex<2, PicoFlann_KeyPointAdapter> kdtreeImg; + kdtreeImg.build(kpoints); + std::vector>> inner_candidates; + for (uint idx = 0; idx < innerPoints2d.size(); idx++) + { + std::vector> res = + kdtreeImg.radiusSearch(kpoints, innerPoints2d[idx], radius); + + std::vector candidates; + for (auto r : res) + { + if (kpoints[r.first].class_id == _innerkpoints[idx].class_id) + candidates.push_back(r.first); + } + if (candidates.size() > 0) + inner_candidates.push_back(make_pair(idx, candidates)); + } + + // Timer.add("candidates"); + cv::Mat bestModel = + fractal_solve_ransac(innerPoints2d.size(), inner_candidates, kpoints); + // Timer.add("find-solution"); + + if (!bestModel.empty()) + { + std::vector p3d; + std::vector p2d; + + std::vector pnts, pntsDst; + cv::KeyPoint::convert(kpoints, pnts); + perspectiveTransform(pnts, pntsDst, bestModel); + for (uint32_t id = 0; id < pntsDst.size(); id++) + { + std::vector> res = + _kdtree.radiusSearch(_innerkpoints, pntsDst[id], _id_radius[0]); + + int i = 0; + for (auto r : res) + { + uint32_t innerId = r.first; + double dist = sqrt(r.second); + + uint32_t fmarkerId = _innerkpoints[innerId].octave; + if (dist > _id_radius[fmarkerId]) + res.erase(res.begin() + i); + else + i++; + } + if (res.size() > 0) + { + p3d.push_back(_innerp3d[res[0].first]); + p2d.push_back( + cv::Point2f(kpoints[id].pt.x + offset.x, kpoints[id].pt.y + offset.y) / ratio); + } + } + + if (p3d.size() >= 4) + { + // std::cout << "solves" << std::endl; + aruco::solvePnP(p3d, p2d, _cam_params.CameraMatrix, _cam_params.Distorsion, + _rvec, _tvec); + // Timer.add("solves"); + + if (refinement) + { + // std::cout << "refine-solution" << std::endl; + fractalRefinement(markerDetector); + // Timer.add("refine-solution"); + } + + return true; + } + } + } + } + } + _rvec = cv::Mat(); + _tvec = cv::Mat(); + + return false; + } +} + +bool FractalPoseTracker::ROI(const std::vector imagePyramid, cv::Mat &img, + std::vector &innerPoints2d, cv::Point2f &offset, + float &ratio) +{ + cv::Mat rot; + cv::Rodrigues(_rvec, rot); + + // Biggest marker projection + std::vector biggest_p2d; + std::vector biggest_p3d; + for (int idx = 0; + idx < _fractalMarker.fractalMarkerCollection.size() & biggest_p3d.size() < 4; idx++) + { + biggest_p3d.empty(); + for (auto pt : _fractalMarker.fractalMarkerCollection[idx].points) + { + cv::Mat_ src(3, 1, rot.type()); + src(0, 0) = pt.x; + src(1, 0) = pt.y; + src(2, 0) = pt.z; + cv::Mat cam_image_point = rot * src + _tvec; + cam_image_point = cam_image_point / cv::norm(cam_image_point); + + if (cam_image_point.at(2, 0) > 0.85) + biggest_p3d.push_back(pt); + else + break; + } + } + + if (!biggest_p3d.empty()) + { + cv::projectPoints(biggest_p3d, _rvec, _tvec, _cam_params.CameraMatrix, + _cam_params.Distorsion, biggest_p2d); + + // Smallest marker projection + std::vector smallest_p2d; + std::vector smallest_p3d; + auto marker_smallest = (--_fractalMarker.fractalMarkerCollection.end())->second; + for (auto pt : marker_smallest.points) + smallest_p3d.push_back(pt); + cv::projectPoints(smallest_p3d, _rvec, _tvec, _cam_params.CameraMatrix, + _cam_params.Distorsion, smallest_p2d); + + // Smallest marker area + cv::Point2f v01 = smallest_p2d[1] - smallest_p2d[0]; + cv::Point2f v03 = smallest_p2d[3] - smallest_p2d[0]; + float area1 = fabs(v01.x * v03.y - v01.y * v03.x); + cv::Point2f v21 = smallest_p2d[1] - smallest_p2d[2]; + cv::Point2f v23 = smallest_p2d[3] - smallest_p2d[2]; + float area2 = fabs(v21.x * v23.y - v21.y * v23.x); + double area = (area2 + area1) / 2.f; + + + // Compute boundaries region + float border = sqrt(area) / sqrt(marker_smallest.nBits()) + 2; + int minX = imagePyramid[0].cols, minY = imagePyramid[0].rows, maxX = 0, maxY = 0; + for (auto p : biggest_p2d) + { + if (p.x < minX) + minX = p.x - border; + if (p.x > maxX) + maxX = p.x + border; + if (p.y < minY) + minY = p.y - border; + if (p.y > maxY) + maxY = p.y + border; + } + if (minX < 0) + minX = 0; + if (minY < 0) + minY = 0; + if (maxX > imagePyramid[0].cols) + maxX = imagePyramid[0].cols; + if (maxY > imagePyramid[0].rows) + maxY = imagePyramid[0].rows; + + + // Select imagePyramid + size_t imgPyrIdx = 0; + auto markerWarpSize = (sqrt(marker_smallest.nBits()) + 2) * 10; + float desiredarea = std::pow(static_cast(markerWarpSize), 2.f); + for (size_t p = 1; p < imagePyramid.size(); p++) + { + if (area / pow(4, p) >= desiredarea) + imgPyrIdx = p; + else + break; + } + + ratio = float(imagePyramid[imgPyrIdx].cols) / float(imagePyramid[0].cols); + offset = cv::Point2i(minX, minY) * ratio; + cv::Rect region = cv::Rect(cv::Point2i(minX, minY) * ratio, cv::Point2i(maxX, maxY) * ratio); + img = imagePyramid[imgPyrIdx](region); + + for (auto &pt : innerPoints2d) + { + pt.x = pt.x * ratio - region.x; + pt.y = pt.y * ratio - region.y; + } + return true; + } + else + return false; +} + +cv::Mat FractalPoseTracker::fractal_solve_ransac( + int ninners, std::vector>> inner_kpnt, + std::vector kpnts, uint32_t maxIter, float _minInliers, float _thresInliers) +{ + std::vector pnts; + cv::KeyPoint::convert(kpnts, pnts); + + // Number randomly values selected + uint32_t numInliers = 4; + // Number of inliers to consider it good model, stop iterating!!! + uint32_t thresInliers = uint32_t(ninners * _thresInliers); + // Enough number of inliers to consider the model as valid + uint32_t minInliers = uint32_t(ninners * _minInliers); + + // Number of inliers + uint32_t bestInliers = 0; + // Best model + cv::Mat bestH = cv::Mat(); + + // struct timespec ts; + // clock_gettime(CLOCK_MONOTONIC, &ts); + // srand((time_t)ts.tv_nsec); + + uint32_t count = 0; + for (auto ik : inner_kpnt) + if (ik.second.size() > 0) + count++; + if (count < minInliers) + return cv::Mat(); + + uint32_t iter = 0; + do + { + // New stop condition to avoid infinite loop, when it tries to find the initial inliers + // For instance, for innerkpts group: 23{2} 18{3}, 14{3}, 3{7,6,5}, 2{3}, + // when the initial group of inliers is selected: + // 23{2},18{3},3{6} there's no way to find the fourth ... + uint32_t iter2 = 0; + std::vector> inliers; + while (inliers.size() < numInliers && iter2++ < maxIter) + { + uint idx = rand() % inner_kpnt.size(); + uint id_dst = inner_kpnt[idx].first; + + uint idxc = rand() % inner_kpnt[idx].second.size(); + uint id_src = inner_kpnt[idx].second[idxc]; + + // avoid duplicate observations + bool exist = false; + for (auto in : inliers) + { + if ((in.first != id_dst) && (in.second != id_src)) + continue; + else + { + exist = true; + break; + } + } + + // if it is a new observation, add it! + if (!exist) + inliers.push_back(std::make_pair(id_dst, id_src)); + } + + if (iter2 >= maxIter) + return cv::Mat(); + + std::vector srcInliers; + std::vector dstInliers; + for (auto in : inliers) + { + dstInliers.push_back(_innerkpoints[in.first].pt); + srcInliers.push_back(kpnts[in.second].pt); + } + // Fit model with initial random inliers + cv::Mat H = findHomography(srcInliers, dstInliers); + + if (!H.empty()) + { + std::vector> newInliers; + std::vector> newInliers2; + + std::vector dstNewInliers; + std::vector srcNewInliers; + std::vector pntsTranf; + perspectiveTransform(pnts, pntsTranf, H); + + for (uint idP = 0; idP < pntsTranf.size(); idP++) + { + std::vector> res = + _kdtree.radiusSearch(_innerkpoints, pntsTranf[idP], _id_radius[0]); + + int i = 0; + for (auto r : res) + { + uint32_t innerId = r.first; + double dist = sqrt(r.second); + + uint32_t fmarkerId = _innerkpoints[innerId].octave; + if (dist > _id_radius[fmarkerId]) + res.erase(res.begin() + i); + else + i++; + } + + if (res.size() > 0) + { + // avoid duplicate observations + bool exist = false; + for (auto in : newInliers) + { + if (in.first != res[0].first) + continue; + else + { + exist = true; + break; + } + } + // if it is a new observation and these belong to the same class, add it! + if (!exist) + { + if (_innerkpoints[res[0].first].class_id == kpnts[idP].class_id) + newInliers.push_back(std::make_pair(res[0].first, idP)); + } + } + } + if (newInliers.size() > bestInliers) + { + bestInliers = newInliers.size(); + bestH = H; + } + } + iter++; + } while (iter < maxIter && bestInliers < thresInliers); + + // std::cout << "[RANSAC] minInliers: "<< minInliers ; + // std::cout << " ,bestInliers: "<< bestInliers; + // std::cout << " ,iterations: "<< iter << std::endl; + + if (bestInliers < minInliers) + bestH = cv::Mat(); + + return bestH; +} + +void FractalPoseTracker::drawKeyPoints(const cv::Mat image, std::vector kpoints, + bool text, bool transf) +{ + if (transf) + { + // Convert point range from norm (-size/2, size/2) to (0,imageSize) + for (auto &k : kpoints) + { + k.pt.x = image.cols * (k.pt.x / _fractalMarker.getFractalSize() + 0.5f); + k.pt.y = image.rows * (-k.pt.y / _fractalMarker.getFractalSize() + 0.5f); + } + } + + cv::Mat out; + cv::cvtColor(image, out, CV_GRAY2BGR); + // drawKeypoints(image, kpoints, out, cv::Scalar(0,0,255), cv::DrawMatchesFlags::DRAW_RICH_KEYPOINTS); + + cv::Scalar color; + for (auto kp : kpoints) + { + if (kp.class_id == -1) + color = cv::Scalar(255, 0, 255); + if (kp.class_id == 0) + color = cv::Scalar(0, 0, 255); + if (kp.class_id == 1) + color = cv::Scalar(0, 255, 0); + if (kp.class_id == 2) + color = cv::Scalar(255, 0, 0); + circle(out, kp.pt, 2, color, -1); + } + + if (text) + { + int nkm = 0; + for (auto kp : kpoints) + { + putText(out, std::to_string(nkm++), kp.pt, CV_FONT_HERSHEY_COMPLEX, 1, + cv::Scalar(0, 0, 255), 2, 8); + } + } + + //#ifdef _DEBUG + // imshow("KPoints", out); + // cv::waitKey(); + //#endif +} +} // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/ippe.cpp b/legacy/aruco_ros/aruco/src/aruco/ippe.cpp new file mode 100755 index 000000000..7cacdd5cf --- /dev/null +++ b/legacy/aruco_ros/aruco/src/aruco/ippe.cpp @@ -0,0 +1,1300 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#include "ippe.h" +#include + +#include + +using namespace cv; +using namespace std; + + +namespace aruco +{ + +/****** + * + */ + +cv::Mat getRTMatrix(const cv::Mat& R_, const cv::Mat& T_, int forceType) +{ + cv::Mat M; + cv::Mat R, T; + R_.copyTo(R); + T_.copyTo(T); + if (R.type() == CV_64F) + { + assert(T.type() == CV_64F); + cv::Mat Matrix = cv::Mat::eye(4, 4, CV_64FC1); + + cv::Mat R33 = cv::Mat(Matrix, cv::Rect(0, 0, 3, 3)); + if (R.total() == 3) + { + cv::Rodrigues(R, R33); + } + else if (R.total() == 9) + { + cv::Mat R64; + R.convertTo(R64, CV_64F); + R.copyTo(R33); + } + for (int i = 0; i < 3; i++) + Matrix.at(i, 3) = T.ptr(0)[i]; + M = Matrix; + } + else if (R.depth() == CV_32F) + { + cv::Mat Matrix = cv::Mat::eye(4, 4, CV_32FC1); + cv::Mat R33 = cv::Mat(Matrix, cv::Rect(0, 0, 3, 3)); + if (R.total() == 3) + { + cv::Rodrigues(R, R33); + } + else if (R.total() == 9) + { + cv::Mat R32; + R.convertTo(R32, CV_32F); + R.copyTo(R33); + } + + for (int i = 0; i < 3; i++) + Matrix.at(i, 3) = T.ptr(0)[i]; + M = Matrix; + } + + if (forceType == -1) + return M; + else + { + cv::Mat MTyped; + M.convertTo(MTyped, forceType); + return MTyped; + } +} +vector solvePnP(const vector& objPoints, + const std::vector& imgPoints, + cv::InputArray cameraMatrix, cv::InputArray distCoeffs) +{ + cv::Mat Rvec, Tvec; + float reprojErr1, reprojErr2; + cv::Mat Rvec2, Tvec2; + + IPPE::PoseSolver Solver; + Solver.solveGeneric(objPoints, imgPoints, cameraMatrix, distCoeffs, Rvec, Tvec, + reprojErr1, Rvec2, Tvec2, reprojErr2); + + return { getRTMatrix(Rvec, Tvec, CV_32F), getRTMatrix(Rvec2, Tvec2, CV_32F) }; +} + +void solvePnP(const vector& objPoints, + const std::vector& imgPoints, cv::InputArray cameraMatrix, + cv::InputArray distCoeffs, cv::Mat& rvec, cv::Mat& tvec) +{ + float reprojErr1, reprojErr2; + cv::Mat Rvec2, Tvec2; + + IPPE::PoseSolver Solver; + Solver.solveGeneric(objPoints, imgPoints, cameraMatrix, distCoeffs, rvec, tvec, + reprojErr1, Rvec2, Tvec2, reprojErr2); +} + +std::vector> solvePnP_(float size, + const std::vector& imgPoints, + cv::InputArray cameraMatrix, + cv::InputArray distCoeffs) +{ + cv::Mat Rvec, Tvec, Rvec2, Tvec2; + float reprojErr1, reprojErr2; + + IPPE::PoseSolver Solver; + Solver.solveSquare(size, imgPoints, cameraMatrix, distCoeffs, Rvec, Tvec, reprojErr1, + Rvec2, Tvec2, reprojErr2); + + + return { make_pair(getRTMatrix(Rvec, Tvec, CV_32F), reprojErr1), + make_pair(getRTMatrix(Rvec2, Tvec2, CV_32F), reprojErr2) }; +} + +std::vector> solvePnP_(const std::vector& objPoints, + const std::vector& imgPoints, + cv::InputArray cameraMatrix, + cv::InputArray distCoeffs) +{ + cv::Mat Rvec, Tvec; + float reprojErr1, reprojErr2; + cv::Mat Rvec2, Tvec2; + + IPPE::PoseSolver Solver; + Solver.solveGeneric(objPoints, imgPoints, cameraMatrix, distCoeffs, Rvec, Tvec, + reprojErr1, Rvec2, Tvec2, reprojErr2); + + + return { make_pair(getRTMatrix(Rvec, Tvec, CV_32F), reprojErr1), + make_pair(getRTMatrix(Rvec2, Tvec2, CV_32F), reprojErr2) }; +} +} // namespace aruco + +IPPE::PoseSolver::PoseSolver() +{ +} + +IPPE::PoseSolver::~PoseSolver() +{ +} + +void IPPE::PoseSolver::solveGeneric(cv::InputArray _objectPoints, cv::InputArray _imagePoints, + cv::InputArray _cameraMatrix, cv::InputArray _distCoeffs, + cv::OutputArray _rvec1, cv::OutputArray _tvec1, + float& err1, cv::OutputArray _rvec2, + cv::OutputArray _tvec2, float& err2) +{ + cv::Mat normalizedImagePoints; // undistored version of imagePoints + + if (_cameraMatrix.empty()) + { + // there is no camera matrix and image points are given in normalized pixel coordinates. + _imagePoints.copyTo(normalizedImagePoints); + } + else + { + // undistort the image points (i.e. put them in normalized pixel coordinates): + cv::undistortPoints(_imagePoints, normalizedImagePoints, _cameraMatrix, _distCoeffs); + } + + // solve: + cv::Mat Ma, Mb; + solveGeneric(_objectPoints, normalizedImagePoints, Ma, Mb); + + // the two poses computed by IPPE (sorted): + cv::Mat M1, M2; + + // sort poses by reprojection error: + sortPosesByReprojError(_objectPoints, _imagePoints, _cameraMatrix, _distCoeffs, Ma, Mb, + M1, M2, err1, err2); + + // fill outputs + rot2vec(M1.colRange(0, 3).rowRange(0, 3), _rvec1); + rot2vec(M2.colRange(0, 3).rowRange(0, 3), _rvec2); + + M1.colRange(3, 4).rowRange(0, 3).copyTo(_tvec1); + M2.colRange(3, 4).rowRange(0, 3).copyTo(_tvec2); +} + +void IPPE::PoseSolver::solveGeneric(cv::InputArray _objectPoints, + cv::InputArray _normalizedInputPoints, + cv::OutputArray _Ma, cv::OutputArray _Mb) +{ + // argument checking: + size_t n = _objectPoints.rows() * _objectPoints.cols(); // number of points + int objType = _objectPoints.type(); + int type_input = _normalizedInputPoints.type(); + assert((objType == CV_32FC3) | (objType == CV_64FC3)); + assert((type_input == CV_32FC2) | (type_input == CV_64FC2)); + assert((_objectPoints.rows() == 1) | (_objectPoints.cols() == 1)); + assert((_objectPoints.rows() >= 4) | (_objectPoints.cols() >= 4)); + assert((_normalizedInputPoints.rows() == 1) | (_normalizedInputPoints.cols() == 1)); + assert(static_cast(_objectPoints.rows() * _objectPoints.cols()) == n); + + cv::Mat normalizedInputPoints; + if (type_input == CV_32FC2) + { + _normalizedInputPoints.getMat().convertTo(normalizedInputPoints, CV_64FC2); + } + else + { + normalizedInputPoints = _normalizedInputPoints.getMat(); + } + + cv::Mat objectInputPoints; + if (type_input == CV_32FC3) + { + _objectPoints.getMat().convertTo(objectInputPoints, CV_64FC3); + } + else + { + objectInputPoints = _objectPoints.getMat(); + } + + cv::Mat canonicalObjPoints; + cv::Mat MmodelPoints2Canonical; + + // transform object points to the canonical position (zero centred and on the plane z=0): + makeCanonicalObjectPoints(objectInputPoints, canonicalObjPoints, MmodelPoints2Canonical); + + // compute the homography mapping the model's points to normalizedInputPoints + cv::Mat H; + HomographyHO::homographyHO(canonicalObjPoints, _normalizedInputPoints, H); + + // now solve + cv::Mat MaCanon, MbCanon; + solveCanonicalForm(canonicalObjPoints, normalizedInputPoints, H, MaCanon, MbCanon); + + // transform computed poses to account for canonical transform: + cv::Mat Ma = MaCanon * MmodelPoints2Canonical; + cv::Mat Mb = MbCanon * MmodelPoints2Canonical; + + // output poses: + Ma.copyTo(_Ma); + Mb.copyTo(_Mb); +} + +void IPPE::PoseSolver::solveCanonicalForm(cv::InputArray _canonicalObjPoints, + cv::InputArray _normalizedInputPoints, + cv::InputArray _H, cv::OutputArray _Ma, + cv::OutputArray _Mb) +{ + _Ma.create(4, 4, CV_64FC1); + _Mb.create(4, 4, CV_64FC1); + + cv::Mat Ma = _Ma.getMat(); + cv::Mat Mb = _Mb.getMat(); + cv::Mat H = _H.getMat(); + + // initialise poses: + Ma.setTo(0); + Ma.at(3, 3) = 1; + Mb.setTo(0); + Mb.at(3, 3) = 1; + + // Compute the Jacobian J of the homography at (0,0): + double j00, j01, j10, j11, v0, v1; + + j00 = H.at(0, 0) - H.at(2, 0) * H.at(0, 2); + j01 = H.at(0, 1) - H.at(2, 1) * H.at(0, 2); + j10 = H.at(1, 0) - H.at(2, 0) * H.at(1, 2); + j11 = H.at(1, 1) - H.at(2, 1) * H.at(1, 2); + + // Compute the transformation of (0,0) into the image: + v0 = H.at(0, 2); + v1 = H.at(1, 2); + + // compute the two rotation solutions: + cv::Mat Ra = Ma.colRange(0, 3).rowRange(0, 3); + cv::Mat Rb = Mb.colRange(0, 3).rowRange(0, 3); + computeRotations(j00, j01, j10, j11, v0, v1, Ra, Rb); + + // for each rotation solution, compute the corresponding translation solution: + cv::Mat ta = Ma.colRange(3, 4).rowRange(0, 3); + cv::Mat tb = Mb.colRange(3, 4).rowRange(0, 3); + computeTranslation(_canonicalObjPoints, _normalizedInputPoints, Ra, ta); + computeTranslation(_canonicalObjPoints, _normalizedInputPoints, Rb, tb); +} + +void IPPE::PoseSolver::solveSquare(double squareLength, InputArray _imagePoints, + InputArray _cameraMatrix, InputArray _distCoeffs, + OutputArray _rvec1, OutputArray _tvec1, float& err1, + OutputArray _rvec2, OutputArray _tvec2, float& err2) +{ + // allocate outputs: + _rvec1.create(3, 1, CV_64FC1); + _tvec1.create(3, 1, CV_64FC1); + _rvec2.create(3, 1, CV_64FC1); + _tvec2.create(3, 1, CV_64FC1); + + cv::Mat normalizedInputPoints; // undistored version of imagePoints + cv::Mat objectPoints2D; + + // generate the object points: + generateSquareObjectCorners2D(squareLength, objectPoints2D); + + cv::Mat H; // homography from canonical object points to normalized pixels + + + if (_cameraMatrix.empty()) + { + // this means imagePoints are defined in normalized pixel coordinates, so just copy it: + _imagePoints.copyTo(normalizedInputPoints); + } + else + { + // undistort the image points (i.e. put them in normalized pixel coordinates). + cv::undistortPoints(_imagePoints, normalizedInputPoints, _cameraMatrix, _distCoeffs); + } + + if (normalizedInputPoints.type() == CV_32FC2) + { + normalizedInputPoints.convertTo(normalizedInputPoints, CV_64F); + } + + // compute H + homographyFromSquarePoints(normalizedInputPoints, squareLength / 2.0, H); + + // now solve + cv::Mat Ma, Mb; + solveCanonicalForm(objectPoints2D, normalizedInputPoints, H, Ma, Mb); + + // sort poses according to reprojection error: + cv::Mat M1, M2; + cv::Mat objectPoints3D; + generateSquareObjectCorners3D(squareLength, objectPoints3D); + + sortPosesByReprojError(objectPoints3D, normalizedInputPoints, _cameraMatrix, + _distCoeffs, Ma, Mb, M1, M2, err1, err2); + + // fill outputs + rot2vec(M1.colRange(0, 3).rowRange(0, 3), _rvec1); + rot2vec(M2.colRange(0, 3).rowRange(0, 3), _rvec2); + + M1.colRange(3, 4).rowRange(0, 3).copyTo(_tvec1); + M2.colRange(3, 4).rowRange(0, 3).copyTo(_tvec2); +} + +void IPPE::PoseSolver::generateSquareObjectCorners3D(double squareLength, OutputArray _objectPoints) +{ + _objectPoints.create(1, 4, CV_64FC3); + cv::Mat objectPoints = _objectPoints.getMat(); + objectPoints.ptr(0)[0] = Vec3d(-squareLength / 2.0, squareLength / 2.0, 0.0); + objectPoints.ptr(0)[1] = Vec3d(squareLength / 2.0, squareLength / 2.0, 0.0); + objectPoints.ptr(0)[2] = Vec3d(squareLength / 2.0, -squareLength / 2.0, 0.0); + objectPoints.ptr(0)[3] = Vec3d(-squareLength / 2.0, -squareLength / 2.0, 0.0); +} + +void IPPE::PoseSolver::generateSquareObjectCorners2D(double squareLength, OutputArray _objectPoints) +{ + _objectPoints.create(1, 4, CV_64FC2); + cv::Mat objectPoints = _objectPoints.getMat(); + objectPoints.ptr(0)[0] = Vec2d(-squareLength / 2.0, squareLength / 2.0); + objectPoints.ptr(0)[1] = Vec2d(squareLength / 2.0, squareLength / 2.0); + objectPoints.ptr(0)[2] = Vec2d(squareLength / 2.0, -squareLength / 2.0); + objectPoints.ptr(0)[3] = Vec2d(-squareLength / 2.0, -squareLength / 2.0); +} + +double IPPE::PoseSolver::meanSceneDepth(InputArray _objectPoints, InputArray _rvec, InputArray _tvec) +{ + assert(_objectPoints.type() == CV_64FC3); + + size_t n = static_cast(_objectPoints.rows() * _objectPoints.cols()); + Mat R; + Mat q; + Rodrigues(_rvec, R); + double zBar = 0; + + for (size_t i = 0; i < n; i++) + { + cv::Mat p(_objectPoints.getMat().at(i)); + q = R * p + _tvec.getMat(); + double z; + if (q.depth() == CV_64FC1) + { + z = q.at(2); + } + else + { + z = static_cast(q.at(2)); + } + zBar += z; + + // if (z <= 0) { + // std::cout << "Warning: object point " << i << " projects behind the camera! + // This should not be allowed. " << std::endl; + // } + } + return zBar / static_cast(n); +} + +void IPPE::PoseSolver::rot2vec(InputArray _R, OutputArray _r) +{ + assert(_R.type() == CV_64FC1); + assert(_R.rows() == 3); + assert(_R.cols() == 3); + + _r.create(3, 1, CV_64FC1); + + cv::Mat R = _R.getMat(); + cv::Mat rvec = _r.getMat(); + + double trace = R.at(0, 0) + R.at(1, 1) + R.at(2, 2); + double w_norm = acos((trace - 1.0) / 2.0); + double c0, c1, c2; + double eps = std::numeric_limits::epsilon(); + double d = 1 / (2 * sin(w_norm)) * w_norm; + if (w_norm < eps) // rotation is the identity + { + rvec.setTo(0); + } + else + { + c0 = R.at(2, 1) - R.at(1, 2); + c1 = R.at(0, 2) - R.at(2, 0); + c2 = R.at(1, 0) - R.at(0, 1); + rvec.at(0) = d * c0; + rvec.at(1) = d * c1; + rvec.at(2) = d * c2; + } +} + +void IPPE::PoseSolver::computeTranslation(InputArray _objectPoints, InputArray _normalizedImgPoints, + InputArray _R, OutputArray _t) +{ + // This is solved by building the linear system At = b, where t corresponds to the + // (unknown) translation. This is then inverted with the associated normal equations to + // give t = inv(transpose(A)*A)*transpose(A)*b For efficiency we only store the + // coefficients of (transpose(A)*A) and (transpose(A)*b) + + assert(_objectPoints.type() == CV_64FC2); + assert(_normalizedImgPoints.type() == CV_64FC2); + assert(_R.type() == CV_64FC1); + + assert((_R.rows() == 3) & (_R.cols() == 3)); + assert((_objectPoints.rows() == 1) | (_objectPoints.cols() == 1)); + assert((_normalizedImgPoints.rows() == 1) | (_normalizedImgPoints.cols() == 1)); + + size_t n = static_cast(_normalizedImgPoints.rows() * _normalizedImgPoints.cols()); + assert(n == static_cast(_objectPoints.rows() * _objectPoints.cols())); + + cv::Mat objectPoints = _objectPoints.getMat(); + cv::Mat imgPoints = _normalizedImgPoints.getMat(); + + _t.create(3, 1, CV_64FC1); + + cv::Mat R = _R.getMat(); + + // coefficients of (transpose(A)*A) + double ATA00 = n; + double ATA02 = 0; + double ATA11 = n; + double ATA12 = 0; + double ATA20 = 0; + double ATA21 = 0; + double ATA22 = 0; + + // coefficients of (transpose(A)*b) + double ATb0 = 0; + double ATb1 = 0; + double ATb2 = 0; + + // S gives inv(transpose(A)*A)/det(A)^2 + double S00, S01, S02; + double S10, S11, S12; + double S20, S21, S22; + + double rx, ry, rz; + double a2; + double b2; + double bx, by; + + // now loop through each point and increment the coefficients: + for (size_t i = 0; i < n; i++) + { + rx = R.at(0, 0) * objectPoints.at(i)(0) + + R.at(0, 1) * objectPoints.at(i)(1); + ry = R.at(1, 0) * objectPoints.at(i)(0) + + R.at(1, 1) * objectPoints.at(i)(1); + rz = R.at(2, 0) * objectPoints.at(i)(0) + + R.at(2, 1) * objectPoints.at(i)(1); + + a2 = -imgPoints.at(i)(0); + b2 = -imgPoints.at(i)(1); + + ATA02 = ATA02 + a2; + ATA12 = ATA12 + b2; + ATA20 = ATA20 + a2; + ATA21 = ATA21 + b2; + ATA22 = ATA22 + a2 * a2 + b2 * b2; + + bx = -a2 * rz - rx; + by = -b2 * rz - ry; + + ATb0 = ATb0 + bx; + ATb1 = ATb1 + by; + ATb2 = ATb2 + a2 * bx + b2 * by; + } + + double detAInv = 1.0 / (ATA00 * ATA11 * ATA22 - ATA00 * ATA12 * ATA21 - ATA02 * ATA11 * ATA20); + + // construct S: + S00 = ATA11 * ATA22 - ATA12 * ATA21; + S01 = ATA02 * ATA21; + S02 = -ATA02 * ATA11; + S10 = ATA12 * ATA20; + S11 = ATA00 * ATA22 - ATA02 * ATA20; + S12 = -ATA00 * ATA12; + S20 = -ATA11 * ATA20; + S21 = -ATA00 * ATA21; + S22 = ATA00 * ATA11; + + // solve t: + Mat t = _t.getMat(); + t.at(0) = detAInv * (S00 * ATb0 + S01 * ATb1 + S02 * ATb2); + t.at(1) = detAInv * (S10 * ATb0 + S11 * ATb1 + S12 * ATb2); + t.at(2) = detAInv * (S20 * ATb0 + S21 * ATb1 + S22 * ATb2); +} + +void IPPE::PoseSolver::computeRotations(double j00, double j01, double j10, double j11, + double p, double q, OutputArray _R1, OutputArray _R2) +{ + // This is fairly optimized code which makes it hard to understand. The matlab code is certainly easier to read. + _R1.create(3, 3, CV_64FC1); + _R2.create(3, 3, CV_64FC1); + + double a00, a01, a10, a11, ata00, ata01, ata11, b00, b01, b10, b11, binv00, binv01, + binv10, binv11; + // double rv00, rv01, rv02, rv10, rv11, rv12, rv20, rv21, rv22; + double rtilde00, rtilde01, rtilde10, rtilde11; + double rtilde00_2, rtilde01_2, rtilde10_2, rtilde11_2; + double b0, b1, gamma, dtinv; + double sp; + + Mat Rv; + cv::Mat v(3, 1, CV_64FC1); + v.at(0) = p; + v.at(1) = q; + v.at(2) = 1; + rotateVec2ZAxis(v, Rv); + Rv = Rv.t(); + + + // setup the 2x2 SVD decomposition: + double rv00, rv01, rv02; + double rv10, rv11, rv12; + double rv20, rv21, rv22; + rv00 = Rv.at(0, 0); + rv01 = Rv.at(0, 1); + rv02 = Rv.at(0, 2); + + rv10 = Rv.at(1, 0); + rv11 = Rv.at(1, 1); + rv12 = Rv.at(1, 2); + + rv20 = Rv.at(2, 0); + rv21 = Rv.at(2, 1); + rv22 = Rv.at(2, 2); + + b00 = rv00 - p * rv20; + b01 = rv01 - p * rv21; + b10 = rv10 - q * rv20; + b11 = rv11 - q * rv21; + + dtinv = 1.0 / ((b00 * b11 - b01 * b10)); + + binv00 = dtinv * b11; + binv01 = -dtinv * b01; + binv10 = -dtinv * b10; + binv11 = dtinv * b00; + + a00 = binv00 * j00 + binv01 * j10; + a01 = binv00 * j01 + binv01 * j11; + a10 = binv10 * j00 + binv11 * j10; + a11 = binv10 * j01 + binv11 * j11; + + // compute the largest singular value of A: + ata00 = a00 * a00 + a01 * a01; + ata01 = a00 * a10 + a01 * a11; + ata11 = a10 * a10 + a11 * a11; + + gamma = sqrt( + 0.5 * (ata00 + ata11 + sqrt((ata00 - ata11) * (ata00 - ata11) + 4.0 * ata01 * ata01))); + + // reconstruct the full rotation matrices: + rtilde00 = a00 / gamma; + rtilde01 = a01 / gamma; + rtilde10 = a10 / gamma; + rtilde11 = a11 / gamma; + + rtilde00_2 = rtilde00 * rtilde00; + rtilde01_2 = rtilde01 * rtilde01; + rtilde10_2 = rtilde10 * rtilde10; + rtilde11_2 = rtilde11 * rtilde11; + + b0 = sqrt(-rtilde00_2 - rtilde10_2 + 1); + b1 = sqrt(-rtilde01_2 - rtilde11_2 + 1); + sp = (-rtilde00 * rtilde01 - rtilde10 * rtilde11); + + if (sp < 0) + { + b1 = -b1; + } + + // store results: + Mat R1 = _R1.getMat(); + Mat R2 = _R2.getMat(); + + R1.at(0, 0) = (rtilde00)*rv00 + (rtilde10)*rv01 + (b0)*rv02; + R1.at(0, 1) = (rtilde01)*rv00 + (rtilde11)*rv01 + (b1)*rv02; + R1.at(0, 2) = (b1 * rtilde10 - b0 * rtilde11) * rv00 + + (b0 * rtilde01 - b1 * rtilde00) * rv01 + + (rtilde00 * rtilde11 - rtilde01 * rtilde10) * rv02; + R1.at(1, 0) = (rtilde00)*rv10 + (rtilde10)*rv11 + (b0)*rv12; + R1.at(1, 1) = (rtilde01)*rv10 + (rtilde11)*rv11 + (b1)*rv12; + R1.at(1, 2) = (b1 * rtilde10 - b0 * rtilde11) * rv10 + + (b0 * rtilde01 - b1 * rtilde00) * rv11 + + (rtilde00 * rtilde11 - rtilde01 * rtilde10) * rv12; + R1.at(2, 0) = (rtilde00)*rv20 + (rtilde10)*rv21 + (b0)*rv22; + R1.at(2, 1) = (rtilde01)*rv20 + (rtilde11)*rv21 + (b1)*rv22; + R1.at(2, 2) = (b1 * rtilde10 - b0 * rtilde11) * rv20 + + (b0 * rtilde01 - b1 * rtilde00) * rv21 + + (rtilde00 * rtilde11 - rtilde01 * rtilde10) * rv22; + + R2.at(0, 0) = (rtilde00)*rv00 + (rtilde10)*rv01 + (-b0) * rv02; + R2.at(0, 1) = (rtilde01)*rv00 + (rtilde11)*rv01 + (-b1) * rv02; + R2.at(0, 2) = (b0 * rtilde11 - b1 * rtilde10) * rv00 + + (b1 * rtilde00 - b0 * rtilde01) * rv01 + + (rtilde00 * rtilde11 - rtilde01 * rtilde10) * rv02; + R2.at(1, 0) = (rtilde00)*rv10 + (rtilde10)*rv11 + (-b0) * rv12; + R2.at(1, 1) = (rtilde01)*rv10 + (rtilde11)*rv11 + (-b1) * rv12; + R2.at(1, 2) = (b0 * rtilde11 - b1 * rtilde10) * rv10 + + (b1 * rtilde00 - b0 * rtilde01) * rv11 + + (rtilde00 * rtilde11 - rtilde01 * rtilde10) * rv12; + R2.at(2, 0) = (rtilde00)*rv20 + (rtilde10)*rv21 + (-b0) * rv22; + R2.at(2, 1) = (rtilde01)*rv20 + (rtilde11)*rv21 + (-b1) * rv22; + R2.at(2, 2) = (b0 * rtilde11 - b1 * rtilde10) * rv20 + + (b1 * rtilde00 - b0 * rtilde01) * rv21 + + (rtilde00 * rtilde11 - rtilde01 * rtilde10) * rv22; +} + + +void IPPE::PoseSolver::homographyFromSquarePoints(InputArray _targetPoints, + double halfLength, OutputArray H_) +{ + assert((_targetPoints.type() == CV_32FC2) | (_targetPoints.type() == CV_64FC2)); + + cv::Mat pts = _targetPoints.getMat(); + H_.create(3, 3, CV_64FC1); + Mat H = H_.getMat(); + + double p1x, p1y; + double p2x, p2y; + double p3x, p3y; + double p4x, p4y; + + if (_targetPoints.type() == CV_32FC2) + { + p1x = -pts.at(0)(0); + p1y = -pts.at(0)(1); + + p2x = -pts.at(1)(0); + p2y = -pts.at(1)(1); + + p3x = -pts.at(2)(0); + p3y = -pts.at(2)(1); + + p4x = -pts.at(3)(0); + p4y = -pts.at(3)(1); + } + else + { + p1x = -pts.at(0)(0); + p1y = -pts.at(0)(1); + + p2x = -pts.at(1)(0); + p2y = -pts.at(1)(1); + + p3x = -pts.at(2)(0); + p3y = -pts.at(2)(1); + + p4x = -pts.at(3)(0); + p4y = -pts.at(3)(1); + } + + // analytic solution: + double detsInv = -1 / (halfLength * (p1x * p2y - p2x * p1y - p1x * p4y + p2x * p3y - + p3x * p2y + p4x * p1y + p3x * p4y - p4x * p3y)); + + H.at(0, 0) = + detsInv * (p1x * p3x * p2y - p2x * p3x * p1y - p1x * p4x * p2y + p2x * p4x * p1y - + p1x * p3x * p4y + p1x * p4x * p3y + p2x * p3x * p4y - p2x * p4x * p3y); + H.at(0, 1) = + detsInv * (p1x * p2x * p3y - p1x * p3x * p2y - p1x * p2x * p4y + p2x * p4x * p1y + + p1x * p3x * p4y - p3x * p4x * p1y - p2x * p4x * p3y + p3x * p4x * p2y); + H.at(0, 2) = + detsInv * halfLength * + (p1x * p2x * p3y - p2x * p3x * p1y - p1x * p2x * p4y + p1x * p4x * p2y - + p1x * p4x * p3y + p3x * p4x * p1y + p2x * p3x * p4y - p3x * p4x * p2y); + H.at(1, 0) = + detsInv * (p1x * p2y * p3y - p2x * p1y * p3y - p1x * p2y * p4y + p2x * p1y * p4y - + p3x * p1y * p4y + p4x * p1y * p3y + p3x * p2y * p4y - p4x * p2y * p3y); + H.at(1, 1) = + detsInv * (p2x * p1y * p3y - p3x * p1y * p2y - p1x * p2y * p4y + p4x * p1y * p2y + + p1x * p3y * p4y - p4x * p1y * p3y - p2x * p3y * p4y + p3x * p2y * p4y); + H.at(1, 2) = + detsInv * halfLength * + (p1x * p2y * p3y - p3x * p1y * p2y - p2x * p1y * p4y + p4x * p1y * p2y - + p1x * p3y * p4y + p3x * p1y * p4y + p2x * p3y * p4y - p4x * p2y * p3y); + H.at(2, 0) = -detsInv * (p1x * p3y - p3x * p1y - p1x * p4y - p2x * p3y + + p3x * p2y + p4x * p1y + p2x * p4y - p4x * p2y); + H.at(2, 1) = detsInv * (p1x * p2y - p2x * p1y - p1x * p3y + p3x * p1y + + p2x * p4y - p4x * p2y - p3x * p4y + p4x * p3y); + H.at(2, 2) = 1.0; +} + +void IPPE::PoseSolver::makeCanonicalObjectPoints(InputArray _objectPoints, + OutputArray _canonicalObjPoints, + OutputArray _MmodelPoints2Canonical) +{ + int objType = _objectPoints.type(); + assert((objType == CV_64FC3) | (objType == CV_32FC3)); + + size_t n = _objectPoints.rows() * _objectPoints.cols(); + + _canonicalObjPoints.create(1, n, CV_64FC2); + _MmodelPoints2Canonical.create(4, 4, CV_64FC1); + + cv::Mat objectPoints = _objectPoints.getMat(); + cv::Mat canonicalObjPoints = _canonicalObjPoints.getMat(); + + cv::Mat UZero(3, n, CV_64FC1); + + double xBar = 0; + double yBar = 0; + double zBar = 0; + bool isOnZPlane = true; + for (size_t i = 0; i < n; i++) + { + double x, y, z; + if (objType == CV_32FC3) + { + x = static_cast(objectPoints.at(i)[0]); + y = static_cast(objectPoints.at(i)[1]); + z = static_cast(objectPoints.at(i)[2]); + } + else + { + x = objectPoints.at(i)[0]; + y = objectPoints.at(i)[1]; + z = objectPoints.at(i)[2]; + + if (abs(z) > IPPE_SMALL) + { + isOnZPlane = false; + } + } + xBar += x; + yBar += y; + zBar += z; + + UZero.at(0, i) = x; + UZero.at(1, i) = y; + UZero.at(2, i) = z; + } + xBar = xBar / (double)n; + yBar = yBar / (double)n; + zBar = zBar / (double)n; + + for (size_t i = 0; i < n; i++) + { + UZero.at(0, i) -= xBar; + UZero.at(1, i) -= yBar; + UZero.at(2, i) -= zBar; + } + + cv::Mat MCenter(4, 4, CV_64FC1); + MCenter.setTo(0); + MCenter.at(0, 0) = 1; + MCenter.at(1, 1) = 1; + MCenter.at(2, 2) = 1; + MCenter.at(3, 3) = 1; + + MCenter.at(0, 3) = -xBar; + MCenter.at(1, 3) = -yBar; + MCenter.at(2, 3) = -zBar; + + if (isOnZPlane) + { + // MmodelPoints2Canonical is given by MCenter + MCenter.copyTo(_MmodelPoints2Canonical); + for (size_t i = 0; i < n; i++) + { + canonicalObjPoints.at(i)[0] = UZero.at(0, i); + canonicalObjPoints.at(i)[1] = UZero.at(1, i); + } + } + else + { + cv::Mat UZeroAligned(3, n, CV_64FC1); + cv::Mat R; // rotation that rotates objectPoints to the plane z=0 + + if (!computeObjextSpaceR3Pts(objectPoints, R)) + { + // we could not compute R, problably because there is a duplicate point in + // {objectPoints(0),objectPoints(1),objectPoints(2)}. So we compute it with the SVD (which is slower): + computeObjextSpaceRSvD(UZero, R); + } + + UZeroAligned = R * UZero; + + for (size_t i = 0; i < n; i++) + { + canonicalObjPoints.at(i)[0] = UZeroAligned.at(0, i); + canonicalObjPoints.at(i)[1] = UZeroAligned.at(1, i); + assert(abs(UZeroAligned.at(2, i)) <= IPPE_SMALL); + } + + cv::Mat MRot(4, 4, CV_64FC1); + MRot.setTo(0); + MRot.at(3, 3) = 1; + + R.copyTo(MRot.colRange(0, 3).rowRange(0, 3)); + cv::Mat Mb = MRot * MCenter; + Mb.copyTo(_MmodelPoints2Canonical); + } +} + +void IPPE::PoseSolver::evalReprojError(cv::InputArray _objectPoints, cv::InputArray _imagePoints, + cv::InputArray _cameraMatrix, cv::InputArray _distCoeffs, + cv::InputArray _M, float& err) +{ + cv::Mat projectedPoints; + cv::Mat imagePoints = _imagePoints.getMat(); + cv::Mat r; + rot2vec(_M.getMat().colRange(0, 3).rowRange(0, 3), r); + + if (_cameraMatrix.empty()) + { + // there is no camera matrix and image points are in normalized pixel coordinates + cv::Mat K(3, 3, CV_64FC1); + K.setTo(0); + K.at(0, 0) = 1; + K.at(1, 1) = 1; + K.at(2, 2) = 1; + cv::Mat kc; + cv::projectPoints(_objectPoints, r, _M.getMat().colRange(3, 4).rowRange(0, 3), K, kc, + projectedPoints); + } + else + { + cv::projectPoints(_objectPoints, r, _M.getMat().colRange(3, 4).rowRange(0, 3), + _cameraMatrix, _distCoeffs, projectedPoints); + } + + err = 0; + size_t n = _objectPoints.rows() * _objectPoints.cols(); + + float dx, dy; + for (size_t i = 0; i < n; i++) + { + if (projectedPoints.depth() == CV_32FC1) + { + dx = projectedPoints.at(i)[0] - imagePoints.at(i)[0]; + dy = projectedPoints.at(i)[1] - imagePoints.at(i)[1]; + } + else + { + dx = projectedPoints.at(i)[0] - imagePoints.at(i)[0]; + dy = projectedPoints.at(i)[1] - imagePoints.at(i)[1]; + } + + err += dx * dx + dy * dy; + } + err = sqrt(err / (2.0f * n)); +} + +void IPPE::PoseSolver::sortPosesByReprojError(cv::InputArray _objectPoints, + cv::InputArray _imagePoints, + cv::InputArray _cameraMatrix, + cv::InputArray _distCoeffs, cv::InputArray _Ma, + cv::InputArray _Mb, cv::OutputArray _M1, + cv::OutputArray _M2, float& err1, float& err2) +{ + float erra, errb; + evalReprojError(_objectPoints, _imagePoints, _cameraMatrix, _distCoeffs, _Ma, erra); + evalReprojError(_objectPoints, _imagePoints, _cameraMatrix, _distCoeffs, _Mb, errb); + if (erra < errb) + { + err1 = erra; + _Ma.copyTo(_M1); + + err2 = errb; + _Mb.copyTo(_M2); + } + else + { + err1 = errb; + _Mb.copyTo(_M1); + + err2 = erra; + _Ma.copyTo(_M2); + } +} + +void HomographyHO::normalizeDataIsotropic(cv::InputArray _Data, cv::OutputArray _DataN, + cv::OutputArray _T, cv::OutputArray _Ti) +{ + cv::Mat Data = _Data.getMat(); + int numPoints = Data.rows * Data.cols; + assert((Data.rows == 1) | (Data.cols == 1)); + assert((Data.channels() == 2) | (Data.channels() == 3)); + assert(numPoints >= 4); + + int dataType = _Data.type(); + assert((dataType == CV_64FC2) | (dataType == CV_64FC3) | (dataType == CV_32FC2) | + (dataType == CV_32FC3)); + + _DataN.create(2, numPoints, CV_64FC1); + + _T.create(3, 3, CV_64FC1); + _Ti.create(3, 3, CV_64FC1); + + cv::Mat DataN = _DataN.getMat(); + cv::Mat T = _T.getMat(); + cv::Mat Ti = _Ti.getMat(); + + _T.setTo(0); + _Ti.setTo(0); + + double xm, ym; + int numChannels = Data.channels(); + + xm = 0; + ym = 0; + for (int i = 0; i < numPoints; i++) + { + if (numChannels == 2) + { + if (dataType == CV_32FC2) + { + xm = xm + Data.at(i)[0]; + ym = ym + Data.at(i)[1]; + } + else + { + xm = xm + Data.at(i)[0]; + ym = ym + Data.at(i)[1]; + } + } + else + { + if (dataType == CV_32FC3) + { + xm = xm + Data.at(i)[0]; + ym = ym + Data.at(i)[1]; + } + else + { + xm = xm + Data.at(i)[0]; + ym = ym + Data.at(i)[1]; + } + } + } + xm = xm / (double)numPoints; + ym = ym / (double)numPoints; + + double kappa = 0; + double xh, yh; + + for (int i = 0; i < numPoints; i++) + { + if (numChannels == 2) + { + if (dataType == CV_32FC2) + { + xh = Data.at(i)[0] - xm; + yh = Data.at(i)[1] - ym; + } + else + { + xh = Data.at(i)[0] - xm; + yh = Data.at(i)[1] - ym; + } + } + else + { + if (dataType == CV_32FC3) + { + xh = Data.at(i)[0] - xm; + yh = Data.at(i)[1] - ym; + } + else + { + xh = Data.at(i)[0] - xm; + yh = Data.at(i)[1] - ym; + } + } + + DataN.at(0, i) = xh; + DataN.at(1, i) = yh; + kappa = kappa + xh * xh + yh * yh; + } + double beta = sqrt(2 * numPoints / kappa); + DataN = DataN * beta; + + T.at(0, 0) = 1.0 / beta; + T.at(1, 1) = 1.0 / beta; + + T.at(0, 2) = xm; + T.at(1, 2) = ym; + + T.at(2, 2) = 1; + + Ti.at(0, 0) = beta; + Ti.at(1, 1) = beta; + + Ti.at(0, 2) = -beta * xm; + Ti.at(1, 2) = -beta * ym; + + Ti.at(2, 2) = 1; +} + +void HomographyHO::homographyHO(cv::InputArray _srcPoints, cv::InputArray _targPoints, + cv::OutputArray _H) +{ + _H.create(3, 3, CV_64FC1); + cv::Mat H = _H.getMat(); + + cv::Mat DataA, DataB, TA, TAi, TB, TBi; + + HomographyHO::normalizeDataIsotropic(_srcPoints, DataA, TA, TAi); + HomographyHO::normalizeDataIsotropic(_targPoints, DataB, TB, TBi); + + int n = DataA.cols; + assert(n == DataB.cols); + + cv::Mat C1(1, n, CV_64FC1); + cv::Mat C2(1, n, CV_64FC1); + cv::Mat C3(1, n, CV_64FC1); + cv::Mat C4(1, n, CV_64FC1); + + cv::Mat Mx(n, 3, CV_64FC1); + cv::Mat My(n, 3, CV_64FC1); + + double mC1, mC2, mC3, mC4; + mC1 = 0; + mC2 = 0; + mC3 = 0; + mC4 = 0; + + for (int i = 0; i < n; i++) + { + C1.at(0, i) = -DataB.at(0, i) * DataA.at(0, i); + C2.at(0, i) = -DataB.at(0, i) * DataA.at(1, i); + C3.at(0, i) = -DataB.at(1, i) * DataA.at(0, i); + C4.at(0, i) = -DataB.at(1, i) * DataA.at(1, i); + + mC1 = mC1 + C1.at(0, i); + mC2 = mC2 + C2.at(0, i); + mC3 = mC3 + C3.at(0, i); + mC4 = mC4 + C4.at(0, i); + } + + mC1 = mC1 / n; + mC2 = mC2 / n; + mC3 = mC3 / n; + mC4 = mC4 / n; + + for (int i = 0; i < n; i++) + { + Mx.at(i, 0) = C1.at(0, i) - mC1; + Mx.at(i, 1) = C2.at(0, i) - mC2; + Mx.at(i, 2) = -DataB.at(0, i); + + My.at(i, 0) = C3.at(0, i) - mC3; + My.at(i, 1) = C4.at(0, i) - mC4; + My.at(i, 2) = -DataB.at(1, i); + } + + cv::Mat DataAT, DataADataAT, DataADataATi, Pp, Bx, By, Ex, Ey, D; + + cv::transpose(DataA, DataAT); + DataADataAT = DataA * DataAT; + double dt = DataADataAT.at(0, 0) * DataADataAT.at(1, 1) - + DataADataAT.at(0, 1) * DataADataAT.at(1, 0); + + DataADataATi = cv::Mat(2, 2, CV_64FC1); + DataADataATi.at(0, 0) = DataADataAT.at(1, 1) / dt; + DataADataATi.at(0, 1) = -DataADataAT.at(0, 1) / dt; + DataADataATi.at(1, 0) = -DataADataAT.at(1, 0) / dt; + DataADataATi.at(1, 1) = DataADataAT.at(0, 0) / dt; + + Pp = DataADataATi * DataA; + + Bx = Pp * Mx; + By = Pp * My; + + Ex = DataAT * Bx; + Ey = DataAT * By; + + D = cv::Mat(2 * n, 3, CV_64FC1); + cv::Mat DT, DDT; + + for (int i = 0; i < n; i++) + { + D.at(i, 0) = Mx.at(i, 0) - Ex.at(i, 0); + D.at(i, 1) = Mx.at(i, 1) - Ex.at(i, 1); + D.at(i, 2) = Mx.at(i, 2) - Ex.at(i, 2); + + D.at(i + n, 0) = My.at(i, 0) - Ey.at(i, 0); + D.at(i + n, 1) = My.at(i, 1) - Ey.at(i, 1); + D.at(i + n, 2) = My.at(i, 2) - Ey.at(i, 2); + } + + cv::transpose(D, DT); + DDT = DT * D; + + cv::Mat S, U, V, h12, h45; + double h3, h6; + + cv::eigen(DDT, S, U); + + cv::Mat h789(3, 1, CV_64FC1); + h789.at(0, 0) = U.at(2, 0); + h789.at(1, 0) = U.at(2, 1); + h789.at(2, 0) = U.at(2, 2); + + h12 = -Bx * h789; + h45 = -By * h789; + + h3 = -(mC1 * h789.at(0, 0) + mC2 * h789.at(1, 0)); + h6 = -(mC3 * h789.at(0, 0) + mC4 * h789.at(1, 0)); + + H.at(0, 0) = h12.at(0, 0); + H.at(0, 1) = h12.at(1, 0); + H.at(0, 2) = h3; + + H.at(1, 0) = h45.at(0, 0); + H.at(1, 1) = h45.at(1, 0); + H.at(1, 2) = h6; + + H.at(2, 0) = h789.at(0, 0); + H.at(2, 1) = h789.at(1, 0); + H.at(2, 2) = h789.at(2, 0); + + H = TB * H * TAi; + H = H / H.at(2, 2); +} + + +void IPPE::PoseSolver::rotateVec2ZAxis(InputArray _a, OutputArray _Ra) +{ + _Ra.create(3, 3, CV_64FC1); + Mat Ra = _Ra.getMat(); + + double ax = _a.getMat().at(0); + double ay = _a.getMat().at(1); + double az = _a.getMat().at(2); + + double nrm = sqrt(ax * ax + ay * ay + az * az); + ax = ax / nrm; + ay = ay / nrm; + az = az / nrm; + + double c = az; + + if (abs(1.0 + c) < std::numeric_limits::epsilon()) + { + Ra.setTo(0.0); + Ra.at(0, 0) = 1.0; + Ra.at(1, 1) = 1.0; + Ra.at(2, 2) = -1.0; + } + else + { + double d = 1.0 / (1.0 + c); + double ax2 = ax * ax; + double ay2 = ay * ay; + double axay = ax * ay; + + Ra.at(0, 0) = -ax2 * d + 1.0; + Ra.at(0, 1) = -axay * d; + Ra.at(0, 2) = -ax; + + Ra.at(1, 0) = -axay * d; + Ra.at(1, 1) = -ay2 * d + 1.0; + Ra.at(1, 2) = -ay; + + Ra.at(2, 0) = ax; + Ra.at(2, 1) = ay; + Ra.at(2, 2) = 1.0 - (ax2 + ay2) * d; + } +} + +bool IPPE::PoseSolver::computeObjextSpaceR3Pts(InputArray _objectPoints, OutputArray R) +{ + bool ret; // return argument + double p1x, p1y, p1z; + double p2x, p2y, p2z; + double p3x, p3y, p3z; + + cv::Mat objectPoints = _objectPoints.getMat(); + size_t n = objectPoints.rows * objectPoints.cols; + if (objectPoints.type() == CV_32FC3) + { + p1x = objectPoints.at(0)[0]; + p1y = objectPoints.at(0)[1]; + p1z = objectPoints.at(0)[2]; + + p2x = objectPoints.at(1)[0]; + p2y = objectPoints.at(1)[1]; + p2z = objectPoints.at(1)[2]; + + p3x = objectPoints.at(2)[0]; + p3y = objectPoints.at(2)[1]; + p3z = objectPoints.at(2)[2]; + } + else + { + p1x = objectPoints.at(0)[0]; + p1y = objectPoints.at(0)[1]; + p1z = objectPoints.at(0)[2]; + + p2x = objectPoints.at(1)[0]; + p2y = objectPoints.at(1)[1]; + p2z = objectPoints.at(1)[2]; + + p3x = objectPoints.at(2)[0]; + p3y = objectPoints.at(2)[1]; + p3z = objectPoints.at(2)[2]; + } + + double nx = (p1y - p2y) * (p1z - p3z) - (p1y - p3y) * (p1z - p2z); + double ny = (p1x - p3x) * (p1z - p2z) - (p1x - p2x) * (p1z - p3z); + double nz = (p1x - p2x) * (p1y - p3y) - (p1x - p3x) * (p1y - p2y); + + double nrm = sqrt(nx * nx + ny * ny + nz * nz); + if (nrm > IPPE_SMALL) + { + nx = nx / nrm; + ny = ny / nrm; + nz = nz / nrm; + cv::Mat v(3, 1, CV_64FC1); + v.at(0) = nx; + v.at(1) = ny; + v.at(2) = nz; + rotateVec2ZAxis(v, R); + ret = true; + } + else + { + ret = false; + } + return ret; +} + +bool IPPE::PoseSolver::computeObjextSpaceRSvD(InputArray _objectPointsZeroMean, OutputArray _R) +{ + bool ret; // return argument + _R.create(3, 3, CV_64FC1); + cv::Mat R = _R.getMat(); + + // we could not compute R with the first three points, so lets use the SVD + cv::SVD s; + cv::Mat W, U, VT; + s.compute(_objectPointsZeroMean.getMat() * _objectPointsZeroMean.getMat().t(), W, U, VT); + double s3 = W.at(2); + double s2 = W.at(1); + + // check if points are coplanar: + assert(s3 / s2 < IPPE_SMALL); + + R = U.t(); + if (cv::determinant(R) < 0) + { // this ensures R is a rotation matrix and not a general unitary matrix: + R.at(2, 0) = -R.at(2, 0); + R.at(2, 1) = -R.at(2, 1); + R.at(2, 2) = -R.at(2, 2); + } + ret = true; + return ret; +} diff --git a/legacy/aruco_ros/aruco/src/aruco/marker.cpp b/legacy/aruco_ros/aruco/src/aruco/marker.cpp new file mode 100755 index 000000000..917ba63ea --- /dev/null +++ b/legacy/aruco_ros/aruco/src/aruco/marker.cpp @@ -0,0 +1,495 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#include "marker.h" + +/// \todo set this definition in the cmake code +#define _USE_MATH_DEFINES + +#include +#include + +#include +#include +#include "cameraparameters.h" +#include "ippe.h" + +namespace aruco +{ +/** + * + */ +Marker::Marker() +{ + id = -1; + ssize = -1; + Rvec.create(3, 1, CV_32FC1); + Tvec.create(3, 1, CV_32FC1); + for (int i = 0; i < 3; i++) + Tvec.at(i, 0) = Rvec.at(i, 0) = -999999; +} +/** + * + */ +Marker::Marker(int _id) +{ + id = _id; + ssize = -1; + Rvec.create(3, 1, CV_32FC1); + Tvec.create(3, 1, CV_32FC1); + for (int i = 0; i < 3; i++) + Tvec.at(i, 0) = Rvec.at(i, 0) = -999999; +} +/** + * + */ +Marker::Marker(const Marker& M) : std::vector(M) +{ + M.copyTo(*this); +} + +/** + * + */ +Marker::Marker(const std::vector& corners, int _id) + : std::vector(corners) +{ + id = _id; + ssize = -1; + Rvec.create(3, 1, CV_32FC1); + Tvec.create(3, 1, CV_32FC1); + for (int i = 0; i < 3; i++) + Tvec.at(i, 0) = Rvec.at(i, 0) = -999999; +} + +void Marker::copyTo(Marker& m) const +{ + m.id = id; + // size of the markers sides in meters + m.ssize = ssize; + // matrices of rotation and translation respect to the camera + Rvec.copyTo(m.Rvec); + Tvec.copyTo(m.Tvec); + m.resize(size()); + for (size_t i = 0; i < size(); i++) + m.at(i) = at(i); + m.dict_info = dict_info; + m.contourPoints = contourPoints; +} +/**compares ids + */ +Marker& Marker::operator=(const Marker& m) +{ + m.copyTo(*this); + return *this; +} +/** + * + */ +void Marker::glGetModelViewMatrix(double modelview_matrix[16]) +{ + // check if paremeters are valid + bool invalid = false; + for (int i = 0; i < 3 && !invalid; i++) + { + if (Tvec.at(i, 0) != -999999) + invalid |= false; + if (Rvec.at(i, 0) != -999999) + invalid |= false; + } + if (invalid) + throw cv::Exception(9003, "extrinsic parameters are not set", + "Marker::getModelViewMatrix", __FILE__, __LINE__); + cv::Mat Rot(3, 3, CV_32FC1), Jacob; + cv::Rodrigues(Rvec, Rot, Jacob); + + double para[3][4]; + for (int i = 0; i < 3; i++) + for (int j = 0; j < 3; j++) + para[i][j] = Rot.at(i, j); + // now, add the translation + para[0][3] = Tvec.at(0, 0); + para[1][3] = Tvec.at(1, 0); + para[2][3] = Tvec.at(2, 0); + double scale = 1; + + modelview_matrix[0 + 0 * 4] = para[0][0]; + // R1C2 + modelview_matrix[0 + 1 * 4] = para[0][1]; + modelview_matrix[0 + 2 * 4] = para[0][2]; + modelview_matrix[0 + 3 * 4] = para[0][3]; + // R2 + modelview_matrix[1 + 0 * 4] = para[1][0]; + modelview_matrix[1 + 1 * 4] = para[1][1]; + modelview_matrix[1 + 2 * 4] = para[1][2]; + modelview_matrix[1 + 3 * 4] = para[1][3]; + // R3 + modelview_matrix[2 + 0 * 4] = -para[2][0]; + modelview_matrix[2 + 1 * 4] = -para[2][1]; + modelview_matrix[2 + 2 * 4] = -para[2][2]; + modelview_matrix[2 + 3 * 4] = -para[2][3]; + modelview_matrix[3 + 0 * 4] = 0.0; + modelview_matrix[3 + 1 * 4] = 0.0; + modelview_matrix[3 + 2 * 4] = 0.0; + modelview_matrix[3 + 3 * 4] = 1.0; + if (scale != 0.0) + { + modelview_matrix[12] *= scale; + modelview_matrix[13] *= scale; + modelview_matrix[14] *= scale; + } +} + +/**** + * + */ +void Marker::OgreGetPoseParameters(double position[3], double orientation[4]) +{ + // check if paremeters are valid + bool invalid = false; + for (int i = 0; i < 3 && !invalid; i++) + { + if (Tvec.at(i, 0) != -999999) + invalid |= false; + if (Rvec.at(i, 0) != -999999) + invalid |= false; + } + if (invalid) + throw cv::Exception(9003, "extrinsic parameters are not set", + "Marker::getModelViewMatrix", __FILE__, __LINE__); + + // calculate position vector + position[0] = -Tvec.ptr(0)[0]; + position[1] = -Tvec.ptr(0)[1]; + position[2] = +Tvec.ptr(0)[2]; + + // now calculare orientation quaternion + cv::Mat Rot(3, 3, CV_32FC1); + cv::Rodrigues(Rvec, Rot); + + // calculate axes for quaternion + double stAxes[3][3]; + // x axis + stAxes[0][0] = -Rot.at(0, 0); + stAxes[0][1] = -Rot.at(1, 0); + stAxes[0][2] = +Rot.at(2, 0); + // y axis + stAxes[1][0] = -Rot.at(0, 1); + stAxes[1][1] = -Rot.at(1, 1); + stAxes[1][2] = +Rot.at(2, 1); + // for z axis, we use cross product + stAxes[2][0] = stAxes[0][1] * stAxes[1][2] - stAxes[0][2] * stAxes[1][1]; + stAxes[2][1] = -stAxes[0][0] * stAxes[1][2] + stAxes[0][2] * stAxes[1][0]; + stAxes[2][2] = stAxes[0][0] * stAxes[1][1] - stAxes[0][1] * stAxes[1][0]; + + // transposed matrix + double axes[3][3]; + axes[0][0] = stAxes[0][0]; + axes[1][0] = stAxes[0][1]; + axes[2][0] = stAxes[0][2]; + + axes[0][1] = stAxes[1][0]; + axes[1][1] = stAxes[1][1]; + axes[2][1] = stAxes[1][2]; + + axes[0][2] = stAxes[2][0]; + axes[1][2] = stAxes[2][1]; + axes[2][2] = stAxes[2][2]; + + // Algorithm in Ken Shoemake's article in 1987 SIGGRAPH course notes + // article "Quaternion Calculus and Fast Animation". + double fTrace = axes[0][0] + axes[1][1] + axes[2][2]; + double fRoot; + + if (fTrace > 0.0) + { + // |w| > 1/2, may as well choose w > 1/2 + fRoot = sqrt(fTrace + 1.0); // 2w + orientation[0] = 0.5 * fRoot; + fRoot = 0.5 / fRoot; // 1/(4w) + orientation[1] = (axes[2][1] - axes[1][2]) * fRoot; + orientation[2] = (axes[0][2] - axes[2][0]) * fRoot; + orientation[3] = (axes[1][0] - axes[0][1]) * fRoot; + } + else + { + // |w| <= 1/2 + static unsigned int s_iNext[3] = { 1, 2, 0 }; + unsigned int i = 0; + if (axes[1][1] > axes[0][0]) + i = 1; + if (axes[2][2] > axes[i][i]) + i = 2; + unsigned int j = s_iNext[i]; + unsigned int k = s_iNext[j]; + + fRoot = sqrt(axes[i][i] - axes[j][j] - axes[k][k] + 1.0); + double* apkQuat[3] = { &orientation[1], &orientation[2], &orientation[3] }; + *apkQuat[i] = 0.5 * fRoot; + fRoot = 0.5 / fRoot; + orientation[0] = (axes[k][j] - axes[j][k]) * fRoot; + *apkQuat[j] = (axes[j][i] + axes[i][j]) * fRoot; + *apkQuat[k] = (axes[k][i] + axes[i][k]) * fRoot; + } +} + +void Marker::draw(cv::Mat& in, cv::Scalar color, int lineWidth, bool writeId, bool writeInfo) const +{ + auto _to_string = [](int i) + { + std::stringstream str; + str << i; + return str.str(); + }; + + if (size() != 4) + return; + float flineWidth = lineWidth; + if (lineWidth == -1) // auto + flineWidth = std::max(1.f, std::min(5.f, float(in.cols) / 500.f)); + lineWidth = round(flineWidth); + cv::line(in, (*this)[0], (*this)[1], color, lineWidth); + cv::line(in, (*this)[1], (*this)[2], color, lineWidth); + cv::line(in, (*this)[2], (*this)[3], color, lineWidth); + cv::line(in, (*this)[3], (*this)[0], color, lineWidth); + + auto p2 = + cv::Point2f(2.f * static_cast(lineWidth), 2.f * static_cast(lineWidth)); + cv::rectangle(in, (*this)[0] - p2, (*this)[0] + p2, cv::Scalar(0, 0, 255, 255), -1); + cv::rectangle(in, (*this)[1] - p2, (*this)[1] + p2, cv::Scalar(0, 255, 0, 255), lineWidth); + cv::rectangle(in, (*this)[2] - p2, (*this)[2] + p2, cv::Scalar(255, 0, 0, 255), lineWidth); + + + + if (writeId) + { + // determine the centroid + cv::Point cent(0, 0); + for (int i = 0; i < 4; i++) + { + cent.x += static_cast((*this)[i].x); + cent.y += static_cast((*this)[i].y); + } + cent.x /= 4; + cent.y /= 4; + std::string str; + if (writeInfo) + str += dict_info + ":"; + if (writeId) + str += _to_string(id); + float fsize = std::min(3.0f, flineWidth * 0.75f); + cv::putText(in, str, cent - cv::Point(10 * flineWidth, 0), cv::FONT_HERSHEY_SIMPLEX, + fsize, cv::Scalar(255, 255, 255) - color, lineWidth, cv::LINE_AA); + } +} + +/** + */ +void Marker::calculateExtrinsics(float markerSize, const CameraParameters& CP, bool setYPerpendicular) +{ + if (!CP.isValid()) + throw cv::Exception(9004, "!CP.isValid(): invalid camera parameters. It is not possible to calculate extrinsics", + "calculateExtrinsics", __FILE__, __LINE__); + calculateExtrinsics(markerSize, CP.CameraMatrix, CP.Distorsion, CP.ExtrinsicMatrix, + setYPerpendicular); +} + +void print(cv::Point3f p, std::string cad) +{ + std::cout << cad << " " << p.x << " " << p.y << " " << p.z << std::endl; +} +/** + */ +void Marker::calculateExtrinsics(float markerSizeMeters, cv::Mat camMatrix, cv::Mat distCoeff, + cv::Mat Extrinsics, bool setYPerpendicular, bool correctFisheye) +{ + if (!isValid()) + throw cv::Exception(9004, "!isValid(): invalid marker. It is not possible to calculate extrinsics", + "calculateExtrinsics", __FILE__, __LINE__); + if (markerSizeMeters <= 0) + throw cv::Exception(9004, "markerSize<=0: invalid markerSize", "calculateExtrinsics", + __FILE__, __LINE__); + if (camMatrix.rows == 0 || camMatrix.cols == 0) + throw cv::Exception(9004, "CameraMatrix is empty", "calculateExtrinsics", __FILE__, __LINE__); + + std::vector objpoints = get3DPoints(markerSizeMeters); + + cv::Mat raux, taux; + if (correctFisheye) + { + std::vector undistorted; + cv::fisheye::undistortPoints(*this, undistorted, camMatrix, distCoeff); + cv::solvePnP(objpoints, undistorted, cv::Mat::eye(camMatrix.size(), camMatrix.type()), + cv::Mat::zeros(distCoeff.size(), distCoeff.type()), raux, taux); + } + else + { + cv::solvePnP(objpoints, *this, camMatrix, distCoeff, raux, taux); + } + raux.convertTo(Rvec, CV_32F); + taux.convertTo(Tvec, CV_32F); + float tx = -1 * (Extrinsics.at(0, 0) / camMatrix.at(0, 0)); + Tvec.at(0) += tx; + float ty = -1 * (Extrinsics.at(0, 1) / camMatrix.at(1, 1)); + Tvec.at(1) += ty; + float tz = -1 * (Extrinsics.at(0, 2) / camMatrix.at(2, 2)); + Tvec.at(2) += tz; + + // rotate the X axis so that Y is perpendicular to the marker plane + if (setYPerpendicular) + rotateXAxis(Rvec); + ssize = markerSizeMeters; + // cout << (*this) << endl; +} + + +std::vector Marker::get3DPoints(float msize) +{ + float halfSize = msize / 2.f; + // std::vector res(4); + // res[0]=cv::Point3f(-halfSize, halfSize, 0); + // res[1]=cv::Point3f(halfSize, halfSize, 0); + // res[2]=cv::Point3f(halfSize,-halfSize, 0); + // res[3]=cv::Point3f(-halfSize,- halfSize, 0); + // return res; + return { cv::Point3f(-halfSize, halfSize, 0), cv::Point3f(halfSize, halfSize, 0), + cv::Point3f(halfSize, -halfSize, 0), cv::Point3f(-halfSize, -halfSize, 0) }; +} + +void Marker::rotateXAxis(cv::Mat& rotation) +{ + cv::Mat R(3, 3, CV_32F); + cv::Rodrigues(rotation, R); + // create a rotation matrix for x axis + cv::Mat RX = cv::Mat::eye(3, 3, CV_32F); + const float angleRad = 3.14159265359f / 2.f; + RX.at(1, 1) = cos(angleRad); + RX.at(1, 2) = -sin(angleRad); + RX.at(2, 1) = sin(angleRad); + RX.at(2, 2) = cos(angleRad); + // now multiply + R = R * RX; + // finally, the the rodrigues back + Rodrigues(R, rotation); +} + +/** + */ +cv::Point2f Marker::getCenter() const +{ + cv::Point2f cent(0, 0); + for (size_t i = 0; i < size(); i++) + { + cent.x += (*this)[i].x; + cent.y += (*this)[i].y; + } + cent.x /= float(size()); + cent.y /= float(size()); + return cent; +} + +/** + */ +float Marker::getArea() const +{ + assert(size() == 4); + // use the cross products + cv::Point2f v01 = (*this)[1] - (*this)[0]; + cv::Point2f v03 = (*this)[3] - (*this)[0]; + float area1 = fabs(v01.x * v03.y - v01.y * v03.x); + cv::Point2f v21 = (*this)[1] - (*this)[2]; + cv::Point2f v23 = (*this)[3] - (*this)[2]; + float area2 = fabs(v21.x * v23.y - v21.y * v23.x); + return (area2 + area1) / 2.f; +} +/** + */ +float Marker::getPerimeter() const +{ + assert(size() == 4); + float sum = 0; + for (int i = 0; i < 4; i++) + sum += static_cast(norm((*this)[i] - (*this)[(i + 1) % 4])); + return sum; +} + + +// saves to a binary stream +void Marker::toStream(std::ostream& str) const +{ + assert(Rvec.type() == CV_32F && Tvec.type() == CV_32F); + str.write((char*)&id, sizeof(id)); + str.write((char*)&ssize, sizeof(ssize)); + str.write((char*)Rvec.ptr(0), 3 * sizeof(float)); + str.write((char*)Tvec.ptr(0), 3 * sizeof(float)); + // write the 2d points + uint32_t np = static_cast(size()); + str.write((char*)&np, sizeof(np)); + for (size_t i = 0; i < size(); i++) + str.write((char*)&at(i), sizeof(cv::Point2f)); + // write the additional info + uint32_t s = dict_info.size(); + str.write((char*)&s, sizeof(s)); + str.write((char*)&dict_info[0], dict_info.size()); + s = contourPoints.size(); + str.write((char*)&s, sizeof(s)); + str.write((char*)&contourPoints[0], contourPoints.size() * sizeof(contourPoints[0])); +} +// reads from a binary stream +void Marker::fromStream(std::istream& str) +{ + Rvec.create(1, 3, CV_32F); + Tvec.create(1, 3, CV_32F); + str.read((char*)&id, sizeof(id)); + str.read((char*)&ssize, sizeof(ssize)); + str.read((char*)Rvec.ptr(0), 3 * sizeof(float)); + str.read((char*)Tvec.ptr(0), 3 * sizeof(float)); + uint32_t np; + str.read((char*)&np, sizeof(np)); + resize(np); + for (size_t i = 0; i < size(); i++) + str.read((char*)&(*this)[i], sizeof(cv::Point2f)); + // read the additional info + uint32_t s; + str.read((char*)&s, sizeof(s)); + dict_info.resize(s); + str.read((char*)&dict_info[0], dict_info.size()); + str.read((char*)&s, sizeof(s)); + contourPoints.resize(s); + str.read((char*)&contourPoints[0], contourPoints.size() * sizeof(contourPoints[0])); +} + +cv::Mat Marker::getTransformMatrix() const +{ + cv::Mat T = cv::Mat::eye(4, 4, CV_32F); + cv::Mat rot = T.rowRange(0, 3).colRange(0, 3); + cv::Rodrigues(Rvec, rot); + for (int i = 0; i < 3; i++) + T.at(i, 3) = Tvec.ptr(0)[i]; + return T; +} + +float Marker::getRadius() const +{ + auto center = getCenter(); + + float maxDist = 0; + for (auto p : *this) + maxDist = std::max(maxDist, float(cv::norm(p - center))); + return maxDist; +} + +} // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/markerdetector.cpp b/legacy/aruco_ros/aruco/src/aruco/markerdetector.cpp new file mode 100755 index 000000000..88f24baa0 --- /dev/null +++ b/legacy/aruco_ros/aruco/src/aruco/markerdetector.cpp @@ -0,0 +1,466 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#include "markerdetector.h" +#include "cameraparameters.h" +#include "markerlabeler.h" +#include "timers.h" + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "debug.h" +#include "aruco_cvversioning.h" +#include "markerdetector_impl.h" + +//#ifdef _DEBUG +//#include +//#endif +using namespace std; +using namespace cv; + +namespace aruco +{ +/************************************ + * + * + * + * + ************************************/ +MarkerDetector::MarkerDetector() +{ + _impl = new MarkerDetector_Impl(); + // _iplm=std::unique_ptr(new MarkerDetector_Impl()); +} +/************************************ + * + * + * + * + ************************************/ +MarkerDetector::MarkerDetector(int dict_type, float error_correction_rate) +{ + _impl = new MarkerDetector_Impl(); + setDictionary(dict_type, error_correction_rate); + setDetectionMode(DM_NORMAL); +} +/************************************ + * + * + * + * + ************************************/ +MarkerDetector::MarkerDetector(std::string dict_type, float error_correction_rate) +{ + _impl = new MarkerDetector_Impl(); + setDictionary(dict_type, error_correction_rate); + setDetectionMode(DM_NORMAL); +} +/************************************ + * + * + * + * + ************************************/ + +MarkerDetector::~MarkerDetector() +{ + delete _impl; +} + +void MarkerDetector::setParameters(const Params ¶ms) +{ + _impl->setParameters(params); +} + +/************************************ + * + * + * + * + ************************************/ +void MarkerDetector::setDetectionMode(DetectionMode dm, float minMarkerSize) +{ + _impl->_params.setDetectionMode(dm, minMarkerSize); +} + +DetectionMode MarkerDetector::getDetectionMode() +{ + return _impl->_params.detectMode; +} + + + +/************************************ + * + * + * + * + ************************************/ + +std::vector MarkerDetector::detect(const cv::Mat &input) +{ + return _impl->detect(input); +} + +std::vector MarkerDetector::detect(const cv::Mat &input, + const CameraParameters &camParams, + float markerSizeMeters, + bool setYPerperdicular, bool correctFisheye) +{ + return _impl->detect(input, camParams, markerSizeMeters, setYPerperdicular); +} + +/************************************ + * + * + * + * + ************************************/ +void MarkerDetector::detect(const cv::Mat &input, std::vector &detectedMarkers, + CameraParameters camParams, float markerSizeMeters, + bool setYPerpendicular, bool correctFisheye) +{ + _impl->detect(input, detectedMarkers, camParams, markerSizeMeters, setYPerpendicular); +} + +/**Returns operating params + */ +MarkerDetector::Params MarkerDetector::getParameters() const +{ + return _impl->getParameters(); +} +/**Returns operating params + */ +MarkerDetector::Params &MarkerDetector::getParameters() +{ + return _impl->getParameters(); +} + + + +std::vector MarkerDetector::getCandidates() const +{ + return _impl->getCandidates(); +} + +std::vector MarkerDetector::getImagePyramid() +{ + return _impl->getImagePyramid(); +} +cv::Ptr MarkerDetector::getMarkerLabeler() +{ + return _impl->getMarkerLabeler(); +} +void MarkerDetector::setMarkerLabeler(cv::Ptr detector) +{ + _impl->setMarkerLabeler(detector); +} + +void MarkerDetector::setDictionary(int dict_type, float error_correction_rate) +{ + _impl->setDictionary(dict_type, error_correction_rate); +} + + +void MarkerDetector::setDictionary(string dict_type, float error_correction_rate) +{ + _impl->setDictionary(dict_type, error_correction_rate); +} +cv::Mat MarkerDetector::getThresholdedImage(uint32_t idx) +{ + return _impl->getThresholdedImage(idx); +} + +void MarkerDetector::Params::save(cv::FileStorage &fs) const +{ + fs << "aruco-dictionary" << dictionary; + fs << "aruco-detectMode" << toString(detectMode); + fs << "aruco-cornerRefinementM" << toString(cornerRefinementM); + fs << "aruco-thresMethod" << toString(thresMethod); + fs << "aruco-maxThreads" << maxThreads; + fs << "aruco-borderDistThres" << borderDistThres; + fs << "aruco-lowResMarkerSize" << lowResMarkerSize; + fs << "aruco-minSize" << minSize; + fs << "aruco-minSize_pix" << minSize_pix; + fs << "aruco-enclosedMarker" << enclosedMarker; + fs << "aruco-NAttemptsAutoThresFix" << NAttemptsAutoThresFix; + fs << "aruco-AdaptiveThresWindowSize" << AdaptiveThresWindowSize; + fs << "aruco-ThresHold" << ThresHold; + fs << "aruco-AdaptiveThresWindowSize_range" << AdaptiveThresWindowSize_range; + fs << "aruco-markerWarpPixSize" << markerWarpPixSize; + fs << "aruco-autoSize" << autoSize; + fs << "aruco-ts" << ts; + fs << "aruco-pyrfactor" << pyrfactor; + fs << "aruco-error_correction_rate" << error_correction_rate; + fs << "aruco-trackingMinDetections" << trackingMinDetections; + fs << "aruco-closingSize" << closingSize; +} + +void MarkerDetector::Params::load(cv::FileStorage &fs) +{ + attemtpRead("aruco-maxThreads", maxThreads, fs); + attemtpRead("aruco-borderDistThres", borderDistThres, fs); + attemtpRead("aruco-lowResMarkerSize", lowResMarkerSize, fs); + attemtpRead("aruco-minSize", minSize, fs); + attemtpRead("aruco-minSize_pix", minSize_pix, fs); + attemtpRead("aruco-enclosedMarker", enclosedMarker, fs); + attemtpRead("aruco-NAttemptsAutoThresFix", NAttemptsAutoThresFix, fs); + attemtpRead("aruco-AdaptiveThresWindowSize", AdaptiveThresWindowSize, fs); + attemtpRead("aruco-ThresHold", ThresHold, fs); + attemtpRead("aruco-AdaptiveThresWindowSize_range", AdaptiveThresWindowSize_range, fs); + attemtpRead("aruco-markerWarpPixSize", markerWarpPixSize, fs); + attemtpRead("aruco-autoSize", autoSize, fs); + attemtpRead("aruco-ts", ts, fs); + attemtpRead("aruco-pyrfactor", pyrfactor, fs); + attemtpRead("aruco-error_correction_rate", error_correction_rate, fs); + attemtpRead("aruco-dictionary", dictionary, fs); + attemtpRead("aruco-trackingMinDetections", trackingMinDetections, fs); + attemtpRead("aruco-closingSize", closingSize, fs); + + + + if (fs["aruco-detectMode"].type() != cv::FileNode::NONE) + { + string aux; + fs["aruco-detectMode"] >> aux; + detectMode = getDetectionModeFromString(aux); + } + if (fs["aruco-thresMethod"].type() != cv::FileNode::NONE) + { + string aux; + fs["aruco-thresMethod"] >> aux; + thresMethod = getCornerThresMethodFromString(aux); + } + if (fs["aruco-cornerRefinementM"].type() != cv::FileNode::NONE) + { + string aux; + fs["aruco-cornerRefinementM"] >> aux; + cornerRefinementM = getCornerRefinementMethodFromString(aux); + } +} + + +void MarkerDetector::Params::toStream(std::ostream &str) const +{ + str.write((char *)&detectMode, sizeof(detectMode)); + str.write((char *)&maxThreads, sizeof(maxThreads)); + str.write((char *)&borderDistThres, sizeof(borderDistThres)); + str.write((char *)&lowResMarkerSize, sizeof(lowResMarkerSize)); + str.write((char *)&minSize, sizeof(minSize)); + str.write((char *)&minSize_pix, sizeof(minSize_pix)); + str.write((char *)&enclosedMarker, sizeof(enclosedMarker)); + str.write((char *)&thresMethod, sizeof(thresMethod)); + str.write((char *)&NAttemptsAutoThresFix, sizeof(NAttemptsAutoThresFix)); + str.write((char *)&AdaptiveThresWindowSize, sizeof(AdaptiveThresWindowSize)); + str.write((char *)&ThresHold, sizeof(ThresHold)); + str.write((char *)&AdaptiveThresWindowSize_range, sizeof(AdaptiveThresWindowSize_range)); + str.write((char *)&markerWarpPixSize, sizeof(markerWarpPixSize)); + str.write((char *)&cornerRefinementM, sizeof(cornerRefinementM)); + str.write((char *)&autoSize, sizeof(autoSize)); + str.write((char *)&ts, sizeof(pyrfactor)); + str.write((char *)&error_correction_rate, sizeof(error_correction_rate)); + str.write((char *)&trackingMinDetections, sizeof(trackingMinDetections)); + str.write((char *)&closingSize, sizeof(closingSize)); + + + _toStream(dictionary, str); +} +void MarkerDetector::Params::fromStream(std::istream &str) +{ + str.read((char *)&detectMode, sizeof(detectMode)); + str.read((char *)&maxThreads, sizeof(maxThreads)); + str.read((char *)&borderDistThres, sizeof(borderDistThres)); + str.read((char *)&lowResMarkerSize, sizeof(lowResMarkerSize)); + str.read((char *)&minSize, sizeof(minSize)); + str.read((char *)&minSize_pix, sizeof(minSize_pix)); + str.read((char *)&enclosedMarker, sizeof(enclosedMarker)); + str.read((char *)&thresMethod, sizeof(thresMethod)); + str.read((char *)&NAttemptsAutoThresFix, sizeof(NAttemptsAutoThresFix)); + str.read((char *)&AdaptiveThresWindowSize, sizeof(AdaptiveThresWindowSize)); + str.read((char *)&ThresHold, sizeof(ThresHold)); + str.read((char *)&AdaptiveThresWindowSize_range, sizeof(AdaptiveThresWindowSize_range)); + str.read((char *)&markerWarpPixSize, sizeof(markerWarpPixSize)); + str.read((char *)&cornerRefinementM, sizeof(cornerRefinementM)); + str.read((char *)&autoSize, sizeof(autoSize)); + str.read((char *)&ts, sizeof(pyrfactor)); + str.read((char *)&error_correction_rate, sizeof(error_correction_rate)); + str.read((char *)&trackingMinDetections, sizeof(trackingMinDetections)); + str.read((char *)&closingSize, sizeof(closingSize)); + _fromStream(dictionary, str); +} +/**Saves the configuration of the detector to a file + */ +void MarkerDetector::saveParamsToFile(const std::string &path) const +{ + _impl->saveParamsToFile(path); +} + +/**Loads the configuration from a file + */ +void MarkerDetector::loadParamsFromFile(const std::string &path) +{ + _impl->loadParamsFromFile(path); +} + +void MarkerDetector::toStream(std::ostream &str) const +{ + _impl->toStream(str); +} + +void MarkerDetector::fromStream(std::istream &str) +{ + _impl->fromStream(str); +} + +std::string MarkerDetector::Params::toString(DetectionMode dm) +{ + switch (dm) + { + case DM_FAST: + return "DM_FAST"; + case DM_NORMAL: + return "DM_NORMAL"; + case DM_VIDEO_FAST: + return "DM_VIDEO_FAST"; + }; + return "DM_NORMAL"; +} + +DetectionMode MarkerDetector::Params::getDetectionModeFromString(const std::string &str) +{ + if (str == "DM_FAST") + return DM_FAST; + if (str == "DM_NORMAL") + return DM_NORMAL; + if (str == "DM_VIDEO_FAST") + return DM_VIDEO_FAST; + return DM_NORMAL; +} + +std::string MarkerDetector::Params::toString(CornerRefinementMethod dm) +{ + switch (dm) + { + case CORNER_LINES: + return "CORNER_LINES"; + case CORNER_SUBPIX: + return "CORNER_SUBPIX"; + case CORNER_NONE: + return "CORNER_NONE"; + }; + return "CORNER_SUBPIX"; +} +CornerRefinementMethod MarkerDetector::Params::getCornerRefinementMethodFromString(const std::string &str) +{ + if (str == "CORNER_LINES") + return CORNER_LINES; + if (str == "CORNER_SUBPIX") + return CORNER_SUBPIX; + if (str == "CORNER_NONE") + return CORNER_NONE; + return CORNER_SUBPIX; +} +std::string MarkerDetector::Params::toString(MarkerDetector::ThresMethod dm) +{ + switch (dm) + { + case THRES_ADAPTIVE: + return "THRES_ADAPTIVE"; + case THRES_AUTO_FIXED: + return "THRES_AUTO_FIXED"; + }; + return "THRES_ADAPTIVE"; +} +MarkerDetector::ThresMethod MarkerDetector::Params::getCornerThresMethodFromString(const std::string &str) +{ + if (str == "THRES_ADAPTIVE") + return THRES_ADAPTIVE; + if (str == "THRES_AUTO_FIXED") + return THRES_AUTO_FIXED; + return THRES_ADAPTIVE; +} +void MarkerDetector::Params::setThresholdMethod(MarkerDetector::ThresMethod method, + int thresHold, int wsize, int wsize_range) +{ + AdaptiveThresWindowSize = wsize; + thresMethod = method; + if (thresHold == -1) + { + if (method == MarkerDetector::THRES_AUTO_FIXED) + ThresHold = 100; + else + ThresHold = 7; + } + else + ThresHold = thresHold; + AdaptiveThresWindowSize_range = wsize_range; +} +void MarkerDetector::Params::setDetectionMode(DetectionMode dm, float minMarkerSize) +{ + detectMode = dm; + minSize = minMarkerSize; + if (detectMode == DM_NORMAL) + { + setAutoSizeSpeedUp(false); + setThresholdMethod(THRES_ADAPTIVE); + } + else if (detectMode == DM_FAST) + { + setAutoSizeSpeedUp(false); + setThresholdMethod(THRES_AUTO_FIXED); + } + else if (detectMode == DM_VIDEO_FAST) + { + setThresholdMethod(THRES_AUTO_FIXED); + setAutoSizeSpeedUp(true, 0.3); + } +} +void MarkerDetector::Params::setCornerRefinementMethod(CornerRefinementMethod method) +{ + cornerRefinementM = method; + if (method != CORNER_SUBPIX) + minSize = 0; +} +void MarkerDetector::Params::_toStream(const std::string &strg, std::ostream &str) +{ + uint32_t s = strg.size(); + str.write((char *)&s, sizeof(s)); + str.write(strg.c_str(), strg.size()); +} +void MarkerDetector::Params::_fromStream(std::string &strg, std::istream &str) +{ + uint32_t s; + str.read((char *)&s, sizeof(s)); + strg.resize(s); + str.read(&strg[0], strg.size()); +} + +void MarkerDetector::cornerUpsample(std::vector > &corners, + cv::Size lowResImageSize) +{ + _impl->cornerUpsample(corners, lowResImageSize); +} + + + +}; // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/markerdetector_impl.cpp b/legacy/aruco_ros/aruco/src/aruco/markerdetector_impl.cpp new file mode 100755 index 000000000..e1a21a65a --- /dev/null +++ b/legacy/aruco_ros/aruco/src/aruco/markerdetector_impl.cpp @@ -0,0 +1,1851 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#include "markerdetector_impl.h" +#include "cameraparameters.h" +#include "markerlabeler.h" +#include "timers.h" + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "debug.h" +#include "aruco_cvversioning.h" +//#include "picoflann.h" + +//#ifdef _DEBUG +//#include +//#endif +using namespace std; +using namespace cv; + +namespace aruco +{ +/************************************ + * + * + * + * + ************************************/ +MarkerDetector_Impl::MarkerDetector_Impl() +{ + markerIdDetector = aruco::MarkerLabeler::create(Dictionary::ALL_DICTS); + setDetectionMode(DM_NORMAL); +} +/************************************ + * + * + * + * + ************************************/ +MarkerDetector_Impl::MarkerDetector_Impl(int dict_type, float error_correction_rate) +{ + setDictionary(dict_type, error_correction_rate); + setDetectionMode(DM_NORMAL); +} +/************************************ + * + * + * + * + ************************************/ +MarkerDetector_Impl::MarkerDetector_Impl(std::string dict_type, float error_correction_rate) +{ + setDictionary(dict_type, error_correction_rate); + setDetectionMode(DM_NORMAL); +} +/************************************ + * + * + * + * + ************************************/ + +MarkerDetector_Impl::~MarkerDetector_Impl() +{ +} + +void MarkerDetector_Impl::setParameters(const MarkerDetector::Params ¶ms) +{ + _params = params; + setDictionary(_params.dictionary, _params.error_correction_rate); +} + +/************************************ + * + * + * + * + ************************************/ +void MarkerDetector_Impl::setDetectionMode(DetectionMode dm, float minMarkerSize) +{ + _params.setDetectionMode(dm, minMarkerSize); +} + +DetectionMode MarkerDetector_Impl::getDetectionMode() +{ + return _params.detectMode; +} + + + +/************************************ + * + * + * + * + ************************************/ + +std::vector MarkerDetector_Impl::detect(const cv::Mat &input) +{ + std::vector detectedMarkers; + detect(input, detectedMarkers); + return detectedMarkers; +} + +std::vector MarkerDetector_Impl::detect(const cv::Mat &input, + const CameraParameters &camParams, + float markerSizeMeters, + bool setYPerperdicular, bool correctFisheye) +{ + std::vector detectedMarkers; + detect(input, detectedMarkers, camParams, markerSizeMeters, setYPerperdicular, correctFisheye); + return detectedMarkers; +} + +/************************************ + * + * + * + * + ************************************/ +void MarkerDetector_Impl::detect(const cv::Mat &input, std::vector &detectedMarkers, + CameraParameters camParams, float markerSizeMeters, + bool setYPerpendicular, bool correctFisheye) +{ + if (camParams.CamSize != input.size() && camParams.isValid() && markerSizeMeters > 0) + { + // must resize camera parameters if we want to compute properly marker poses + CameraParameters cp_aux = camParams; + cp_aux.resize(input.size()); + detect(input, detectedMarkers, cp_aux.CameraMatrix, cp_aux.Distorsion, + cp_aux.ExtrinsicMatrix, markerSizeMeters, setYPerpendicular, correctFisheye); + } + else + { + detect(input, detectedMarkers, camParams.CameraMatrix, camParams.Distorsion, + camParams.ExtrinsicMatrix, markerSizeMeters, setYPerpendicular, correctFisheye); + } +} +int MarkerDetector_Impl::getMarkerWarpSize() +{ + auto bis = markerIdDetector->getBestInputSize(); + if (bis != -1) + return bis; + + int ndiv = markerIdDetector->getNSubdivisions(); + if (ndiv == -1) + ndiv = 7; // set any possible value(it is used for non dictionary based labelers) + return _params.markerWarpPixSize * + ndiv; // this is the minimum size that the smallest marker will have +} + + + +void MarkerDetector_Impl::buildPyramid(vector &ImagePyramid, const cv::Mat &grey, + int minSize) +{ + // determine numbre of pyramid images + int npyrimg = 1; + cv::Size imgpsize = grey.size(); + while (imgpsize.width > minSize) + { + imgpsize = cv::Size(imgpsize.width / _params.pyrfactor, imgpsize.height / _params.pyrfactor); + npyrimg++; + } + + ImagePyramid.resize(npyrimg); + imagePyramid[0] = grey; + // now, create pyramid images + imgpsize = grey.size(); + for (int i = 1; i < npyrimg; i++) + { + cv::Size nsize(ImagePyramid[i - 1].cols / _params.pyrfactor, + ImagePyramid[i - 1].rows / _params.pyrfactor); + cv::resize(ImagePyramid[i - 1], ImagePyramid[i], nsize); + } +} + +void impl_assignClass_fast(const cv::Mat &im, std::vector &kpoints, + bool norm, int wsize) +{ + if (im.type() != CV_8UC1) + throw std::runtime_error("assignClass_fast Input image must be 8UC1"); + int wsizeFull = wsize * 2 + 1; + + cv::Mat labels = cv::Mat::zeros(wsize * 2 + 1, wsize * 2 + 1, CV_8UC1); + cv::Mat thresIm = cv::Mat(wsize * 2 + 1, wsize * 2 + 1, CV_8UC1); + + for (auto &kp : kpoints) + { + int x = kp.pt.x + 0.5f; + int y = kp.pt.y + 0.5f; + + cv::Rect r = cv::Rect(x - wsize, y - wsize, wsize * 2 + 1, wsize * 2 + 1); + // Check boundaries + if (r.x < 0 || r.x + r.width > im.cols || r.y < 0 || r.y + r.height > im.rows) + continue; + + + int endX = r.x + r.width; + int endY = r.y + r.height; + uchar minV = 255, maxV = 0; + for (int y = r.y; y < endY; y++) + { + const uchar *ptr = im.ptr(y); + for (int x = r.x; x < endX; x++) + { + if (minV > ptr[x]) + minV = ptr[x]; + if (maxV < ptr[x]) + maxV = ptr[x]; + } + } + + if ((maxV - minV) < 25) + { + kp.class_id = 0; + continue; + } + + double thres = (maxV + minV) / 2.0; + + unsigned int nZ = 0; + // count non zero considering the threshold + for (int y = 0; y < wsizeFull; y++) + { + const uchar *ptr = im.ptr(r.y + y) + r.x; + uchar *thresPtr = thresIm.ptr(y); + for (int x = 0; x < wsizeFull; x++) + { + if (ptr[x] > thres) + { + nZ++; + thresPtr[x] = 255; + } + else + thresPtr[x] = 0; + } + } + // set all to zero labels.setTo(cv::Scalar::all(0)); + for (int y = 0; y < thresIm.rows; y++) + { + uchar *labelsPtr = labels.ptr(y); + for (int x = 0; x < thresIm.cols; x++) + labelsPtr[x] = 0; + } + + uchar newLab = 1; + std::map unions; + for (int y = 0; y < thresIm.rows; y++) + { + uchar *thresPtr = thresIm.ptr(y); + uchar *labelsPtr = labels.ptr(y); + for (int x = 0; x < thresIm.cols; x++) + { + uchar reg = thresPtr[x]; + uchar lleft_px = 0; + uchar ltop_px = 0; + + if (x - 1 > -1) + { + if (reg == thresPtr[x - 1]) + lleft_px = labelsPtr[x - 1]; + } + + if (y - 1 > -1) + { + if (reg == thresIm.ptr(y - 1)[x]) // thresIm.at(y-1, x) + ltop_px = labels.at(y - 1, x); + } + + if (lleft_px == 0 && ltop_px == 0) + labelsPtr[x] = newLab++; + + else if (lleft_px != 0 && ltop_px != 0) + { + if (lleft_px < ltop_px) + { + labelsPtr[x] = lleft_px; + unions[ltop_px] = lleft_px; + } + else if (lleft_px > ltop_px) + { + labelsPtr[x] = ltop_px; + unions[lleft_px] = ltop_px; + } + else + { // IGuales + labelsPtr[x] = ltop_px; + } + } + else + { + if (lleft_px != 0) + labelsPtr[x] = lleft_px; + else + labelsPtr[x] = ltop_px; + } + } + } + + int nc = newLab - 1 - unions.size(); + if (nc == 2) + { + if (nZ > thresIm.total() - nZ) + kp.class_id = 0; + else + kp.class_id = 1; + } + else if (nc > 2) + { + kp.class_id = 2; + } + } +} + +// void fastCorners{ +// vector kpts; +// cv::FAST(input,kpts,7); + +// // Adapter. +// // Given an Point2f element, it returns the element of the dimension specified such +// that dim=0 is x and dim=1 is y struct PicoFlann_Point2fAdapter{ +// inline float operator( )(const cv::KeyPoint &kp, int dim)const { return +// dim==0?kp.pt.x:kp.pt.y; } +// }; + +// picoflann::KdTreeIndex<2,PicoFlann_Point2fAdapter> kdtree;//2 is the number of +// dimensions kdtree.build(kpts); +// //search 10 nearest neibors to point (0,0) +// vector maxima(kpts.size(),true); +// for(auto &kpt:kpts){ +// kpt.size=1;//used +// kpt.class_id=-1;//not yet +// } + +// int classIdx=0; +// vector > center_weight; +// center_weight.reserve(kpts.size()); + +// for(size_t i=0;i > res=kdtree.radiusSearch(kpts,kpts[i],7); +// //compute the one with max response +// for(auto p:res){ +// if( kpts[p.first].response>= kpts[maxResponseIdx].response && kpts[p.first].size) +// maxResponseIdx= p.first ; +// } +// auto &maxKp=kpts[ maxResponseIdx]; + +// if(maxKp.class_id==-1){ +// maxKp.class_id=int(center_weight.size()); +// center_weight.push_back( { maxKp.pt*maxKp.response,maxKp.response}); +// } + +// //the others are non maxima +// for(auto p:res){ +// if(p.first==maxResponseIdx) continue; +// auto &kp=kpts[p.first]; +// if( kp.size!=0 && kp.class_id==-1){ +// kp.size=0;//sets as non maxiima +// center_weight[maxKp.class_id].first+=kp.pt*kp.response; +// center_weight[maxKp.class_id].second+=kp.response; +// } +// } +// } +// } + +// //take only the selected ones +// kpts.clear(); +// for(auto cw:center_weight){ +// cv::KeyPoint kp; +// kp.pt= cw.first*(1./cw.second); +// kpts.push_back(kp); +// } + +//// kpts.erase(std::remove_if(kpts.begin(),kpts.end(), [ ](const cv::KeyPoint +///&kp){return kp.class_id==0;}), kpts.end()); + +// assignClass_fast(input,kpts,false,5); + + +// cv::Mat im2; +// cv::cvtColor(input,im2,CV_GRAY2BGR); +// for(int i=0;i< kpts.size();i++){ +// auto & kp=kpts[i]; + +// if(kp.class_id==2){ + +// cv::rectangle(auxThresImage,kp.pt-cv::Point2f(2,2),kp.pt+cv::Point2f(2,2),cv::Scalar(0,0,0),-1); +// cv::rectangle(im2,kp.pt-cv::Point2f(2,2),kp.pt+cv::Point2f(2,2),cv::Scalar(255,0,123)); +// } +// else +// cv::rectangle(im2,kp.pt-cv::Point2f(2,2),kp.pt+cv::Point2f(2,2),cv::Scalar(125,125,125)); +// } + +//} +/************************************************** + * + */ + +vector MarkerDetector_Impl::thresholdAndDetectRectangles( + const cv::Mat &input, int thres_param1, int thres_param2, bool enclosed, cv::Mat &auxThresImage) +{ + // ensure that _thresParam1%2==1 + __ARUCO_ADDTIMER__; + if (thres_param1 < 3) + thres_param1 = 3; + else if (((int)thres_param1) % 2 != 1) + thres_param1 = (int)(thres_param1 + 1); + + int enclosedOffset = -1; + cv::Mat auxImage; + // if ( !erode) + auxImage = auxThresImage; + if (_params.thresMethod == MarkerDetector::THRES_AUTO_FIXED) + { + cv::threshold(input, auxImage, static_cast(thres_param2), 255, THRESH_BINARY_INV); + if (enclosed) + { + cv::Mat aux1; + enclosedOffset = int(std::max(3.0, 3. / 1920. * float(auxImage.cols))); + if (enclosedOffset % 2 == 0) + enclosedOffset++; + cv::erode(auxImage, aux1, + getStructuringElement(MORPH_CROSS, cv::Size(enclosedOffset, enclosedOffset), + cv::Point(enclosedOffset / 2, enclosedOffset / 2))); + cv::bitwise_xor(aux1, auxImage, auxImage); + + __ARUCO_TIMER_EVENT__("erode"); + } + } + else + { + cv::adaptiveThreshold(input, auxImage, 255., ADAPTIVE_THRESH_MEAN_C, THRESH_BINARY_INV, + static_cast(thres_param1), static_cast(thres_param2)); + if (_params.closingSize > 0) + { + int p = _params.closingSize * 2 + 1; + cv::Mat im2; + cv::Mat ker = cv::getStructuringElement(cv::MORPH_RECT, cv::Size(p, p)); + cv::morphologyEx(auxImage, im2, cv::MORPH_OPEN, ker); + auxThresImage = im2; + } + enclosedOffset = thres_param1; + } + __ARUCO_TIMER_EVENT__("thres"); + + + // fastCorners () + + + vector MarkerCanditates; + // calcualte the min_max contour sizes + int thisImageMinSize = int(3.5 * float(_params.lowResMarkerSize)); + // if image is eroded, minSize must be adapted + std::vector hierarchy; + std::vector> contours; + cv::findContours(auxThresImage, contours, cv::noArray(), cv::RETR_LIST, cv::CHAIN_APPROX_NONE); + __ARUCO_TIMER_EVENT__("find-cont"); + vector approxCurve; +//#define _aruco_debug_detectrectangles +#ifdef _aruco_debug_detectrectangles + cv::Mat simage; + cv::cvtColor(input, simage, CV_GRAY2BGR); +#endif + + /// for each contour, analyze if it is a paralelepiped likely to be the marker + for (unsigned int i = 0; i < contours.size(); i++) + { +#ifdef _aruco_debug_detectrectangles + drawContour(simage, contours[i], Scalar(125, 125, 255)); +#endif + // check it is a possible element by first checking that is is large enough + if (thisImageMinSize < int(contours[i].size())) + { + // can approximate to a convex rect? + cv::approxPolyDP(contours[i], approxCurve, double(contours[i].size()) * 0.05, true); + + if (approxCurve.size() == 4 && cv::isContourConvex(approxCurve)) + { +#ifdef _aruco_debug_detectrectangles + drawApproxCurve(simage, approxCurve, Scalar(255, 0, 255), 1); +#endif + // ensure that the distace between consecutive points is large enough + float minDist = std::numeric_limits::max(); + for (int j = 0; j < 4; j++) + { + float d = cv::norm(approxCurve[j] - approxCurve[(j + 1) % 4]); + if (d < minDist) + minDist = d; + } + + // add the points + MarkerCanditates.push_back(MarkerCandidate()); + for (int j = 0; j < 4; j++) + MarkerCanditates.back().push_back(Point2f(static_cast(approxCurve[j].x), + static_cast(approxCurve[j].y))); + // now, if it is eroded, must enalrge 1 bit the corners to go to the real location + // for each opposite pair, take the line joining them and move one pixel apart + // ideally, Bresenham's algorithm should be used + if (enclosed) + { + enlargeMarkerCandidate(MarkerCanditates.back(), float(enclosedOffset) / 2.); + } +#ifdef _aruco_debug_detectrectangles + MarkerCanditates.back().draw(simage, Scalar(255, 255, 0), 1, false); +#endif + MarkerCanditates.back().contourPoints = contours[i]; + } + } + } +#ifdef _aruco_debug_detectrectangles + cv::imshow("contours", simage); +#endif + return MarkerCanditates; +} + + +void MarkerDetector_Impl::thresholdAndDetectRectangles_thread() +{ + while (true) + { + bool enclosed = false; + auto tad = _tasks.pop(); + if (tad.task == EXIT_TASK) + return; + else if (tad.task == ENCLOSE_TASK) + enclosed = true; + _vcandidates[tad.outIdx] = + thresholdAndDetectRectangles(_thres_Images[tad.inIdx], tad.param1, tad.param2, + enclosed, _thres_Images[tad.outIdx]); + }; +} + +vector MarkerDetector_Impl::thresholdAndDetectRectangles( + const cv::Mat &image) +{ + // compute the different values of param1 + + int adaptiveWindowSize = _params.AdaptiveThresWindowSize; + if (_params.AdaptiveThresWindowSize == -1) + adaptiveWindowSize = max(int(3), int(15 * float(image.cols) / 1920.)); + if (adaptiveWindowSize % 2 == 0) + adaptiveWindowSize++; + + // adaptiveWindowSize=15; + + vector p1_values; + for (int i = static_cast( + std::max(3., adaptiveWindowSize - 2. * _params.AdaptiveThresWindowSize_range)); + i <= adaptiveWindowSize + 2 * _params.AdaptiveThresWindowSize_range; i += 2) + p1_values.push_back(i); + + size_t nimages = p1_values.size(); + _tooNearDistance = p1_values.back(); + _vcandidates.resize(nimages); + _thres_Images.resize(nimages + 1); + _thres_Images.back() = image; // add at the end the original image + // first, thresholded images + ThresAndDetectRectTASK tad; + vector vtad; + + + ThreadTasks task = THRESHOLD_TASK; + if (_params.enclosedMarker) + task = ENCLOSE_TASK; + for (size_t i = 0; i < p1_values.size(); i++) + { + tad.inIdx = int(_thres_Images.size() - 1); + tad.param1 = p1_values[i]; + tad.param2 = _params.ThresHold; + tad.outIdx = i; + tad.task = task; + _tasks.push(tad); + vtad.push_back(tad); + } + + + // reserve images + for (size_t i = 0; i < nimages; i++) + _thres_Images[i].create(image.size(), CV_8UC1); + + + // how many threads will be used? + int nthreads = 0; + if (_params.maxThreads <= 0) // if allowed to use all , take max()-1, since the + // buildpyramid must be working at this moment + nthreads = std::thread::hardware_concurrency() - 1; + else + nthreads = max(1, _params.maxThreads - 1); + + tad.task = EXIT_TASK; + for (int i = 0; i < nthreads; i++) + _tasks.push(tad); + + if (nthreads == 1) + { // no threads + ScopeTimer Timer("non-parallel"); + thresholdAndDetectRectangles_thread(); + } + else + { // parallell mode + // add the final task END + ScopeTimer Timer("parallel"); + + // run the tasks (in parallel) + vector threads; + for (int i = 0; i < nthreads; i++) + threads.push_back( + std::thread(&MarkerDetector_Impl::thresholdAndDetectRectangles_thread, this)); + // wait for them to finish + for (auto &th : threads) + th.join(); + } + vector joined; + joinVectors(_vcandidates, joined); + return joined; +} + +vector MarkerDetector_Impl::prefilterCandidates( + vector &MarkerCanditates, cv::Size imgSize) +{ + ///////////////////////////////////////////////////////////////////////////////////// + /// CANDIDATE PREFILTERING- Merge and Remove candidates so that only reliable ones are returned + ////////////////////////////////////////////////////////////////////////////////// + /// sort the points in anti-clockwise order + valarray swapped(false, MarkerCanditates.size()); // used later + for (unsigned int i = 0; i < MarkerCanditates.size(); i++) + { + // trace a line between the first and second point. + // if the thrid point is at the right side, then the points are anti-clockwise + double dx1 = MarkerCanditates[i][1].x - MarkerCanditates[i][0].x; + double dy1 = MarkerCanditates[i][1].y - MarkerCanditates[i][0].y; + double dx2 = MarkerCanditates[i][2].x - MarkerCanditates[i][0].x; + double dy2 = MarkerCanditates[i][2].y - MarkerCanditates[i][0].y; + double o = (dx1 * dy2) - (dy1 * dx2); + + if (o < 0.0) + { // if the third point is in the left side, then sort in anti-clockwise order + swap(MarkerCanditates[i][1], MarkerCanditates[i][3]); + swapped[i] = true; + } + } + + if (0) + { + /// remove these elements which corners are too close to each other + // first detect candidates to be removed + vector> TooNearCandidates; + for (unsigned int i = 0; i < MarkerCanditates.size(); i++) + { + // calculate the average distance of each corner to the nearest corner of the other marker candidate + for (unsigned int j = i + 1; j < MarkerCanditates.size(); j++) + { + valarray vdist(4); + for (int c = 0; c < 4; c++) + vdist[c] = cv::norm(MarkerCanditates[i][c] - MarkerCanditates[j][c]); + // if distance is too small + if (vdist[0] < _tooNearDistance && vdist[1] < _tooNearDistance && + vdist[2] < _tooNearDistance && vdist[3] < _tooNearDistance) + TooNearCandidates.push_back(pair(i, j)); + } + } + + /// mark for removal the element of the pair with smaller perimeter + vector toRemove(MarkerCanditates.size(), false); + for (unsigned int i = 0; i < TooNearCandidates.size(); i++) + { + if (perimeter(MarkerCanditates[TooNearCandidates[i].first]) > + perimeter(MarkerCanditates[TooNearCandidates[i].second])) + toRemove[TooNearCandidates[i].second] = true; + else + toRemove[TooNearCandidates[i].first] = true; + } + + /// find these too near borders and remove them + // remove markers with corners too near the image limits + int borderDistThresX = static_cast(_params.borderDistThres * float(imgSize.width)); + int borderDistThresY = static_cast(_params.borderDistThres * float(imgSize.height)); + for (size_t i = 0; i < MarkerCanditates.size(); i++) + { + // delete if any of the corners is too near image border + for (size_t c = 0; c < MarkerCanditates[i].size(); c++) + { + if (MarkerCanditates[i][c].x < borderDistThresX || + MarkerCanditates[i][c].y < borderDistThresY || + MarkerCanditates[i][c].x > imgSize.width - borderDistThresX || + MarkerCanditates[i][c].y > imgSize.height - borderDistThresY) + { + toRemove[i] = true; + } + } + } + + // move to output only valid ones + vector finalCandidates; + finalCandidates.reserve(MarkerCanditates.size()); + for (size_t i = 0; i < MarkerCanditates.size(); i++) + if (!toRemove[i]) + finalCandidates.push_back(MarkerCanditates[i]); + return finalCandidates; + } + else + return MarkerCanditates; +} + + +void MarkerDetector_Impl::addToImageHist(cv::Mat &im, std::vector &hist) +{ + for (int y = 0; y < im.rows; y++) + { + uchar *ptr = im.ptr(y); + for (int x = 0; x < im.cols; x++) + hist[ptr[x]]++; + } +} + +int MarkerDetector_Impl::Otsu(std::vector &hist) +{ + float sum = 0, invsum; + for (auto c : hist) + sum += c; + invsum = 1. / sum; + for (auto &c : hist) + c *= invsum; + + float maxVar = 0; + int bestT = -1; + for (int t = 1; t < 256; t++) + { + float w0 = 0, w1 = 0, mean0 = 0, mean1 = 0; + for (int v = 0; v < t; v++) + { + w0 += hist[v]; + mean0 += float(v) * hist[v]; + } + for (int v = t; v < 256; v++) + { + w1 += hist[v]; + mean1 += hist[v] * float(v); + } + if (w0 > 1e-4 && w1 > 1e-4) + { + mean0 /= w0; + mean1 /= w1; + float var = w0 * w1 * (mean0 - mean1) * (mean0 - mean1); + // cout< maxVar) + { + maxVar = var; + bestT = t; + } + } + } + return bestT; +} +/************************************ + * Main detection function. Performs all steps + ************************************/ +void MarkerDetector_Impl::detect(const cv::Mat &input, std::vector &detectedMarkers, + cv::Mat camMatrix, cv::Mat distCoeff, cv::Mat extrinsics, + float markerSizeMeters, bool setYPerpendicular, + bool correctFisheye) +{ + // clear input data + detectedMarkers.clear(); + _vcandidates.clear(); + _candidates_wcontour.clear(); + __ARUCO_ADDTIMER__; + + + // it must be a 3 channel image + if (input.type() == CV_8UC3) + cv::cvtColor(input, grey, CV_BGR2GRAY); + // convertToGray(input, grey); + else + grey = input; + __ARUCO_TIMER_EVENT__("ConvertGrey"); + + ////////////////////////////////////////////////////////////////////// + /// CREATE LOW RESOLUTION IMAGE IN WHICH MARKERS WILL BE DETECTED + ////////////////////////////////////////////////////////////////////// + float ResizeFactor = 1; + // use the minimum and markerWarpSize to determine the optimal image size on which to do rectangle detection + cv::Mat imgToBeThresHolded; + cv::Size maxImageSize = grey.size(); + auto minpixsize = + getMinMarkerSizePix(input.size()); // min pixel size of the marker in the original image + if (_params.lowResMarkerSize < minpixsize) + { + ResizeFactor = float(_params.lowResMarkerSize) / float(minpixsize); + if (ResizeFactor < 0.9) + { // do not waste time if smaller than this + _debug_msg("Scale factor=" << ResizeFactor, 1); + maxImageSize.width = float(grey.cols) * ResizeFactor + 0.5; + maxImageSize.height = float(grey.rows) * ResizeFactor + 0.5; + if (maxImageSize.width % 2 != 0) + maxImageSize.width++; + if (maxImageSize.height % 2 != 0) + maxImageSize.height++; + cv::resize(grey, imgToBeThresHolded, maxImageSize, 0, 0, cv::INTER_NEAREST); + // cv::resize(grey,imgToBeThresHolded,maxImageSize,0,0,cv::INTER_LINEAR); + } + } + + if (imgToBeThresHolded.empty()) // if not set in previous step, add original now + imgToBeThresHolded = grey; + + __ARUCO_TIMER_EVENT__("CreateImageToTheshold"); + bool needPyramid = + true; // ResizeFactor< 1/_params.pyrfactor;//only use pyramid if working on a big image. + std::thread buildPyramidThread; + if (needPyramid) + { + if (_params.maxThreads > 1) + buildPyramidThread = + std::thread([&] { buildPyramid(imagePyramid, grey, 2 * getMarkerWarpSize()); }); + else + buildPyramid(imagePyramid, grey, 2 * getMarkerWarpSize()); + __ARUCO_TIMER_EVENT__("BuildPyramid"); + } + else + { + imagePyramid.resize(1); + imagePyramid[0] = grey; + } + + + int nAttemptsAutoFix = 0; + bool keepLookingFor = false; + std::vector hist(256, 0); + do + { + /////////////////////////////////////////////////////////////////////////// + /// THRESHOLD IMAGES AND DETECT INITIAL RECTANGLES + /////////////////////////////////////////////////////////////////////////// + vector MarkerCanditates; + MarkerCanditates = thresholdAndDetectRectangles(imgToBeThresHolded); + thres = _thres_Images[0]; + + // _debug_exec(10, + // {//only executes when compiled in DEBUG mode if debug level is at least 10 + // //show the thresholded images + // for (size_t i = 0; i < _thres_Images.size(); i++) { + // stringstream sstr; sstr << "thres-" << i; + // cv::namedWindow(sstr.str(),cv::WINDOW_NORMAL); + // cv::imshow(sstr.str(),_thres_Images[i]); + // }}); + + + __ARUCO_TIMER_EVENT__("Threshold and Detect rectangles"); + // prefilter candidates + // _debug_exec(10,//only executes when compiled in DEBUG mode if debug level is at least 10 + // //show the thresholded images + // cv::Mat imrect; + // cv::cvtColor(imgToBeThresHolded,imrect,CV_GRAY2BGR); + // for(auto m: MarkerCanditates ) + // m.draw(imrect,cv::Scalar(0,245,0)); + // cv::imshow("rect-nofiltered",imrect); + // ); + + MarkerCanditates = prefilterCandidates(MarkerCanditates, imgToBeThresHolded.size()); + + __ARUCO_TIMER_EVENT__("prefilterCandidates"); + + // _debug_exec(10,//only executes when compiled in DEBUG mode if debug level is at least 10 + // //show the thresholded images + // cv::Mat imrect; + // cv::cvtColor(imgToBeThresHolded,imrect,CV_GRAY2BGR); + // for(auto m: MarkerCanditates) + // m.draw(imrect,cv::Scalar(0,245,0)); + // cv::imshow("rect-filtered",imrect); + // ); + // before going on, make sure the piramid is built + if (buildPyramidThread.joinable()) + buildPyramidThread.join(); + + + /////////////////////////////////////////////////////////////////////////// + /// CANDIDATE CLASSIFICATION: Decide which candidates are really markers + /////////////////////////////////////////////////////////////////////////// + + // Debug::setLevel(10); + auto markerWarpSize = getMarkerWarpSize(); + + detectedMarkers.clear(); + _candidates_wcontour.clear(); + for (auto &b : hist) + b = 0; + float desiredarea = std::pow(static_cast(markerWarpSize), 2.f); + for (size_t i = 0; i < MarkerCanditates.size(); i++) + { + // Find proyective homography + cv::Mat canonicalMarker, canonicalMarkerAux; + + cv::Mat inToWarp = imgToBeThresHolded; + MarkerCandidate points2d_pyr = MarkerCanditates[i]; + if (needPyramid) + { + // warping is one of the most time consuming operations, especially when the + // region is large. To reduce computing time, let us find in the image pyramid, + // the best configuration to save time indicates how much bigger observation is + // wrt to desired patch + size_t imgPyrIdx = 0; + for (size_t p = 1; p < imagePyramid.size(); p++) + { + if (MarkerCanditates[i].getArea() / pow(4, p) >= desiredarea) + imgPyrIdx = p; + else + break; + } + inToWarp = imagePyramid[imgPyrIdx]; + // move points to the image level p + float ratio = float(inToWarp.cols) / float(imgToBeThresHolded.cols); + for (auto &p : points2d_pyr) + p *= ratio; // 1. / pow(2, imgPyrIdx); + } + warp(inToWarp, canonicalMarker, Size(markerWarpSize, markerWarpSize), points2d_pyr); + int id, nRotations; + double min, Max; + cv::minMaxIdx(canonicalMarker, &min, &Max); + canonicalMarker.copyTo(canonicalMarkerAux); + string additionalInfo; + // _debug_exec(10,//only executes when compiled in DEBUG mode if debug + // level is at least 10 + // //show the thresholded images + // stringstream sstr;sstr<<"test-"<detect(canonicalMarkerAux, id, nRotations, additionalInfo)) + { + detectedMarkers.push_back(MarkerCanditates[i]); + detectedMarkers.back().id = id; + detectedMarkers.back().dict_info = additionalInfo; + detectedMarkers.back().contourPoints = MarkerCanditates[i].contourPoints; + // sort the points so that they are always in the same order no matter the camera orientation + std::rotate(detectedMarkers.back().begin(), detectedMarkers.back().begin() + 4 - nRotations, + detectedMarkers.back().end()); + // _debug_exec(10,//only executes when compiled in DEBUG mode if + // debug level is at least 10 + // //show the thresholded images + // stringstream + // sstr;sstr<<"can-"< 0) + _params.ThresHold = float(newThres); + } + +#ifdef debug_lines + cv::imshow("image-lines", image); + cv::waitKey(10); +#endif + // now, move the points to the original image (upsample corners) + if (input.cols != imgToBeThresHolded.cols) + { + cornerUpsample(detectedMarkers, imgToBeThresHolded.size()); + __ARUCO_TIMER_EVENT__("Corner Upsample"); + } + + + + ////////////////////////////////////////////////////////////////////// + /// MARKER Tracking + ////////////////////////////////////////////////////////////////////// + + + if (_params.trackingMinDetections > 0) + { + // update the marker_ndetections + // decrement unseen ones + for (auto &md : marker_ndetections) + { + if (std::find(detectedMarkers.begin(), detectedMarkers.end(), Marker(md.first)) == + detectedMarkers.end()) + md.second = std::max(md.second - 1, 0); + } + + // Identify the markers in the prev frame not yet tracked + std::vector needsTrack; + for (auto m : _prevMarkers) + { + if (std::find(detectedMarkers.begin(), detectedMarkers.end(), Marker(m.id)) == + detectedMarkers.end()) + { + if (marker_ndetections.count(m.id) != 0) + { + if (marker_ndetections.at(m.id) >= _params.trackingMinDetections) + needsTrack.push_back(m); + } + } + } + + // look for them in the candidates + if (needsTrack.size() > 0) + { + struct trackInfo + { + trackInfo(const Marker &m) + { + ma.setParams(m); + } + marker_analyzer ma; + int candidate = -1; + double dist = std::numeric_limits::max(); + }; + std::map marker_trackMatches; + for (auto &mnt : needsTrack) + marker_trackMatches.insert({ mnt.id, trackInfo(mnt) }); + + for (size_t cand = 0; cand < _candidates_wcontour.size(); cand++) + { + auto &mcnd = _candidates_wcontour[cand]; + marker_analyzer can_ma; + can_ma.setParams(mcnd); + for (auto &mtm : marker_trackMatches) + { + if (mtm.second.ma.isInto(can_ma.getCenter())) + { + auto dist = cv::norm(mtm.second.ma.getCenter() - can_ma.getCenter()); + auto sizedif = + fabs(mtm.second.ma.getArea() - can_ma.getArea()) / mtm.second.ma.getArea(); + if (sizedif < 0.3f && dist < mtm.second.dist) + { + mtm.second.candidate = static_cast(cand); + mtm.second.dist = dist; + } + } + } + } + + for (auto &mtm : marker_trackMatches) + { + if (mtm.second.candidate == -1) + continue; + auto it = find(_prevMarkers.begin(), _prevMarkers.end(), Marker(mtm.first)); + assert(it != _prevMarkers.end()); + detectedMarkers.push_back(_candidates_wcontour[mtm.second.candidate]); + detectedMarkers.back().id = mtm.first; + detectedMarkers.back().dict_info = it->dict_info; + detectedMarkers.back().contourPoints = + _candidates_wcontour[mtm.second.candidate].contourPoints; + // find best rotatation + + auto rotError = [](const vector &c1, const vector &c2) + { + cv::Point2f direction1 = c1[1] - c1[0]; + direction1 *= 1. / cv::norm(direction1); + cv::Point2f direction2 = c2[1] - c2[0]; + direction2 *= 1. / cv::norm(direction2); + return direction1.dot(direction2); + }; + auto prev = find(_prevMarkers.begin(), _prevMarkers.end(), Marker(mtm.first)); + pair rot_error(-1, -1); + for (int r = 0; r < 4; r++) + { + vector aux = detectedMarkers.back(); + std::rotate(aux.begin(), aux.begin() + r, aux.end()); + auto err = rotError(*prev, aux); + if (err > rot_error.second) + { + rot_error = { r, err }; + } + } + std::rotate(detectedMarkers.back().begin(), + detectedMarkers.back().begin() + rot_error.first, + detectedMarkers.back().end()); + // mark for removal + _candidates_wcontour[mtm.second.candidate].clear(); + } + // remove the used candidates + _candidates_wcontour.erase( + std::remove_if(_candidates_wcontour.begin(), _candidates_wcontour.end(), + [](const vector &m) { return m.size() == 0; }), + _candidates_wcontour.end()); + } + // update for next + for (auto m : detectedMarkers) + { + if (marker_ndetections.count(m.id) == 0) + marker_ndetections[m.id] = 1; + else + marker_ndetections[m.id]++; + } + } + + + ////////////////////////////////////////////////////////////////////// + /// REMOVAL OF DUPLICATED + ////////////////////////////////////////////////////////////////////// + + if (1) + { + // sort by id + std::sort(detectedMarkers.begin(), detectedMarkers.end()); + + // there might be still the case that a marker is detected twice because of the double + // border indicated earlier, detect and remove these cases + vector toRemove(detectedMarkers.size(), false); + + for (int i = 0; i < int(detectedMarkers.size()) - 1; i++) + { + for (int j = i + 1; j < int(detectedMarkers.size()) && !toRemove[i]; j++) + { + if (detectedMarkers[i].id == detectedMarkers[j].id && + detectedMarkers[i].dict_info == detectedMarkers[j].dict_info) + { + // deletes the one with smaller perimeter + if (perimeter(detectedMarkers[i]) < perimeter(detectedMarkers[j])) + toRemove[i] = true; + else + toRemove[j] = true; + } + } + } + + removeElements(detectedMarkers, toRemove); + } + + + ////////////////////////////////////////////////////////////////////// + /// CORNER REFINEMENT IF REQUIRED + ////////////////////////////////////////////////////////////////////// + /// refine the corner location if enclosed markers and we did not do it via upsampling + if (detectedMarkers.size() > 0 && input.size() == imgToBeThresHolded.size()) + { + if (_params.cornerRefinementM == CORNER_SUBPIX) + { + int halfwsize = 4 * float(input.cols) / float(imgToBeThresHolded.cols) + 0.5; + + vector Corners; + for (unsigned int i = 0; i < detectedMarkers.size(); i++) + for (int c = 0; c < 4; c++) + Corners.push_back(detectedMarkers[i][c]); + cornerSubPix(grey, Corners, cv::Size(halfwsize, halfwsize), cv::Size(-1, -1), + cv::TermCriteria(cv::TermCriteria::MAX_ITER | cv::TermCriteria::EPS, 12, 0.005)); + // copy back + for (unsigned int i = 0; i < detectedMarkers.size(); i++) + for (int c = 0; c < 4; c++) + detectedMarkers[i][c] = Corners[i * 4 + c]; + } + else if (_params.cornerRefinementM == CORNER_LINES) + { + // use the lines method for estimation of the corners + for (unsigned int i = 0; i < detectedMarkers.size(); i++) + refineCornerWithContourLines(detectedMarkers[i]); + } + } + __ARUCO_TIMER_EVENT__("Corner Refinement"); + /// + + + + ////////////////////////////////////////////////////////////////////// + /// MARKER POSE ESTIMATION + ////////////////////////////////////////////////////////////////////// + + /// detect the position of detected markers if desired + if (camMatrix.rows != 0 && markerSizeMeters > 0) + { + for (unsigned int i = 0; i < detectedMarkers.size(); i++) + detectedMarkers[i].calculateExtrinsics(markerSizeMeters, camMatrix, distCoeff, + extrinsics, setYPerpendicular, correctFisheye); + __ARUCO_TIMER_EVENT__("Pose Estimation"); + } + + // compute _markerMinSize + float mlength = std::numeric_limits::max(); + for (const auto &marker : detectedMarkers) + { + float l = 0; + for (int c = 0; c < 4; c++) + l += cv::norm(marker[c] - marker[(c + 1) % 4]); + if (mlength > l) + mlength = l; + } + float markerMinSize; + if (mlength != std::numeric_limits::max()) + markerMinSize = mlength / (4 * std::max(input.cols, input.rows)); + else + markerMinSize = 0; + if (_params.autoSize) + { + _params.minSize = markerMinSize * (1 - _params.ts); + } + + + /// save for tracking + _prevMarkers = detectedMarkers; +} +void MarkerDetector_Impl::refineCornerWithContourLines(aruco::Marker &marker, + cv::Mat camMatrix, cv::Mat distCoeff) +{ + // search corners on the contour vector + + std::vector &contour = marker.contourPoints; + vector cornerIndex(4, -1); + vector dist(4, std::numeric_limits::max()); + for (unsigned int j = 0; j < contour.size(); j++) + { + for (unsigned int k = 0; k < 4; k++) + { + float d = (contour[j].x - marker[k].x) * (contour[j].x - marker[k].x) + + (contour[j].y - marker[k].y) * (contour[j].y - marker[k].y); + if (d < dist[k]) + { + cornerIndex[k] = j; + dist[k] = d; + } + } + } + + // if any cornerIndex + + + // contour pixel in inverse order or not? + bool inverse; + if ((cornerIndex[1] > cornerIndex[0]) && + (cornerIndex[2] > cornerIndex[1] || cornerIndex[2] < cornerIndex[0])) + inverse = false; + else if (cornerIndex[2] > cornerIndex[1] && cornerIndex[2] < cornerIndex[0]) + inverse = false; + else + inverse = true; + + + // get pixel vector for each line of the marker + int inc = 1; + if (inverse) + inc = -1; + + // undistort contour + vector contour2f; + if (!camMatrix.empty() && !distCoeff.empty()) + { + for (unsigned int i = 0; i < contour.size(); i++) + contour2f.push_back(cv::Point2f(contour[i].x, contour[i].y)); + if (!camMatrix.empty() && !distCoeff.empty()) + cv::undistortPoints(contour2f, contour2f, camMatrix, distCoeff, cv::Mat(), camMatrix); + } + else + { + contour2f.reserve(contour.size()); + for (auto p : contour) + contour2f.push_back(cv::Point2f(p.x, p.y)); + } + + vector> contourLines; + contourLines.resize(4); + for (unsigned int l = 0; l < 4; l++) + { + for (int j = (int)cornerIndex[l]; j != (int)cornerIndex[(l + 1) % 4]; j += inc) + { + if (j == (int)contour.size() && !inverse) + j = 0; + else if (j == 0 && inverse) + j = contour.size() - 1; + contourLines[l].push_back(contour2f[j]); + if (j == (int)cornerIndex[(l + 1) % 4]) + break; // this has to be added because of the previous ifs + } + } + + // interpolate marker lines + vector lines; + lines.resize(4); + for (unsigned int j = 0; j < lines.size(); j++) + interpolate2Dline(contourLines[j], lines[j]); + + // get cross points of lines + vector crossPoints; + crossPoints.resize(4); + for (unsigned int i = 0; i < 4; i++) + crossPoints[i] = getCrossPoint(lines[(i - 1) % 4], lines[i]); + + // distort corners again if undistortion was performed + if (!camMatrix.empty() && !distCoeff.empty()) + distortPoints(crossPoints, crossPoints, camMatrix, distCoeff); + + // reassing points + for (unsigned int j = 0; j < 4; j++) + { + // cout< cand[endp].x) + { + swap(startp, endp); + } + const float _180 = 3.14159f; + + const float _22 = 3.14159 / 8.f; + const float _3_22 = 3. * 3.14159f / 8.f; + const float _5_22 = 5.f * 3.14159f / 8.f; + const float _7_22 = 7.f * 3.14159f / 8.f; + + int incx = 0, incy = 0; + // compute the angle + auto v1 = cand[endp] - cand[startp]; + float angle = atan2(v1.y, v1.x); + if (_22 < angle && angle < 3 * _22) + { // a + incx = incy = fact; + } + else if (-_22 < angle && angle < _22) + { // b + incx = fact; + incy = 0; + } + else if (-_3_22 < angle && angle < -_22) + { // c + incx = fact; + incy = -fact; + } + else if (-_5_22 < angle && angle < -_3_22) + { // D + incx = 0; + incy = -fact; + } + else if (-_7_22 < angle && angle < -_5_22) + { // E + incx = -fact; + incy = -fact; + } + else if ((-_180 < angle && angle < -_7_22) || (_7_22 < angle && angle < _180)) + { // f + incx = -fact; + incy = 0; + } + else if ((_5_22 < angle && angle < _7_22)) + { // g + incx = -fact; + incy = fact; + } + else if ((_3_22 < angle && angle < _5_22)) + { // h + incx = fact; + incy = fact; + } + cand[endp].x += incx; + cand[endp].y += incy; + cand[startp].x -= incx; + cand[startp].y -= incy; + } +} + + + +int MarkerDetector_Impl::getMinMarkerSizePix(cv::Size orginput_imageSize) const +{ + if (_params.minSize == -1 && _params.minSize_pix == -1) + return 0; + // calcualte the min_max contour sizes + int maxDim = std::max(orginput_imageSize.width, orginput_imageSize.height); + int minSize = 0; + if (_params.minSize != -1) + minSize = static_cast(_params.minSize) * static_cast(maxDim); + if (_params.minSize_pix != -1) + minSize = std::min(_params.minSize_pix, minSize); + return minSize; +} +/************************************ + * + * + * + * + ************************************/ +bool MarkerDetector_Impl::warp(Mat &in, Mat &out, Size size, vector points) +{ + if (points.size() != 4) + throw cv::Exception(9001, "point.size()!=4", "MarkerDetector_Impl::warp", __FILE__, __LINE__); + // obtain the perspective transform + Point2f pointsRes[4], pointsIn[4]; + for (int i = 0; i < 4; i++) + pointsIn[i] = points[i]; + pointsRes[0] = (Point2f(0, 0)); + pointsRes[1] = Point2f(static_cast(size.width - 1), 0.f); + pointsRes[2] = + Point2f(static_cast(size.width - 1), static_cast(size.height - 1)); + pointsRes[3] = Point2f(0.f, static_cast(size.height - 1)); + Mat M = getPerspectiveTransform(pointsIn, pointsRes); + cv::warpPerspective(in, out, M, size, cv::INTER_LINEAR); + // cv::warpPerspective(in, out, M, size, cv::INTER_NEAREST); + return true; +} + + +/************************************ + * + * + * + * + ************************************/ +int MarkerDetector_Impl::perimeter(const vector &a) +{ + int sum = 0; + for (unsigned int i = 0; i < a.size(); i++) + { + int i2 = (i + 1) % a.size(); + sum += static_cast(sqrt((a[i].x - a[i2].x) * (a[i].x - a[i2].x) + + (a[i].y - a[i2].y) * (a[i].y - a[i2].y))); + } + return sum; +} + + +/** + */ +void MarkerDetector_Impl::interpolate2Dline(const std::vector &inPoints, + cv::Point3f &outLine) +{ + float minX, maxX, minY, maxY; + minX = maxX = inPoints[0].x; + minY = maxY = inPoints[0].y; + for (unsigned int i = 1; i < inPoints.size(); i++) + { + if (inPoints[i].x < minX) + minX = inPoints[i].x; + if (inPoints[i].x > maxX) + maxX = inPoints[i].x; + if (inPoints[i].y < minY) + minY = inPoints[i].y; + if (inPoints[i].y > maxY) + maxY = inPoints[i].y; + } + + // create matrices of equation system + const int pointsCount = static_cast(inPoints.size()); + Mat A(pointsCount, 2, CV_32FC1, Scalar(0)); + Mat B(pointsCount, 1, CV_32FC1, Scalar(0)); + Mat X; + + if (maxX - minX > maxY - minY) + { + // Ax + C = y + for (int i = 0; i < pointsCount; i++) + { + A.at(i, 0) = inPoints[i].x; + A.at(i, 1) = 1.; + B.at(i, 0) = inPoints[i].y; + } + + // solve system + solve(A, B, X, DECOMP_SVD); + // return Ax + By + C + outLine = Point3f(X.at(0, 0), -1., X.at(1, 0)); + } + else + { + // By + C = x + for (int i = 0; i < pointsCount; i++) + { + A.at(i, 0) = inPoints[i].y; + A.at(i, 1) = 1.; + B.at(i, 0) = inPoints[i].x; + } + + // solve system + solve(A, B, X, DECOMP_SVD); + // return Ax + By + C + outLine = Point3f(-1., X.at(0, 0), X.at(1, 0)); + } +} + +/** + */ +Point2f MarkerDetector_Impl::getCrossPoint(const cv::Point3f &line1, const cv::Point3f &line2) +{ + // create matrices of equation system + Mat A(2, 2, CV_32FC1, Scalar(0)); + Mat B(2, 1, CV_32FC1, Scalar(0)); + Mat X; + + A.at(0, 0) = line1.x; + A.at(0, 1) = line1.y; + B.at(0, 0) = -line1.z; + + A.at(1, 0) = line2.x; + A.at(1, 1) = line2.y; + B.at(1, 0) = -line2.z; + + // solve system + solve(A, B, X, DECOMP_SVD); + return Point2f(X.at(0, 0), X.at(1, 0)); +} + +// template +// void MarkerDetector_Impl::cornerUpsample(vector& MarkerCanditates, cv::Size +// lowResImageSize ){ +// cornerUpsample_SUBP(MarkerCanditates,lowResImageSize); +// } + +// template +// void MarkerDetector_Impl::cornerUpsample_SUBP(vector& MarkerCanditates, cv::Size +// lowResImageSize ){ +// if (MarkerCanditates.size()==0)return; +// //first, determine the image in the pyramid nearest to this one +// int startPyrImg=0; + +// for(size_t i=0;i=0;curpyr--){ +// float factor= float(imagePyramid[curpyr].cols)/float(prevLowResSize.width) ; +// //upsample corner locations +// for(auto &m:MarkerCanditates) +// for(auto &point:m) {point*=factor;} +// int halfwsize= 0.5+2.5*factor; +// vector p2d;//p2d.reserve(MarkerCanditates.size()*4); +// for(auto &m:MarkerCanditates) +// for(auto &point:m) { p2d.push_back(point);} +// cv::cornerSubPix( +// imagePyramid[curpyr],p2d,cv::Size(halfwsize,halfwsize),cv::Size(-1,-1),cv::TermCriteria(cv::TermCriteria::MAX_ITER +// , 4,0.5)); +// int cidx=0; +// for(auto &m:MarkerCanditates) +// for(auto &point:m) {point =p2d[cidx++];} + +// prevLowResSize=imagePyramid[curpyr].size(); +// } +//} + + +/************************************ + * + * + * + * + ************************************/ +void MarkerDetector_Impl::drawAllContours(Mat input, std::vector> &contours) +{ + drawContours(input, contours, -1, Scalar(255, 0, 255)); +} + +/************************************ + * + * + * + * + ************************************/ +void MarkerDetector_Impl::drawContour(Mat &in, vector &contour, Scalar color) +{ + for (unsigned int i = 0; i < contour.size(); i++) + { + cv::rectangle(in, contour[i], contour[i], color); + } +} + +void MarkerDetector_Impl::drawApproxCurve(Mat &in, vector &contour, Scalar color, int thickness) +{ + for (unsigned int i = 0; i < contour.size(); i++) + { + cv::line(in, contour[i], contour[(i + 1) % contour.size()], color, thickness); + } +} +/************************************ + * + * + * + * + ************************************/ + +void MarkerDetector_Impl::draw(Mat out, const vector &markers) +{ + for (unsigned int i = 0; i < markers.size(); i++) + { + cv::line(out, markers[i][0], markers[i][1], cv::Scalar(255, 0, 0), 2); + cv::line(out, markers[i][1], markers[i][2], cv::Scalar(255, 0, 0), 2); + cv::line(out, markers[i][2], markers[i][3], cv::Scalar(255, 0, 0), 2); + cv::line(out, markers[i][3], markers[i][0], cv::Scalar(255, 0, 0), 2); + } +} + + +void MarkerDetector_Impl::setMarkerLabeler(cv::Ptr detector) +{ + markerIdDetector = detector; +} + +void MarkerDetector_Impl::setDictionary(int dict_type, float error_correction_rate) +{ + markerIdDetector = + MarkerLabeler::create((Dictionary::DICT_TYPES)dict_type, error_correction_rate); + _params.error_correction_rate = error_correction_rate; + _params.dictionary = aruco::Dictionary::getTypeString((Dictionary::DICT_TYPES)dict_type); +} + + + +void MarkerDetector_Impl::setDictionary(string dict_type, float error_correction_rate) +{ + auto _to_string = [](float i) + { + std::stringstream str; + str << i; + return str.str(); + }; + _params.dictionary = dict_type; + markerIdDetector = MarkerLabeler::create(dict_type, _to_string(error_correction_rate)); + _params.error_correction_rate = error_correction_rate; +} + + +cv::Mat MarkerDetector_Impl::getThresholdedImage(uint32_t idx) +{ + if (_thres_Images.size() == 0) + return cv::Mat(); + if (idx >= _thres_Images.size()) + idx = _thres_Images.size() - 1; // last one is the original image + return _thres_Images[idx]; +} + + + +/** + */ +void MarkerDetector_Impl::distortPoints(vector in, vector &out, + const Mat &camMatrix, const Mat &distCoeff) +{ + // trivial extrinsics + cv::Mat Rvec = cv::Mat(3, 1, CV_32FC1, cv::Scalar::all(0)); + cv::Mat Tvec = Rvec.clone(); + // calculate 3d points and then reproject, so opencv makes the distortion internally + vector cornersPoints3d; + for (unsigned int i = 0; i < in.size(); i++) + cornersPoints3d.push_back( + cv::Point3f((in[i].x - camMatrix.at(0, 2)) / camMatrix.at(0, 0), // x + (in[i].y - camMatrix.at(1, 2)) / camMatrix.at(1, 1), // y + 1)); // z + cv::projectPoints(cornersPoints3d, Rvec, Tvec, camMatrix, distCoeff, out); +} + + +/**Saves the configuration of the detector to a file + */ +void MarkerDetector_Impl::saveParamsToFile(const std::string &path) const +{ + cv::FileStorage fs(path, cv::FileStorage::WRITE); + if (!fs.isOpened()) + throw std::runtime_error("Could not open " + path); + _params.save(fs); +} + +/**Loads the configuration from a file + */ +void MarkerDetector_Impl::loadParamsFromFile(const std::string &path) +{ + cv::FileStorage fs(path, cv::FileStorage::READ); + if (!fs.isOpened()) + throw std::runtime_error("Could not open " + path); + _params.load(fs); + setDictionary(_params.dictionary, _params.error_correction_rate); +} + +void MarkerDetector_Impl::toStream(std::ostream &str) const +{ + uint64_t sig = 13213; + str.write((char *)&sig, sizeof(sig)); + _params.toStream(str); +} + +void MarkerDetector_Impl::fromStream(std::istream &str) +{ + uint64_t sig = 13213; + str.read((char *)&sig, sizeof(sig)); + if (sig != 13213) + throw std::runtime_error("MarkerDetector_Impl::fromStream invalid signature"); + _params.fromStream(str); + setDictionary(_params.dictionary, _params.error_correction_rate); +} + + + +void MarkerDetector_Impl::filter_ambiguous_query(std::vector &matches) +{ + if (matches.size() == 0) + return; + // determine maximum values of queryIdx + int maxT = -1; + for (auto m : matches) + maxT = std::max(maxT, m.queryIdx); + + // now, create the vector with the elements + vector used(maxT + 1, -1); + vector best_matches(maxT); + int idx = 0; + bool needRemove = false; + + for (auto &match : matches) + { + if (used[match.queryIdx] == -1) + { + used[match.queryIdx] = idx; + } + else + { + if (matches[used[match.queryIdx]].distance > match.distance) + { + matches[used[match.queryIdx]].queryIdx = -1; // annulate the other match + used[match.queryIdx] = idx; + needRemove = true; + } + else + { + match.queryIdx = -1; // annulate this match + needRemove = true; + } + } + idx++; + } + + + if (needRemove) + matches.erase(std::remove_if(matches.begin(), matches.end(), + [](const cv::DMatch &m) + { return m.trainIdx == -1 || m.queryIdx == -1; }), + matches.end()); +} + +void MarkerDetector_Impl::cornerUpsample(std::vector &MarkerCanditates, + cv::Size lowResImageSize) +{ + if (MarkerCanditates.size() == 0) + return; + // first, determine the image in the pyramid nearest to this one + int startPyrImg = 0; + + for (size_t i = 0; i < imagePyramid.size(); i++) + { + if (lowResImageSize.width < imagePyramid[i].cols) + startPyrImg = i; + else + break; + } + //#define _aruco_marker_detector_fast + + cv::Size prevLowResSize = lowResImageSize; + for (int curpyr = startPyrImg; curpyr >= 0; curpyr--) + { + float factor = float(imagePyramid[curpyr].cols) / float(prevLowResSize.width); + // upsample corner locations + for (auto &m : MarkerCanditates) + for (auto &point : m) + { + point *= factor; + } + int halfwsize = 0.5 + 2.5 * factor; + std::vector p2d; // p2d.reserve(MarkerCanditates.size()*4); + for (auto &m : MarkerCanditates) + for (auto &point : m) + { + p2d.push_back(point); + } + cv::cornerSubPix(imagePyramid[curpyr], p2d, cv::Size(halfwsize, halfwsize), + cv::Size(-1, -1), cv::TermCriteria(cv::TermCriteria::MAX_ITER, 4, 0.5)); + int cidx = 0; + for (auto &m : MarkerCanditates) + for (auto &point : m) + { + point = p2d[cidx++]; + } + + prevLowResSize = imagePyramid[curpyr].size(); + } +} + + +void MarkerDetector_Impl::cornerUpsample(std::vector> &MarkerCanditates, + cv::Size lowResImageSize) +{ + std::vector markers; + markers.reserve(MarkerCanditates.size()); + std::copy(MarkerCanditates.begin(), MarkerCanditates.end(), std::back_inserter(markers)); + + cornerUpsample(markers, lowResImageSize); + + for (std::size_t i = 0; i < markers.size(); i++) + { + MarkerCanditates[i] = markers[i]; + } +} +}; // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/markerlabeler.cpp b/legacy/aruco_ros/aruco/src/aruco/markerlabeler.cpp new file mode 100755 index 000000000..e30ae1752 --- /dev/null +++ b/legacy/aruco_ros/aruco/src/aruco/markerlabeler.cpp @@ -0,0 +1,43 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ +#include "markerlabeler.h" +#include "dictionary_based.h" +namespace aruco +{ +cv::Ptr MarkerLabeler::create(Dictionary::DICT_TYPES dict_type, + float error_correction_rate) +{ + Dictionary dict = Dictionary::loadPredefined(dict_type); + DictionaryBased* db = new DictionaryBased(); + db->setParams(dict, error_correction_rate); + return db; +} +cv::Ptr MarkerLabeler::create(std::string detector, std::string params) +{ + auto _stof = [](std::string str) + { + float f; + sscanf(str.c_str(), "%f", &f); + return f; + }; + (void)params; + Dictionary dict = Dictionary::load(detector); + // try with one from file + DictionaryBased* db = new DictionaryBased(); + db->setParams(dict, _stof(params)); + return db; +} +} // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/markermap.cpp b/legacy/aruco_ros/aruco/src/aruco/markermap.cpp new file mode 100755 index 000000000..5afc105f6 --- /dev/null +++ b/legacy/aruco_ros/aruco/src/aruco/markermap.cpp @@ -0,0 +1,467 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#include "markermap.h" +#include "dictionary.h" + +#include +#include + +#include + +using namespace std; +using namespace cv; + +namespace aruco +{ +Marker3DInfo::Marker3DInfo() +{ +} +Marker3DInfo::Marker3DInfo(int _id) : id(_id) +{ +} +/** + * + * + */ +MarkerMap::MarkerMap() +{ + mInfoType = NONE; +} +/** + * + * + */ +MarkerMap::MarkerMap(string filePath) +{ + mInfoType = NONE; + readFromFile(filePath); +} + +/** + * + * + */ +void MarkerMap::saveToFile(string sfile) +{ + cv::FileStorage fs(sfile, cv::FileStorage::WRITE); + saveToFile(fs); +} +/**Saves the board info to a file + */ +void MarkerMap::saveToFile(cv::FileStorage& fs) +{ + fs << "aruco_bc_dict" << dictionary; + fs << "aruco_bc_nmarkers" << (int)size(); + fs << "aruco_bc_mInfoType" << (int)mInfoType; + fs << "aruco_bc_markers" + << "["; + for (size_t i = 0; i < size(); i++) + { + fs << "{:" + << "id" << at(i).id; + + fs << "corners" + << "[:"; + for (size_t c = 0; c < at(i).size(); c++) + fs << at(i)[c]; + fs << "]"; + fs << "}"; + } + fs << "]"; +} + +/** + * + * + */ +void MarkerMap::readFromFile(string sfile) +{ + try + { + cv::FileStorage fs(sfile, cv::FileStorage::READ); + if (!fs.isOpened()) + throw cv::Exception(81818, "MarkerMap::readFromFile", + string(" file not opened ") + sfile, __FILE__, __LINE__); + readFromFile(fs); + } + catch (std::exception& ex) + { + throw cv::Exception(81818, "MarkerMap::readFromFile", + ex.what() + string(" file=)") + sfile, __FILE__, __LINE__); + } +} + +/**Reads board info from a file + */ +void MarkerMap::readFromFile(cv::FileStorage& fs) +{ + int aux = 0; + // look for the nmarkers + if (fs["aruco_bc_nmarkers"].name() != "aruco_bc_nmarkers") + throw cv::Exception(81818, "MarkerMap::readFromFile", "invalid file type", __FILE__, __LINE__); + fs["aruco_bc_nmarkers"] >> aux; + resize(aux); + fs["aruco_bc_mInfoType"] >> mInfoType; + cv::FileNode markers = fs["aruco_bc_markers"]; + int i = 0; + for (FileNodeIterator it = markers.begin(); it != markers.end(); ++it, i++) + { + at(i).id = (*it)["id"]; + FileNode FnCorners = (*it)["corners"]; + for (FileNodeIterator itc = FnCorners.begin(); itc != FnCorners.end(); ++itc) + { + vector coordinates3d; + (*itc) >> coordinates3d; + if (coordinates3d.size() != 3) + throw cv::Exception(81818, "MarkerMap::readFromFile", "invalid file type 3", + __FILE__, __LINE__); + cv::Point3f point(coordinates3d[0], coordinates3d[1], coordinates3d[2]); + at(i).push_back(point); + } + } + + if (fs["aruco_bc_dict"].name() == "aruco_bc_dict") + fs["aruco_bc_dict"] >> dictionary; +} + +/** + */ +int MarkerMap::getIndexOfMarkerId(int id) const +{ + for (size_t i = 0; i < size(); i++) + if (at(i).id == id) + return static_cast(i); + return -1; +} + +/** + */ +const Marker3DInfo& MarkerMap::getMarker3DInfo(int id) const +{ + for (size_t i = 0; i < size(); i++) + if (at(i).id == id) + return at(i); + throw cv::Exception(111, "MarkerMap::getMarker3DInfo", + "Marker with the id given is not found", __FILE__, __LINE__); +} + +void __glGetModelViewMatrix(double modelview_matrix[16], const cv::Mat& Rvec, const cv::Mat& Tvec) +{ + // check if paremeters are valid + bool invalid = false; + for (int i = 0; i < 3 && !invalid; i++) + { + if (Tvec.at(i, 0) != -999999) + invalid |= false; + if (Rvec.at(i, 0) != -999999) + invalid |= false; + } + if (invalid) + throw cv::Exception(9002, "extrinsic parameters are not set", + "Marker::getModelViewMatrix", __FILE__, __LINE__); + Mat Rot(3, 3, CV_32FC1), Jacob; + Rodrigues(Rvec, Rot, Jacob); + + double para[3][4]; + for (int i = 0; i < 3; i++) + for (int j = 0; j < 3; j++) + para[i][j] = Rot.at(i, j); + // now, add the translation + para[0][3] = Tvec.at(0, 0); + para[1][3] = Tvec.at(1, 0); + para[2][3] = Tvec.at(2, 0); + double scale = 1; + + modelview_matrix[0 + 0 * 4] = para[0][0]; + // R1C2 + modelview_matrix[0 + 1 * 4] = para[0][1]; + modelview_matrix[0 + 2 * 4] = para[0][2]; + modelview_matrix[0 + 3 * 4] = para[0][3]; + // R2 + modelview_matrix[1 + 0 * 4] = para[1][0]; + modelview_matrix[1 + 1 * 4] = para[1][1]; + modelview_matrix[1 + 2 * 4] = para[1][2]; + modelview_matrix[1 + 3 * 4] = para[1][3]; + // R3 + modelview_matrix[2 + 0 * 4] = -para[2][0]; + modelview_matrix[2 + 1 * 4] = -para[2][1]; + modelview_matrix[2 + 2 * 4] = -para[2][2]; + modelview_matrix[2 + 3 * 4] = -para[2][3]; + modelview_matrix[3 + 0 * 4] = 0.0; + modelview_matrix[3 + 1 * 4] = 0.0; + modelview_matrix[3 + 2 * 4] = 0.0; + modelview_matrix[3 + 3 * 4] = 1.0; + if (scale != 0.0) + { + modelview_matrix[12] *= scale; + modelview_matrix[13] *= scale; + modelview_matrix[14] *= scale; + } +} + +/**** + * + */ +void __OgreGetPoseParameters(double position[3], double orientation[4], + const cv::Mat& Rvec, const cv::Mat& Tvec) +{ + // check if paremeters are valid + bool invalid = false; + for (int i = 0; i < 3 && !invalid; i++) + { + if (Tvec.at(i, 0) != -999999) + invalid |= false; + if (Rvec.at(i, 0) != -999999) + invalid |= false; + } + if (invalid) + throw cv::Exception(9003, "extrinsic parameters are not set", + "Marker::getModelViewMatrix", __FILE__, __LINE__); + + // calculate position vector + position[0] = -Tvec.ptr(0)[0]; + position[1] = -Tvec.ptr(0)[1]; + position[2] = +Tvec.ptr(0)[2]; + + // now calculare orientation quaternion + cv::Mat Rot(3, 3, CV_32FC1); + cv::Rodrigues(Rvec, Rot); + + // calculate axes for quaternion + double stAxes[3][3]; + // x axis + stAxes[0][0] = -Rot.at(0, 0); + stAxes[0][1] = -Rot.at(1, 0); + stAxes[0][2] = +Rot.at(2, 0); + // y axis + stAxes[1][0] = -Rot.at(0, 1); + stAxes[1][1] = -Rot.at(1, 1); + stAxes[1][2] = +Rot.at(2, 1); + // for z axis, we use cross product + stAxes[2][0] = stAxes[0][1] * stAxes[1][2] - stAxes[0][2] * stAxes[1][1]; + stAxes[2][1] = -stAxes[0][0] * stAxes[1][2] + stAxes[0][2] * stAxes[1][0]; + stAxes[2][2] = stAxes[0][0] * stAxes[1][1] - stAxes[0][1] * stAxes[1][0]; + + // transposed matrix + double axes[3][3]; + axes[0][0] = stAxes[0][0]; + axes[1][0] = stAxes[0][1]; + axes[2][0] = stAxes[0][2]; + + axes[0][1] = stAxes[1][0]; + axes[1][1] = stAxes[1][1]; + axes[2][1] = stAxes[1][2]; + + axes[0][2] = stAxes[2][0]; + axes[1][2] = stAxes[2][1]; + axes[2][2] = stAxes[2][2]; + + // Algorithm in Ken Shoemake's article in 1987 SIGGRAPH course notes + // article "Quaternion Calculus and Fast Animation". + double fTrace = axes[0][0] + axes[1][1] + axes[2][2]; + double fRoot; + + if (fTrace > 0.0) + { + // |w| > 1/2, may as well choose w > 1/2 + fRoot = sqrt(fTrace + 1.0); // 2w + orientation[0] = 0.5 * fRoot; + fRoot = 0.5 / fRoot; // 1/(4w) + orientation[1] = (axes[2][1] - axes[1][2]) * fRoot; + orientation[2] = (axes[0][2] - axes[2][0]) * fRoot; + orientation[3] = (axes[1][0] - axes[0][1]) * fRoot; + } + else + { + // |w| <= 1/2 + static unsigned int s_iNext[3] = { 1, 2, 0 }; + unsigned int i = 0; + if (axes[1][1] > axes[0][0]) + i = 1; + if (axes[2][2] > axes[i][i]) + i = 2; + unsigned int j = s_iNext[i]; + unsigned int k = s_iNext[j]; + + fRoot = sqrt(axes[i][i] - axes[j][j] - axes[k][k] + 1.0); + double* apkQuat[3] = { &orientation[1], &orientation[2], &orientation[3] }; + *apkQuat[i] = 0.5 * fRoot; + fRoot = 0.5 / fRoot; + orientation[0] = (axes[k][j] - axes[j][k]) * fRoot; + *apkQuat[j] = (axes[j][i] + axes[i][j]) * fRoot; + *apkQuat[k] = (axes[k][i] + axes[i][k]) * fRoot; + } +} + +/** + */ +void MarkerMap::getIdList(std::vector& ids, bool append) const +{ + if (!append) + ids.clear(); + for (size_t i = 0; i < size(); i++) + ids.push_back(at(i).id); +} + +MarkerMap MarkerMap::convertToMeters(float markerSize_meters) const +{ + if (!isExpressedInPixels()) + throw cv::Exception(-1, "The board is not expressed in pixels", + "MarkerMap::convertToMeters", __FILE__, __LINE__); + // first, we are assuming all markers are equally sized. So, lets get the size in pixels + int markerSizePix = static_cast(cv::norm(at(0)[0] - at(0)[1])); + MarkerMap BInfo(*this); + BInfo.mInfoType = MarkerMap::METERS; + // now, get the size of a pixel, and change scale + float pixSize = markerSize_meters / float(markerSizePix); + // cout << markerSize_meters << " " << float(markerSizePix) << " " << pixSize << + // endl; + for (size_t i = 0; i < BInfo.size(); i++) + for (int c = 0; c < 4; c++) + { + BInfo[i][c] *= pixSize; + } + return BInfo; +} +cv::Mat MarkerMap::getImage(float METER2PIX) const +{ + if (mInfoType == NONE) + throw cv::Exception(-1, "The board is not valid mInfoType==NONE ", + "MarkerMap::getImage", __FILE__, __LINE__); + if (METER2PIX <= 0 && mInfoType != PIX) + throw cv::Exception(-1, "The board is not expressed in pixels and not METER2PIX indicated", + "MarkerMap::getImage", __FILE__, __LINE__); + + auto Dict = Dictionary::loadPredefined(dictionary); + + // get image limits + cv::Point pmin(std::numeric_limits::max(), std::numeric_limits::max()), + pmax(std::numeric_limits::lowest(), std::numeric_limits::lowest()); + for (auto b : *this) + { + for (auto p : b.points) + { + pmin.x = min(int(p.x), pmin.x); + pmin.y = min(int(p.y), pmin.y); + pmax.x = max(int(p.x + 0.5), pmax.x); + pmax.y = max(int(p.y + 0.5), pmax.y); + assert(p.z == 0); + } + } + + cv::Point psize = pmax - pmin; + cv::Mat image(cv::Size(psize.x, psize.y), CV_8UC1); + image.setTo(cv::Scalar::all(255)); + + vector p3d = *this; + // the points must be moved from a real reference system to image reference sysmte (y + // positive is inverse) + for (auto& m : p3d) + for (auto& p : m.points) + { + p -= cv::Point3f(static_cast(pmin.x), static_cast(pmax.y), 0.f); + // now, use inverse y + p.y = -p.y; + } + for (auto m : p3d) + { + // get size and find size of this + const float size = static_cast(cv::norm(m[0] - m[1])); + auto im1 = Dict.getMarkerImage_id(m.id, int(size / 8)); + cv::Mat im2; + // now resize to fit + cv::resize(im1, im2, cv::Size(static_cast(size), static_cast(size))); + // copy in correct position + auto ry = cv::Range(int(m[0].y), int(m[2].y)); + auto rx = cv::Range(int(m[0].x), int(m[2].x)); + cv::Mat sub = image(ry, rx); + im2.copyTo(sub); + } + return image; +} + +std::vector MarkerMap::getIndices(const vector& markers) const +{ + std::vector indices; + for (size_t i = 0; i < markers.size(); i++) + { + bool found = false; + for (size_t j = 0; j < size() && !found; j++) + { + if (markers[i].id == at(j).id) + { + found = true; + indices.push_back(static_cast(i)); + } + } + } + return indices; +} +void MarkerMap::toStream(std::ostream& str) +{ + str << mInfoType << " " << size() << " "; + for (size_t i = 0; i < size(); i++) + { + at(i).toStream(str); + } + // write dic string info + str << dictionary; +} +void MarkerMap::fromStream(std::istream& str) +{ + int s; + str >> mInfoType >> s; + resize(s); + for (size_t i = 0; i < size(); i++) + at(i).fromStream(str); + str >> dictionary; +} +pair MarkerMap::calculateExtrinsics(const std::vector& markers, + float markerSize, cv::Mat CameraMatrix, + cv::Mat Distorsion) +{ + vector p2d; + MarkerMap m_meters; + if (isExpressedInPixels()) + m_meters = convertToMeters(markerSize); + else + m_meters = *this; + vector p3d; + for (auto marker : markers) + { + auto it = find(m_meters.begin(), m_meters.end(), marker.id); + if (it != m_meters.end()) + { // is the marker part of the map? + for (auto p : marker) + p2d.push_back(p); + for (auto p : it->points) + p3d.push_back(p); + } + } + + cv::Mat rvec, tvec; + if (p2d.size() != 0) + { // no points in the vector + cv::solvePnPRansac(p3d, p2d, CameraMatrix, Distorsion, rvec, tvec); + } + if (rvec.type() == CV_64F) + rvec.convertTo(rvec, CV_64F); + if (tvec.type() == CV_64F) + tvec.convertTo(tvec, CV_64F); + return make_pair(rvec, tvec); +} +}; // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/posetracker.cpp b/legacy/aruco_ros/aruco/src/aruco/posetracker.cpp new file mode 100755 index 000000000..4cb14f45b --- /dev/null +++ b/legacy/aruco_ros/aruco/src/aruco/posetracker.cpp @@ -0,0 +1,595 @@ +/** + Copyright 2017 Rafael Muñoz Salinas. All rights reserved. + + Redistribution and use in source and binary forms, with or without modification, are + permitted provided that the following conditions are met: + + 1. Redistributions of source code must retain the above copyright notice, this list of + conditions and the following disclaimer. + + 2. Redistributions in binary form must reproduce the above copyright notice, this list + of conditions and the following disclaimer in the documentation and/or other materials + provided with the distribution. + + THIS SOFTWARE IS PROVIDED BY Rafael Muñoz Salinas ''AS IS'' AND ANY EXPRESS OR IMPLIED + WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND + FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Rafael Muñoz Salinas + OR + CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON + ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF + ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + + The views and conclusions contained in the software and documentation are those of the + authors and should not be interpreted as representing official policies, either expressed + or implied, of Rafael Muñoz Salinas. + */ + +#include "posetracker.h" +#include "ippe.h" +#include +#include "levmarq.h" +#include + +namespace aruco +{ +namespace aruco_private +{ +cv::Mat impl__aruco_getRTMatrix(const cv::Mat& _rvec, const cv::Mat& _tvec) +{ + assert(_rvec.type() == CV_32F && _rvec.total() == 3); + assert(_tvec.type() == CV_32F && _tvec.total() == 3); + + cv::Mat Matrix(4, 4, CV_32F); + float* rt_44 = Matrix.ptr(0); + + // makes a fast conversion to the 4x4 array passed + float rx = _rvec.ptr(0)[0]; + float ry = _rvec.ptr(0)[1]; + float rz = _rvec.ptr(0)[2]; + float tx = _tvec.ptr(0)[0]; + float ty = _tvec.ptr(0)[1]; + float tz = _tvec.ptr(0)[2]; + float nsqa = rx * rx + ry * ry + rz * rz; + float a = std::sqrt(nsqa); + float i_a = a ? 1. / a : 0; + float rnx = rx * i_a; + float rny = ry * i_a; + float rnz = rz * i_a; + float cos_a = cos(a); + float sin_a = sin(a); + float _1_cos_a = 1. - cos_a; + rt_44[0] = cos_a + rnx * rnx * _1_cos_a; + rt_44[1] = rnx * rny * _1_cos_a - rnz * sin_a; + rt_44[2] = rny * sin_a + rnx * rnz * _1_cos_a; + rt_44[3] = tx; + rt_44[4] = rnz * sin_a + rnx * rny * _1_cos_a; + rt_44[5] = cos_a + rny * rny * _1_cos_a; + rt_44[6] = -rnx * sin_a + rny * rnz * _1_cos_a; + rt_44[7] = ty; + rt_44[8] = -rny * sin_a + rnx * rnz * _1_cos_a; + rt_44[9] = rnx * sin_a + rny * rnz * _1_cos_a; + rt_44[10] = cos_a + rnz * rnz * _1_cos_a; + rt_44[11] = tz; + rt_44[12] = rt_44[13] = rt_44[14] = 0; + rt_44[15] = 1; + return Matrix; +} + +void impl__aruco_getRTfromMatrix44(const cv::Mat& M, cv::Mat& R, cv::Mat& T) +{ + assert(M.cols == M.rows && M.cols == 4); + assert(M.type() == CV_32F || M.type() == CV_64F); + + // extract the rotation part + cv::Mat r33 = cv::Mat(M, cv::Rect(0, 0, 3, 3)); + cv::SVD svd(r33); + cv::Mat Rpure = svd.u * svd.vt; + cv::Rodrigues(Rpure, R); + T.create(1, 3, M.type()); + if (M.type() == CV_32F) + for (int i = 0; i < 3; i++) + T.ptr(0)[i] = M.at(i, 3); + else + for (int i = 0; i < 3; i++) + T.ptr(0)[i] = M.at(i, 3); +} + +double reprj_error(const std::vector& objPoints, + const std::vector points2d, const CameraParameters& imp, + const cv::Mat& rt44) +{ + std::vector prepj; + cv::Mat rv, tv; + impl__aruco_getRTfromMatrix44(rt44, rv, tv); + cv::projectPoints(objPoints, rv, tv, imp.CameraMatrix, imp.Distorsion, prepj); + double sum = 0; + int nvalid = 0; + for (size_t i = 0; i < prepj.size(); i++) + { + if (!std::isnan(objPoints[i].x)) + { + sum += cv::norm(points2d[i] - prepj[i]); + nvalid++; + } + } + return sum / double(nvalid); +} + +/** + * + * + */ +float rigidBodyTransformation_Horn1987(const std::vector& POrg, + const std::vector& PDst, cv::Mat& RT_4x4) +{ + struct Quaternion + { + Quaternion(float q0, float q1, float q2, float q3) + { + q[0] = q0; + q[1] = q1; + q[2] = q2; + q[3] = q3; + } + cv::Mat getRotation() const + { + cv::Mat R(3, 3, CV_32F); + R.at(0, 0) = q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]; + R.at(0, 1) = 2.f * (q[1] * q[2] - q[0] * q[3]); + R.at(0, 2) = 2.f * (q[1] * q[3] + q[0] * q[2]); + + R.at(1, 0) = 2.f * (q[1] * q[2] + q[0] * q[3]); + R.at(1, 1) = q[0] * q[0] + q[2] * q[2] - q[1] * q[1] - q[3] * q[3]; + R.at(1, 2) = 2.f * (q[2] * q[3] - q[0] * q[1]); + + R.at(2, 0) = 2.f * (q[1] * q[3] - q[0] * q[2]); + R.at(2, 1) = 2.f * (q[2] * q[3] + q[0] * q[1]); + R.at(2, 2) = q[0] * q[0] + q[3] * q[3] - q[1] * q[1] - q[2] * q[2]; + return R; + } + float q[4]; + }; + + assert(POrg.size() == PDst.size()); + + cv::Mat _org(POrg.size(), 3, CV_32F, (float*)&POrg[0]); + cv::Mat _dst(PDst.size(), 3, CV_32F, (float*)&PDst[0]); + + // _org = _org.reshape(1); + // _dst = _dst.reshape(1); + cv::Mat Mu_s = cv::Mat::zeros(1, 3, CV_32F); + cv::Mat Mu_m = cv::Mat::zeros(1, 3, CV_32F); + // cout << _s << endl << _m << endl; + + // calculate means + for (int i = 0; i < _org.rows; i++) + { + Mu_s += _org(cv::Range(i, i + 1), cv::Range(0, 3)); + Mu_m += _dst(cv::Range(i, i + 1), cv::Range(0, 3)); + } + + // now, divide + for (int i = 0; i < 3; i++) + { + Mu_s.ptr(0)[i] /= float(_org.rows); + Mu_m.ptr(0)[i] /= float(_dst.rows); + } + + // cout << "Mu_s = " << Mu_s << endl; + // cout << "Mu_m = " << Mu_m << endl; + + cv::Mat Mu_st = Mu_s.t() * Mu_m; + // cout << "Mu_st = " << Mu_st << endl; + cv::Mat Var_sm = cv::Mat::zeros(3, 3, CV_32F); + for (int i = 0; i < _org.rows; i++) + Var_sm += (_org(cv::Range(i, i + 1), cv::Range(0, 3)).t() * + _dst(cv::Range(i, i + 1), cv::Range(0, 3))) - + Mu_st; + // cout << "Var_sm=" << Var_sm << endl; + for (int i = 0; i < 3; i++) + for (int j = 0; j < 3; j++) + Var_sm.at(i, j) /= float(_org.rows); + // cout << "Var_sm = " << Var_sm << endl; + + cv::Mat AA = Var_sm - Var_sm.t(); + // cout << "AA = " << AA << endl; + cv::Mat A(3, 1, CV_32F); + A.at(0, 0) = AA.at(1, 2); + A.at(1, 0) = AA.at(2, 0); + A.at(2, 0) = AA.at(0, 1); + // cout << "A =" << A << endl; + cv::Mat Q_Var_sm(4, 4, CV_32F); + Q_Var_sm.at(0, 0) = static_cast(trace(Var_sm)[0]); + for (int i = 1; i < 4; i++) + { + Q_Var_sm.at(0, i) = A.ptr(0)[i - 1]; + Q_Var_sm.at(i, 0) = A.ptr(0)[i - 1]; + } + cv::Mat q33 = Var_sm + Var_sm.t() - (trace(Var_sm)[0] * cv::Mat::eye(3, 3, CV_32F)); + + cv::Mat Q33 = Q_Var_sm(cv::Range(1, 4), cv::Range(1, 4)); + q33.copyTo(Q33); + // cout << "Q_Var_sm" << endl << Q_Var_sm << endl; + cv::Mat eigenvalues, eigenvectors; + eigen(Q_Var_sm, eigenvalues, eigenvectors); + // cout << "EEI = " << eigenvalues << endl; + // cout << "V = " << (eigenvectors.type() == CV_32F) << " " << eigenvectors << endl; + + Quaternion rot(eigenvectors.at(0, 0), eigenvectors.at(0, 1), + eigenvectors.at(0, 2), eigenvectors.at(0, 3)); + cv::Mat RR = rot.getRotation(); + // cout << "RESULT = " << endl << RR << endl; + cv::Mat T = Mu_m.t() - RR * Mu_s.t(); + // cout << "T = " << T << endl; + + RT_4x4 = cv::Mat::eye(4, 4, CV_32F); + cv::Mat r33 = RT_4x4(cv::Range(0, 3), cv::Range(0, 3)); + RR.copyTo(r33); + for (int i = 0; i < 3; i++) + RT_4x4.at(i, 3) = T.ptr(0)[i]; + // cout << "RESS = " << RT << endl; + + // compute the average transform error + float err = 0; + float* matrix = RT_4x4.ptr(0); + for (size_t i = 0; i < POrg.size(); i++) + { + cv::Point3f org = POrg[i]; + cv::Point3f dest_est; + dest_est.x = matrix[0] * org.x + matrix[1] * org.y + matrix[2] * org.z + matrix[3]; + dest_est.y = matrix[4] * org.x + matrix[5] * org.y + matrix[6] * org.z + matrix[7]; + dest_est.z = matrix[8] * org.x + matrix[9] * org.y + matrix[10] * org.z + matrix[11]; + cv::Point3f dest_real = PDst[i]; + err += static_cast(cv::norm(dest_est - dest_real)); + } + + return err / float(POrg.size()); + ; +} + +} // namespace aruco_private + +inline double hubber(double e, double _delta) +{ + double dsqr = _delta * _delta; + if (e <= dsqr) + { + // inlier + return e; + } + else + { + // outlier + double sqrte = sqrt(e); // absolute value of the error + return 2 * sqrte * _delta - dsqr; // rho(e) = 2 * delta * e^(1/2) - delta^2 + } +} + +inline double hubberMono(double e) +{ + if (e <= 5.991) + { + // inlier + return e; + } + else + // outlier + return 4.895303872 * sqrt(e) - 5.991; // rho(e) = 2 * delta * e^(1/2) - delta^2 +} + +inline double getHubberMonoWeight(double SqErr, double Information) +{ + return sqrt(hubberMono(Information * SqErr) / SqErr); +} +template +double __aruco_solve_pnp(const std::vector& p3d, + const std::vector& p2d, const cv::Mat& cam_matrix, + const cv::Mat& dist, cv::Mat& r_io, cv::Mat& t_io) +{ + assert(r_io.type() == CV_32F); + assert(t_io.type() == CV_32F); + assert(t_io.total() == r_io.total()); + assert(t_io.total() == 3); + auto toSol = [](const cv::Mat& r, const cv::Mat& t) + { + typename LevMarq::eVector sol(6); + for (int i = 0; i < 3; i++) + { + sol(i) = r.ptr(0)[i]; + sol(i + 3) = t.ptr(0)[i]; + } + return sol; + }; + auto fromSol = [](const typename LevMarq::eVector& sol, cv::Mat& r, cv::Mat& t) + { + r.create(1, 3, CV_32F); + t.create(1, 3, CV_32F); + for (int i = 0; i < 3; i++) + { + r.ptr(0)[i] = sol(i); + t.ptr(0)[i] = sol(i + 3); + } + }; + + cv::Mat Jacb; + auto err_f = [&](const typename LevMarq::eVector& sol, typename LevMarq::eVector& err) + { + std::vector p2d_rej; + cv::Mat r, t; + fromSol(sol, r, t); + cv::projectPoints(p3d, r, t, cam_matrix, dist, p2d_rej, Jacb); + err.resize(p3d.size() * 2); + int err_idx = 0; + for (size_t i = 0; i < p3d.size(); i++) + { + cv::Point2f errP = p2d_rej[i] - p2d[i]; + + double SqErr = (errP.x * errP.x + errP.y * errP.y); + + float robuse_weight = getHubberMonoWeight(SqErr, 1); + err(err_idx++) = robuse_weight * errP.x; // p2d_rej[i].x - p2d[i].x; + err(err_idx++) = robuse_weight * errP.y; // p2d_rej[i].y - p2d[i].y; + } + }; + auto jac_f = [&](const typename LevMarq::eVector& sol, + Eigen::Matrix& J) + { + (void)(sol); + J.resize(p3d.size() * 2, 6); + for (size_t i = 0; i < p3d.size() * 2; i++) + { + double* jacb = Jacb.ptr(i); + for (int j = 0; j < 6; j++) + J(i, j) = jacb[j]; + } + }; + + LevMarq solver; + solver.setParams(100, 0.01, 0.01); + + // solver.verbose() = true; + typename LevMarq::eVector sol = toSol(r_io, t_io); + auto err = solver.solve(sol, err_f, jac_f); + + fromSol(sol, r_io, t_io); + return err; +} + +double __aruco_solve_pnp(const std::vector& p3d, + const std::vector& p2d, const cv::Mat& cam_matrix, + const cv::Mat& dist, cv::Mat& r_io, cv::Mat& t_io) +{ +#ifdef DOUBLE_PRECISION_PNP + return __aruco_solve_pnp(p3d, p2d, cam_matrix, dist, r_io, t_io); +#else + return __aruco_solve_pnp(p3d, p2d, cam_matrix, dist, r_io, t_io); +#endif +} + +bool MarkerPoseTracker::estimatePose(Marker& m, const CameraParameters& _cam_params, + float _msize, float minerrorRatio) +{ + if (_rvec.empty()) + { + // if no previous data, use from scratch + cv::Mat rv, tv; + auto solutions = solvePnP_(Marker::get3DPoints(_msize), m, _cam_params.CameraMatrix, + _cam_params.Distorsion); + double errorRatio = solutions[1].second / solutions[0].second; + if (errorRatio < minerrorRatio) + return false; + + // // is the error ratio big enough + // cv::solvePnP(Marker::get3DPoints(_msize), m, _cam_params.CameraMatrix, + // _cam_params.Distorsion, rv, tv); + // __aruco_solve_pnp(Marker::get3DPoints(_msize), m, _cam_params.CameraMatrix, + // _cam_params.Distorsion, _rvec, _tvec); + // rv.convertTo(_rvec, CV_32F); + // tv.convertTo(_tvec, CV_32F); + // aruco_private::impl__aruco_getRTfromMatrix44(solutions[0].first, _rvec, _tvec); + } + else + { + __aruco_solve_pnp(Marker::get3DPoints(_msize), m, _cam_params.CameraMatrix, + _cam_params.Distorsion, _rvec, _tvec); + } + + _rvec.convertTo(m.Rvec, CV_32F); + _tvec.convertTo(m.Tvec, CV_32F); + m.ssize = _msize; + return true; +} + +MarkerMapPoseTracker::MarkerMapPoseTracker() +{ + _isValid = false; + _initial_err = -1; + aruco_minerrratio_valid = 3; +} + +void MarkerMapPoseTracker::setParams(const CameraParameters& cam_params, + const MarkerMap& msconf, float markerSize) +{ + _msconf = msconf; + _cam_params = cam_params; + if (!cam_params.isValid()) + throw cv::Exception(9001, "Invalid camera parameters", + "MarkerMapPoseTracker::setParams", __FILE__, __LINE__); + if (_msconf.mInfoType == MarkerMap::PIX && markerSize <= 0) + throw cv::Exception(9001, "You should indicate the markersize since the MarkerMap is in pixels", + "MarkerMapPoseTracker::setParams", __FILE__, __LINE__); + if (_msconf.mInfoType == MarkerMap::NONE) + throw cv::Exception(9001, "Invalid MarkerMap", "MarkerMapPoseTracker::setParams", + __FILE__, __LINE__); + if (_msconf.mInfoType == MarkerMap::PIX) + _msconf = _msconf.convertToMeters(markerSize); + + _isValid = true; + + // create a map for fast access to elements + _map_mm.clear(); + for (auto m : msconf) + _map_mm.insert(std::make_pair(m.id, m)); + + // now, compute the marker_m2g map + for (auto m : _map_mm) + { + const Marker3DInfo& m3dinfo = m.second; + auto p3d_marker = Marker::get3DPoints(m3dinfo.getMarkerSize()); + + // compute the transform going from global to marker to using Horn + cv::Mat RT; + aruco_private::rigidBodyTransformation_Horn1987(m3dinfo.points, p3d_marker, RT); + marker_m2g[m.first] = RT; + } +} + +cv::Mat MarkerMapPoseTracker::relocalization(const std::vector& v_m) +{ + // get the markers in v_m that are in the map + std::vector mapMarkers; + for (auto marker : v_m) + { + if (_map_mm.find(marker.id) != _map_mm.end()) + mapMarkers.push_back(marker); + } + + if (mapMarkers.size() == 0) + return cv::Mat(); + struct minfo + { + int id; + cv::Mat rt_f2m; + double err; + }; + struct se3 + { + float rt[6]; + }; + + cv::Mat pose_f2g_out; // result + + // estimate the markers locations and see if there is at least one good enough + std::vector good_marker_locations; + std::vector all_marker_locations; + + for (const Marker& marker : mapMarkers) + { + // for each visible marker + auto mpi = solvePnP_(_map_mm[marker.id].getMarkerSize(), marker, + _cam_params.CameraMatrix, _cam_params.Distorsion); + minfo mi; + mi.id = marker.id; + mi.err = mpi[0].second; + mi.rt_f2m = mpi[0].first; + all_marker_locations.push_back(mi); + if (mpi[1].second / mpi[0].second > aruco_minerrratio_valid) + good_marker_locations.push_back(mi); + mi.rt_f2m = mpi[1].first; + mi.err = mpi[1].second; + all_marker_locations.push_back(mi); + } + + // try using more than one marker approach + if (mapMarkers.size() >= 2) + { + // collect all the markers 3D locations + std::vector markerPoints2d; + std::vector markerPoints3d; + for (const Marker& marker : mapMarkers) + { + markerPoints2d.insert(markerPoints2d.end(), marker.begin(), marker.end()); + auto p3d = _map_mm[marker.id].points; + markerPoints3d.insert(markerPoints3d.end(), p3d.begin(), p3d.end()); + } + + // take the all poses and select the one that minimizes the global reproj error + for (auto& ml : all_marker_locations) + { + auto pose = ml.rt_f2m * marker_m2g[ml.id]; + // now, compute the repj error of all markers using this info + ml.err = aruco_private::reprj_error(markerPoints3d, markerPoints2d, _cam_params, pose); + } + // sort and get the best + std::sort(all_marker_locations.begin(), all_marker_locations.end(), + [](const minfo& a, const minfo& b) { return a.err < b.err; }); + _initial_err = all_marker_locations.front().err; + auto& best = all_marker_locations.front(); + pose_f2g_out = best.rt_f2m * marker_m2g[best.id]; + } + + if (pose_f2g_out.empty() && good_marker_locations.size() > 0) + { + std::sort(good_marker_locations.begin(), good_marker_locations.end(), + [](const minfo& a, const minfo& b) { return a.err < b.err; }); + auto best = good_marker_locations[0]; + + // estimate current location + pose_f2g_out = best.rt_f2m * marker_m2g[best.id]; + } + return pose_f2g_out; +} + +bool MarkerMapPoseTracker::estimatePose(const std::vector& v_m) +{ + std::vector p2d; + std::vector p3d; + for (auto marker : v_m) + { + if (_map_mm.find(marker.id) != _map_mm.end()) + { + // is the marker part of the map? + for (auto p : marker) + p2d.push_back(p); + for (auto p : _map_mm[marker.id].points) + p3d.push_back(p); + } + } + + if (p2d.size() == 0) + { + // no points in the vector + _rvec = cv::Mat(); + _tvec = cv::Mat(); + return false; + } + else + { + if (_rvec.empty()) + { + // requires relocalization since past pose is ALL_DICTS + // relocalization provides an initial position that will be further refined + auto InitialPose = relocalization(v_m); + if (InitialPose.empty()) + { + return false; + } + + aruco_private::impl__aruco_getRTfromMatrix44(InitialPose, _rvec, _tvec); + } + + // refine + __aruco_solve_pnp(p3d, p2d, _cam_params.CameraMatrix, _cam_params.Distorsion, _rvec, _tvec); + + return true; + } +} + +cv::Mat MarkerMapPoseTracker::getRTMatrix() const +{ + if (_rvec.empty() || _tvec.empty()) + return cv::Mat(); + return aruco_private::impl__aruco_getRTMatrix(_rvec, _tvec); +} + +cv::Mat MarkerPoseTracker::getRTMatrix() const +{ + if (_rvec.empty() || _tvec.empty()) + return cv::Mat(); + return aruco_private::impl__aruco_getRTMatrix(_rvec, _tvec); +} + +} // namespace aruco diff --git a/legacy/aruco_ros/aruco_msgs/CHANGELOG.rst b/legacy/aruco_ros/aruco_msgs/CHANGELOG.rst new file mode 100644 index 000000000..30abf5109 --- /dev/null +++ b/legacy/aruco_ros/aruco_msgs/CHANGELOG.rst @@ -0,0 +1,60 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package aruco_msgs +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.0.0 (2019-09-27) +------------------ +* Merge branch 'indigo-devel' into kinetic-devel +* Contributors: Victor Lopez + +2.2.2 (2022-11-23) +------------------ + +2.2.1 (2022-11-10) +------------------ + +2.2.0 (2022-11-07) +------------------ + +2.1.4 (2022-05-16) +------------------ + +2.1.3 (2022-04-05) +------------------ +* Make Sai maintainer of all +* Update license tags in the package.xml +* Contributors: Bence Magyar, Sai Kishor Kothakota + +2.1.2 (2022-02-10) +------------------ + +2.1.1 (2020-09-17) +------------------ + +2.1.0 (2020-01-21) +------------------ + +2.0.2 (2019-11-09) +------------------ + +2.0.1 (2019-09-27) +------------------ + +0.2.2 (2017-07-25) +------------------ + +0.2.1 (2017-07-21) +------------------ + +0.2.0 (2016-10-19) +------------------ + +0.1.0 (2015-08-10) +------------------ +* Update changelogs and maintainer email +* Contributors: Bence Magyar + +0.0.1 (2015-05-20) +------------------ +* Reorganize aruco_ros into 3 packages +* Contributors: Bence Magyar diff --git a/legacy/aruco_ros/aruco_msgs/CMakeLists.txt b/legacy/aruco_ros/aruco_msgs/CMakeLists.txt new file mode 100644 index 000000000..f7ca91a94 --- /dev/null +++ b/legacy/aruco_ros/aruco_msgs/CMakeLists.txt @@ -0,0 +1,17 @@ +cmake_minimum_required(VERSION 2.8.3) +project(aruco_msgs) + +find_package(catkin REQUIRED COMPONENTS + message_generation + geometry_msgs + std_msgs) + +add_message_files( FILES Marker.msg MarkerArray.msg ) +generate_messages( DEPENDENCIES std_msgs geometry_msgs ) + +catkin_package( + CATKIN_DEPENDS + message_runtime + geometry_msgs + std_msgs +) diff --git a/legacy/aruco_ros/aruco_msgs/msg/Marker.msg b/legacy/aruco_ros/aruco_msgs/msg/Marker.msg new file mode 100644 index 000000000..e4e77c274 --- /dev/null +++ b/legacy/aruco_ros/aruco_msgs/msg/Marker.msg @@ -0,0 +1,4 @@ +Header header +uint32 id +geometry_msgs/PoseWithCovariance pose +float64 confidence diff --git a/legacy/aruco_ros/aruco_msgs/msg/MarkerArray.msg b/legacy/aruco_ros/aruco_msgs/msg/MarkerArray.msg new file mode 100644 index 000000000..f3c2e06ae --- /dev/null +++ b/legacy/aruco_ros/aruco_msgs/msg/MarkerArray.msg @@ -0,0 +1,2 @@ +Header header +aruco_msgs/Marker[] markers diff --git a/legacy/aruco_ros/aruco_msgs/package.xml b/legacy/aruco_ros/aruco_msgs/package.xml new file mode 100644 index 000000000..197db7d9f --- /dev/null +++ b/legacy/aruco_ros/aruco_msgs/package.xml @@ -0,0 +1,18 @@ + + + aruco_msgs + 2.2.2 + The aruco_msgs package + Sai Kishor Kothakota + Bence Magyar + MIT + + catkin + + geometry_msgs + std_msgs + + message_generation + message_runtime + + diff --git a/legacy/aruco_ros/aruco_ros/CHANGELOG.rst b/legacy/aruco_ros/aruco_ros/CHANGELOG.rst new file mode 100644 index 000000000..eec4ae7ab --- /dev/null +++ b/legacy/aruco_ros/aruco_ros/CHANGELOG.rst @@ -0,0 +1,129 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package aruco_ros +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.0.0 (2019-09-27) +------------------ +* Merge pull request `#68 `_ from aPonza/ros_format + Autoformatting as per CppStyleGuide +* removed using namespace declarations +* autoformatting as per CppStyleGuide +* Merge pull request `#58 `_ from jrgnicho/aruco-3.0.4 + Sets the 'useRectifiedImages' member from a parameter before it uses it +* sets the 'useRectifiedImages' member from a parameter before it uses it +* Update readme for new coordinates +* Fix orientation changes in aruco 3.0.0 +* Migration to aruco 3.0.4 +* Merge branch 'indigo-devel' into kinetic-devel +* Merge pull request `#41 `_ from Voidminded/kinetic-devel + Fixed OpenCV Calib3D link error on ROS Kinetic +* Fixed OpenCV Calib3D link error on ROS Kinetic +* Merge pull request `#36 `_ from pal-robotics/add-aruco-ros-utils + Add aruco_ros_utils lib and fix some missing dependencies +* Add aruco_ros_utils lib and fix some missing dependencies +* Merge pull request `#35 `_ from ugnelis/kinetic-devel + Removed duplicated line. +* Removed duplicated line. +* Merge pull request `#27 `_ from cehberlin/assert_fix + Replace assert by error message to keep library functional +* Improved camera_frame\_ assert and removed unecessary opencv includes +* Replace assert by error message to keep library functional +* Contributors: Andrea Ponza, Bence Magyar, Christopher Hrabia, Jordi Pages, Jorge Nicho, Ugnius MalÅ«kas, Victor Lopez, Voidminded + +2.2.2 (2022-11-23) +------------------ + +2.2.1 (2022-11-10) +------------------ + +2.2.0 (2022-11-07) +------------------ +* Merge branch 'feat/aruco-3.1.5-migration' into 'ferrum-devel' + ArUCO 3.1.5 migration + See merge request ros-overlays/aruco_ros!4 +* Add correct fisheye distortion functionality +* migrate to 3.1.5 +* Contributors: josegarcia, saikishor + +2.1.4 (2022-05-16) +------------------ +* added the missing catkin_EXPORTED_TARGETS dependency +* Contributors: Sai Kishor Kothakota + +2.1.3 (2022-04-05) +------------------ +* Make Sai maintainer of all +* Update license tags in the package.xml +* Contributors: Bence Magyar, Sai Kishor Kothakota + +2.1.2 (2022-02-10) +------------------ +* Merge branch 'fix_camera_matrix' into 'ferrum-devel' + fix the issue with the improper camera matrix with non rectified images + See merge request ros-overlays/aruco_ros!1 +* fix the issue with the improper camera matrix with non rectified images +* Contributors: Sai Kishor Kothakota, saikishor + +2.1.1 (2020-09-17) +------------------ +* Use time stamps from image messages +* Contributors: Markus Vieth + +2.1.0 (2020-01-21) +------------------ +* Migrate to tf2 and add utilities +* Add support for camera extrinsics when dealing with stereo cameras +* Contributors: Victor Lopez + +2.0.2 (2019-11-09) +------------------ +* Add SYSTEM to external include dirs +* Contributors: Victor Lopez + +2.0.1 (2019-09-27) +------------------ + +0.2.2 (2017-07-25) +------------------ +* only look for aruco if someone is looking for them +* Contributors: Victor Lopez + +0.2.1 (2017-07-21) +------------------ +* Change default threshold to match defaults of aruco marker detector +* Add dynamic reconfigure to simple_single +* Contributors: Victor Lopez + +0.2.0 (2016-10-19) +------------------ +* only proccesses images if there are subscribers +* add rviz marker and add corner param +* use double precision to improve accuracy +* Contributors: Jordi Pages, ProcĂ³pio Stein + +0.1.0 (2015-08-10) +------------------ +* Update changelogs and maintainer email +* Frame parameters only checked when using camera info +* Add marker list publisher +* Remove unused broadcaster +* Only do 3d when there is camera info +* Use waitForMessage for camerainfo +* Remove nonsense assert +* Reorganize and allow no camera_info +* Fix crash when distortion vector is 0 long (usb_cam) +* Contributors: Bence Magyar + +0.0.1 (2015-05-20) +------------------ +* More accurate ROS timestamps (callback triggering time) + This commit ensures that: + - all published msgs in a callback have the same timestamp + - the time is as close as possible to the frame grabbing time (as fast as the marker detection may be, the delay might affect TF interpolation in an unacceptable way for applications like visual servoing) +* Install marker_publisher executable + This target was missing in the installation rule +* Finished some renaming +* changes to finish branch merge +* aruco_ros: Fixing superfluous (and broken) linker arg to -laruco +* Reorganize aruco_ros into 3 packages +* Contributors: Bence Magyar, Jordi Pages, Josh Langsfeld, ObiWan, Steve Vozar diff --git a/legacy/aruco_ros/aruco_ros/CMakeLists.txt b/legacy/aruco_ros/aruco_ros/CMakeLists.txt new file mode 100644 index 000000000..98c260978 --- /dev/null +++ b/legacy/aruco_ros/aruco_ros/CMakeLists.txt @@ -0,0 +1,76 @@ +cmake_minimum_required(VERSION 2.8.3) +project(aruco_ros) + +find_package(OpenCV REQUIRED) + +find_package(catkin REQUIRED COMPONENTS + cv_bridge + dynamic_reconfigure + geometry_msgs + image_transport + roscpp + rospy + tf + aruco + aruco_msgs + sensor_msgs + visualization_msgs +) + +generate_dynamic_reconfigure_options( + cfg/ArucoThreshold.cfg +) + +add_compile_options(-std=c++11) + +catkin_package( + INCLUDE_DIRS include + LIBRARIES aruco_ros_utils + CATKIN_DEPENDS aruco sensor_msgs tf +) + +include_directories( + include) +include_directories( + SYSTEM + ${catkin_INCLUDE_DIRS} + ${OpenCV_INCLUDE_DIRS} +) + add_library(aruco_ros_utils src/aruco_ros_utils.cpp) + target_link_libraries(aruco_ros_utils ${catkin_LIBRARIES}) + + add_executable(single src/simple_single.cpp + src/aruco_ros_utils.cpp) + add_dependencies(single ${PROJECT_NAME}_gencfg) + target_link_libraries(single ${catkin_LIBRARIES} ${OpenCV_LIBRARIES}) + + add_executable(double src/simple_double.cpp + src/aruco_ros_utils.cpp) + add_dependencies(double ${PROJECT_NAME}_gencfg) + target_link_libraries(double ${catkin_LIBRARIES} ${OpenCV_LIBRARIES}) + + add_executable(marker_publisher src/marker_publish.cpp + src/aruco_ros_utils.cpp) + add_dependencies(marker_publisher ${PROJECT_NAME}_gencfg ${catkin_EXPORTED_TARGETS}) + target_link_libraries(marker_publisher ${catkin_LIBRARIES} ${OpenCV_LIBRARIES}) + +############# +## Install ## +############# + + install(TARGETS single double marker_publisher aruco_ros_utils + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) + +install(DIRECTORY include/ + DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" +) + +foreach(dir etc launch) + install(DIRECTORY ${dir}/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir}) +endforeach(dir) + diff --git a/legacy/aruco_ros/aruco_ros/cfg/ArucoThreshold.cfg b/legacy/aruco_ros/aruco_ros/cfg/ArucoThreshold.cfg new file mode 100755 index 000000000..c625589e5 --- /dev/null +++ b/legacy/aruco_ros/aruco_ros/cfg/ArucoThreshold.cfg @@ -0,0 +1,18 @@ +#!/usr/bin/env python +PACKAGE = "aruco_ros" + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() + +gen.add("min_image_size", double_t, 0, "minimum size of marker as a % of image area", 0.02, 0.0, 1.0) +gen.add("normalizeImage", bool_t, 0, "normalizeImage", True) +gen.add("dctComponentsToRemove", int_t, 0, "DCT components to remove", 2, 1, 4) +gen.add("degree", int_t, 0, "Degree to rotate", 0, 0, 360) +detection_mode_enum = gen.enum([ gen.const("Normal", int_t, 0, ""), + gen.const("Fast", int_t, 1, ""), + gen.const("Video_Fast", int_t, 2, "")], + "detection_mode enum") + +gen.add("detection_mode", int_t, 0, "The detection mode , affects speed and reliability", 1, 0, 2, edit_method=detection_mode_enum) +exit(gen.generate(PACKAGE, "double", "ArucoThreshold")) diff --git a/legacy/aruco_ros/aruco_ros/etc/marker26_5cm.jpg b/legacy/aruco_ros/aruco_ros/etc/marker26_5cm.jpg new file mode 100644 index 0000000000000000000000000000000000000000..53f5215ac0d7f90996ddd06e5d9beee477834560 GIT binary patch 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ztPb4Nf4gF@`OT;MrMnpyMD#quV5XMoqWxYPK5q0ie#rb!>eFrN)WpQWDzK)aBBE}S z@b-9h(#L-3*t!L?ZWQT`N8c)pLvivdSaI_Tn0m?+MeFxRX;6oK7H4F7=6`iH^_n)g z0{FWdk(1Vc6A>A==`4ypbY(*k&?ac&8ogJ z^8OmPPAdpZ;nTu(KP1}w^(+Kf=5L<6>a?lE!n?MMM;zK{rKNljZfr8fp&$1T*Fn1Ha4@bGvqhrAl*^)O5(Q`r&$m;Ywi6YBpk=TU!Jpu{zGAS|YK zUeRMljmu5Dr%V|#q^26^H4ZxCm&TJa)N_Om=Toz5ydGZ(pMOuhPc4vl4`=Q}Yy{z6 zZQVc4>VQzd+{4AiMf&OCinf?qe^^C%9BjFWd0dILxDkq43_}5yb;GmQ$;xi9>xH%t zi%3*G5$oS6g;(Z$c2t0jJ_MDuyGwC=4Q9`9MIbjeR)c~zX;KL(G2VMk$OwpAHywY! zy8?BzUDNlw{}ro!seNy_g|jdXxCnqD-!DgZ5T9B-FrIF3gFMXc?(X+D{yKZI=$20P z@2)L)ALp(Ntu2wLcH7qOFwOpwbz8%OXCA;~9eQ$XZdsBCRF`I;*++3<4c0-+GW5cKS;Ll=F(m42Hc2w*ss!(;JVjEb1Zfll|iNi8RS)9K_o3f}J!x&&q>uL;1;?9#h%=zT}n{YNXn@8USHeZKCu3G+UjLG(SL zfGLhVi3;wo;PV=ac!u#xWAo1iA;BIOqsGUYlyJ4&oBJ<-ZSBrK`0c6cV;CzR>V}Yd R +#include +#include +#include +#include +#include +#include + +namespace aruco_ros +{ +/** + * @brief rosCameraInfo2ArucoCamParams gets the camera intrinsics from a CameraInfo message and copies them + * to aruco_ros own data structure + * @param cam_info + * @param useRectifiedParameters if true, the intrinsics are taken from cam_info.P and the distortion parameters + * are set to 0. Otherwise, cam_info.K and cam_info.D are taken. + * @return + */ +aruco::CameraParameters rosCameraInfo2ArucoCamParams(const sensor_msgs::CameraInfo& cam_info, + bool useRectifiedParameters); + +tf::Transform arucoMarker2Tf(const aruco::Marker& marker); +tf2::Transform arucoMarker2Tf2(const aruco::Marker& marker); + +std::vector detectMarkers(const cv::Mat& img, + const aruco::CameraParameters& cam_params, + float marker_size, + aruco::MarkerDetector* detector = nullptr, + bool normalize_ilumination = false, bool correct_fisheye = false); + +visualization_msgs::Marker visMarkerFromPose(const geometry_msgs::PoseStamped& pose, + double marker_size, int marker_id = 1); + +} +#endif // ARUCO_ROS_UTILS_H diff --git a/legacy/aruco_ros/aruco_ros/launch/double.launch b/legacy/aruco_ros/aruco_ros/launch/double.launch new file mode 100644 index 000000000..5bccf6def --- /dev/null +++ b/legacy/aruco_ros/aruco_ros/launch/double.launch @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/legacy/aruco_ros/aruco_ros/launch/marker_publisher.launch b/legacy/aruco_ros/aruco_ros/launch/marker_publisher.launch new file mode 100644 index 000000000..383561baa --- /dev/null +++ b/legacy/aruco_ros/aruco_ros/launch/marker_publisher.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/legacy/aruco_ros/aruco_ros/launch/single.launch b/legacy/aruco_ros/aruco_ros/launch/single.launch new file mode 100644 index 000000000..373e44d3e --- /dev/null +++ b/legacy/aruco_ros/aruco_ros/launch/single.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/legacy/aruco_ros/aruco_ros/launch/singleTiago.launch b/legacy/aruco_ros/aruco_ros/launch/singleTiago.launch new file mode 100644 index 000000000..580939ed2 --- /dev/null +++ b/legacy/aruco_ros/aruco_ros/launch/singleTiago.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/legacy/aruco_ros/aruco_ros/package.xml b/legacy/aruco_ros/aruco_ros/package.xml new file mode 100644 index 000000000..d1848bd40 --- /dev/null +++ b/legacy/aruco_ros/aruco_ros/package.xml @@ -0,0 +1,27 @@ + + + aruco_ros + 2.2.2 + + The ARUCO Library has been developed by the Ava group of the Univeristy of Cordoba(Spain). + It provides real-time marker based 3D pose estimation using AR markers. + + Sai Kishor Kothakota + MIT + http://www.uco.es/investiga/grupos/ava/node/26 + Rafael Muñoz Salinas + Bence Magyar + + catkin + + cv_bridge + dynamic_reconfigure + geometry_msgs + image_transport + roscpp + tf + aruco + aruco_msgs + sensor_msgs + visualization_msgs + diff --git a/legacy/aruco_ros/aruco_ros/src/aruco_ros_utils.cpp b/legacy/aruco_ros/aruco_ros/src/aruco_ros_utils.cpp new file mode 100644 index 000000000..60e6e9fb8 --- /dev/null +++ b/legacy/aruco_ros/aruco_ros/src/aruco_ros_utils.cpp @@ -0,0 +1,142 @@ +#include +#include +#include +#include +#include +#include +#include + +aruco::CameraParameters aruco_ros::rosCameraInfo2ArucoCamParams(const sensor_msgs::CameraInfo& cam_info, + bool useRectifiedParameters) +{ + cv::Mat cameraMatrix(3, 4, CV_64FC1, 0.0); + cv::Mat distorsionCoeff(4, 1, CV_64FC1); + cv::Size size(cam_info.width, cam_info.height); + + if (useRectifiedParameters) + { + cameraMatrix.setTo(0); + cameraMatrix.at(0, 0) = cam_info.P[0]; + cameraMatrix.at(0, 1) = cam_info.P[1]; + cameraMatrix.at(0, 2) = cam_info.P[2]; + cameraMatrix.at(0, 3) = cam_info.P[3]; + cameraMatrix.at(1, 0) = cam_info.P[4]; + cameraMatrix.at(1, 1) = cam_info.P[5]; + cameraMatrix.at(1, 2) = cam_info.P[6]; + cameraMatrix.at(1, 3) = cam_info.P[7]; + cameraMatrix.at(2, 0) = cam_info.P[8]; + cameraMatrix.at(2, 1) = cam_info.P[9]; + cameraMatrix.at(2, 2) = cam_info.P[10]; + cameraMatrix.at(2, 3) = cam_info.P[11]; + + for (int i = 0; i < 4; ++i) + distorsionCoeff.at(i, 0) = 0; + } + else + { + cv::Mat cameraMatrixFromK(3, 3, CV_64FC1, 0.0); + for (int i = 0; i < 9; ++i) + cameraMatrixFromK.at(i % 3, i - (i % 3) * 3) = cam_info.K[i]; + cameraMatrixFromK.copyTo(cameraMatrix(cv::Rect(0, 0, 3, 3))); + + + if (cam_info.D.size() == 4) + { + for (int i = 0; i < 4; ++i) + distorsionCoeff.at(i, 0) = cam_info.D[i]; + } + else + { + ROS_WARN("length of camera_info D vector is not 4, assuming zero distortion..."); + for (int i = 0; i < 4; ++i) + distorsionCoeff.at(i, 0) = 0; + } + } + + return aruco::CameraParameters(cameraMatrix, distorsionCoeff, size); +} + +tf::Transform aruco_ros::arucoMarker2Tf(const aruco::Marker &marker) +{ + tf2::Transform tf2_tf = arucoMarker2Tf2(marker); + return tf::Transform( + tf::Matrix3x3(tf::Quaternion(tf2_tf.getRotation().x(), + tf2_tf.getRotation().y(), + tf2_tf.getRotation().z(), + tf2_tf.getRotation().w())), + tf::Vector3(tf2_tf.getOrigin().x(), + tf2_tf.getOrigin().y(), + tf2_tf.getOrigin().z())); +} +tf2::Transform aruco_ros::arucoMarker2Tf2(const aruco::Marker &marker) +{ + cv::Mat rot(3, 3, CV_64FC1); + cv::Mat Rvec64; + marker.Rvec.convertTo(Rvec64, CV_64FC1); + cv::Rodrigues(Rvec64, rot); + cv::Mat tran64; + marker.Tvec.convertTo(tran64, CV_64FC1); + + tf2::Matrix3x3 tf_rot(rot.at(0, 0), rot.at(0, 1), rot.at(0, 2), rot.at(1, 0), + rot.at(1, 1), rot.at(1, 2), rot.at(2, 0), rot.at(2, 1), + rot.at(2, 2)); + + tf2::Vector3 tf_orig(tran64.at(0, 0), tran64.at(1, 0), tran64.at(2, 0)); + + return tf2::Transform(tf_rot, tf_orig); +} + + +std::vector aruco_ros::detectMarkers(const cv::Mat &img, const aruco::CameraParameters &cam_params, float marker_size, aruco::MarkerDetector *detector, bool normalize_ilumination, bool correct_fisheye) +{ + std::vector markers; + try + { + if (normalize_ilumination) + { + ROS_WARN("normalizeImageIllumination is unimplemented!"); + // cv::Mat inImageNorm; + // pal_vision_util::dctNormalization(inImage, inImageNorm, + // dctComponentsToRemove); inImage = inImageNorm; + } + + // detection results will go into "markers" + markers.clear(); + // ok, let's detect + if (detector) + { + detector->detect(img, markers, cam_params, marker_size, false, correct_fisheye); + } + else + { + aruco::MarkerDetector default_detector; + default_detector.detect(img, markers, cam_params, marker_size, false, correct_fisheye); + } + return markers; + } + catch (cv_bridge::Exception& e) + { + ROS_ERROR("cv_bridge exception: %s", e.what()); + return markers; + } +} + + +visualization_msgs::Marker aruco_ros::visMarkerFromPose(const geometry_msgs::PoseStamped &pose, double marker_size, int marker_id) +{ + visualization_msgs::Marker visMarker; + visMarker.header = pose.header; + visMarker.id = marker_id; + visMarker.type = visualization_msgs::Marker::CUBE; + visMarker.action = visualization_msgs::Marker::ADD; + visMarker.pose = pose.pose; + visMarker.scale.x = marker_size; + visMarker.scale.y = marker_size; + visMarker.scale.z = 0.001; + visMarker.color.r = 1.0; + visMarker.color.g = 0; + visMarker.color.b = 0; + visMarker.color.a = 1.0; + visMarker.lifetime = ros::Duration(3.0); + return visMarker; +} diff --git a/legacy/aruco_ros/aruco_ros/src/marker_publish.cpp b/legacy/aruco_ros/aruco_ros/src/marker_publish.cpp new file mode 100644 index 000000000..ad0f0b698 --- /dev/null +++ b/legacy/aruco_ros/aruco_ros/src/marker_publish.cpp @@ -0,0 +1,269 @@ +/***************************** + Copyright 2011 Rafael Muñoz Salinas. All rights reserved. + + Redistribution and use in source and binary forms, with or without modification, are + permitted provided that the following conditions are met: + + 1. Redistributions of source code must retain the above copyright notice, this list of + conditions and the following disclaimer. + + 2. Redistributions in binary form must reproduce the above copyright notice, this list + of conditions and the following disclaimer in the documentation and/or other materials + provided with the distribution. + + THIS SOFTWARE IS PROVIDED BY Rafael Muñoz Salinas ''AS IS'' AND ANY EXPRESS OR IMPLIED + WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND + FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Rafael Muñoz Salinas OR + CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON + ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF + ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + + The views and conclusions contained in the software and documentation are those of the + authors and should not be interpreted as representing official policies, either expressed + or implied, of Rafael Muñoz Salinas. + ********************************/ +/** + * @file marker_publish.cpp + * @author Bence Magyar + * @date June 2014 + * @brief Modified copy of simple_single.cpp to publish all markers visible + * (modified by Josh Langsfeld, 2014) + */ + +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +class ArucoMarkerPublisher +{ +private: + // ArUco stuff + aruco::MarkerDetector mDetector_; + aruco::CameraParameters camParam_; + std::vector markers_; + + // node params + bool useRectifiedImages_; + std::string marker_frame_; + std::string camera_frame_; + std::string reference_frame_; + double marker_size_; + + // ROS pub-sub + ros::NodeHandle nh_; + image_transport::ImageTransport it_; + image_transport::Subscriber image_sub_; + + image_transport::Publisher image_pub_; + image_transport::Publisher debug_pub_; + ros::Publisher marker_pub_; + ros::Publisher marker_list_pub_; + tf::TransformListener tfListener_; + + ros::Subscriber cam_info_sub_; + aruco_msgs::MarkerArray::Ptr marker_msg_; + cv::Mat inImage_; + bool useCamInfo_; + std_msgs::UInt32MultiArray marker_list_msg_; + +public: + ArucoMarkerPublisher() : + nh_("~"), it_(nh_), useCamInfo_(true) + { + image_sub_ = it_.subscribe("/image", 1, &ArucoMarkerPublisher::image_callback, this); + + nh_.param("use_camera_info", useCamInfo_, true); + if (useCamInfo_) + { + sensor_msgs::CameraInfoConstPtr msg = ros::topic::waitForMessage("/camera_info", nh_); //, 10.0); + + nh_.param("marker_size", marker_size_, 0.05); + nh_.param("image_is_rectified", useRectifiedImages_, true); + nh_.param("reference_frame", reference_frame_, ""); + nh_.param("camera_frame", camera_frame_, ""); + camParam_ = aruco_ros::rosCameraInfo2ArucoCamParams(*msg, useRectifiedImages_); + ROS_ASSERT(not (camera_frame_.empty() and not reference_frame_.empty())); + if (reference_frame_.empty()) + reference_frame_ = camera_frame_; + } + else + { + camParam_ = aruco::CameraParameters(); + } + + image_pub_ = it_.advertise("result", 1); + debug_pub_ = it_.advertise("debug", 1); + marker_pub_ = nh_.advertise("markers", 100); + marker_list_pub_ = nh_.advertise("markers_list", 10); + + marker_msg_ = aruco_msgs::MarkerArray::Ptr(new aruco_msgs::MarkerArray()); + marker_msg_->header.frame_id = reference_frame_; + marker_msg_->header.seq = 0; + } + + bool getTransform(const std::string& refFrame, const std::string& childFrame, tf::StampedTransform& transform) + { + std::string errMsg; + + if (!tfListener_.waitForTransform(refFrame, childFrame, ros::Time(0), ros::Duration(0.5), ros::Duration(0.01), + &errMsg)) + { + ROS_ERROR_STREAM("Unable to get pose from TF: " << errMsg); + return false; + } + else + { + try + { + tfListener_.lookupTransform(refFrame, childFrame, ros::Time(0), // get latest available + transform); + } + catch (const tf::TransformException& e) + { + ROS_ERROR_STREAM("Error in lookupTransform of " << childFrame << " in " << refFrame); + return false; + } + + } + return true; + } + + void image_callback(const sensor_msgs::ImageConstPtr& msg) + { + bool publishMarkers = marker_pub_.getNumSubscribers() > 0; + bool publishMarkersList = marker_list_pub_.getNumSubscribers() > 0; + bool publishImage = image_pub_.getNumSubscribers() > 0; + bool publishDebug = debug_pub_.getNumSubscribers() > 0; + + if (!publishMarkers && !publishMarkersList && !publishImage && !publishDebug) + return; + + ros::Time curr_stamp = msg->header.stamp; + cv_bridge::CvImagePtr cv_ptr; + try + { + cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::RGB8); + inImage_ = cv_ptr->image; + + // clear out previous detection results + markers_.clear(); + + // ok, let's detect + mDetector_.detect(inImage_, markers_, camParam_, marker_size_, false); + + // marker array publish + if (publishMarkers) + { + marker_msg_->markers.clear(); + marker_msg_->markers.resize(markers_.size()); + marker_msg_->header.stamp = curr_stamp; + marker_msg_->header.seq++; + + for (std::size_t i = 0; i < markers_.size(); ++i) + { + aruco_msgs::Marker & marker_i = marker_msg_->markers.at(i); + marker_i.header.stamp = curr_stamp; + marker_i.id = markers_.at(i).id; + marker_i.confidence = 1.0; + } + + // if there is camera info let's do 3D stuff + if (useCamInfo_) + { + // get the current transform from the camera frame to output ref frame + tf::StampedTransform cameraToReference; + cameraToReference.setIdentity(); + + if (reference_frame_ != camera_frame_) + { + getTransform(reference_frame_, camera_frame_, cameraToReference); + } + + // now find the transform for each detected marker + for (std::size_t i = 0; i < markers_.size(); ++i) + { + aruco_msgs::Marker & marker_i = marker_msg_->markers.at(i); + tf::Transform transform = aruco_ros::arucoMarker2Tf(markers_[i]); + transform = static_cast(cameraToReference) * transform; + tf::poseTFToMsg(transform, marker_i.pose.pose); + marker_i.header.frame_id = reference_frame_; + } + } + + // publish marker array + if (marker_msg_->markers.size() > 0) + marker_pub_.publish(marker_msg_); + } + + if (publishMarkersList) + { + marker_list_msg_.data.resize(markers_.size()); + for (std::size_t i = 0; i < markers_.size(); ++i) + marker_list_msg_.data[i] = markers_[i].id; + + marker_list_pub_.publish(marker_list_msg_); + } + + // draw detected markers on the image for visualization + for (std::size_t i = 0; i < markers_.size(); ++i) + { + markers_[i].draw(inImage_, cv::Scalar(0, 0, 255), 2); + } + + // draw a 3D cube in each marker if there is 3D info + if (camParam_.isValid() && marker_size_ != -1) + { + for (std::size_t i = 0; i < markers_.size(); ++i) + aruco::CvDrawingUtils::draw3dAxis(inImage_, markers_[i], camParam_); + } + + // publish input image with markers drawn on it + if (publishImage) + { + // show input with augmented information + cv_bridge::CvImage out_msg; + out_msg.header.stamp = curr_stamp; + out_msg.encoding = sensor_msgs::image_encodings::RGB8; + out_msg.image = inImage_; + image_pub_.publish(out_msg.toImageMsg()); + } + + // publish image after internal image processing + if (publishDebug) + { + // show also the internal image resulting from the threshold operation + cv_bridge::CvImage debug_msg; + debug_msg.header.stamp = curr_stamp; + debug_msg.encoding = sensor_msgs::image_encodings::MONO8; + debug_msg.image = mDetector_.getThresholdedImage(); + debug_pub_.publish(debug_msg.toImageMsg()); + } + + } + catch (cv_bridge::Exception& e) + { + ROS_ERROR("cv_bridge exception: %s", e.what()); + } + } +}; + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "aruco_marker_publisher"); + + ArucoMarkerPublisher node; + + ros::spin(); +} diff --git a/legacy/aruco_ros/aruco_ros/src/simple_double.cpp b/legacy/aruco_ros/aruco_ros/src/simple_double.cpp new file mode 100644 index 000000000..bb2d6c604 --- /dev/null +++ b/legacy/aruco_ros/aruco_ros/src/simple_double.cpp @@ -0,0 +1,269 @@ +/***************************** + Copyright 2011 Rafael Muñoz Salinas. All rights reserved. + + Redistribution and use in source and binary forms, with or without modification, are + permitted provided that the following conditions are met: + + 1. Redistributions of source code must retain the above copyright notice, this list of + conditions and the following disclaimer. + + 2. Redistributions in binary form must reproduce the above copyright notice, this list + of conditions and the following disclaimer in the documentation and/or other materials + provided with the distribution. + + THIS SOFTWARE IS PROVIDED BY Rafael Muñoz Salinas ''AS IS'' AND ANY EXPRESS OR IMPLIED + WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND + FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Rafael Muñoz Salinas OR + CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON + ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF + ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + + The views and conclusions contained in the software and documentation are those of the + authors and should not be interpreted as representing official policies, either expressed + or implied, of Rafael Muñoz Salinas. + ********************************/ + +/** + * @file simple_double.cpp + * @author Bence Magyar + * @date June 2012 + * @version 0.1 + * @brief ROS version of the example named "simple" in the ArUco software package. + */ + +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +cv::Mat inImage; +aruco::CameraParameters camParam; +bool useRectifiedImages, normalizeImageIllumination; +int dctComponentsToRemove; +aruco::MarkerDetector mDetector; +std::vector markers; +ros::Subscriber cam_info_sub; +bool cam_info_received; +image_transport::Publisher image_pub; +image_transport::Publisher debug_pub; +ros::Publisher pose_pub1; +ros::Publisher pose_pub2; +std::string child_name1; +std::string parent_name; +std::string child_name2; + +double marker_size; +int marker_id1; +int marker_id2; + +void image_callback(const sensor_msgs::ImageConstPtr& msg) +{ + double ticksBefore = cv::getTickCount(); + static tf::TransformBroadcaster br; + if (cam_info_received) + { + ros::Time curr_stamp = msg->header.stamp; + cv_bridge::CvImagePtr cv_ptr; + try + { + cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::RGB8); + inImage = cv_ptr->image; + + if (normalizeImageIllumination) + { + ROS_WARN("normalizeImageIllumination is unimplemented!"); +// cv::Mat inImageNorm; +// pal_vision_util::dctNormalization(inImage, inImageNorm, dctComponentsToRemove); +// inImage = inImageNorm; + } + + // detection results will go into "markers" + markers.clear(); + // ok, let's detect + mDetector.detect(inImage, markers, camParam, marker_size, false); + // for each marker, draw info and its boundaries in the image + for (unsigned int i = 0; i < markers.size(); ++i) + { + // only publishing the selected marker + if (markers[i].id == marker_id1) + { + tf::Transform transform = aruco_ros::arucoMarker2Tf(markers[i]); + br.sendTransform(tf::StampedTransform(transform, curr_stamp, parent_name, child_name1)); + geometry_msgs::Pose poseMsg; + tf::poseTFToMsg(transform, poseMsg); + pose_pub1.publish(poseMsg); + } + else if (markers[i].id == marker_id2) + { + tf::Transform transform = aruco_ros::arucoMarker2Tf(markers[i]); + br.sendTransform(tf::StampedTransform(transform, curr_stamp, parent_name, child_name2)); + geometry_msgs::Pose poseMsg; + tf::poseTFToMsg(transform, poseMsg); + pose_pub2.publish(poseMsg); + } + + // but drawing all the detected markers + markers[i].draw(inImage, cv::Scalar(0, 0, 255), 2); + } + + // paint a circle in the center of the image + cv::circle(inImage, cv::Point(inImage.cols / 2, inImage.rows / 2), 4, cv::Scalar(0, 255, 0), 1); + + if (markers.size() == 2) + { + float x[2], y[2], u[2], v[2]; + for (unsigned int i = 0; i < 2; ++i) + { + ROS_DEBUG_STREAM( + "Marker(" << i << ") at camera coordinates = (" << markers[i].Tvec.at(0,0) << ", " << markers[i].Tvec.at(1,0) << ", " << markers[i].Tvec.at(2,0)); + // normalized coordinates of the marker + x[i] = markers[i].Tvec.at(0, 0) / markers[i].Tvec.at(2, 0); + y[i] = markers[i].Tvec.at(1, 0) / markers[i].Tvec.at(2, 0); + // undistorted pixel + u[i] = x[i] * camParam.CameraMatrix.at(0, 0) + camParam.CameraMatrix.at(0, 2); + v[i] = y[i] * camParam.CameraMatrix.at(1, 1) + camParam.CameraMatrix.at(1, 2); + } + + ROS_DEBUG_STREAM( + "Mid point between the two markers in the image = (" << (x[0]+x[1])/2 << ", " << (y[0]+y[1])/2 << ")"); + +// // paint a circle in the mid point of the normalized coordinates of both markers +// cv::circle(inImage, cv::Point((u[0] + u[1]) / 2, (v[0] + v[1]) / 2), 3, cv::Scalar(0, 0, 255), CV_FILLED); + + // compute the midpoint in 3D: + float midPoint3D[3]; // 3D point + for (unsigned int i = 0; i < 3; ++i) + midPoint3D[i] = (markers[0].Tvec.at(i, 0) + markers[1].Tvec.at(i, 0)) / 2; + // now project the 3D mid point to normalized coordinates + float midPointNormalized[2]; + midPointNormalized[0] = midPoint3D[0] / midPoint3D[2]; //x + midPointNormalized[1] = midPoint3D[1] / midPoint3D[2]; //y + u[0] = midPointNormalized[0] * camParam.CameraMatrix.at(0, 0) + camParam.CameraMatrix.at(0, 2); + v[0] = midPointNormalized[1] * camParam.CameraMatrix.at(1, 1) + camParam.CameraMatrix.at(1, 2); + + ROS_DEBUG_STREAM( + "3D Mid point between the two markers in undistorted pixel coordinates = (" << u[0] << ", " << v[0] << ")"); + + // paint a circle in the mid point of the normalized coordinates of both markers + + ROS_WARN("Skipping circle fill, see https://github.com/LASR-at-Home/Base/pull/24"); + // cv::circle(inImage, cv::Point(u[0], v[0]), 3, cv::Scalar(0, 0, 255), CV_FILLED); + + } + + // draw a 3D cube in each marker if there is 3D info + if (camParam.isValid() && marker_size != -1) + { + for (unsigned int i = 0; i < markers.size(); ++i) + { + aruco::CvDrawingUtils::draw3dCube(inImage, markers[i], camParam); + } + } + + if (image_pub.getNumSubscribers() > 0) + { + // show input with augmented information + cv_bridge::CvImage out_msg; + out_msg.header.stamp = curr_stamp; + out_msg.encoding = sensor_msgs::image_encodings::RGB8; + out_msg.image = inImage; + image_pub.publish(out_msg.toImageMsg()); + } + + if (debug_pub.getNumSubscribers() > 0) + { + // show also the internal image resulting from the threshold operation + cv_bridge::CvImage debug_msg; + debug_msg.header.stamp = curr_stamp; + debug_msg.encoding = sensor_msgs::image_encodings::MONO8; + debug_msg.image = mDetector.getThresholdedImage(); + debug_pub.publish(debug_msg.toImageMsg()); + } + + ROS_DEBUG("runtime: %f ms", 1000 * (cv::getTickCount() - ticksBefore) / cv::getTickFrequency()); + } + catch (cv_bridge::Exception& e) + { + ROS_ERROR("cv_bridge exception: %s", e.what()); + return; + } + } +} + +// wait for one camerainfo, then shut down that subscriber +void cam_info_callback(const sensor_msgs::CameraInfo &msg) +{ + camParam = aruco_ros::rosCameraInfo2ArucoCamParams(msg, useRectifiedImages); + cam_info_received = true; + cam_info_sub.shutdown(); +} + +void reconf_callback(aruco_ros::ArucoThresholdConfig &config, std::uint32_t level) +{ + mDetector.setDetectionMode(aruco::DetectionMode(config.detection_mode), config.min_image_size); + normalizeImageIllumination = config.normalizeImage; + dctComponentsToRemove = config.dctComponentsToRemove; +} + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "aruco_simple"); + ros::NodeHandle nh("~"); + image_transport::ImageTransport it(nh); + + dynamic_reconfigure::Server server; + dynamic_reconfigure::Server::CallbackType f_; + f_ = boost::bind(&reconf_callback, _1, _2); + server.setCallback(f_); + + normalizeImageIllumination = false; + + nh.param("image_is_rectified", useRectifiedImages, true); + ROS_INFO_STREAM("Image is rectified: " << useRectifiedImages); + + image_transport::Subscriber image_sub = it.subscribe("/image", 1, &image_callback); + cam_info_sub = nh.subscribe("/camera_info", 1, &cam_info_callback); + + cam_info_received = false; + image_pub = it.advertise("result", 1); + debug_pub = it.advertise("debug", 1); + pose_pub1 = nh.advertise("pose", 100); + pose_pub2 = nh.advertise("pose2", 100); + + nh.param("marker_size", marker_size, 0.05); + nh.param("marker_id1", marker_id1, 582); + nh.param("marker_id2", marker_id2, 26); + nh.param("normalizeImage", normalizeImageIllumination, true); + nh.param("dct_components_to_remove", dctComponentsToRemove, 2); + if (dctComponentsToRemove == 0) + normalizeImageIllumination = false; + nh.param("parent_name", parent_name, ""); + nh.param("child_name1", child_name1, ""); + nh.param("child_name2", child_name2, ""); + + if (parent_name == "" || child_name1 == "" || child_name2 == "") + { + ROS_ERROR("parent_name and/or child_name was not set!"); + return -1; + } + + ROS_INFO("ArUco node started with marker size of %f meters and marker ids to track: %d, %d", marker_size, marker_id1, + marker_id2); + ROS_INFO("ArUco node will publish pose to TF with (%s, %s) and (%s, %s) as (parent,child).", parent_name.c_str(), + child_name1.c_str(), parent_name.c_str(), child_name2.c_str()); + + ros::spin(); +} diff --git a/legacy/aruco_ros/aruco_ros/src/simple_single.cpp b/legacy/aruco_ros/aruco_ros/src/simple_single.cpp new file mode 100644 index 000000000..4453d5581 --- /dev/null +++ b/legacy/aruco_ros/aruco_ros/src/simple_single.cpp @@ -0,0 +1,342 @@ +/***************************** + Copyright 2011 Rafael Muñoz Salinas. All rights reserved. + + Redistribution and use in source and binary forms, with or without modification, are + permitted provided that the following conditions are met: + + 1. Redistributions of source code must retain the above copyright notice, this list of + conditions and the following disclaimer. + + 2. Redistributions in binary form must reproduce the above copyright notice, this list + of conditions and the following disclaimer in the documentation and/or other materials + provided with the distribution. + + THIS SOFTWARE IS PROVIDED BY Rafael Muñoz Salinas ''AS IS'' AND ANY EXPRESS OR IMPLIED + WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND + FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Rafael Muñoz Salinas OR + CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON + ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF + ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + + The views and conclusions contained in the software and documentation are those of the + authors and should not be interpreted as representing official policies, either expressed + or implied, of Rafael Muñoz Salinas. + ********************************/ +/** + * @file simple_single.cpp + * @author Bence Magyar + * @date June 2012 + * @version 0.1 + * @brief ROS version of the example named "simple" in the ArUco software package. + */ + +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +class ArucoSimple +{ +private: + cv::Mat inImage; + aruco::CameraParameters camParam; + tf::StampedTransform rightToLeft; + bool useRectifiedImages; + aruco::MarkerDetector mDetector; + std::vector markers; + ros::Subscriber cam_info_sub; + bool cam_info_received; + image_transport::Publisher image_pub; + image_transport::Publisher debug_pub; + ros::Publisher pose_pub; + ros::Publisher transform_pub; + ros::Publisher position_pub; + ros::Publisher marker_pub; // rviz visualization marker + ros::Publisher pixel_pub; + std::string marker_frame; + std::string camera_frame; + std::string reference_frame; + + double marker_size; + int marker_id; + + ros::NodeHandle nh; + image_transport::ImageTransport it; + image_transport::Subscriber image_sub; + + tf::TransformListener _tfListener; + + dynamic_reconfigure::Server dyn_rec_server; + +public: + ArucoSimple() : + cam_info_received(false), nh("~"), it(nh) + { + + if (nh.hasParam("corner_refinement")) + ROS_WARN( + "Corner refinement options have been removed in ArUco 3.0.0, corner_refinement ROS parameter is deprecated"); + + aruco::MarkerDetector::Params params = mDetector.getParameters(); + std::string thresh_method; + switch (params.thresMethod) + { + case aruco::MarkerDetector::ThresMethod::THRES_ADAPTIVE: + thresh_method = "THRESH_ADAPTIVE"; + break; + case aruco::MarkerDetector::ThresMethod::THRES_AUTO_FIXED: + thresh_method = "THRESH_AUTO_FIXED"; + break; + default: + thresh_method = "UNKNOWN"; + break; + } + + // Print parameters of ArUco marker detector: + ROS_INFO_STREAM("Threshold method: " << thresh_method); + + float min_marker_size; // percentage of image area + nh.param("min_marker_size", min_marker_size, 0.02); + + std::string detection_mode; + nh.param("detection_mode", detection_mode, "DM_FAST"); + if (detection_mode == "DM_FAST") + mDetector.setDetectionMode(aruco::DM_FAST, min_marker_size); + else if (detection_mode == "DM_VIDEO_FAST") + mDetector.setDetectionMode(aruco::DM_VIDEO_FAST, min_marker_size); + else + // Aruco version 2 mode + mDetector.setDetectionMode(aruco::DM_NORMAL, min_marker_size); + + ROS_INFO_STREAM("Marker size min: " << min_marker_size << "% of image area"); + ROS_INFO_STREAM("Detection mode: " << detection_mode); + + image_sub = it.subscribe("/image", 1, &ArucoSimple::image_callback, this); + cam_info_sub = nh.subscribe("/camera_info", 1, &ArucoSimple::cam_info_callback, this); + + image_pub = it.advertise("result", 1); + debug_pub = it.advertise("debug", 1); + pose_pub = nh.advertise("pose", 100); + transform_pub = nh.advertise("transform", 100); + position_pub = nh.advertise("position", 100); + marker_pub = nh.advertise("marker", 10); + pixel_pub = nh.advertise("pixel", 10); + + nh.param("marker_size", marker_size, 0.05); + nh.param("marker_id", marker_id, 300); + nh.param("reference_frame", reference_frame, ""); + nh.param("camera_frame", camera_frame, ""); + nh.param("marker_frame", marker_frame, ""); + nh.param("image_is_rectified", useRectifiedImages, true); + + ROS_ASSERT(camera_frame != "" && marker_frame != ""); + + if (reference_frame.empty()) + reference_frame = camera_frame; + + ROS_INFO("ArUco node started with marker size of %f m and marker id to track: %d", marker_size, marker_id); + ROS_INFO("ArUco node will publish pose to TF with %s as parent and %s as child.", reference_frame.c_str(), + marker_frame.c_str()); + + dyn_rec_server.setCallback(boost::bind(&ArucoSimple::reconf_callback, this, _1, _2)); + } + + bool getTransform(const std::string& refFrame, const std::string& childFrame, tf::StampedTransform& transform) + { + std::string errMsg; + + if (!_tfListener.waitForTransform(refFrame, childFrame, ros::Time(0), ros::Duration(0.5), ros::Duration(0.01), + &errMsg)) + { + ROS_ERROR_STREAM("Unable to get pose from TF: " << errMsg); + return false; + } + else + { + try + { + _tfListener.lookupTransform(refFrame, childFrame, ros::Time(0), // get latest available + transform); + } + catch (const tf::TransformException& e) + { + ROS_ERROR_STREAM("Error in lookupTransform of " << childFrame << " in " << refFrame); + return false; + } + + } + return true; + } + + void image_callback(const sensor_msgs::ImageConstPtr& msg) + { + if ((image_pub.getNumSubscribers() == 0) && (debug_pub.getNumSubscribers() == 0) + && (pose_pub.getNumSubscribers() == 0) && (transform_pub.getNumSubscribers() == 0) + && (position_pub.getNumSubscribers() == 0) && (marker_pub.getNumSubscribers() == 0) + && (pixel_pub.getNumSubscribers() == 0)) + { + ROS_DEBUG("No subscribers, not looking for ArUco markers"); + return; + } + + static tf::TransformBroadcaster br; + if (cam_info_received) + { + ros::Time curr_stamp = msg->header.stamp; + cv_bridge::CvImagePtr cv_ptr; + try + { + cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::RGB8); + inImage = cv_ptr->image; + + // detection results will go into "markers" + markers.clear(); + // ok, let's detect + mDetector.detect(inImage, markers, camParam, marker_size, false); + // for each marker, draw info and its boundaries in the image + for (std::size_t i = 0; i < markers.size(); ++i) + { + // only publishing the selected marker + if (markers[i].id == marker_id) + { + tf::Transform transform = aruco_ros::arucoMarker2Tf(markers[i]); + tf::StampedTransform cameraToReference; + cameraToReference.setIdentity(); + + if (reference_frame != camera_frame) + { + getTransform(reference_frame, camera_frame, cameraToReference); + } + + transform = static_cast(cameraToReference) * static_cast(rightToLeft) + * transform; + + tf::StampedTransform stampedTransform(transform, curr_stamp, reference_frame, marker_frame); + br.sendTransform(stampedTransform); + geometry_msgs::PoseStamped poseMsg; + tf::poseTFToMsg(transform, poseMsg.pose); + poseMsg.header.frame_id = reference_frame; + poseMsg.header.stamp = curr_stamp; + pose_pub.publish(poseMsg); + + geometry_msgs::TransformStamped transformMsg; + tf::transformStampedTFToMsg(stampedTransform, transformMsg); + transform_pub.publish(transformMsg); + + geometry_msgs::Vector3Stamped positionMsg; + positionMsg.header = transformMsg.header; + positionMsg.vector = transformMsg.transform.translation; + position_pub.publish(positionMsg); + + geometry_msgs::PointStamped pixelMsg; + pixelMsg.header = transformMsg.header; + pixelMsg.point.x = markers[i].getCenter().x; + pixelMsg.point.y = markers[i].getCenter().y; + pixelMsg.point.z = 0; + pixel_pub.publish(pixelMsg); + + // publish rviz marker representing the ArUco marker patch + visualization_msgs::Marker visMarker; + visMarker.header = transformMsg.header; + visMarker.id = 1; + visMarker.type = visualization_msgs::Marker::CUBE; + visMarker.action = visualization_msgs::Marker::ADD; + visMarker.pose = poseMsg.pose; + visMarker.scale.x = marker_size; + visMarker.scale.y = marker_size; + visMarker.scale.z = 0.001; + visMarker.color.r = 1.0; + visMarker.color.g = 0; + visMarker.color.b = 0; + visMarker.color.a = 1.0; + visMarker.lifetime = ros::Duration(3.0); + marker_pub.publish(visMarker); + + } + // but drawing all the detected markers + markers[i].draw(inImage, cv::Scalar(0, 0, 255), 2); + } + + // draw a 3d cube in each marker if there is 3d info + if (camParam.isValid() && marker_size != -1) + { + for (std::size_t i = 0; i < markers.size(); ++i) + { + aruco::CvDrawingUtils::draw3dAxis(inImage, markers[i], camParam); + } + } + + if (image_pub.getNumSubscribers() > 0) + { + // show input with augmented information + cv_bridge::CvImage out_msg; + out_msg.header.stamp = curr_stamp; + out_msg.encoding = sensor_msgs::image_encodings::RGB8; + out_msg.image = inImage; + image_pub.publish(out_msg.toImageMsg()); + } + + if (debug_pub.getNumSubscribers() > 0) + { + // show also the internal image resulting from the threshold operation + cv_bridge::CvImage debug_msg; + debug_msg.header.stamp = curr_stamp; + debug_msg.encoding = sensor_msgs::image_encodings::MONO8; + debug_msg.image = mDetector.getThresholdedImage(); + debug_pub.publish(debug_msg.toImageMsg()); + } + } + catch (cv_bridge::Exception& e) + { + ROS_ERROR("cv_bridge exception: %s", e.what()); + return; + } + } + } + + // wait for one camerainfo, then shut down that subscriber + void cam_info_callback(const sensor_msgs::CameraInfo &msg) + { + camParam = aruco_ros::rosCameraInfo2ArucoCamParams(msg, useRectifiedImages); + + // handle cartesian offset between stereo pairs + // see the sensor_msgs/CameraInfo documentation for details + rightToLeft.setIdentity(); + rightToLeft.setOrigin(tf::Vector3(-msg.P[3] / msg.P[0], -msg.P[7] / msg.P[5], 0.0)); + + cam_info_received = true; + cam_info_sub.shutdown(); + } + + void reconf_callback(aruco_ros::ArucoThresholdConfig &config, uint32_t level) + { + mDetector.setDetectionMode(aruco::DetectionMode(config.detection_mode), config.min_image_size); + if (config.normalizeImage) + { + ROS_WARN("normalizeImageIllumination is unimplemented!"); + } + } +}; + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "aruco_simple"); + + ArucoSimple node; + + ros::spin(); +} diff --git a/tasks/lift/debug_lift/dilation75.jpg b/tasks/lift/debug_lift/dilation75.jpg deleted file mode 100644 index d1f25bac57a49c3c624d174813aabe8d5ede4909..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 29283 zcmeFZcTiJb_bwiaq97tDy+ox-6{H9P5s)q*2!tM`7wJWM6a=J3KtPJ1bfig#fCTBi z_fF_Np$15~`Mlp-W_~ljnS1Yi@7(u~dzih4z~P*|&fa^i=XusT5T*&sfIAv0>M8&d z5)yzl@e4qh11JGVi62Qw{^?2oImpTW>93KKlaXJ)cK!Ol8pX{U*C}pNT)%#U>c&mV ze-7ezx2Py@{qy0Ui~Pr*l3pVtyGBWIo#J1o{4aHc769!Hl4a5lWF!v(q_iYtv?PRf z01yBmx%RK&kpTYdK|)GKe(gF1aTrv@6Kd`dhfhXE9P~Bfh>2$h5q}RLr@cn^Kvd!S zUEQ}758dyHeT@HkgHy5MFTLIfitCA`N61Y|21X`k7H%G1zDNAx5|UC+rDc>}D66Qd zscXE}H!uVn8Jk#H+t}LKJ2-lJdHcNg_45z?6c!%wIWj6C@oQ3Y%D2?C?3~=Z{DQ)w zUzJtWHMMp14e-{s_Kwc3?w;P!vGIw?sp*;773AvL`o`wg_73{!_~i8L9CLB`k6k1H 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associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. diff --git a/legacy/aruco_ros/README.md b/legacy/aruco_ros/README.md deleted file mode 100644 index 0d7f7b92b..000000000 --- a/legacy/aruco_ros/README.md +++ /dev/null @@ -1,86 +0,0 @@ -aruco_ros -========= - -Software package and ROS wrappers of the [Aruco][1] Augmented Reality marker detector library. - - -### Features - - - * High-framerate tracking of AR markers - - * Generate AR markers with given size and optimized for minimal perceptive ambiguity (when there are more markers to track) - - * Enhanced precision tracking by using boards of markers - - * ROS wrappers - - -### Applications - - * Object pose estimation - * Visual servoing: track object and hand at the same time - - - - -### ROS API - -#### Messages - - * aruco_ros/Marker.msg - - Header header - uint32 id - geometry_msgs/PoseWithCovariance pose - float64 confidence - - * aruco_ros/MarkerArray.msg - - Header header - aruco_ros/Marker[] markers - -### Kinetic changes - -* Updated the [Aruco][1] library to version 3.0.4 - -* Changed the coordinate system to match the library's, the convention is shown - in the image below, following rviz conventions, X is red, Y is green and Z is - blue. - - -### Test it with REEM - - * Open a REEM in simulation with a marker floating in front of the robot. This will start the stereo cameras of the robot too. Since this is only a vision test, there is nothing else in this world apart from the robot and a marker floating in front of it. An extra light source had to be added to compensate for the default darkness. - - ``` - roslaunch reem_gazebo reem_gazebo.launch world:=floating_marker - ``` - * Launch the `image_proc` node to get undistorted images from the cameras of the robot. - - ``` - ROS_NAMESPACE=/stereo/right rosrun image_proc image_proc image_raw:=image - ``` - * Start the `single` node which will start tracking the specified marker and will publish its pose in the camera frame - - ``` - roslaunch aruco_ros single.launch markerId:=26 markerSize:=0.08 eye:="right" - ``` - - the frame in which the pose is refered to can be chosen with the 'ref_frame' argument. The next example forces the marker pose to - be published with respect to the robot base_link frame: - - ``` - roslaunch aruco_ros single.launch markerId:=26 markerSize:=0.08 eye:="right" ref_frame:=/base_link - ``` - - * Visualize the result - - ``` - rosrun image_view image_view image:=/aruco_single/result - ``` - - - - -[1]: http://www.sciencedirect.com/science/article/pii/S0031320314000235 "Automatic generation and detection of highly reliable fiducial markers under occlusion by S. Garrido-Jurado and R. Muñoz-Salinas and F.J. Madrid-Cuevas and M.J. MarĂ­n-JimĂ©nez 2014" diff --git a/legacy/aruco_ros/aruco/CHANGELOG.rst b/legacy/aruco_ros/aruco/CHANGELOG.rst deleted file mode 100644 index acd283216..000000000 --- a/legacy/aruco_ros/aruco/CHANGELOG.rst +++ /dev/null @@ -1,106 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package aruco -^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.0.0 (2019-09-27) ------------------- -* Fix shadowed variables -* Add SYSTEN to include dirs -* Merge pull request `#68 `_ from aPonza/ros_format - Autoformatting as per CppStyleGuide -* removed using namespace declarations -* autoformatting as per CppStyleGuide -* Migration to aruco 3.0.4 -* Merge branch 'indigo-devel' into kinetic-devel -* Completely remove debug print -* Merge pull request `#37 `_ from pal-robotics/remove-debug-print - Remove debug log msg -* Remove debug log msg -* Merge pull request `#29 `_ from cehberlin/kinetic-devel - forcing opencv3 build for kinetic -* forcing opencv3 build for kinetic -* Contributors: Andrea Ponza, Bence Magyar, Christopher Hrabia, Jordi Pages, Victor Lopez - -2.2.2 (2022-11-23) ------------------- -* Merge branch 'fix/109/ferrum/cornerupsample' into 'ferrum-devel' - Fix/109/ferrum/cornerupsample - See merge request ros-overlays/aruco_ros!9 -* Fix/109/ferrum/cornerupsample -* Contributors: josegarcia, saikishor - -2.2.1 (2022-11-10) ------------------- -* Merge branch 'fix_disable_pal_flags' into 'ferrum-devel' - disable the shadow compilation flag - See merge request ros-overlays/aruco_ros!7 -* disable the shadow compilation flag -* Contributors: Sai Kishor Kothakota, saikishor - -2.2.0 (2022-11-07) ------------------- -* Merge branch 'feat/aruco-3.1.5-migration' into 'ferrum-devel' - ArUCO 3.1.5 migration - See merge request ros-overlays/aruco_ros!4 -* replace disable_pal_flags() with set DISABLE_PAL_FLAGS -* clang formatting -* add support for extrinsics with stereo cameras -* Add correct fisheye distortion functionality -* migrate to 3.1.5 -* Contributors: josecarlos, josegarcia, saikishor - -2.1.4 (2022-05-16) ------------------- - -2.1.3 (2022-04-05) ------------------- -* Make Sai maintainer of all -* Update license tags in the package.xml -* Contributors: Bence Magyar, Sai Kishor Kothakota - -2.1.2 (2022-02-10) ------------------- - -2.1.1 (2020-09-17) ------------------- - -2.1.0 (2020-01-21) ------------------- -* Add param to correct fisheye distortion with special CV functions -* Add support for camera extrinsics when dealing with stereo cameras -* Contributors: Victor Lopez - -2.0.2 (2019-11-09) ------------------- - -2.0.1 (2019-09-27) ------------------- -* Fix dependency -* Contributors: Victor Lopez - -0.2.2 (2017-07-25) ------------------- - -0.2.1 (2017-07-21) ------------------- - -0.2.0 (2016-10-19) ------------------- -* Fix compilation error in Ubuntu 16.04 - With this change, aruco_ros compiles properly in Ubuntu 16.04, ROS kinetic. -* Contributors: Francisco - -0.1.0 (2015-08-10) ------------------- -* Depend on libopencv-dev directly -* Replace opencv2 dependency with cv_bridge -* Update changelogs and maintainer email -* Add aruco marker generator and opencv dependency -* Remove duplicated images -* Remove old launch files -* Contributors: Bence Magyar - -0.0.1 (2015-05-20) ------------------- -* Initial release -* Contributors: Bence Magyar diff --git a/legacy/aruco_ros/aruco/CMakeLists.txt b/legacy/aruco_ros/aruco/CMakeLists.txt deleted file mode 100644 index c98a6bf78..000000000 --- a/legacy/aruco_ros/aruco/CMakeLists.txt +++ /dev/null @@ -1,63 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(aruco) - -find_package(catkin) -find_package(Eigen3 REQUIRED) -find_package(OpenCV 3 REQUIRED) -set(CMAKE_CXX_STANDARD 11) # C++11... -set(CMAKE_CXX_STANDARD_REQUIRED ON) #...is required... -set(CMAKE_CXX_EXTENSIONS ON) #...with compiler extensions like gnu++11 -string(REPLACE "-Werror=shadow" "" NEW_CXX_FLAGS "${CMAKE_CXX_FLAGS}") -set(CMAKE_CXX_FLAGS "${NEW_CXX_FLAGS}") - -catkin_package( - INCLUDE_DIRS include - LIBRARIES aruco -) -include_directories( - include/aruco/) - -include_directories( - SYSTEM - ${catkin_INCLUDE_DIRS} - ${OpenCV_INCLUDE_DIRS} - ${EIGEN3_INCLUDE_DIRS} -) - -add_library(aruco - src/aruco/cameraparameters.cpp - src/aruco/cvdrawingutils.cpp - src/aruco/debug.cpp - src/aruco/dictionary_based.cpp - src/aruco/dictionary.cpp - src/aruco/fractaldetector.cpp - src/aruco/ippe.cpp - src/aruco/marker.cpp - src/aruco/markerdetector_impl.cpp - src/aruco/markerdetector.cpp - src/aruco/markerlabeler.cpp - src/aruco/markermap.cpp - src/aruco/posetracker.cpp - src/aruco/fractallabelers/fractallabeler.cpp - src/aruco/fractallabelers/fractalmarker.cpp - src/aruco/fractallabelers/fractalmarkerset.cpp - src/aruco/fractallabelers/fractalposetracker.cpp -) -target_link_libraries(aruco - ${catkin_LIBRARIES} ${OpenCV_LIBRARIES}) - - -############# -## Install ## -############# - -install(TARGETS aruco - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -) -install(DIRECTORY include/ - DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION} - FILES_MATCHING PATTERN "*.h" -) - diff --git a/legacy/aruco_ros/aruco/cfg/ArucoThreshold.cfg b/legacy/aruco_ros/aruco/cfg/ArucoThreshold.cfg deleted file mode 100755 index 5d467de16..000000000 --- a/legacy/aruco_ros/aruco/cfg/ArucoThreshold.cfg +++ /dev/null @@ -1,14 +0,0 @@ -#!/usr/bin/env python -PACKAGE = "aruco_ros" - -from dynamic_reconfigure.parameter_generator_catkin import * - -gen = ParameterGenerator() - -gen.add("param1", int_t, 0, "blockSize parameter of cv::adaptiveThreshold", 4, 1, 15) -gen.add("param2", int_t, 0, "C parameter of cv::adaptiveThreshold", 8, 1, 15) -gen.add("normalizeImage", bool_t, 0, "normalizeImage", True) -gen.add("dctComponentsToRemove", int_t, 0, "DCT components to remove", 2, 1, 4) -gen.add("degree", int_t, 0, "Degree to rotate", 0, 0, 360) - -exit(gen.generate(PACKAGE, "double", "ArucoThreshold")) diff --git a/legacy/aruco_ros/aruco/include/aruco/aruco.h b/legacy/aruco_ros/aruco/include/aruco/aruco.h deleted file mode 100755 index 3c8a3a3ee..000000000 --- a/legacy/aruco_ros/aruco/include/aruco/aruco.h +++ /dev/null @@ -1,25 +0,0 @@ -/** -Copyright 2020 Rafael Muñoz Salinas. All rights reserved. - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation version 3 of the License. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . -*/ - - -#include "fractaldetector.h" -#include "markerdetector.h" -#include "posetracker.h" -#include "cvdrawingutils.h" -#include "dictionary.h" - -#define ARUCO_VERSION_MAJOR 3 -#define ARUCO_VERSION_MINOR 0 diff --git a/legacy/aruco_ros/aruco/include/aruco/aruco_cvversioning.h b/legacy/aruco_ros/aruco/include/aruco/aruco_cvversioning.h deleted file mode 100755 index 5fb6deac7..000000000 --- a/legacy/aruco_ros/aruco/include/aruco/aruco_cvversioning.h +++ /dev/null @@ -1,33 +0,0 @@ -/** -Copyright 2020 Rafael Muñoz Salinas. All rights reserved. - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation version 3 of the License. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . -*/ - -#ifndef ARUCO_CV_VERSIONING -#define ARUCO_CV_VERSIONING -#include -#if CV_MAJOR_VERSION >= 4 -#include - -#define CV_CAP_PROP_FRAME_COUNT cv::CAP_PROP_FRAME_COUNT -#define CV_CAP_PROP_POS_FRAMES cv::CAP_PROP_POS_FRAMES -#define CV_BGR2GRAY cv::COLOR_BGR2GRAY -#define CV_GRAY2BGR cv::COLOR_GRAY2BGR -#define CV_FONT_HERSHEY_COMPLEX cv::FONT_HERSHEY_COMPLEX -#define CV_FILLED cv::FILLED -#define CV_RANSAC cv::RANSAC -#define CV_REDUCE_SUM cv::REDUCE_SUM -#endif - -#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/aruco_export.h b/legacy/aruco_ros/aruco/include/aruco/aruco_export.h deleted file mode 100755 index 1414e4b91..000000000 --- a/legacy/aruco_ros/aruco/include/aruco/aruco_export.h +++ /dev/null @@ -1,34 +0,0 @@ -/** -Copyright 2020 Rafael Muñoz Salinas. All rights reserved. - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation version 3 of the License. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . -*/ - - - -#ifndef __OPENARUCO_CORE_TYPES_H__ -#define __OPENARUCO_CORE_TYPES_H__ - -#if !defined _CRT_SECURE_NO_DEPRECATE && _MSC_VER > 1300 -#define _CRT_SECURE_NO_DEPRECATE /* to avoid multiple Visual Studio 2005 warnings */ -#endif - - -#if (defined WIN32 || defined _WIN32 || defined WINCE) && defined ARUCO_DSO_EXPORTS -#define ARUCO_EXPORT __declspec(dllexport) -#else -#define ARUCO_EXPORT -#endif - - -#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/cameraparameters.h b/legacy/aruco_ros/aruco/include/aruco/cameraparameters.h deleted file mode 100755 index af0d78566..000000000 --- a/legacy/aruco_ros/aruco/include/aruco/cameraparameters.h +++ /dev/null @@ -1,142 +0,0 @@ -/** -Copyright 2020 Rafael Muñoz Salinas. All rights reserved. - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation version 3 of the License. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . -*/ -#ifndef _Aruco_CameraParameters_H -#define _Aruco_CameraParameters_H - -#include "aruco_export.h" -#include -#include -#include - -namespace aruco -{ -/**\brief Parameters of the camera - */ - -class ARUCO_EXPORT CameraParameters -{ -public: - // 3x3 matrix (fx 0 cx, 0 fy cy, 0 0 1) - cv::Mat CameraMatrix; - // distortion matrix - cv::Mat Distorsion; - // size of the image - cv::Size CamSize; - - // 3x1 matrix (Tx, Ty, Tz), usually 0 for non-stereo cameras or stereo left cameras - cv::Mat ExtrinsicMatrix; - - /**Empty constructor - */ - CameraParameters(); - /**Creates the object from the info passed - * @param cameraMatrix 3x3 matrix (fx 0 cx, 0 fy cy, 0 0 1) - * @param distorsionCoeff 4x1 matrix (k1,k2,p1,p2) - * @param size image size - */ - CameraParameters(cv::Mat cameraMatrix, cv::Mat distorsionCoeff, cv::Size size); - /**Sets the parameters - * @param cameraMatrix 3x3 matrix (fx 0 cx, 0 fy cy, 0 0 1) - * @param distorsionCoeff 4x1 matrix (k1,k2,p1,p2) - * @param size image size - */ - void setParams(cv::Mat cameraMatrix, cv::Mat distorsionCoeff, cv::Size size); - /**Copy constructor - */ - CameraParameters(const CameraParameters &CI); - - /**Indicates whether this object is valid - */ - bool isValid() const - { - return CameraMatrix.rows != 0 && CameraMatrix.cols != 0 && Distorsion.rows != 0 && - Distorsion.cols != 0 && CamSize.width != -1 && CamSize.height != -1; - } - /**Assign operator - */ - CameraParameters &operator=(const CameraParameters &CI); - - /**Saves this to a file - */ - void saveToFile(std::string path, bool inXML = true); - - /**Reads from a YAML file generated with the opencv2.2 calibration utility - */ - void readFromXMLFile(std::string filePath); - - /**Adjust the parameters to the size of the image indicated - */ - void resize(cv::Size size); - - /**Returns the location of the camera in the reference system of the marker. - * - * Rvec and Tvec are the transform from the marker to the camera as calculated in other - * parts of the library NOT TESTED - */ - static cv::Point3f getCameraLocation(const cv::Mat &Rvec, const cv::Mat &Tvec); - - /**Given the intrinsic camera parameters returns the GL_PROJECTION matrix for opengl. - * PLease NOTE that when using OpenGL, it is assumed no camera distorsion! So, if it is - *not true, you should have undistor image - * - * @param orgImgSize size of the original image - * @param size of the image/window where to render (can be different from the real - *camera image). Please not that it must be related to CamMatrix - * @param proj_matrix output projection matrix to give to opengl - * @param gnear,gfar: visible rendering range - * @param invert: indicates if the output projection matrix has to yield a horizontally - *inverted image because image data has not been stored in the order of glDrawPixels: - *bottom-to-top. - */ - void glGetProjectionMatrix(cv::Size orgImgSize, cv::Size size, double proj_matrix[16], - double gnear, double gfar, bool invert = false); - - /** - * setup camera for an Ogre project. - * Use: - * ... - * Ogre::Matrix4 PM(proj_matrix[0], proj_matrix[1], ... , proj_matrix[15]); - * yourCamera->setCustomProjectionMatrix(true, PM); - * yourCamera->setCustomViewMatrix(true, Ogre::Matrix4::IDENTITY); - * ... - * As in OpenGL, it assumes no camera distorsion - */ - void OgreGetProjectionMatrix(cv::Size orgImgSize, cv::Size size, double proj_matrix[16], - double gnear, double gfar, bool invert = false); - - /**Returns the 4x4 homogeneous transform matrix from the R and T vectors computed - */ - static cv::Mat getRTMatrix(const cv::Mat &R_, const cv::Mat &T_, int forceType); - - - /**Makes this invalid - */ - void clear(); - - ARUCO_EXPORT friend std::ostream &operator<<(std::ostream &str, const CameraParameters &cp); - ARUCO_EXPORT friend std::istream &operator>>(std::istream &str, CameraParameters &cp); - -private: - // GL routines - - static void argConvGLcpara2(double cparam[3][4], int width, int height, double gnear, - double gfar, double m[16], bool invert); - static int arParamDecompMat(double source[3][4], double cpara[3][4], double trans[3][4]); - static double norm(double a, double b, double c); - static double dot(double a1, double a2, double a3, double b1, double b2, double b3); -}; -} // namespace aruco -#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/cvdrawingutils.h b/legacy/aruco_ros/aruco/include/aruco/cvdrawingutils.h deleted file mode 100755 index b52e75b2c..000000000 --- a/legacy/aruco_ros/aruco/include/aruco/cvdrawingutils.h +++ /dev/null @@ -1,43 +0,0 @@ -/** -Copyright 2020 Rafael Muñoz Salinas. All rights reserved. - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation version 3 of the License. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . -*/ - -#ifndef _ArUco_DrawUtils_H_ -#define _ArUco_DrawUtils_H_ - -#include "aruco.h" -#include "aruco_export.h" - -namespace aruco -{ -/**\brief A set of functions to draw in opencv images - */ -class ARUCO_EXPORT CvDrawingUtils -{ -public: - static void draw3dAxis(cv::Mat& Image, const CameraParameters& CP, const cv::Mat& Rvec, - const cv::Mat& Tvec, float axis_size); - static void draw3dAxis(cv::Mat& Image, Marker& m, const CameraParameters& CP, int lineSize = 1); - - static void draw3dCube(cv::Mat& Image, Marker& m, const CameraParameters& CP, - int lineSize = 1, bool setYperpendicular = false); - - // static void draw3dAxis(cv::Mat &Image, MarkerMap &m, const CameraParameters &CP); - // static void draw3dCube(cv::Mat &Image, MarkerMap &m, const CameraParameters &CP, - // bool setYperpendicular = false); -}; -} // namespace aruco - -#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/debug.h b/legacy/aruco_ros/aruco/include/aruco/debug.h deleted file mode 100755 index f07f5481e..000000000 --- a/legacy/aruco_ros/aruco/include/aruco/debug.h +++ /dev/null @@ -1,127 +0,0 @@ -/** -Copyright 2020 Rafael Muñoz Salinas. All rights reserved. - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation version 3 of the License. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . -*/ - -#ifndef __Debug_H -#define __Debug_H -#include -#include -#include -#include "aruco_export.h" -#include -#include -namespace aruco -{ - -class ARUCO_EXPORT Debug -{ -private: - static int level; // 0(no debug), 1 medium, 2 high - static bool isInited; - - static std::map strings; - -public: - static void init(); - static void setLevel(int l); - static int getLevel(); - - - - static void addString(std::string &label, std::string &data); - static std::string getString(std::string &str); - - - static std::string getFileName(std::string filepath) - { - // go backwards until finding a separator or start - size_t i; - for (i = filepath.size() - 1; i != 0; i--) - { - if (filepath[i] == '\\' || filepath[i] == '/') - break; - } - std::string fn; - fn.reserve(filepath.size() - i); - for (size_t s = i; s < filepath.size(); s++) - fn.push_back(filepath[s]); - return fn; - } - -#ifdef WIN32 -#define __func__ __FUNCTION__ -#endif -}; - - -// message print -#if (defined DEBUG || defined _DEBUG) -#define _debug_exec(level, x) \ - { \ - if (Debug::getLevel() >= level) \ - { \ - x \ - } \ - } -#define _debug_exec_(x) x -#ifndef WIN32 -#define _debug_msg(x, level) \ - { \ - Debug::init(); \ - if (Debug::getLevel() >= level) \ - std::cout << "#" << Debug::getFileName(__FILE__) << ":" << __LINE__ << ":" \ - << __func__ << "#" << x << std::endl; \ - } - -#define _debug_msg_(x) \ - { \ - Debug::init(); \ - if (Debug::getLevel() >= 5) \ - std::cout << "#" << Debug::getFileName(__FILE__) << ":" << __LINE__ << ":" \ - << __func__ << "#" << x << std::endl; \ - } - -#else -#define _debug_msg(x, level) \ - { \ - Debug::init(); \ - if (Debug::getLevel() >= level) \ - std::cout << __func__ << ":" << Debug::getFileName(__FILE__) << ":" << __LINE__ \ - << ": " << x << std::endl; \ - } - -#define _debug_msg_(x) \ - { \ - Debug::init(); \ - if (Debug::getLevel() >= 5) \ - std::cout << __func__ << ":" << Debug::getFileName(__FILE__) << ":" << __LINE__ \ - << ": " << x << std::endl; \ - } - -#endif - -#else -#define _debug_msg(x, level) -#define _debug_msg_(x) -#define _debug_exec(level, x) ; -#define _debug_exec_(x) ; - -#endif - - - -} // namespace aruco - -#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/dictionary.h b/legacy/aruco_ros/aruco/include/aruco/dictionary.h deleted file mode 100755 index 738bbfde8..000000000 --- a/legacy/aruco_ros/aruco/include/aruco/dictionary.h +++ /dev/null @@ -1,191 +0,0 @@ -/** -Copyright 2020 Rafael Muñoz Salinas. All rights reserved. - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation version 3 of the License. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . -*/ - -#ifndef ARUCO_DICTIONARY_ -#define ARUCO_DICTIONARY_ - -#include "aruco_export.h" - -#include - -#include -#include -#include -#include -#include - -namespace aruco -{ -class MarkerMap; -/**Represents a set of valid marker ids with a maximum size of 8x8 = 64 bits. - * In our approach, markers are seen as a pair code-id. The code is the internal binary - * code printed on the marker. Maximum size is 8x8 bits. The id is a smaller number you - * can use to identify it. You will use only the id - * - * See enum DICT_TYPES for the set of dicitionaries availables - */ - -class ARUCO_EXPORT Dictionary -{ -public: - // loads from a set of predefined ones - enum DICT_TYPES : uint64_t - { - ALL_DICTS = 0, - ARUCO_MIP_36h12 = 1, //*** recommended - ARUCO = 2, // original aruco dictionary. By default - ARUCO_MIP_25h7 = 3, - ARUCO_MIP_16h3 = 4, - ARTAG = 5, // - ARTOOLKITPLUS = 6, - ARTOOLKITPLUSBCH = 7, // - TAG16h5 = 8, - TAG25h7 = 9, - TAG25h9 = 10, - TAG36h11 = 11, - TAG36h10 = 12, // april tags - CHILITAGS = 13, // chili tags dictionary . NOT RECOMMENDED. It has distance 0. - // Markers 806 and 682 should not be used!!! - CUSTOM = 14, // for used defined dictionaries (using loadFromfile). - }; - // indicates if a code is in the dictionary - bool is(uint64_t code) const - { - return _code_id.find(code) != _code_id.end(); - } - - DICT_TYPES getType() const - { - return _type; - } - - // reutnr the numerber of ids - uint64_t size() const - { - return _code_id.size(); - } - // returns the total number of bits of the binary code - uint32_t nbits() const - { - return _nbits; - } - // returns the dictionary distance - uint32_t tau() const - { - return _tau; - } - // returns the name - std::string getName() const - { - return _name; - } - // return the set of ids - const std::map& getMapCode() const - { - return _code_id; - } - - // returns the id of a given code. - int operator[](uint64_t code) - { - return _code_id[code]; - } // returns the id of a given code. - int at(uint64_t code) - { - return _code_id[code]; - } - - // returns the image of the marker indicated by its id. It the id is not, returns empty - // matrix - //@param id of the marker image to return - //@param bit_size of the image will be AxA, A=(nbits()+2)*bit_size - //@param enclosed_corners if true, extra rectagles are added touching the marker - //corners. it can be used to allow subpixel refinement - cv::Mat getMarkerImage_id(int id, int bit_size, bool addWaterMark = true, - bool enclosed_corners = false, - bool printExternalWhiteBorder = false, bool centralCircle = false); - - // cv::Mat getMarkerMatrix_id(int id); - - // used for boards - MarkerMap createMarkerMap(cv::Size gridSize, int MarkerSize, int MarkerDistance, - const std::vector& Ids, bool chess_board = false); - - static Dictionary loadPredefined(DICT_TYPES type); - static Dictionary loadPredefined(std::string type); - - /** loads a dictionary defined in a file - * Please note that the parsing is very basic and you must be very strict. - - * Here is an example of a 3x3 dictionary of 3 markers - * 010 111 000 - * 001 101 001 - * 001 010 100 - * - * - * File: myown.dict - *------------------------------------------- - * name MYOWN - * nbits 9 - * 010001001 - * 111101010 - * 000001100 - */ - static Dictionary loadFromFile(std::string path); - - /**Loads a dictioanary using the string passed. If it is a string of the predefined - * dictionaries, then returns it. Otherwise, tries to load from a file - */ - static Dictionary load(std::string info); - - // //io functions - // void saveToFile(std::string file); - // void readFromFile(std::string file); - // void saveToStream(std::ostream & str); - // void readFromStream(std::istream &str); - - // returns the dictionary distance - static uint64_t computeDictionaryDistance(const Dictionary& d); - - // given a string,returns the type - static DICT_TYPES getTypeFromString(std::string str); - static std::string getTypeString(DICT_TYPES t); - static bool isPredefinedDictinaryString(std::string str); - static std::vector getDicTypes(); - -private: - // obfuscate start - - void insert(uint64_t code, int id) - { - _code_id.insert(std::make_pair(code, id)); - } - static void fromVector(const std::vector& codes, - std::map& code_id_map); - - std::map _code_id; // marker have and code (internal binary code), - // which correspond to an id. - - uint32_t _nbits; // total number of bits . So, there are sqrt(nbits) in each axis - uint32_t _tau; // minimum distance between elements - - DICT_TYPES _type; - std::string _name; - // obfuscate end -}; -} // namespace aruco - -#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/dictionary_based.h b/legacy/aruco_ros/aruco/include/aruco/dictionary_based.h deleted file mode 100755 index c0ed7c054..000000000 --- a/legacy/aruco_ros/aruco/include/aruco/dictionary_based.h +++ /dev/null @@ -1,68 +0,0 @@ -/** -Copyright 2020 Rafael Muñoz Salinas. All rights reserved. - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation version 3 of the License. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . -*/ - -#ifndef ArucoDictionaryBasedMarkerDetector_H -#define ArucoDictionaryBasedMarkerDetector_H - -#include "dictionary.h" -#include "markerlabeler.h" - -#include -namespace aruco -{ -/**Labeler using a dictionary - */ -class DictionaryBased : public MarkerLabeler -{ -public: - virtual ~DictionaryBased() - { - } - // first, dictionary, second the maximum correction rate [0,1]. If 0,no correction, if - // 1, maximum allowed correction - void setParams(const Dictionary& dic, float max_correction_rate); - - // main virtual class to o detection - virtual bool detect(const cv::Mat& in, int& marker_id, int& nRotations, - std::string& additionalInfo); - // returns the dictionary name - virtual std::string getName() const; - - virtual int getNSubdivisions() const - { - return _nsubdivisions; - } // - - std::vector getDictionaries() const - { - return vdic; - } - -private: - // obfuscate start - bool getInnerCode(const cv::Mat& thres_img, int total_nbits, std::vector& ids); - cv::Mat rotate(const cv::Mat& in); - uint64_t touulong(const cv::Mat& code); - std::vector vdic; - void toMat(uint64_t code, int nbits_sq, cv::Mat& out); - int _nsubdivisions = 0; - float _max_correction_rate; - std::string dicttypename; - std::map> nbits_dict; - // obfuscate end -}; -} // namespace aruco -#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/fractaldetector.h b/legacy/aruco_ros/aruco/include/aruco/fractaldetector.h deleted file mode 100755 index cc8895301..000000000 --- a/legacy/aruco_ros/aruco/include/aruco/fractaldetector.h +++ /dev/null @@ -1,133 +0,0 @@ -/** -Copyright 2020 Rafael Muñoz Salinas. All rights reserved. - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation version 3 of the License. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . -*/ - -#ifndef _ARUCO_FractalDetector_H -#define _ARUCO_FractalDetector_H - -#include "markerdetector.h" -#include "fractallabelers/fractallabeler.h" -#include "aruco_export.h" -namespace aruco -{ -class ARUCO_EXPORT FractalDetector -{ - struct ARUCO_EXPORT Params - { - std::string configuration_type; - }; - -public: - FractalDetector(); - - /** - * @brief setConfiguration - * @param configuration fractal id - */ - void setConfiguration(int configuration); - - /** - * @brief setConfiguration - * @param configuration fractal file - */ - void setConfiguration(std::string configuration); - - /** - * @brief setParams - * @param cam_params camera parameters - * @param markerSize in meters - */ - void setParams(const CameraParameters &cam_params, float markerSize) - { - _cam_params = cam_params; - - Tracker.setParams(cam_params, _fractalLabeler->_fractalMarkerSet, markerSize); - } - - // return fractalmarkerset - FractalMarkerSet getConfiguration() - { - return Tracker.getFractal(); - } - - // return true if any marker is detected, false otherwise - bool detect(const cv::Mat &input) - { - Markers = _markerDetector->detect(input); - - if (Markers.size() > 0) - return true; - else - return false; - } - - // return true if the pose is estimated, false otherwise - bool poseEstimation() - { - if (_cam_params.isValid()) - { - return Tracker.fractalInnerPose(_markerDetector, Markers); - } - else - return false; - } - - // return the rotation vector. Returns an empty matrix if last call to estimatePose returned false - cv::Mat getRvec() - { - return Tracker.getRvec(); - } - // return the translation vector. Returns an empty matrix if last call to estimatePose returned false - cv::Mat getTvec() - { - return Tracker.getTvec(); - } - - void drawImage(cv::Mat &img, cv::Mat &img2); - - // draw borders of markers - void drawMarkers(cv::Mat &img); - - // draw inner corners of markers - void draw2d(cv::Mat &img); - - // draw pose estimation axes - void draw3d(cv::Mat &img, bool cube = true, bool axis = true); - - // draw marker as cube - void draw3dCube(cv::Mat &Image, FractalMarker m, const CameraParameters &CP, int lineSize); - - // return detected markers - std::vector getMarkers() - { - return Markers; - } - - // return image pyramid - std::vector getImagePyramid() - { - return _markerDetector->getImagePyramid(); - } - -private: - std::vector Markers; // detected markers - FractalPoseTracker Tracker; - Params _params; - CameraParameters _cam_params; // Camera parameters - cv::Ptr _fractalLabeler; - cv::Ptr _markerDetector; -}; -} // namespace aruco -#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/fractallabelers/fractallabeler.h b/legacy/aruco_ros/aruco/include/aruco/fractallabelers/fractallabeler.h deleted file mode 100755 index d24e6749b..000000000 --- a/legacy/aruco_ros/aruco/include/aruco/fractallabelers/fractallabeler.h +++ /dev/null @@ -1,52 +0,0 @@ -#include "../markerlabeler.h" -#include "fractalposetracker.h" - -namespace aruco -{ -class FractalMarkerLabeler : public MarkerLabeler -{ -public: - static cv::Ptr create(std::string params) - { - FractalMarkerSet fractalMarkerSet = FractalMarkerSet::load(params); - FractalMarkerLabeler* fml = new FractalMarkerLabeler(); - fml->setConfiguration(fractalMarkerSet); - return fml; - } - - static cv::Ptr create(FractalMarkerSet::CONF_TYPES conf) - { - FractalMarkerSet fractalMarkerSet = FractalMarkerSet::loadPredefined(conf); - FractalMarkerLabeler* fml = new FractalMarkerLabeler(); - fml->setConfiguration(fractalMarkerSet); - return fml; - } - - void setConfiguration(const FractalMarkerSet& fractMarkerSet); - - static bool isFractalDictionaryFile(const std::string& path); - - virtual ~FractalMarkerLabeler() - { - } - - bool load(const std::string& path); - - // returns the configuration name - std::string getName() const; - - // main virtual class to o detection - bool detect(const cv::Mat& in, int& marker_id, int& nRotations, std::string& additionalInfo); - - int getNSubdivisions() const - { - return (sqrt(_fractalMarkerSet.nBits()) + 2); - } - - FractalMarkerSet _fractalMarkerSet; - -private: - bool getInnerCode(const cv::Mat& thres_img, int total_nbits, std::vector& ids); - cv::Mat rotate(const cv::Mat& in); -}; -} // namespace aruco diff --git a/legacy/aruco_ros/aruco/include/aruco/fractallabelers/fractalmarker.h b/legacy/aruco_ros/aruco/include/aruco/fractallabelers/fractalmarker.h deleted file mode 100755 index f6966dab1..000000000 --- a/legacy/aruco_ros/aruco/include/aruco/fractallabelers/fractalmarker.h +++ /dev/null @@ -1,65 +0,0 @@ -#ifndef FRACTALMARKER_H -#define FRACTALMARKER_H - -#include -#include -#include -#include "../markermap.h" - -namespace aruco -{ -class FractalMarker : public aruco::Marker3DInfo -{ -public: - FractalMarker(); - FractalMarker(int id, cv::Mat m, std::vector corners, - std::vector id_submarkers); - - // Add new submarker - void addSubFractalMarker(FractalMarker submarker); - - // Find inner corners - std::vector findInnerCorners(); - - // Marker MAT - const cv::Mat mat() const - { - return _M; - } - - // Marker mask (mask applied to submarkers) - const cv::Mat mask() const - { - return _mask; - } - - // Total number of bits - int nBits() - { - return _M.total(); - } - - // Submarkers ids - std::vector subMarkers() - { - return _submarkers; - } - - // Get inner corners - std::vector getInnerCorners() - { - if (innerCorners.empty()) - innerCorners = findInnerCorners(); - - return innerCorners; - } - -private: - cv::Mat _M; - cv::Mat _mask; - std::vector _submarkers; // id subfractalmarkers - std::vector innerCorners; -}; -} // namespace aruco - -#endif // FRACTALMARKER_H diff --git a/legacy/aruco_ros/aruco/include/aruco/fractallabelers/fractalmarkerset.h b/legacy/aruco_ros/aruco/include/aruco/fractallabelers/fractalmarkerset.h deleted file mode 100755 index 20ecd80d4..000000000 --- a/legacy/aruco_ros/aruco/include/aruco/fractallabelers/fractalmarkerset.h +++ /dev/null @@ -1,142 +0,0 @@ -#include "fractalmarker.h" - -#include -#include -#include -#include "../aruco_export.h" - -namespace aruco -{ -class ARUCO_EXPORT FractalMarkerSet -{ -public: - enum CONF_TYPES : uint64_t - { - FRACTAL_2L_6 = 0, - FRACTAL_3L_6 = 1, - FRACTAL_4L_6 = 2, - FRACTAL_5L_6 = 3, - CUSTOM = 4 // for used defined dictionaries (using load). - }; - - /** create set of markers - * @brief create - * @param regionsConfig {N(f1),K(f1)}{N(f2):K(f2)}...{N(fn):K(fn)} - * @param pixSize - */ - void create(std::vector> regionsConfig, float pixSize); - - /** configure bits of inner marker - * @brief configureMat - * @param nVal N region - * @param kVal K region - * @param maxIter Number of iteration - * @return Mat configurated marker - */ - cv::Mat configureMat(int nVal, int kVal, int maxIter = 10000); - // computes the distance of a marker to itself - int dstMarker(const cv::Mat m); - - // computes distance between marker to marker - int dstMarkerToMarker(const cv::Mat m1, const cv::Mat m2); - - // computes distance between marker to set of markers - int dstMarkerToFractalDict(cv::Mat m); - - // saves to a binary stream - static void _toStream(FractalMarkerSet &configuration, std::ostream &str); - - // load from a binary stream - static void _fromStream(FractalMarkerSet &configuration, std::istream &str); - - static bool isPredefinedConfigurationString(std::string str); - - static std::string getTypeString(FractalMarkerSet::CONF_TYPES t); - - static CONF_TYPES getTypeFromString(std::string str); - - static FractalMarkerSet load(std::string info); - - static FractalMarkerSet loadPredefined(std::string info); - - static FractalMarkerSet loadPredefined(CONF_TYPES info); - - static FractalMarkerSet readFromFile(std::string path); - - // saves configuration to a text file - void saveToFile(cv::FileStorage &fs); - - // Fractal configuration. id_marker - std::map fractalMarkerCollection; - // Nbits_idmarkers - std::map> nbits_fractalMarkerIDs; - - enum Fractal3DInfoType - { - NONE = -1, - PIX = 0, - METERS = 1, - NORM = 2 - }; // indicates if the data in Fractal is expressed in meters or in pixels - - /**Indicates if the corners are expressed in meters - */ - bool isExpressedInMeters() const - { - return mInfoType == METERS; - } - /**Indicates if the corners are expressed in meters - */ - bool isExpressedInPixels() const - { - return mInfoType == PIX; - } - /**Indicates if the corners are normalized. -1..1 external marker - */ - bool isNormalize() const - { - return mInfoType == NORM; - } - - // Normalize fractal marker. The corners will go on to take the values (-1,1)(1,1),(1,-1)(-1,-1) - FractalMarkerSet normalize(); - - // Convert marker to meters - FractalMarkerSet convertToMeters(float fractalSize_meters); - - static std::vector getConfigurations(); - - // Get fractal size (external marker) - float getFractalSize() const - { - FractalMarker externalMarker = fractalMarkerCollection.at(_idExternal); - return externalMarker.getMarkerSize(); - } - - // Get number of bits (external marker) - int nBits() const - { - FractalMarker externalMarker = fractalMarkerCollection.at(_idExternal); - return externalMarker.nBits(); - } - - // Check if m is a inner marker, and get its id. - bool isFractalMarker(cv::Mat &m, int nbits, int &id); - - // Get all inners corners - std::map> getInnerCorners(); - - cv::Mat getFractalMarkerImage(int pixSize, bool border = false); - - // variable indicates if the data is expressed in meters or in pixels or are normalized - int mInfoType; /* -1:NONE, 0:PIX, 1:METERS, 2:NORMALIZE*/ - -private: - // Number of levels - int _nmarkers; - // ID external marker - int _idExternal = 0; - // Configuration dictionary - std::string config; -}; -} // namespace aruco diff --git a/legacy/aruco_ros/aruco/include/aruco/fractallabelers/fractalposetracker.h b/legacy/aruco_ros/aruco/include/aruco/fractallabelers/fractalposetracker.h deleted file mode 100755 index 541bc2fb8..000000000 --- a/legacy/aruco_ros/aruco/include/aruco/fractallabelers/fractalposetracker.h +++ /dev/null @@ -1,147 +0,0 @@ -#include -#include "../picoflann.h" -#include "../cameraparameters.h" -#include "../markerdetector.h" -#include "fractalmarkerset.h" -#include "../aruco_export.h" -namespace aruco -{ - - -void kfilter(std::vector &kpoints); - -/** classification of the corners - * @brief assignClass - * @param im image used in the classification - * @param kpoints to classify - * @param sizeNorm. Is it necessary to transform keypoints? When keypoints have as - * reference the center of image(0,0), it is necessary to provide the fractal marker size - * @param wsize. Window size - */ -void assignClass(const cv::Mat &im, std::vector &kpoints, - float sizeNorm = 0.f, int wsize = 5); - -struct PicoFlann_KeyPointAdapter -{ - inline float operator()(const cv::KeyPoint &elem, int dim) const - { - return dim == 0 ? elem.pt.x : elem.pt.y; - } - inline float operator()(const cv::Point2f &elem, int dim) const - { - return dim == 0 ? elem.x : elem.y; - } -}; - -class ARUCO_EXPORT FractalPoseTracker -{ -public: - FractalPoseTracker(); - /** init fractlPoseTracker parameters - * @brief setParams - * @param cam_params camera paremeters - * @param msconf FractalMarkerSet configuration - * @param markerSize FractalMarker size - */ - void setParams(const CameraParameters &cam_params, const FractalMarkerSet &msconf, - const float markerSize = -1); - /** estimate the pose of the fractal marker. - * @brief fractalInnerPose - * @param markerDetector - * @param detected markers - * @param refinement, use or not pose refinement. True by default. - * @return true if the pose is estimated and false otherwise. If not estimated, the - * parameters m.Rvec and m.Tvec and not set. - */ - bool fractalInnerPose(const cv::Ptr markerDetector, - const std::vector &markers, bool refinement = true); - /** extraction of the region of the image where the marker is estimated to be based on the previous pose - * @brief ROI - * @param imagePyramid set images - * @param img original image. The image is scaled according to the selected pyramid image. - * @param innerPoints2d collection fractal inner points. The points are scaled according - * to the selected pyramid image. - * @param offset. Position of the upper inner corner of the marker. The offset is scaled - * according to the selected pyramid image. - * @param ratio selected scaling factor - */ - bool ROI(const std::vector imagePyramid, cv::Mat &img, - std::vector &innerPoints2d, cv::Point2f &offset, float &ratio); - - /** estimate the pose of the fractal marker. Method case 2, paper. - * @brief fractal_solve_ransac - * @param ninners (number of total inners points used) - * @param inner_kpnt matches (inner points - detected keypoints) - * @param kpnts keypoints - * @param maxIter maximum number of iterations - * @param _minInliers beta in paper - * @param _thresInliers alpha in paper - * @return Mat best model homography. - */ - cv::Mat fractal_solve_ransac(int ninners, - std::vector>> inner_kpnt, - std::vector kpnts, uint32_t maxIter = 500, - float _minInliers = 0.2f, float _thresInliers = 0.7f); - - /** Draw keypoints - * @brief image - * @param kpoints - * @param text - * @param transf. Is it necessary to transform keypoints? (-MarkerSize/2 .. - * MarkerSize/2) to (0 .. ImageSize) - */ - void drawKeyPoints(const cv::Mat image, std::vector kpoints, - bool text = false, bool transf = false); - - /** Refinement of the internal points of the marker and pose estimation with these. - * @brief fractalRefinement - * @param markerDetector - * @param markerWarpPix. Optimal markerwarpPix used to select the image of the pyramid. - * Default value 10. - * @return true if the pose is estimated and false otherwise. If not estimated, the - * parameters m.Rvec and m.Tvec and not set. - */ - bool fractalRefinement(const cv::Ptr markerDetector, int markerWarpPix = 10); - - // return the rotation vector. Returns an empty matrix if last call to estimatePose returned false - const cv::Mat getRvec() const - { - return _rvec; - } - - // return the translation vector. Returns an empty matrix if last call to estimatePose returned false - const cv::Mat getTvec() const - { - return _tvec; - } - - // return all corners from fractal marker - const std::vector getInner3d() - { - return _innerp3d; - } - - // is the pose valid? - bool isPoseValid() const - { - return !_rvec.empty() && !_tvec.empty(); - } - - FractalMarkerSet getFractal() - { - return _fractalMarker; - } - -private: - FractalMarkerSet _fractalMarker; // FractalMarkerSet configuration - aruco::CameraParameters _cam_params; // Camera parameters. - cv::Mat _rvec, _tvec; // current poses - std::map> _id_innerp3d; // Id_marker-Inners_corners - std::vector _innerp3d; // All inners corners - std::vector _innerkpoints; // All inners keypoints - picoflann::KdTreeIndex<2, PicoFlann_KeyPointAdapter> _kdtree; - std::map _id_radius; // Idmarker_Radius(Optimus) - std::map _id_area; // Idmarker_projectedArea(Optimus) - float _preRadius = 0; // radius used previous iteration -}; -} // namespace aruco diff --git a/legacy/aruco_ros/aruco/include/aruco/ippe.h b/legacy/aruco_ros/aruco/include/aruco/ippe.h deleted file mode 100755 index 8a26fdb64..000000000 --- a/legacy/aruco_ros/aruco/include/aruco/ippe.h +++ /dev/null @@ -1,360 +0,0 @@ -/** -Copyright 2020 Rafael Muñoz Salinas. All rights reserved. - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation version 3 of the License. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . -*/ - - -// This is the core header file for IPPE. Infinitesimal Plane-based Pose Estimation (IPPE) -// is a very fast and accurate way to compute a camera's pose from a single image of a -// planar object using point correspondences. This has uses in several applications, -// including augmented reality, 3D tracking and pose estimation with planar markers, and -// 3D scene understanding. This package is free and covered by the BSD licence without any -// warranty. We hope you find this code useful and if so please cite our paper in your -// work: - -//@article{ year={2014}, issn={0920-5691}, journal={International Journal of Computer -//Vision}, volume={109}, number={3}, doi={10.1007/s11263-014-0725-5}, title={Infinitesimal -// Plane-Based Pose Estimation}, url={http://dx.doi.org/10.1007/s11263-014-0725-5}, -// publisher={Springer US}, keywords={Plane; Pose; SfM; PnP; Homography}, author={Collins, -// Toby and Bartoli, Adrien}, pages={252-286}, language={English} } - -// Please contact Toby (toby.collins@gmail.com) if you have any questions about the code, paper and IPPE. - - -#ifndef _IPPE_H_ -#define _IPPE_H_ - -#include -#include -#include "aruco_export.h" -#include - -#define IPPE_SMALL 1e-7 // a small constant used to test 'small' values close to zero. - -namespace aruco -{ -// returns the two solutions -std::vector solvePnP(const std::vector& objPoints, - const std::vector& imgPoints, - cv::InputArray cameraMatrix, cv::InputArray distCoeffs); -void solvePnP(const std::vector& objPoints, - const std::vector& imgPoints, cv::InputArray cameraMatrix, - cv::InputArray distCoeffs, cv::Mat& rvec, cv::Mat& tvec); -ARUCO_EXPORT std::vector> solvePnP_( - float size, const std::vector& imgPoints, cv::InputArray cameraMatrix, - cv::InputArray distCoeffs); - -std::vector> solvePnP_(const std::vector& objPoints, - const std::vector& imgPoints, - cv::InputArray cameraMatrix, - cv::InputArray distCoeffs); - -} // namespace aruco -namespace IPPE -{ - -class PoseSolver -{ -public: - /** - * @brief PoseSolver constructor - */ - PoseSolver(); - - /** - * @brief PoseSolver destructor - */ - ~PoseSolver(); - - /** - * @brief Finds the two possible poses of a planar object given a set of - * correspondences and their respective reprojection errors. The poses are sorted with - * the first having the lowest reprojection error. - * @param _objectPoints Array of 4 or more coplanar object points defined in object coordinates. - * 1xN/Nx1 3-channel (float or double) where N is the number of points - * @param _imagePoints Array of corresponding image points, 1xN/Nx1 2-channel. This can - * either be in pixel coordinates or normalized pixel coordinates. - * @param _cameraMatrix Intrinsic camera matrix (same definition as OpenCV). If _imagePoints - * is in normalized pixel coordinates you must set _cameraMatrix = cv::noArray() - * @param _distCoeffs Intrinsic camera distortion vector (same definition as OpenCV). - * If _imagePoints is in normalized pixel coordinates you must set _cameraMatrix = cv::noArray() - * @param _rvec1 First rotation solution (3x1 rotation vector) - * @param _tvec1 First translation solution (3x1 vector) - * @param reprojErr1 Reprojection error of first solution - * @param _rvec2 Second rotation solution (3x1 rotation vector) - * @param _tvec2 Second translation solution (3x1 vector) - * @param reprojErr2 Reprojection error of second solution - */ - void solveGeneric(cv::InputArray _objectPoints, cv::InputArray _imagePoints, - cv::InputArray _cameraMatrix, cv::InputArray _distCoeffs, - cv::OutputArray _rvec1, cv::OutputArray _tvec1, float& reprojErr1, - cv::OutputArray _rvec2, cv::OutputArray _tvec2, float& reprojErr2); - - /** @brief Finds the two possible poses of a square planar object and their - * respective reprojection errors using IPPE. These poses are sorted so that the first - * one is the one with the lowest reprojection error. - * - * @param _squareLength The square's length (which is also it's width) in object coordinate - * units (e.g. millimeters, meters, etc.) - * @param _imagePoints Array of corresponding image points, 1xN/Nx1 2-channel. This - * can either be in pixel coordinates or normalized pixel coordinates. - * @param _cameraMatrix Intrinsic camera matrix (same definition as OpenCV). If _imagePoints - * is in normalized pixel coordinates you must set _cameraMatrix = cv::noArray() - * @param _distCoeffs Intrinsic camera distortion vector (same definition as OpenCV). - * If _imagePoints is in normalized pixel coordinates you must set _cameraMatrix = cv::noArray() - * @param _rvec1 First rotation solution (3x1 rotation vector) - * @param _tvec1 First translation solution (3x1 vector) - * @param reprojErr1 Reprojection error of first solution - * @param _rvec2 Second rotation solution (3x1 rotation vector) - * @param _tvec2 Second translation solution (3x1 vector) - * @param reprojErr2 Reprojection error of second solution - */ - void solveSquare(double squareLength, cv::InputArray _imagePoints, - cv::InputArray _cameraMatrix, cv::InputArray _distCoeffs, - cv::OutputArray _rvec1, cv::OutputArray _tvec1, float& reprojErr1, - cv::OutputArray _rvec2, cv::OutputArray _tvec2, float& reprojErr2); - - /** - * @brief Generates the 4 object points of a square planar object - * @param squareLength The square's length (which is also it's width) in object - * coordinate units (e.g. millimeters, meters, etc.) - * @param _objectPoints Set of 4 object points (1x4 3-channel double) - */ - void generateSquareObjectCorners3D(double squareLength, cv::OutputArray _objectPoints); - - /** - * @brief Generates the 4 object points of a square planar object, - * without including the z-component (which is z=0 for all points). - * @param squareLength The square's length (which is also it's width) in object - * coordinate units (e.g. millimeters, meters, etc.) - * @param _objectPoints Set of 4 object points (1x4 2-channel double) - */ - void generateSquareObjectCorners2D(double squareLength, cv::OutputArray _objectPoints); - - /** - * @brief Computes the average depth of an object given its pose in - * camera coordinates - * @param objectPoints: Object points defined in 3D object space - * @param rvec: Rotation component of pose - * @param tvec: Translation component of pose - * @return: average depth of the object - */ - double meanSceneDepth(cv::InputArray objectPoints, cv::InputArray rvec, cv::InputArray tvec); - -private: - /** - * @brief Finds the two possible poses of a planar object given a - * set of correspondences in normalized pixel coordinates. These poses are **NOT** - * sorted on reprojection error. Note that the returned poses are object-to-camera - * transforms, and not camera-to-object transforms. - * @param _objectPoints Array of 4 or more coplanar object points defined in - * object coordinates. 1xN/Nx1 3-channel (float or double). - * @param _normalizedImagePoints Array of corresponding image points in normalized - * pixel coordinates, 1xN/Nx1 2-channel (float or double). - * @param _Ma First pose solution (unsorted) - * @param _Mb Second pose solution (unsorted) - */ - void solveGeneric(cv::InputArray _objectPoints, cv::InputArray _normalizedImagePoints, - cv::OutputArray _Ma, cv::OutputArray _Mb); - - /** - * @brief Finds the two possible poses of a planar object in its canonical - * position, given a set of correspondences in normalized pixel coordinates. These poses - * are **NOT** sorted on reprojection error. Note that the returned poses are object-to-camera - * transforms, and not camera-to-object transforms. - * @param _canonicalObjPoints Array of 4 or more coplanar object points defined in - * object coordinates. 1xN/Nx1 3-channel (double) where N is the number of points - * @param _normalizedInputPoints Array of corresponding image points in normalized pixel - * coordinates, 1xN/Nx1 2-channel (double) where N is the number of points - * @param _H Homography mapping canonicalObjPoints to normalizedInputPoints. - * @param _Ma - * @param _Mb - */ - void solveCanonicalForm(cv::InputArray _canonicalObjPoints, cv::InputArray _normalizedInputPoints, - cv::InputArray _H, cv::OutputArray _Ma, cv::OutputArray _Mb); - - /** @brief Computes the translation solution for a given rotation solution - * @param _objectPoints Array of corresponding object points, 1xN/Nx1 3-channel - * where N is the number of points - * @param _normalizedImagePoints Array of corresponding image points (undistorted), - * 1xN/Nx1 2-channel where N is the number of points - * @param _R Rotation solution (3x1 rotation vector) - * @param _t Translation solution Translation solution (3x1 rotation vector) - */ - void computeTranslation(cv::InputArray _objectPoints, cv::InputArray _normalizedImgPoints, - cv::InputArray _R, cv::OutputArray _t); - - /** @brief Computes the two rotation solutions from the Jacobian - * of a homography matrix H at a point (ux,uy) on the object plane. For highest accuracy - * the Jacobian should be computed at the centroid of the point correspondences (see the - * IPPE paper for the explanation of this). For a point (ux,uy) on the object plane, suppose - * the homography H maps (ux,uy) to a point (p,q) in the image (in normalized pixel coordinates). - * The Jacobian matrix [J00, J01; J10,J11] is the Jacobian of the mapping evaluated at (ux,uy). - * @param j00 Homography jacobian coefficent at (ux,uy) - * @param j01 Homography jacobian coefficent at (ux,uy) - * @param j10 Homography jacobian coefficent at (ux,uy) - * @param j11 Homography jacobian coefficent at (ux,uy) - * @param p the x coordinate of point (ux,uy) mapped into the - * image (undistorted and normalized position) - * @param q the y coordinate of point (ux,uy) mapped into the - * image (undistorted and normalized position) - */ - void computeRotations(double j00, double j01, double j10, double j11, double p, - double q, cv::OutputArray _R1, cv::OutputArray _R2); - - /** @brief Closed-form solution for the homography mapping with - * four corner correspondences of a square (it maps source points to target points). The - * source points are the four corners of a zero-centred squared defined by: point 0: [-squareLength - * / 2.0, squareLength / 2.0] point 1: [squareLength / 2.0, squareLength / 2.0] point 2: - * [squareLength / 2.0, -squareLength / 2.0] point 3: [-squareLength / 2.0, -squareLength / 2.0] - * - * @param _targetPoints Array of four corresponding target points, 1x4/4x1 - * 2-channel. Note that the points should be ordered to correspond with points 0, 1, 2 and 3. - * @param halfLength the square's half length (i.e. squareLength/2.0) - * @param _H Homograhy mapping the source points to the target points, 3x3 single channel - */ - void homographyFromSquarePoints(cv::InputArray _targetPoints, double halfLength, - cv::OutputArray _H); - - /** @brief Fast conversion from a rotation matrix to a rotation vector - * using Rodrigues' formula - * @param _R Input rotation matrix, 3x3 1-channel (double) - * @param _r Output rotation vector, 3x1/1x3 1-channel (double) - */ - void rot2vec(cv::InputArray _R, cv::OutputArray _r); - - /** - * @brief Takes a set of planar object points and transforms them - * to 'canonical' object coordinates This is when they have zero mean and are on the plane z=0 - * @param _objectPoints Array of 4 or more coplanar object points defined in - * object coordinates. 1xN/Nx1 3-channel (float or double) where N is the number of points - * @param _canonicalObjectPoints Object points in canonical coordinates 1xN/Nx1 2-channel (double) - * @param _MobjectPoints2Canonical Transform matrix mapping _objectPoints to _canonicalObjectPoints: - * 4x4 1-channel (double) - */ - void makeCanonicalObjectPoints(cv::InputArray _objectPoints, - cv::OutputArray _canonicalObjectPoints, - cv::OutputArray _MobjectPoints2Canonical); - - /** - * @brief Evaluates the Root Mean Squared (RMS) reprojection - * error of a pose solution. - * @param _objectPoints Array of 4 or more coplanar object points defined in - * object coordinates. 1xN/Nx1 3-channel (float or double) where N is the number of - * points - * @param _imagePoints Array of corresponding image points, 1xN/Nx1 - * 2-channel. This can either be in pixel coordinates or normalized pixel coordinates. - * @param _cameraMatrix Intrinsic camera matrix (same definition as OpenCV). - * If _imagePoints is in normalized pixel coordinates you must set _cameraMatrix = - * cv::noArray(). - * @param _distCoeffs Intrinsic camera distortion vector (same definition - * as OpenCV). If _imagePoints is in normalized pixel coordinates you must set - * _cameraMatrix = cv::noArray(). - * @param _M Pose matrix from 3D object to camera coordinates: - * 4x4 1-channel (double) - * @param err RMS reprojection error - */ - void evalReprojError(cv::InputArray _objectPoints, cv::InputArray _imagePoints, - cv::InputArray _cameraMatrix, cv::InputArray _distCoeffs, - cv::InputArray _M, float& err); - - /** - * @brief Sorts two pose solutions according to their RMS - * reprojection error (lowest first). - * @param _objectPoints Array of 4 or more coplanar object points defined in - * object coordinates. 1xN/Nx1 3-channel (float or double) where N is the number of - * points - * @param _imagePoints Array of corresponding image points, 1xN/Nx1 - * 2-channel. This can either be in pixel coordinates or normalized pixel coordinates. - * @param _cameraMatrix Intrinsic camera matrix (same definition as OpenCV). - * If _imagePoints is in normalized pixel coordinates you must set _cameraMatrix = - * cv::noArray(). - * @param _distCoeffs Intrinsic camera distortion vector (same definition - * as OpenCV). If _imagePoints is in normalized pixel coordinates you must set - * _cameraMatrix = cv::noArray(). - * @param _Ma Pose matrix 1: 4x4 1-channel - * @param _Mb Pose matrix 2: 4x4 1-channel - * @param _M1 Member of (Ma,Mb} with lowest RMS reprojection - * error. Performs deep copy. - * @param _M2 Member of (Ma,Mb} with highest RMS reprojection - * error. Performs deep copy. - * @param err1 RMS reprojection error of _M1 - * @param err2 RMS reprojection error of _M2 - */ - void sortPosesByReprojError(cv::InputArray _objectPoints, cv::InputArray _imagePoints, - cv::InputArray _cameraMatrix, cv::InputArray _distCoeffs, - cv::InputArray _Ma, cv::InputArray _Mb, cv::OutputArray _M1, - cv::OutputArray _M2, float& err1, float& err2); - - /** - * @brief Finds the rotation _Ra that rotates a vector _a to - * the z axis (0,0,1) - * @param _a vector: 3x1 mat (double) - * @param _Ra Rotation: 3x3 mat (double) - */ - void rotateVec2ZAxis(cv::InputArray _a, cv::OutputArray _Ra); - - - /** - * @brief Computes the rotation _R that rotates the object points - * to the plane z=0. This uses the cross-product method with the first three object points. - * @param _objectPoints Array of N>=3 coplanar object points defined in object - * coordinates. 1xN/Nx1 3-channel (float or double) where N is the number of points - * @param _R Rotation Mat: 3x3 (double) - * @return success (true) or failure (false) - */ - bool computeObjextSpaceR3Pts(cv::InputArray _objectPoints, cv::OutputArray _R); - - /** - * @brief computeObjextSpaceRSvD Computes the rotation _R that rotates the object points - * to the plane z=0. This uses the cross-product method with the first three object points. - * @param _objectPointsZeroMean zero-meaned co=planar object points: 3xN matrix (double) where N>=3 - * @param _R Rotation Mat: 3x3 (double) - * @return success (true) or failure (false) - */ - bool computeObjextSpaceRSvD(cv::InputArray _objectPointsZeroMean, cv::OutputArray _R); -}; -} // namespace IPPE - -namespace HomographyHO -{ - -/** - * @brief Computes the best-fitting homography matrix from source to - * target points using Harker and O'Leary's method: Harker, M., O'Leary, P., Computation - * of Homographies, Proceedings of the British Machine Vision Conference 2005, Oxford, - * England. This is not the author's implementation. - * @param srcPoints Array of source points: 1xN/Nx1 2-channel (float or double) - * where N is the number of points - * @param targPoints Array of target points: 1xN/Nx1 2-channel (float or double) - * @param H Homography from source to target: 3x3 1-channel (double) - */ -void homographyHO(cv::InputArray srcPoints, cv::InputArray targPoints, cv::OutputArray H); - -/** - * @brief Performs data normalization before homography estimation. - * For details see Hartley, R., Zisserman, A., Multiple View Geometry in Computer Vision, - * Cambridge University Press, Cambridge, 2001 - * @param Data Array of source data points: 1xN/Nx1 2-channel (float or double) - * where N is the number of points - * @param DataN Normalized data points: 1xN/Nx1 2-channel (float or double) - * where N is the number of points - * @param T Homogeneous transform from source to normalized: 3x3 1-channel (double) - * @param Ti Homogeneous transform from normalized to source: 3x3 1-channel (double) - */ -void normalizeDataIsotropic(cv::InputArray Data, cv::OutputArray DataN, cv::OutputArray T, - cv::OutputArray Ti); -} // namespace HomographyHO - -#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/levmarq.h b/legacy/aruco_ros/aruco/include/aruco/levmarq.h deleted file mode 100755 index 1e765433b..000000000 --- a/legacy/aruco_ros/aruco/include/aruco/levmarq.h +++ /dev/null @@ -1,386 +0,0 @@ -/** -Copyright 2020 Rafael Muñoz Salinas. All rights reserved. - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation version 3 of the License. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . -*/ - -#ifndef ARUCO_MM__LevMarq_H -#define ARUCO_MM__LevMarq_H -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -namespace aruco -{ -// Levenberg-Marquardt method for general problems Inspired in -//@MISC\{IMM2004-03215, -// author = "K. Madsen and H. B. Nielsen and O. Tingleff", -// title = "Methods for Non-Linear Least Squares Problems (2nd ed.)", -// year = "2004", -// pages = "60", -// publisher = "Informatics and Mathematical Modelling, Technical University of Denmark, {DTU}", -// address = "Richard Petersens Plads, Building 321, {DK-}2800 Kgs. Lyngby", -// url = "http://www.ltu.se/cms_fs/1.51590!/nonlinear_least_squares.pdf" -//} -template -class LevMarq -{ -public: - typedef Eigen::Matrix eVector; - typedef std::function F_z_x; - typedef std::function &)> F_z_J; - LevMarq(); - /** - * @brief Constructor with parms - * @param maxIters maximum number of iterations of the algoritm - * @param minError to stop the algorithm before reaching the max iterations - * @param min_step_error_diff minimum error difference between two iterations. If below - * this level, then stop. - * @param tau parameter indicating how near the initial solution is estimated to be to - * the real one. If 1, it means that it is very far and the first - * @param der_epsilon increment to calculate the derivate of the evaluation function - * step will be very short. If near 0, means the opposite. This value is auto calculated - * in the subsequent iterations. - */ - LevMarq(int maxIters, double minError, double min_step_error_diff = 0, double tau = 1, - double der_epsilon = 1e-3); - - /** - * @brief setParams - * @param maxIters maximum number of iterations of the algoritm - * @param minError to stop the algorithm before reaching the max iterations - * @param min_step_error_diff minimum error difference between two iterations. If below - * this level, then stop. - * @param tau parameter indicating how near the initial solution is estimated to be to - * the real one. If 1, it means that it is very far and the first - * @param der_epsilon increment to calculate the derivate of the evaluation function - * step will be very short. If near 0, means the opposite. This value is auto calculated - * in the subsequent iterations. - */ - void setParams(int maxIters, double minError, double min_step_error_diff = 0, - double tau = 1, double der_epsilon = 1e-3); - - /** - * @brief solve non linear minimization problem ||F(z)||, where F(z)=f(z) f(z)^t - * @param z function params 1xP to be estimated. input-output. Contains the result of - * the optimization - * @param f_z_x evaluation function f(z)=x - * first parameter : z : input. Data is in double precision as a row vector - * (1xp) second parameter : x : output. Data must be returned in double - * @param f_J computes the jacobian of f(z) - * first parameter : z : input. Data is in double precision as a row vector - * (1xp) second parameter : J : output. Data must be returned in double - * @return final error - */ - double solve(eVector &z, F_z_x, F_z_J); - /// Step by step solve mode - - - /** - * @brief init initializes the search engine - * @param z - */ - void init(eVector &z, F_z_x); - /** - * @brief step gives a step of the search - * @param f_z_x error evaluation function - * @param f_z_J Jacobian function - * @return error of current solution - */ - bool step(F_z_x f_z_x, F_z_J f_z_J); - bool step(F_z_x f_z_x); - /** - * @brief getCurrentSolution returns the current solution - * @param z output - * @return error of the solution - */ - double getCurrentSolution(eVector &z); - /** - * @brief getBestSolution sets in z the best solution up to this moment - * @param z output - * @return error of the solution - */ - double getBestSolution(eVector &z); - - /** Automatic jacobian estimation - * @brief solve non linear minimization problem ||F(z)||, where F(z)=f(z) f(z)^t - * @param z function params 1xP to be estimated. input-output. Contains the result of - * the optimization - * @param f_z_x evaluation function f(z)=x - * first parameter : z : input. Data is in double precision as a row vector - * (1xp) second parameter : x : output. Data must be returned in double - * @return final error - */ - double solve(eVector &z, F_z_x); - // to enable verbose mode - bool &verbose() - { - return _verbose; - } - - // sets a callback func call at each step - void setStepCallBackFunc(std::function callback) - { - _step_callback = callback; - } - // sets a function that indicates when the algorithm must be stop. returns true if must stop and false otherwise - void setStopFunction(std::function stop_function) - { - _stopFunction = stop_function; - } - - void calcDerivates(const eVector &z, Eigen::Matrix &, F_z_x); - -private: - int _maxIters; - double _minErrorAllowed, _der_epsilon, _tau, _min_step_error_diff; - bool _verbose; - //-------- - eVector curr_z, x64; - double currErr, prevErr, minErr; - Eigen::Matrix I, J; - double mu, v; - std::function _step_callback; - std::function _stopFunction; -}; - - - -template -LevMarq::LevMarq() -{ - _maxIters = 1000; - _minErrorAllowed = 0; - _der_epsilon = 1e-3; - _verbose = false; - _tau = 1; - v = 5; - _min_step_error_diff = 0; -} -/** - * @brief Constructor with parms - * @param maxIters maximum number of iterations of the algoritm - * @param minError to stop the algorithm before reaching the max iterations - * @param min_step_error_diff minimum error difference between two iterations. If below - * this level, then stop. - * @param tau parameter indicating how near the initial solution is estimated to be to the - * real one. If 1, it means that it is very far and the first - * @param der_epsilon increment to calculate the derivate of the evaluation function - * step will be very short. If near 0, means the opposite. This value is auto calculated - * in the subsequent iterations. - */ -template -LevMarq::LevMarq(int maxIters, double minError, double min_step_error_diff, double tau, - double der_epsilon) -{ - _maxIters = maxIters; - _minErrorAllowed = minError; - _der_epsilon = der_epsilon; - _verbose = false; - _tau = tau; - v = 5; - _min_step_error_diff = min_step_error_diff; -} - -/** - * @brief setParams - * @param maxIters maximum number of iterations of the algoritm - * @param minError to stop the algorithm before reaching the max iterations - * @param min_step_error_diff minimum error difference between two iterations. If below - * this level, then stop. - * @param tau parameter indicating how near the initial solution is estimated to be to the - * real one. If 1, it means that it is very far and the first - * @param der_epsilon increment to calculate the derivate of the evaluation function - * step will be very short. If near 0, means the opposite. This value is auto calculated - * in the subsequent iterations. - */ -template -void LevMarq::setParams(int maxIters, double minError, double min_step_error_diff, - double tau, double der_epsilon) -{ - _maxIters = maxIters; - _minErrorAllowed = minError; - _der_epsilon = der_epsilon; - _tau = tau; - _min_step_error_diff = min_step_error_diff; -} - - -template -void LevMarq::calcDerivates(const eVector &z, - Eigen::Matrix &j, F_z_x f_z_x) -{ - for (int i = 0; i < z.rows(); i++) - { - eVector zp(z), zm(z); - zp(i) += _der_epsilon; - zm(i) -= _der_epsilon; - eVector xp, xm; - f_z_x(zp, xp); - f_z_x(zm, xm); - eVector dif = (xp - xm) / (2.f * _der_epsilon); - j.middleCols(i, 1) = dif; - } -} - -template -double LevMarq::solve(eVector &z, F_z_x f_z_x) -{ - return solve(z, f_z_x, - std::bind(&LevMarq::calcDerivates, this, std::placeholders::_1, - std::placeholders::_2, f_z_x)); -} -template -bool LevMarq::step(F_z_x f_z_x) -{ - return step(f_z_x, std::bind(&LevMarq::calcDerivates, this, std::placeholders::_1, - std::placeholders::_2, f_z_x)); -} - -template -void LevMarq::init(eVector &z, F_z_x f_z_x) -{ - curr_z = z; - I.resize(z.rows(), z.rows()); - I.setIdentity(); - f_z_x(curr_z, x64); - minErr = currErr = prevErr = x64.cwiseProduct(x64).sum(); - J.resize(x64.rows(), z.rows()); - mu = -1; -} - - -#define splm_get_time(a, b) \ - std::chrono::duration_cast>(a - b).count() - - -template -bool LevMarq::step(F_z_x f_z_x, F_z_J f_J) -{ - f_J(curr_z, J); - Eigen::Matrix Jt = J.transpose(); - Eigen::Matrix JtJ = (Jt * J); - - eVector B = -Jt * x64; - if (mu < 0) - { // first time only - int max = 0; - for (int j = 1; j < JtJ.cols(); j++) - if (JtJ(j, j) > JtJ(max, max)) - max = j; - mu = JtJ(max, max) * _tau; - } - - double gain = 0, prev_mu = 0; - int ntries = 0; - bool isStepAccepted = false; - do - { - // add/update dumping factor to JtJ. - // very efficient in any case, but particularly if initial dump does not produce improvement and must reenter - for (int j = 0; j < JtJ.cols(); j++) - JtJ(j, j) += mu - prev_mu; // update mu - prev_mu = mu; - eVector delta = JtJ.ldlt().solve(B); - eVector estimated_z = curr_z + delta; - // compute error - f_z_x(estimated_z, x64); - auto err = x64.cwiseProduct(x64).sum(); - auto L = 0.5 * delta.transpose() * ((mu * delta) - B); - gain = (err - prevErr) / L(0, 0); - // get gain - if (gain > 0) - { - mu = mu * std::max(double(0.33), 1. - pow(2 * gain - 1, 3)); - v = 5.f; - currErr = err; - curr_z = estimated_z; - isStepAccepted = true; - } - else - { - mu = mu * v; - v = v * 5; - } - - } while (gain <= 0 && ntries++ < 5); - - if (_verbose) - std::cout << std::setprecision(5) << "Curr Error=" << currErr - << " AErr(prev-curr)=" << prevErr - currErr << " gain=" << gain - << " dumping factor=" << mu << std::endl; - // //check if we must move to the new position or exit - if (currErr < prevErr) - std::swap(currErr, prevErr); - - return isStepAccepted; -} - - -template -double LevMarq::getCurrentSolution(eVector &z) -{ - z = curr_z; - return currErr; -} -template -double LevMarq::solve(eVector &z, F_z_x f_z_x, F_z_J f_J) -{ - init(z, f_z_x); - - if (_stopFunction) - { - do - { - step(f_z_x, f_J); - if (_step_callback) - _step_callback(curr_z); - } while (!_stopFunction(curr_z)); - } - else - { - // intial error estimation - int mustExit = 0; - for (int i = 0; i < _maxIters && !mustExit; i++) - { - if (_verbose) - std::cerr << "iteration " << i << "/" << _maxIters << " "; - bool isStepAccepted = step(f_z_x, f_J); - // check if we must exit - if (currErr < _minErrorAllowed) - mustExit = 1; - if (fabs(prevErr - currErr) <= _min_step_error_diff || !isStepAccepted) - mustExit = 2; - // exit if error increment - if (currErr < prevErr) - mustExit = 3; - // if ( (prevErr-currErr) < 1e-5 ) mustExit=true; - if (_step_callback) - _step_callback(curr_z); - } - - // std::cout<<"Exit code="<. -*/ - -#ifndef _Aruco_Marker_H -#define _Aruco_Marker_H - -#include "aruco_export.h" - -#include - -#include -#include -#include - -namespace aruco -{ -/**\brief This class represents a marker. It is a vector of the fours corners ot the marker - * - */ - -class CameraParameters; -class ARUCO_EXPORT Marker : public std::vector -{ -public: - // id of the marker - int id; - // size of the markers sides in meters - float ssize; - // matrices of rotation and translation respect to the camera - cv::Mat Rvec, Tvec; - // additional info about the dictionary - std::string dict_info; - // points of the contour - vector contourPoints; - - /** - */ - Marker(); - /** - */ - Marker(int id); - /** - */ - Marker(const Marker& M); - /** - */ - Marker(const std::vector& corners, int _id = -1); - /** - */ - ~Marker() - { - } - /**Indicates if this object is valid - */ - bool isValid() const - { - return id != -1 && size() == 4; - } - - bool isPoseValid() const - { - return !Rvec.empty() && !Tvec.empty(); - } - /**Draws this marker in the input image - */ - void draw(cv::Mat& in, cv::Scalar color = cv::Scalar(0, 0, 255), int lineWidth = -1, - bool writeId = true, bool writeInfo = false) const; - - /**Calculates the extrinsics (Rvec and Tvec) of the marker with respect to the camera - * @param markerSize size of the marker side expressed in meters - * @param CP parmeters of the camera - * @param setYPerpendicular If set the Y axis will be perpendicular to the surface. - * Otherwise, it will be the Z axis - */ - void calculateExtrinsics(float markerSize, const CameraParameters& CP, - bool setYPerpendicular = true); - /** - * Calculates the extrinsics (Rvec and Tvec) of the marker with respect to the camera - * @param markerSize size of the marker side expressed in meters - * @param CameraMatrix matrix with camera parameters (fx, fy, cx, cy) - * @param Distortion matrix with distortion parameters (k1, k2, p1, p2) - * @param setYPerpendicular If set the Y axis will be perpendicular to the surface. - * Otherwise, it will be the Z axis - * @param correctFisheye Correct fisheye distortion - */ - void calculateExtrinsics(float markerSize, cv::Mat CameraMatrix, - cv::Mat Distorsion = cv::Mat(), cv::Mat Extrinsics = cv::Mat(), - bool setYPerpendicular = true, bool correctFisheye = false); - - /**Given the extrinsic camera parameters returns the GL_MODELVIEW matrix for opengl. - * Setting this matrix, the reference coordinate system will be set in this marker - */ - void glGetModelViewMatrix(double modelview_matrix[16]); - - /** - * Returns position vector and orientation quaternion for an Ogre scene node or entity. - * Use: - * ... - * Ogre::Vector3 ogrePos (position[0], position[1], position[2]); - * Ogre::Quaternion ogreOrient (orientation[0], orientation[1], orientation[2], orientation[3]); - * mySceneNode->setPosition( ogrePos ); - * mySceneNode->setOrientation( ogreOrient ); - * ... - */ - void OgreGetPoseParameters(double position[3], double orientation[4]); - - /**Returns the centroid of the marker - */ - cv::Point2f getCenter() const; - /**Returns the perimeter of the marker - */ - float getPerimeter() const; - /**Returns the area - */ - float getArea() const; - /**Returns radius of enclosing circle - */ - float getRadius() const; - /**compares ids - */ - bool operator==(const Marker& m) const - { - return m.id == id; - } - - void copyTo(Marker& m) const; - /**compares ids - */ - Marker& operator=(const Marker& m); - - /** - */ - friend bool operator<(const Marker& M1, const Marker& M2) - { - return M1.id < M2.id; - } - /** - */ - friend std::ostream& operator<<(std::ostream& str, const Marker& M) - { - str << M.id << "="; - for (int i = 0; i < 4; i++) - str << "(" << M[i].x << "," << M[i].y << ") "; - if (!M.Tvec.empty() && !M.Rvec.empty()) - { - str << "Txyz="; - for (int i = 0; i < 3; i++) - str << M.Tvec.ptr(0)[i] << " "; - str << "Rxyz="; - for (int i = 0; i < 3; i++) - str << M.Rvec.ptr(0)[i] << " "; - } - return str; - } - - - // saves to a binary stream - void toStream(std::ostream& str) const; - // reads from a binary stream - void fromStream(std::istream& str); - - // returns the 3d points of a marker wrt its center - static vector get3DPoints(float msize); - // returns the 3d points of this marker wrt its center - inline vector get3DPoints() const - { - return get3DPoints(ssize); - } - - // returns the SE3 (4x4) transform matrix - - cv::Mat getTransformMatrix() const; - -private: - void rotateXAxis(cv::Mat& rotation); -}; -} // namespace aruco -#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/markerdetector.h b/legacy/aruco_ros/aruco/include/aruco/markerdetector.h deleted file mode 100755 index 5d8714c9e..000000000 --- a/legacy/aruco_ros/aruco/include/aruco/markerdetector.h +++ /dev/null @@ -1,463 +0,0 @@ -/** -Copyright 2020 Rafael Muñoz Salinas. All rights reserved. - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation version 3 of the License. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . -*/ - -#ifndef _ARUCO_MarkerDetector_H -#define _ARUCO_MarkerDetector_H - -#include "aruco_export.h" -#include -#include -#include -#include -#include -#include -#include -#include -#include "marker.h" - -#include - -namespace aruco -{ - -/** - * @brief The DetectionMode enum defines the different possibilities for detection. - * Specifies the detection mode. We have preset three types of detection modes. These are - * ways to configure the internal parameters for the most typical situations. The modes - * are: - * - DM_NORMAL: In this mode, the full resolution image is employed for detection and slow - * threshold method. Use this method when you process individual images that are not part - * of a video sequence and you are not interested in speed. - * - * - DM_FAST: In this mode, there are two main improvements. First, image is threshold - * using a faster method using a global threshold. Also, the full resolution image is - * employed for detection, but, you could speed up detection even more by indicating a - * minimum size of the markers you will accept. This is set by the variable minMarkerSize - * which shoud be in range [0,1]. When it is 0, means that you do not set a limit in the - * size of the accepted markers. However, if you set 0.1, it means that markers smaller - * than 10% of the total image area, will not be detected. Then, the detection can be - * accelated up to orders of magnitude compared to the normal mode. - * - * - DM_VIDEO_FAST: This is similar to DM_FAST, but specially adapted to video processing. - * In that case, we assume that the observed markers when you call to detect() have a size - * similar to the ones observed in the previous frame. Then, the processing can be speeded - * up by employing smaller versions of the image automatically calculated. - * - */ -enum DetectionMode : int -{ - DM_NORMAL = 0, - DM_FAST = 1, - DM_VIDEO_FAST = 2 -}; -/** Method employed to refine the estimation of the corners - * - CORNER_SUBPIX: uses subpixel refinement implemented in opencv - * - CORNER_LINES: uses all the pixels in the corner border to estimate the 4 lines of the square. Then - * estimate the point in which they intersect. In seems that it more robust to noise. However, - * it only works if input image is not resized. So, the value minMarkerSize will be set to 0. - * - * - CORNER_NONE: Does no refinement of the corner. Again, it requires minMakerSize to be 0 - */ -enum CornerRefinementMethod : int -{ - CORNER_SUBPIX = 0, - CORNER_LINES = 1, - CORNER_NONE = 2 -}; - - -class CameraParameters; -class MarkerLabeler; -class MarkerDetector_Impl; -typedef Marker MarkerCandidate; - -/**\brief Main class for marker detection - * - */ - -class ARUCO_EXPORT MarkerDetector -{ - friend class MarkerDetector_Impl; - -public: - enum ThresMethod : int - { - THRES_ADAPTIVE = 0, - THRES_AUTO_FIXED = 1 - }; - - /**Operating params - */ - struct ARUCO_EXPORT Params - { - /**Specifies the detection mode. We have preset three types of detection modes. These are - * ways to configure the internal parameters for the most typical situations. The modes are: - * - DM_NORMAL: In this mode, the full resolution image is employed for detection and - * slow threshold method. Use this method when you process individual images that are - * not part of a video sequence and you are not interested in speed. - * - * - DM_FAST: In this mode, there are two main improvements. First, image is threshold - * using a faster method using a global threshold. Also, the full resolution image is - * employed for detection, but, you could speed up detection even more by indicating a minimum size of the - * markers you will accept. This is set by the variable minMarkerSize which shoud be - * in range [0,1]. When it is 0, means that you do not set a limit in the size of the - * accepted markers. However, if you set 0.1, it means that markers smaller than 10% - * of the total image area, will not be detected. Then, the detection can be accelated - * up to orders of magnitude compared to the normal mode. - * - * - DM_VIDEO_FAST: This is similar to DM_FAST, but specially adapted to video processing. - * In that case, we assume that the observed markers when you call to detect() have a - * size similar to the ones observed in the previous frame. Then, the processing can - * be speeded up by employing smaller versions of the image automatically calculated. - * - */ - void setDetectionMode(DetectionMode dm, float minMarkerSize); - - /**Enables/Disbles the detection of enclosed markers. Enclosed markers are markers - * where corners are like opencv chessboard pattern - */ - void detectEnclosedMarkers(bool do_) - { - enclosedMarker = do_; - } - - /**Sets the corner refinement method - * - CORNER_SUBPIX: uses subpixel refinement implemented in opencv - * - CORNER_LINES: uses all the pixels in the corner border to estimate the 4 lines of - * the square. Then estimate the point in which they intersect. In seems that it more - * robust to noise. However, it only works if input image is not resized. So, the - * value minMarkerSize will be set to 0. - * - * - CORNER_NONE: Does no refinement of the corner. Again, it requires minMakerSize to - * be 0 - */ - void setCornerRefinementMethod(CornerRefinementMethod method); - - - //----------------------------------------------------------------------------- - // Below this point you probably should not use the functions - /**Sets the thresholding method manually. Do no - */ - void setThresholdMethod(ThresMethod method, int thresHold = -1, int wsize = -1, - int wsize_range = 0); - - - - void setAutoSizeSpeedUp(bool v, float Ts = 0.25) - { - autoSize = v; - ts = Ts; - } - bool getAutoSizeSpeedUp() const - { - return autoSize; - } - - - - void save(cv::FileStorage &fs) const; - void load(cv::FileStorage &fs); - - void toStream(std::ostream &str) const; - void fromStream(std::istream &str); - - static std::string toString(DetectionMode dm); - static DetectionMode getDetectionModeFromString(const std::string &str); - static std::string toString(CornerRefinementMethod dm); - static CornerRefinementMethod getCornerRefinementMethodFromString(const std::string &str); - static std::string toString(ThresMethod dm); - static ThresMethod getCornerThresMethodFromString(const std::string &str); - - // Detection mode - - DetectionMode detectMode = DM_NORMAL; - - // maximum number of parallel threads - int maxThreads = 1; //-1 means all - - // border around image limits in which corners are not allowed to be detected. (0,1) - float borderDistThres = 0.015f; - int lowResMarkerSize = 20; // minimum size of a marker in the low resolution image - - // minimum size of a contour lenght. We use the following formula - // minLenght= min ( _minSize_pix , _minSize* Is)*4 - // being Is=max(imageWidth,imageHeight) - // the value _minSize are normalized, thus, depends on camera image size - // However, _minSize_pix is expressed in pixels (you can use the one you prefer) - float minSize = -1; // tau_i in paper - int minSize_pix = -1; - bool enclosedMarker = false; // special treatment for enclosed markers - float error_correction_rate = 0; - std::string dictionary = "ALL_DICTS"; - // threshold methods - ThresMethod thresMethod = THRES_ADAPTIVE; - int NAttemptsAutoThresFix = - 3; // number of times that tries a random threshold in case of THRES_AUTO_FIXED - int trackingMinDetections = 0; // no tracking - - - // Threshold parameters - int AdaptiveThresWindowSize = -1, ThresHold = 7, AdaptiveThresWindowSize_range = 0; - // size of the image passedta to the MarkerLabeler - int markerWarpPixSize = 5; // tau_c in paper - - CornerRefinementMethod cornerRefinementM = CORNER_SUBPIX; - // enable/disables the method for automatic size estimation for speed up - bool autoSize = false; - float ts = - 0.25f; //$\tau_s$ is a factor in the range $(0,1]$ that accounts for the camera - //motion speed. For instance, when $\tau_s=0.1$, it means that in the next - //frame, $\tau_i$ is such that markers $10\%$ smaller than the smallest - //marker in the current image will be seek. To avoid loosing track of the - //markers. If no markers are detected in a frame, $\tau_i$ is set to zero - //for the next frame so that markers of any size can be detected. - /**Enables automatic image resize according to elements detected in previous frame - * @param v - * @param ts is a factor in the range $(0,1]$ that accounts for the camera motion - * speed. For instance, when ts=0.1 , it means that in the next frame, $\tau_i$ is - * such that markers $10\%$ smaller than the smallest marker in the current image will - * be seek. To avoid loosing track of the markers. - */ - float pyrfactor = 2; - int closingSize = - 0; // enables/disables morph closing operation. The actual param used is closingSize*2+1 - - private: - static void _toStream(const std::string &strg, std::ostream &str); - static void _fromStream(std::string &strg, std::istream &str); - template - static bool attemtpRead(const std::string &name, Type &var, cv::FileStorage &fs) - { - if (fs[name].type() != cv::FileNode::NONE) - { - fs[name] >> var; - return true; - } - return false; - } - }; - - /** - * See - */ - MarkerDetector(); - /**Creates indicating the dictionary. See @see setDictionary for further details - * @param dict_type Dictionary employed. See @see setDictionary for further details - * @param error_correction_rate value indicating the correction error allowed. Is in - * range [0,1]. 0 means no correction at all. So an erroneous bit will result in - * discarding the marker. 1, mean full correction. The maximum number of bits that can - * be corrected depends on each ditionary. We recommend using values from 0 to 0.5. (in - * general, this will allow up to 3 bits or correction). */ - MarkerDetector(int dict_type, float error_correction_rate = 0); - MarkerDetector(std::string dict_type, float error_correction_rate = 0); - - /**Saves the configuration of the detector to a file. - */ - void saveParamsToFile(const std::string &path) const; - - /**Loads the configuration from a file. - */ - void loadParamsFromFile(const std::string &path); - - - /** - */ - ~MarkerDetector(); - /**Specifies the detection mode. We have preset three types of detection modes. These - * are ways to configure the internal parameters for the most typical situations. The - * modes are: - * - DM_NORMAL: In this mode, the full resolution image is employed for detection and - * slow threshold method. Use this method when you process individual images that are - * not part of a video sequence and you are not interested in speed. - * - * - DM_FAST: In this mode, there are two main improvements. First, image is threshold - * using a faster method using a global threshold. Also, the full resolution image is - * employed for detection, but, you could speed up detection even more by indicating a - * minimum size of the markers you will accept. This is set by the variable - * minMarkerSize which shoud be in range [0,1]. When it is 0, means that you do not set - * a limit in the size of the accepted markers. However, if you set 0.1, it means that - * markers smaller than 10% of the total image area, will not be detected. Then, the - * detection can be accelated up to orders of magnitude compared to the normal mode. - * - * - DM_VIDEO_FAST: This is similar to DM_FAST, but specially adapted to video - * processing. In that case, we assume that the observed markers when you call to - * detect() have a size similar to the ones observed in the previous frame. Then, the - * processing can be speeded up by employing smaller versions of the image automatically - * calculated. - * - */ - void setDetectionMode(DetectionMode dm, float minMarkerSize = 0); - /**returns current detection mode - */ - DetectionMode getDetectionMode(); - /**Detects the markers in the image passed - * - * If you provide information about the camera parameters and the size of the marker, - * then, the extrinsics of the markers are detected - * - * @param input input color image - * @param camMatrix intrinsic camera information. - * @param distCoeff camera distorsion coefficient. If set Mat() if is assumed no camera - * distorion - * @param markerSizeMeters size of the marker sides expressed in meters. If not - * specified this value, the extrinsics of the markers are not detected. - * @param setYPerperdicular If set the Y axis will be perpendicular to the surface. - * Otherwise, it will be the Z axis - * @param correctFisheye Correct fisheye distortion - * @return vector with the detected markers - */ - std::vector detect(const cv::Mat &input); - std::vector detect(const cv::Mat &input, const CameraParameters &camParams, - float markerSizeMeters, bool setYPerperdicular = false, - bool correctFisheye = false); - - /**Detects the markers in the image passed - * - * If you provide information about the camera parameters and the size of the marker, - * then, the extrinsics of the markers are detected - * - * @param input input color image - * @param detectedMarkers output vector with the markers detected - * @param camParams Camera parameters - * @param markerSizeMeters size of the marker sides expressed in meters - * @param setYPerperdicular If set the Y axis will be perpendicular to the surface. - * Otherwise, it will be the Z axis - * @param correctFisheye Correct fisheye distortion - */ - void detect(const cv::Mat &input, std::vector &detectedMarkers, - CameraParameters camParams, float markerSizeMeters = -1, - bool setYPerperdicular = false, bool correctFisheye = false); - - /** - * Detects the markers in the image passed - * - * If you provide information about the camera parameters and the size of the marker, - * then, the extrinsics of the markers are detected - * - * NOTE: be sure that the camera matrix is for this image size. If you do not know what - * I am talking about, use functions above and not this one - * @param input input color image - * @param detectedMarkers output vector with the markers detected - * @param camMatrix intrinsic camera information. - * @param distCoeff camera distortion coefficient. If set Mat() if is assumed no camera - * distortion - * @param extrinsics translation (tx,ty,tz) from right stereo camera to left. Empty if - * no stereo or left camera - * @param markerSizeMeters size of the marker sides expressed in meters - * @param setYPerperdicular If set the Y axis will be perpendicular to the surface. - * Otherwise, it will be the Z axis - * @param correctFisheye Correct fisheye distortion - */ - void detect(const cv::Mat &input, std::vector &detectedMarkers, - cv::Mat camMatrix = cv::Mat(), cv::Mat distCoeff = cv::Mat(), - cv::Mat extrinsics = cv::Mat(), float markerSizeMeters = -1, - bool setYPerperdicular = false, bool correctFisheye = false); - - /**Returns operating params - */ - Params getParameters() const; - /**Returns operating params - */ - Params &getParameters(); - /** Sets the dictionary to be employed. - * You can choose:ARUCO,//original aruco dictionary. By default - ARUCO_MIP_25h7, - ARUCO_MIP_16h3, - ARUCO_MIP_36h12, **** recommended - ARTAG,// - ARTOOLKITPLUS, - ARTOOLKITPLUSBCH,// - TAG16h5,TAG25h7,TAG25h9,TAG36h11,TAG36h10//APRIL TAGS DICIONARIES - CHILITAGS,//chili tags dictionary . NOT RECOMMENDED. It has distance 0. - Markers 806 and 682 should not be used!!! - - If dict_type is none of the above ones, it is assumed you mean a CUSTOM dicionary - saved in a file @see Dictionary::loadFromFile Then, it tries to open it - */ - void setDictionary(std::string dict_type, float error_correction_rate = 0); - - /** - * @brief setDictionary Specifies the dictionary you want to use for marker decoding - * @param dict_type dictionary employed for decoding markers @see Dictionary - * @param error_correction_rate value indicating the correction error allowed. Is in - * range [0,1]. 0 means no correction at all. So an erroneous bit will result in - * discarding the marker. 1, mean full correction. The maximum number of bits that can - * be corrected depends on each ditionary. We recommend using values from 0 to 0.5. (in - * general, this will allow up to 3 bits or correction). - */ - void setDictionary(int dict_type, float error_correction_rate = 0); - - /** - * Returns a reference to the internal image thresholded. Since there can be generated - * many of them, specify which - */ - cv::Mat getThresholdedImage(uint32_t idx = 0); - /**returns the number of thresholed images available - */ - // size_t getNhresholdedImages()const{return _thres_Images.size();} - - - - ///------------------------------------------------- - /// Methods you may not need - /// Thesde methods do the hard work. They have been set public in case you want to do customizations - ///------------------------------------------------- - - /** - * @brief setMakerLabeler sets the labeler employed to analyze the squares and extract - * the inner binary code - * @param detector - */ - void setMarkerLabeler(cv::Ptr detector); - cv::Ptr getMarkerLabeler(); - - - /**Returns a list candidates to be markers (rectangles), for which no valid id was found - * after calling detectRectangles - */ - std::vector getCandidates() const; - - std::vector getImagePyramid(); - /* - * @param corners vectors of vectors - */ - void cornerUpsample(std::vector > &corners, cv::Size lowResImageSize); - void cornerUpsample(std::vector &corners, cv::Size lowResImageSize); - - /** - * Given the iput image with markers, creates an output image with it in the canonical position - * @param in input image - * @param out image with the marker - * @param size of out - * @param points 4 corners of the marker in the image in - * @return true if the operation succeed - */ - bool warp(cv::Mat &in, cv::Mat &out, cv::Size size, std::vector points); - - - // serialization in binary mode - void toStream(std::ostream &str) const; - void fromStream(std::istream &str); - // configure the detector from a set of parameters - void setParameters(const Params ¶ms); - - - -private: - MarkerDetector_Impl *_impl; -}; -}; // namespace aruco -#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/markerdetector_impl.h b/legacy/aruco_ros/aruco/include/aruco/markerdetector_impl.h deleted file mode 100755 index 4939a23e7..000000000 --- a/legacy/aruco_ros/aruco/include/aruco/markerdetector_impl.h +++ /dev/null @@ -1,499 +0,0 @@ -/** -Copyright 2020 Rafael Muñoz Salinas. All rights reserved. - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation version 3 of the License. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . -*/ - -#ifndef _ARUCO_MarkerDetector_Impl_H -#define _ARUCO_MarkerDetector_Impl_H - -#include "aruco_export.h" -#include -#include -#include -#include -#include -#include -#include -#include -#include "marker.h" -#include "markerdetector.h" -#include - -namespace aruco -{ - -class CameraParameters; -class MarkerLabeler; -/**\brief Main class for marker detection - * - */ -class MarkerDetector_Impl -{ - friend class MarkerDetector; - -public: - /** - * See - */ - MarkerDetector_Impl(); - /**Creates indicating the dictionary. See @see setDictionary for further details - * @param dict_type Dictionary employed. See @see setDictionary for further details - * @param error_correction_rate value indicating the correction error allowed. Is in - * range [0,1]. 0 means no correction at all. So an erroneous bit will result in - * discarding the marker. 1, mean full correction. The maximum number of bits that can - * be corrected depends on each ditionary. We recommend using values from 0 to 0.5. (in - * general, this will allow up to 3 bits or correction). */ - MarkerDetector_Impl(int dict_type, float error_correction_rate = 0); - MarkerDetector_Impl(std::string dict_type, float error_correction_rate = 0); - - /**Saves the configuration of the detector to a file. - */ - void saveParamsToFile(const std::string& path) const; - - /**Loads the configuration from a file. - */ - void loadParamsFromFile(const std::string& path); - - - /** - */ - ~MarkerDetector_Impl(); - /**Specifies the detection mode. We have preset three types of detection modes. These - * are ways to configure the internal parameters for the most typical situations. The - * modes are: - * - DM_NORMAL: In this mode, the full resolution image is employed for detection and - * slow threshold method. Use this method when you process individual images that are - * not part of a video sequence and you are not interested in speed. - * - * - DM_FAST: In this mode, there are two main improvements. First, image is threshold - * using a faster method using a global threshold. Also, the full resolution image is - * employed for detection, but, you could speed up detection even more by indicating a - * minimum size of the markers you will accept. This is set by the variable - * minMarkerSize which shoud be in range [0,1]. When it is 0, means that you do not set - * a limit in the size of the accepted markers. However, if you set 0.1, it means that - * markers smaller than 10% of the total image area, will not be detected. Then, the - * detection can be accelated up to orders of magnitude compared to the normal mode. - * - * - DM_VIDEO_FAST: This is similar to DM_FAST, but specially adapted to video - * processing. In that case, we assume that the observed markers when you call to - * detect() have a size similar to the ones observed in the previous frame. Then, the - * processing can be speeded up by employing smaller versions of the image automatically - * calculated. - * - */ - void setDetectionMode(DetectionMode dm, float minMarkerSize = 0); - /**returns current detection mode - */ - DetectionMode getDetectionMode(); - /**Detects the markers in the image passed - * - * If you provide information about the camera parameters and the size of the marker, - * then, the extrinsics of the markers are detected - * - * @param input input color image - * @param camMatrix intrinsic camera information. - * @param distCoeff camera distorsion coefficient. If set Mat() if is assumed no camera - * distorion - * @param markerSizeMeters size of the marker sides expressed in meters. If not - * specified this value, the extrinsics of the markers are not detected. - * @param setYPerperdicular If set the Y axis will be perpendicular to the surface. - * Otherwise, it will be the Z axis - * @param correctFisheye Correct fisheye distortion - * @return vector with the detected markers - */ - std::vector detect(const cv::Mat& input); - std::vector detect(const cv::Mat& input, const CameraParameters& camParams, - float markerSizeMeters, bool setYPerperdicular = false, - bool correctFisheye = false); - - /**Detects the markers in the image passed - * - * If you provide information about the camera parameters and the size of the marker, - * then, the extrinsics of the markers are detected - * - * @param input input color image - * @param detectedMarkers output vector with the markers detected - * @param camParams Camera parameters - * @param markerSizeMeters size of the marker sides expressed in meters - * @param setYPerperdicular If set the Y axis will be perpendicular to the surface. - * Otherwise, it will be the Z axis - * @param correctFisheye Correct fisheye distortion - */ - void detect(const cv::Mat& input, std::vector& detectedMarkers, - CameraParameters camParams, float markerSizeMeters = -1, - bool setYPerperdicular = false, bool correctFisheye = false); - - /** - * Detects the markers in the image passed - * - * If you provide information about the camera parameters and the size of the marker, - * then, the extrinsics of the markers are detected - * - * NOTE: be sure that the camera matrix is for this image size. If you do not know what - * I am talking about, use functions above and not this one - * @param input input color image - * @param detectedMarkers output vector with the markers detected - * @param camMatrix intrinsic camera information. - * @param distCoeff camera distorsion coefficient. If set Mat() if is assumed no camera - * distorion - * @param extrinsics translation (tx,ty,tz) from right stereo camera to left. Empty if - * no stereo or left camera - * @param markerSizeMeters size of the marker sides expressed in meters - * @param setYPerperdicular If set the Y axis will be perpendicular to the surface. - * Otherwise, it will be the Z axis - * @param correctFisheye Correct fisheye distortion - */ - void detect(const cv::Mat& input, std::vector& detectedMarkers, - cv::Mat camMatrix = cv::Mat(), cv::Mat distCoeff = cv::Mat(), - cv::Mat extrinsics = cv::Mat(), float markerSizeMeters = -1, - bool setYPerperdicular = false, bool correctFisheye = false); - - - /**Returns operating params - */ - MarkerDetector::Params getParameters() const - { - return _params; - } - /**Returns operating params - */ - MarkerDetector::Params& getParameters() - { - return _params; - } - /** Sets the dictionary to be employed. - * You can choose:ARUCO,//original aruco dictionary. By default - ARUCO_MIP_25h7, - ARUCO_MIP_16h3, - ARUCO_MIP_36h12, **** recommended - ARTAG,// - ARTOOLKITPLUS, - ARTOOLKITPLUSBCH,// - TAG16h5,TAG25h7,TAG25h9,TAG36h11,TAG36h10//APRIL TAGS DICIONARIES - CHILITAGS,//chili tags dictionary . NOT RECOMMENDED. It has distance 0. - Markers 806 and 682 should not be used!!! - - If dict_type is none of the above ones, it is assumed you mean a CUSTOM dicionary - saved in a file @see Dictionary::loadFromFile Then, it tries to open it - */ - void setDictionary(std::string dict_type, float error_correction_rate = 0); - - /** - * @brief setDictionary Specifies the dictionary you want to use for marker decoding - * @param dict_type dictionary employed for decoding markers @see Dictionary - * @param error_correction_rate value indicating the correction error allowed. Is in - * range [0,1]. 0 means no correction at all. So an erroneous bit will result in - * discarding the marker. 1, mean full correction. The maximum number of bits that can - * be corrected depends on each ditionary. We recommend using values from 0 to 0.5. (in - * general, this will allow up to 3 bits or correction). - */ - void setDictionary(int dict_type, float error_correction_rate = 0); - - /** - * Returns a reference to the internal image thresholded. Since there can be generated - * many of them, specify which - */ - cv::Mat getThresholdedImage(uint32_t idx = 0); - /**returns the number of thresholed images available - */ - // size_t getNhresholdedImages()const{return _thres_Images.size();} - - - - ///------------------------------------------------- - /// Methods you may not need - /// Thesde methods do the hard work. They have been set public in case you want to do customizations - ///------------------------------------------------- - - /** - * @brief setMakerLabeler sets the labeler employed to analyze the squares and extract - * the inner binary code - * @param detector - */ - void setMarkerLabeler(cv::Ptr detector); - cv::Ptr getMarkerLabeler() - { - return markerIdDetector; - } - typedef Marker MarkerCandidate; - - - /**Returns a list candidates to be markers (rectangles), for which no valid id was found - * after calling detectRectangles - */ - std::vector getCandidates() const - { - return _candidates_wcontour; - } - - /** - * Given the iput image with markers, creates an output image with it in the canonical position - * @param in input image - * @param out image with the marker - * @param size of out - * @param points 4 corners of the marker in the image in - * @return true if the operation succeed - */ - bool warp(cv::Mat& in, cv::Mat& out, cv::Size size, std::vector points); - - - // serialization in binary mode - void toStream(std::ostream& str) const; - void fromStream(std::istream& str); - // configure the detector from a set of parameters - void setParameters(const MarkerDetector::Params& params); - - std::vector getImagePyramid() - { - return imagePyramid; - } - - - -private: - // obfuscate start - - // operating params - MarkerDetector::Params _params; - - // Images - cv::Mat grey, thres; - // pointer to the function that analizes a rectangular region so as to detect its internal marker - cv::Ptr markerIdDetector; - /** - */ - int perimeter(const std::vector& a); - - // auxiliar functions to perform LINES refinement - void interpolate2Dline(const std::vector& inPoints, cv::Point3f& outLine); - cv::Point2f getCrossPoint(const cv::Point3f& line1, const cv::Point3f& line2); - void distortPoints(std::vector in, std::vector& out, - const cv::Mat& camMatrix, const cv::Mat& distCoeff); - - // returns the number of pixels that the smallest and largest allowed markers have - int getMinMarkerSizePix(cv::Size orginput_imageSize) const; - - // returns the markerWarpSize - int getMarkerWarpSize(); - /**Given a vector vinout with elements and a boolean vector indicating the lements from - * it to remove, this function remove the elements - * @param vinout - * @param toRemove - */ - template - void removeElements(std::vector& vinout, const std::vector& toRemove) - { - // remove the invalid ones by setting the valid in the positions left by the invalids - size_t indexValid = 0; - for (size_t i = 0; i < toRemove.size(); i++) - { - if (!toRemove[i]) - { - if (indexValid != i) - vinout[indexValid] = vinout[i]; - indexValid++; - } - } - vinout.resize(indexValid); - } - - - template - void joinVectors(std::vector>& vv, std::vector& v, bool clearv = false) - { - if (clearv) - v.clear(); - for (size_t i = 0; i < vv.size(); i++) - for (size_t j = 0; j < vv[i].size(); j++) - v.push_back(vv[i][j]); - } - - std::vector imagePyramid; - void enlargeMarkerCandidate(MarkerCandidate& cand, int fact = 1); - - void cornerUpsample(std::vector>& MarkerCanditates, - cv::Size lowResImageSize); - void cornerUpsample(std::vector& MarkerCanditates, cv::Size lowResImageSize); - - - - void buildPyramid(std::vector& imagePyramid, const cv::Mat& grey, int minSize); - - - - std::vector thresholdAndDetectRectangles(const cv::Mat& input, - int thres_param1, - int thres_param2, bool erode, - cv::Mat& auxThresImage); - std::vector thresholdAndDetectRectangles(const cv::Mat& image); - std::vector prefilterCandidates(std::vector& candidates, - cv::Size orgImageSize); - - - std::vector _thres_Images; - std::vector> _vcandidates; - // std::vector > _candidates; - std::vector _candidates_wcontour; - std::vector _prevMarkers; // employed for tracking - std::map marker_ndetections; // used to keeps track only of markers with a - // minimum number of detections - - // graphical debug - void drawApproxCurve(cv::Mat& in, std::vector& approxCurve, cv::Scalar color, - int thickness = 1); - void drawContour(cv::Mat& in, std::vector& contour, cv::Scalar); - void drawAllContours(cv::Mat input, std::vector>& contours); - void draw(cv::Mat out, const std::vector& markers); - - - - enum ThreadTasks - { - THRESHOLD_TASK, - ENCLOSE_TASK, - EXIT_TASK - }; - struct ThresAndDetectRectTASK - { - int inIdx, outIdx; - int param1, param2; - ThreadTasks task; - }; - void thresholdAndDetectRectangles_thread(); - - // thread safe queue to implement producer-consumer - template - class Queue - { - public: - T pop() - { - std::unique_lock mlock(mutex_); - while (queue_.empty()) - { - cond_.wait(mlock); - } - auto item = queue_.front(); - queue_.pop(); - return item; - } - - void push(const T& item) - { - std::unique_lock mlock(mutex_); - queue_.push(item); - mlock.unlock(); - cond_.notify_one(); - } - - size_t size() - { - std::unique_lock mlock(mutex_); - size_t s = queue_.size(); - return s; - } - - private: - std::queue queue_; - std::mutex mutex_; - std::condition_variable cond_; - }; - Queue _tasks; - void refineCornerWithContourLines(aruco::Marker& marker, cv::Mat cameraMatrix = cv::Mat(), - cv::Mat distCoef = cv::Mat()); - - inline float pointSqdist(cv::Point& p, cv::Point2f& p2) - { - float dx = p.x - p2.x; - float dy = p.y - p2.y; - return dx * dx + dy * dy; - } - - float _tooNearDistance = -1; // pixel distance between nearr rectangle. Computed - // automatically based on the params - - - - struct marker_analyzer - { - void setParams(const std::vector& m) - { - corners = m; - bax = m[1].x - m[0].x; - bay = m[1].y - m[0].y; - dax = m[2].x - m[0].x; - day = m[2].y - m[0].y; - a = m[0]; - b = m[1]; - d = m[2]; - area = _getArea(); - - center = cv::Point2f(0, 0); - for (auto& p : corners) - center += p; - center *= 1. / 4.; - } - - bool isInto(const cv::Point2f& p) const - { - if (signD(corners[0], corners[1], p) < 0) - return false; - if (signD(corners[1], corners[2], p) < 0) - return false; - if (signD(corners[2], corners[3], p) < 0) - return false; - if (signD(corners[3], corners[0], p) < 0) - return false; - return true; - } - cv::Point2f getCenter() const - { - return center; - } - float getArea() const - { - return area; - } - float _getArea() const - { - // use the cross products - cv::Point2f v01 = corners[1] - corners[0]; - cv::Point2f v03 = corners[3] - corners[0]; - float area1 = fabs(v01.x * v03.y - v01.y * v03.x); - cv::Point2f v21 = corners[1] - corners[2]; - cv::Point2f v23 = corners[3] - corners[2]; - float area2 = fabs(v21.x * v23.y - v21.y * v23.x); - return (area2 + area1) / 2.f; - } - float bax, bay, dax, day; - cv::Point2f a, b, d; - float area; - cv::Point2f center; - - std::vector corners; - - inline float signD(cv::Point2f p0, cv::Point2f p1, cv::Point2f p) const - { - return ((p0.y - p1.y) * p.x + (p1.x - p0.x) * p.y + (p0.x * p1.y - p1.x * p0.y)) / - sqrt((p1.x - p0.x) * (p1.x - p0.x) + (p1.y - p0.y) * (p1.y - p0.y)); - } - }; - void addToImageHist(cv::Mat& im, std::vector& hist); - int Otsu(std::vector& hist); - - void filter_ambiguous_query(std::vector& matches); - // obfuscate end -}; -}; // namespace aruco -#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/markerlabeler.h b/legacy/aruco_ros/aruco/include/aruco/markerlabeler.h deleted file mode 100755 index c3e91c10f..000000000 --- a/legacy/aruco_ros/aruco/include/aruco/markerlabeler.h +++ /dev/null @@ -1,98 +0,0 @@ -/** -Copyright 2020 Rafael Muñoz Salinas. All rights reserved. - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation version 3 of the License. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . -*/ - -#ifndef _aruco_MarkerLabeler_ -#define _aruco_MarkerLabeler_ - -#include "aruco_export.h" -#include "dictionary.h" -#include - -namespace aruco -{ -/**\brief Base class of labelers. A labelers receive a square of the image and determines - * if it has a valid marker, its id and rotation Additionally, it implements the factory - * model - */ - -class Marker; -class ARUCO_EXPORT MarkerLabeler -{ -public: - /** Factory function that returns a labeler for a given dictionary - * @param dict_type type of dictionary - * @param error_correction_rate some dictionaries are subsceptible of error correction. - * This params specify the correction rate. 0 means no correction at all. 1 means full - * correction (maximum correction bits = (tau-1) /2, tau= predefined mimum intermarker - * distance). - * - * If you want correction capabilities and not sure how much, use 0.5 in this parameter - */ - static cv::Ptr create(Dictionary::DICT_TYPES dict_type, - float error_correction_rate = 0); - - /** Factory function that returns the desired detector - - * - * @brief create Factory function that returns the desired detector - * @param detector - * * Possible names implemented are: - * ARUCO,CHILITAGS....: original aruco markers (0-1024) - http://www.sciencedirect.com/science/article/pii/S0031320314000235 - * SVM: - * @return - */ - static cv::Ptr create(std::string detector, std::string params = ""); - - /** function that identifies a marker. - * @param in input image to analyze - * @param marker_id id of the marker (if valid) - * @param nRotations : output parameter nRotations must indicate how many times the - * marker must be rotated clockwise 90 deg to be in its ideal position. (The way you - * would see it when you print it). This is employed to know always which is the corner - * that acts as reference system. - * @return true marker valid, false otherwise - */ - virtual bool detect(const cv::Mat& in, int& marker_id, int& nRotations, - std::string& additionalInfo) = 0; - /** - * @brief getBestInputSize if desired, you can set the desired input size to the detect function - * @return -1 if detect accept any type of input, or a size otherwise - */ - virtual int getBestInputSize() - { - return -1; - } - - /** - * @brief getNSubdivisions returns the number of subdivisions in each axis that the - * iamge will be subject to. This is in dictionary based labelers, equals to the number - * of bits in each dimension plus the border bits. - * @return - */ - virtual int getNSubdivisions() const - { - return -1; - } - - // returns an string that describes the labeler and can be used to create it - virtual std::string getName() const = 0; - virtual ~MarkerLabeler() - { - } -}; -}; // namespace aruco -#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/markermap.h b/legacy/aruco_ros/aruco/include/aruco/markermap.h deleted file mode 100755 index 308cea123..000000000 --- a/legacy/aruco_ros/aruco/include/aruco/markermap.h +++ /dev/null @@ -1,215 +0,0 @@ -/** -Copyright 2020 Rafael Muñoz Salinas. All rights reserved. - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation version 3 of the License. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . -*/ - -#ifndef _Aruco_MarkerMap_h -#define _Aruco_MarkerMap_h - -#include "aruco_export.h" -#include "marker.h" - -#include - -#include -#include - -namespace aruco -{ -/** - * 3d representation of a marker - */ -class ARUCO_EXPORT Marker3DInfo -{ -public: - std::vector points; - int id; // maker id - - Marker3DInfo(); - Marker3DInfo(int _id); - inline bool operator==(const Marker3DInfo& MI) - { - return id == MI.id; - } - - // returns the distance of the marker side - inline float getMarkerSize() const - { - return static_cast(cv::norm(points[0] - points[1])); - } - inline cv::Point3f at(size_t idx) const - { - return points.at(idx); - } - inline cv::Point3f& operator[](size_t idx) - { - return points[idx]; - } - inline const cv::Point3f& operator[](size_t idx) const - { - return points[idx]; - } - inline void push_back(const cv::Point3f& p) - { - points.push_back(p); - } - inline size_t size() const - { - return points.size(); - } - -public: - inline void toStream(std::ostream& str) - { - str << id << " " << size() << " "; - for (size_t i = 0; i < size(); i++) - str << at(i).x << " " << at(i).y << " " << at(i).z << " "; - } - inline void fromStream(std::istream& str) - { - int s; - str >> id >> s; - points.resize(s); - for (size_t i = 0; i < size(); i++) - str >> points[i].x >> points[i].y >> points[i].z; - } -}; - -/**\brief This class defines a set of markers whose locations are attached to a common - * reference system, i.e., they do not move wrt each other. A MarkerMap contains several - * markers so that they are more robustly detected. - * - * A MarkerMap is only a list of the id of the markers along with the position of their - * corners. A MarkerMap may have information about the dictionary the markers belongs to - * @see getDictionary() - * - * The position of the corners can be specified either in pixels (in a non-specific size) - * or in meters. The first is the typical case in which you generate the image of board - * and the print it. Since you do not know in advance the real size of the markers, their - * corners are specified in pixels, and then, the translation to meters can be made once - * you know the real size. - * - * On the other hand, you may want to have the information of your boards in meters. The - * MarkerMap allows you to do so. - * - * The point is in the mInfoType variable. It can be either PIX or METERS according to - * your needs. - * - */ - -class ARUCO_EXPORT MarkerMap : public std::vector -{ -public: - /** - */ - MarkerMap(); - - /**Loads from file - * @param filePath to the config file - */ - MarkerMap(std::string filePath); - - /**Indicates if the corners are expressed in meters - */ - bool isExpressedInMeters() const - { - return mInfoType == METERS; - } - /**Indicates if the corners are expressed in meters - */ - bool isExpressedInPixels() const - { - return mInfoType == PIX; - } - /**converts the passed board into meters - */ - MarkerMap convertToMeters(float markerSize) const; - // simple way of knowing which elements detected in an image are from this markermap - // returns the indices of the elements in the vector 'markers' that belong to this set - // Example: The set has the elements with ids 10,21,31,41,92 - // The input vector has the markers with ids 10,88,9,12,41 - // function returns {0,4}, because element 0 (10) of the vector belongs to the set, and - // also element 4 (41) belongs to the set - std::vector getIndices(const vector& markers) const; - - /**Returns the Info of the marker with id specified. If not in the set, throws exception - */ - const Marker3DInfo& getMarker3DInfo(int id) const; - - /**Returns the index of the marker (in this object) with id indicated, if is in the vector - */ - int getIndexOfMarkerId(int id) const; - /**Set in the list passed the set of the ids - */ - void getIdList(vector& ids, bool append = true) const; - - /**Returns an image of this to be printed. This object must be in pixels @see - * isExpressedInPixels(). If not,please provide the METER2PIX conversion parameter - */ - cv::Mat getImage(float METER2PIX = 0) const; - - /**Saves the board info to a file - */ - void saveToFile(std::string sfile); - /**Reads board info from a file - */ - void readFromFile(std::string sfile); - - // calculates the camera location w.r.t. the map using the information provided - // returns the - std::pair calculateExtrinsics(const std::vector& markers, - float markerSize, cv::Mat CameraMatrix, - cv::Mat Distorsion); - - // returns string indicating the dictionary - inline std::string getDictionary() const - { - return dictionary; - } - - enum Marker3DInfoType - { - NONE = -1, - PIX = 0, - METERS = 1 - }; // indicates if the data in MakersInfo is expressed in meters or in pixels so as to do conversion internally - // returns string indicating the dictionary - void setDictionary(std::string d) - { - dictionary = d; - } - - // variable indicates if the data in MakersInfo is expressed in meters or in pixels so - // as to do conversion internally - int mInfoType; - -private: - // dictionary it belongs to (if any) - std::string dictionary; - -private: - /**Saves the board info to a file - */ - void saveToFile(cv::FileStorage& fs); - /**Reads board info from a file - */ - void readFromFile(cv::FileStorage& fs); - -public: - void toStream(std::ostream& str); - void fromStream(std::istream& str); -}; -} // namespace aruco - -#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/picoflann.h b/legacy/aruco_ros/aruco/include/aruco/picoflann.h deleted file mode 100755 index 3d2716a38..000000000 --- a/legacy/aruco_ros/aruco/include/aruco/picoflann.h +++ /dev/null @@ -1,792 +0,0 @@ -/** -Copyright 2020 Rafael Muñoz Salinas. All rights reserved. - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation version 3 of the License. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . -*/ -#ifndef PicoFlann_H -#define PicoFlann_H -#include -#include -#include -#include -#include -#include -#include -namespace picoflann -{ - - -/** - * @brief The KdTreeIndex class is the simplest an minimal method to use kdtrees. - * You only must define an adapter, that tells the class how to access the i-th dimension -of your element. Here are two examples showing how easy it is: - * - * You can use any container providing the methods size() ant at(). - * You must create the adapter that must implement the method : T operator( )(const E -&elem, int dim)const; T=float or double, E is your element type - * - * You can easily save/read the index to/from an stream using toStream() and fromStream(). -Please notice that the data of the container is not copied in the KdTreeIndex so you - * must be sure it is available when doing the searchs - * - * See examples below - - * -#include -#include -#include -#include "picoflann.h" -void example1(){ - //Data type - struct Point2f{ - Point2f(float X,float Y) { x=X;y=Y; } - float x,y; - }; - - // Adapter. - // Given an Point2f element, it returns the element of the dimension specified such -that dim=0 is x and dim=1 is y struct PicoFlann_Point2fAdapter{ inline float operator( -)(const Point2f &elem, int dim)const { return dim==0?elem.x:elem.y; } - }; - - //create the points randomly - std::default_random_engine generator; - std::uniform_real_distribution distribution(-1000.0,1000.0); - std::vector data; - for(size_t i=0;i<1000;i++) - data.push_back( Point2f ( distribution(generator),distribution(generator))); - ///------------------------------------------------------------ - /// Create the kdtree - picoflann::KdTreeIndex<2,PicoFlann_Point2fAdapter> kdtree;//2 is the number of -dimensions kdtree.build(data); - //search 10 nearest neibors to point (0,0) - std::vector > res=kdtree.searchKnn(data,Point2f(0,0),10); - - //radius search in a radius of 30 (the resulting distances are squared) - res=kdtree.radiusSearch(data,Point2f(0,0),30); - //another version - kdtree.radiusSearch(res,data,Point2f(0,0),30); - - //you can save to a file - std::ofstream file_out("out.bin",std::ios::binary); - kdtree.toStream(file_out); - - //recover from the file - picoflann::KdTreeIndex<2,PicoFlann_Point2fAdapter> kdtree2; - std::ifstream file_in("out.bin",std::ios::binary); - kdtree2.fromStream(file_in); - res=kdtree2.radiusSearch(data,Point2f(0,0),30); - -} - - -//Using an array of 3d points -void example2(){ - - struct Point3f{ - Point3f(float X,float Y,float Z) { data[0]=X;data[1]=Y;data[2]=Z; } - float data[3]; - }; - struct PicoFlann_Array3f_Adapter{ - inline float operator( )(const Point3f &elem, int dim)const{ return -elem.data[dim]; } - }; - struct PicoFlann_Array3f_Container{ - const Point3f *_array; - size_t _size; - PicoFlann_Array3f_Container(float *array,size_t -Size):_array((Point3f*)array),_size(Size){} inline size_t size()const{return _size;} inline -const Point3f &at(int idx)const{ return _array [idx];} - }; - std::default_random_engine generator; - std::uniform_real_distribution distribution(-1000.0,1000.0); - - int nPoints=1000; - float *array=new float[nPoints*3]; - for(size_t i=0;i<1000*3;i++) - array[i]= distribution(generator); - - ///------------------------------------------------------------ - picoflann::KdTreeIndex<3,PicoFlann_Array3f_Adapter> kdtree;// 3 is the number of -dimensions, L2 is the type of distance kdtree.build( -PicoFlann_Array3f_Container(array,nPoints)); PicoFlann_Array3f_Container -p3container(array,nPoints); std::vector > -res=kdtree.searchKnn(p3container,Point3f(0,0,0),10); - res=kdtree.radiusSearch(p3container,Point3f(0,0,0),30); -} - * - */ -struct L2 -{ - template - double compute_distance(const ElementType &elema, const ElementType2 &elemb, - const Adapter &adapter, int ndims, double worstDist) const - { - // compute dist - double sqd = 0; - for (int i = 0; i < ndims; i++) - { - double d = adapter(elema, i) - adapter(elemb, i); - sqd += d * d; - if (sqd > worstDist) - return sqd; - } - return sqd; - } -}; - -template -class KdTreeIndex -{ -public: - /** - *Builds the index using the data passes in your container and the adapter - */ - template - inline void build(const Container &container) - { - _index.clear(); - _index.reserve(container.size() * 2); - _index.dims = DIMS; - _index.nValues = container.size(); - // Create root and assign all items - all_indices.resize(container.size()); - for (size_t i = 0; i < container.size(); i++) - all_indices[i] = i; - if (container.size() == 0) - return; - computeBoundingBox(_index.rootBBox, 0, all_indices.size(), container); - _index.push_back(Node()); - divideTree(_index, 0, 0, all_indices.size(), _index.rootBBox, container); - } - - - inline void clear() - { - _index.clear(); - all_indices.clear(); - } - - // saves to a stream. Note that the container is not saved! - inline void toStream(std::ostream &str) const; - // reads from an stream. Note that the container is not readed! - inline void fromStream(std::istream &str); - - template - inline std::vector > searchKnn(const Container &container, - const Type &val, int nn, - bool sorted = true) - { - std::vector > res; - generalSearch(res, container, val, -1, sorted, nn); - return res; - } - - - template - inline std::vector > radiusSearch(const Container &container, - const Type &val, double dist, - bool sorted = true, - int maxNN = -1) const - { - std::vector > res; - generalSearch(res, container, val, dist, sorted, maxNN); - return res; - } - - - template - inline void radiusSearch(std::vector > &res, - const Container &container, const Type &val, double dist, - bool sorted = true, int maxNN = -1) - { - generalSearch(res, container, val, dist, sorted, maxNN); - } - - - -private: - struct Node - { - inline bool isLeaf() const - { - return _ileft == -1 && _iright == -1; - } - inline void setNodesInfo(uint32_t l, uint32_t r) - { - _ileft = l; - _iright = r; - } - double div_val; - uint16_t col_index; // column index of the feature vector - std::vector idx; - float divhigh, divlow; - int64_t _ileft = -1, _iright = -1; // children - void toStream(std::ostream &str) const; - void fromStream(std::istream &str); - }; - - - typedef std::vector > BoundingBox; - - struct Index : public std::vector - { - BoundingBox rootBBox; - int dims = 0; - int nValues = 0; // number of elements of the set when call to build - inline void toStream(std::ostream &str) const; - inline void fromStream(std::istream &str); - }; - Index _index; - DistanceType _distance; - Adapter adapter; - // next are only used during build - std::vector all_indices; - int _maxLeafSize = 10; - - - - // temporal used during creation of the tree - template - void divideTree(Index &index, uint64_t nodeIdx, int startIndex, int endIndex, - BoundingBox &bbox, const Container &container) - { - // std::cout<<"CREATE="<(bbox, startIndex, endIndex, container); - // std::cout<(_bbox, startIndex, endIndex, container); - // //get the dimension with highest distnaces - double max_spread = -1; - currNode.col_index = 0; - for (int i = 0; i < DIMS; i++) - { - double spread = _bbox[i].second - _bbox[i].first; // maxV[i]-minV[i]; - if (spread > max_spread) - { - max_spread = spread; - currNode.col_index = i; - } - } - // select the split val - double split_val = (bbox[currNode.col_index].first + bbox[currNode.col_index].second) / 2; - if (split_val < _bbox[currNode.col_index].first) - currNode.div_val = _bbox[currNode.col_index].first; - else if (split_val > _bbox[currNode.col_index].second) - currNode.div_val = _bbox[currNode.col_index].second; - else - currNode.div_val = split_val; - } - else - { - /// SELECT THE COL (DIMENSION) ON WHICH PARTITION IS MADE - double var[DIMS], mean[DIMS]; - // compute the variance of the features to select the highest one - mean_var_calculate(startIndex, endIndex, var, mean, container); - currNode.col_index = 0; - // select element with highest variance - for (int i = 1; i < DIMS; i++) - if (var[i] > var[currNode.col_index]) - currNode.col_index = i; - - // now sort all indices according to the selected value - - currNode.div_val = mean[currNode.col_index]; - } - - - - // compute the variance of the features to select the highest one - // now sort all indices according to the selected value - - // std::cout<<" CUT FEAT="< -void KdTreeIndex::toStream(std::ostream &str) const -{ - _index.toStream(str); -} - -template -void KdTreeIndex::fromStream(std::istream &str) -{ - _index.fromStream(str); -} -} // namespace picoflann - -#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/posetracker.h b/legacy/aruco_ros/aruco/include/aruco/posetracker.h deleted file mode 100755 index a7df97e02..000000000 --- a/legacy/aruco_ros/aruco/include/aruco/posetracker.h +++ /dev/null @@ -1,189 +0,0 @@ -/** -Copyright 2020 Rafael Muñoz Salinas. All rights reserved. - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation version 3 of the License. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . -*/ - -#ifndef ARUCO_POSETRACKER -#define ARUCO_POSETRACKER - -#include "aruco_export.h" -#include "cameraparameters.h" -#include "marker.h" -#include "markermap.h" - -#include -#include - -namespace aruco -{ -/**Tracks the position of a marker. Instead of trying to calculate the position from - * scratch everytime, it uses past - * observations to - * estimate the pose. It should solve the problem with ambiguities that arises in some - * circumstances - * - * To solve ambiguity we follow the following idea. We are using the IPPE method, which - * returns the two possible - * solutions s0,s1. - * Error solution has a reprojection error e(s_i) and it is assumed that e(s0)& p3d, - const std::vector& p2d, const cv::Mat& cam_matrix, - const cv::Mat& dist, cv::Mat& r_io, cv::Mat& t_io); -}; -/**Tracks the position of a markermap - */ - -class ARUCO_EXPORT MarkerMapPoseTracker -{ -public: - MarkerMapPoseTracker(); - // Sets the parameters required for operation - // If the msconf has data expressed in meters, then the markerSize parameter is not - // required. If it is in - // pixels, the markersize will be used to - // transform to meters - // Throws exception if wrong configuraiton - void setParams(const CameraParameters& cam_params, const MarkerMap& msconf, - float markerSize = -1); - // indicates if the call to setParams has been successfull and this object is ready to - // call estimatePose - bool isValid() const - { - return _isValid; - } - - // resets current state - void reset() - { - _isValid = false; - _rvec = cv::Mat(); - _tvec = cv::Mat(); - } - - // estimates camera pose wrt the markermap - // returns true if pose has been obtained and false otherwise - bool estimatePose(const std::vector& v_m); - - // returns the 4x4 transform matrix. Returns an empty matrix if last call to - // estimatePose returned false - cv::Mat getRTMatrix() const; - // return the rotation vector. Returns an empty matrix if last call to estimatePose - // returned false - const cv::Mat getRvec() const - { - return _rvec; - } - // return the translation vector. Returns an empty matrix if last call to estimatePose - // returned false - const cv::Mat getTvec() const - { - return _tvec; - } - // prevents from big jumps. If the difference between current and previous positions are - // greater than the value indicated - // assumes no good tracking and the pose will be set as null - void setMaxTrackingDifference(float maxTranslation, float maxAngle) - { - _maxTranslation = maxTranslation; - _maxAngle = maxAngle; - } - - void setMinErrorRatio(float minErrorRatio) - { - aruco_minerrratio_valid = minErrorRatio; - } - - double getInitialErr() - { - return _initial_err; - } - -protected: - cv::Mat _rvec, _tvec; // current poses - aruco::CameraParameters _cam_params; - MarkerMap _msconf; - std::map _map_mm; - bool _isValid; - cv::Mat relocalization(const std::vector& v_m); - float aruco_minerrratio_valid; /*tau_e in paper*/ - std::map marker_m2g; // for each marker, the transform from the - // global ref system to the marker ref system - float _maxTranslation = -1, _maxAngle = -1; - double _initial_err; -}; -}; // namespace aruco - -#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/timers.h b/legacy/aruco_ros/aruco/include/aruco/timers.h deleted file mode 100755 index 65210762f..000000000 --- a/legacy/aruco_ros/aruco/include/aruco/timers.h +++ /dev/null @@ -1,289 +0,0 @@ -/** -Copyright 2020 Rafael Muñoz Salinas. All rights reserved. - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation version 3 of the License. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . -*/ - -#ifndef ARUCO_TIMERS_H -#define ARUCO_TIMERS_H - - -#include -#include -#include -#include -#include "aruco_export.h" -namespace aruco -{ - -// timer -struct ScopeTimer -{ - std::chrono::high_resolution_clock::time_point begin, end; - - std::string name; - bool use; - enum SCALE - { - NSEC, - MSEC, - SEC - }; - SCALE sc; - ScopeTimer(std::string name_, bool use_ = true, SCALE _sc = MSEC) - { -#ifdef USE_TIMERS - name = name_; - use = use_; - sc = _sc; - begin = std::chrono::high_resolution_clock::now(); -#else - (void)name_; - (void)use_; - (void)_sc; - -#endif - } - ~ScopeTimer() - { -#ifdef USE_TIMERS - if (use) - { - end = std::chrono::high_resolution_clock::now(); - double fact = 1; - std::string str; - switch (sc) - { - case NSEC: - fact = 1; - str = "ns"; - break; - case MSEC: - fact = 1e6; - str = "ms"; - break; - case SEC: - fact = 1e9; - str = "s"; - break; - }; - - std::cout << "Time(" << name << ")= " - << double( - std::chrono::duration_cast(end - begin).count()) / - fact - << str << std::endl; - ; - } -#endif - } -}; - -struct ScopedTimerEvents -{ - enum SCALE - { - NSEC, - MSEC, - SEC - }; - SCALE sc; - std::vector vtimes; - std::vector names; - std::string _name; - - ScopedTimerEvents(std::string name = "", bool start = true, SCALE _sc = MSEC) - { -#ifdef USE_TIMERS - if (start) - add("start"); - sc = _sc; - _name = name; -#else - (void)name; - (void)start; - (void)_sc; -#endif - } - - void add(std::string name) - { -#ifdef USE_TIMERS - vtimes.push_back(std::chrono::high_resolution_clock::now()); - names.push_back(name); -#else - (void)name; -#endif - } - void addspaces(std::vector &str) - { - // get max size - size_t m = 0; - for (auto &s : str) - m = std::max(size_t(s.size()), m); - for (auto &s : str) - { - while (s.size() < m) - s.push_back(' '); - } - } - - ~ScopedTimerEvents() - { -#ifdef USE_TIMERS - double fact = 1; - std::string str; - switch (sc) - { - case NSEC: - fact = 1; - str = "ns"; - break; - case MSEC: - fact = 1e6; - str = "ms"; - break; - case SEC: - fact = 1e9; - str = "s"; - break; - }; - - add("total"); - addspaces(names); - for (size_t i = 1; i < vtimes.size(); i++) - { - std::cout << "Time(" << _name << "|" << names[i] << " ):" - << double(std::chrono::duration_cast( - vtimes[i] - vtimes[i - 1]) - .count()) / - fact - << str << " " - << double(std::chrono::duration_cast(vtimes[i] - - vtimes[0]) - .count()) / - fact - << str /*<<"\t"<< vtimes[i].time_since_epoch().count()*/ << std::endl; - } -#endif - } -}; - -struct ARUCO_EXPORT Timer -{ - enum SCALE - { - NSEC, - MSEC, - SEC - }; - - std::chrono::high_resolution_clock::time_point _s; - double sum = 0, n = 0; - std::string _name; - Timer() - { - } - - Timer(std::string name) : _name(name) - { - } - void setName(std::string name) - { - _name = name; - } - void start() - { - _s = std::chrono::high_resolution_clock::now(); - } - void end() - { - auto e = std::chrono::high_resolution_clock::now(); - sum += double(std::chrono::duration_cast(e - _s).count()); - n++; - } - - void print(SCALE sc = MSEC) - { -#ifdef USE_TIMERS - double fact = 1; - std::string str; - switch (sc) - { - case NSEC: - fact = 1; - str = "ns"; - break; - case MSEC: - fact = 1e6; - str = "ms"; - break; - case SEC: - fact = 1e9; - str = "s"; - break; - }; - std::cout << "Time(" << _name << ")= " << (sum / n) / fact << str << std::endl; -#else - (void)sc; - -#endif - } - - double getAverage(SCALE sc = MSEC) const - { - double fact = 1; - switch (sc) - { - case NSEC: - fact = 1; - break; - case MSEC: - fact = 1e6; - break; - case SEC: - fact = 1e9; - break; - }; - return (sum / n) / fact; - } -}; -inline std::string __pf_aruco_methodName(std::string prettyFunction) -{ - std::string res; - res.reserve(prettyFunction.size()); - bool spaceFound = false; - for (auto c : prettyFunction) - { - if (c == ' ' && !spaceFound) - spaceFound = true; - else if (c != '(' && spaceFound) - res.push_back(c); - else if (c == '(' && spaceFound) - break; - } - return res; -} -#ifdef USE_TIMERS - -#define __ARUCO_ADDTIMER__ \ - ScopedTimerEvents XTIMER_X(__pf_aruco_methodName(__PRETTY_FUNCTION__)); -#define __ARUCO_TIMER_EVENT__(Y) XTIMER_X.add(Y); -#else -#define __ARUCO_ADDTIMER__ -#define __ARUCO_TIMER_EVENT__(Y) -#endif -} // namespace aruco - - -#endif diff --git a/legacy/aruco_ros/aruco/package.xml b/legacy/aruco_ros/aruco/package.xml deleted file mode 100644 index 917b8a197..000000000 --- a/legacy/aruco_ros/aruco/package.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - aruco - 2.2.2 - - The ARUCO Library has been developed by the Ava group of the Univeristy of Cordoba(Spain). - It provides real-time marker based 3D pose estimation using AR markers. - - Sai Kishor Kothakota - MIT - http://www.uco.es/investiga/grupos/ava/node/26 - Rafael Muñoz Salinas - Bence Magyar - - catkin - cv_bridge - eigen - diff --git a/legacy/aruco_ros/aruco/src/aruco/CMakeLists.txt b/legacy/aruco_ros/aruco/src/aruco/CMakeLists.txt deleted file mode 100644 index 5acd69442..000000000 --- a/legacy/aruco_ros/aruco/src/aruco/CMakeLists.txt +++ /dev/null @@ -1,77 +0,0 @@ -set(sources - cameraparameters.cpp - cvdrawingutils.cpp - dictionary.cpp - ippe.cpp - marker.cpp - markerdetector.cpp - markerlabeler.cpp - markermap.cpp - posetracker.cpp - markerlabelers/dictionary_based.cpp - debug.cpp - markerlabelers/svmmarkers.cpp -) - -set(headers - aruco_export.h - cameraparameters.h - cvdrawingutils.h - dictionary.h - ippe.h - marker.h - markerdetector.h - markerlabeler.h - markermap.h - posetracker.h - markerlabelers/dictionary_based.h - timers.h - debug.h - aruco.h - markerlabelers/svmmarkers.h -) - -add_library(aruco ${sources} ${headers}) -IF(NOT ARUCO_ANDROID) - -set_target_properties(aruco PROPERTIES # create *nix style library versions + symbolic links - DEFINE_SYMBOL ARUCO_DSO_EXPORTS - VERSION ${PROJECT_VERSION} - SOVERSION ${PROJECT_SOVERSION} - CLEAN_DIRECT_OUTPUT 1 # allow creating static and shared libs without conflicts - OUTPUT_NAME "aruco${PROJECT_DLLVERSION}" # avoid conflicts between library and binary target names -) - -#include(GenerateExportHeader) -#generate_export_header(aruco) - -target_link_libraries(aruco PUBLIC opencv_core) -target_link_libraries(aruco PRIVATE opencv_imgproc opencv_calib3d opencv_features2d opencv_ml) - -target_include_directories(aruco PUBLIC -# $ -# $ - $ -) - -install(TARGETS aruco EXPORT arucoConfig - RUNTIME DESTINATION bin - LIBRARY DESTINATION lib PERMISSIONS OWNER_READ OWNER_WRITE OWNER_EXECUTE GROUP_READ GROUP_EXECUTE WORLD_READ WORLD_EXECUTE - ARCHIVE DESTINATION lib -) - -install(FILES ${headers} - DESTINATION include/aruco -) - -install(EXPORT arucoConfig DESTINATION "share/aruco/cmake") -ELSE() -MESSAGE(STATUS "ARUCO COMPILATION") -target_link_libraries( # Specifies the target library. - aruco lib_opencv - - # Links the target library to the log library - # included in the NDK. - ${log-lib} ) - -ENDIF() diff --git a/legacy/aruco_ros/aruco/src/aruco/cameraparameters.cpp b/legacy/aruco_ros/aruco/src/aruco/cameraparameters.cpp deleted file mode 100755 index cb6f44053..000000000 --- a/legacy/aruco_ros/aruco/src/aruco/cameraparameters.cpp +++ /dev/null @@ -1,558 +0,0 @@ -/** -Copyright 2020 Rafael Muñoz Salinas. All rights reserved. - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation version 3 of the License. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . -*/ -#include "cameraparameters.h" - -#include -#include - -#include -#include - -using namespace std; -namespace aruco -{ -CameraParameters::CameraParameters() -{ - CameraMatrix = cv::Mat(); - Distorsion = cv::Mat(); - ExtrinsicMatrix = cv::Mat(); - CamSize = cv::Size(-1, -1); -} -/**Creates the object from the info passed - * @param cameraMatrix 3x3 matrix (fx 0 cx, 0 fy cy, 0 0 1) - * @param distorsionCoeff 4x1 matrix (k1,k2,p1,p2) - * @param size image size - */ -CameraParameters::CameraParameters(cv::Mat cameraMatrix, cv::Mat distorsionCoeff, cv::Size size) -{ - setParams(cameraMatrix, distorsionCoeff, size); -} -/** - */ -CameraParameters::CameraParameters(const CameraParameters &CI) -{ - CI.CameraMatrix.copyTo(CameraMatrix); - CI.Distorsion.copyTo(Distorsion); - CI.ExtrinsicMatrix.copyTo(ExtrinsicMatrix); - CamSize = CI.CamSize; -} - -/** - */ -CameraParameters &CameraParameters::operator=(const CameraParameters &CI) -{ - CI.CameraMatrix.copyTo(CameraMatrix); - CI.Distorsion.copyTo(Distorsion); - CI.ExtrinsicMatrix.copyTo(ExtrinsicMatrix); - CamSize = CI.CamSize; - return *this; -} -void CameraParameters::clear() -{ - CameraMatrix = cv::Mat(); - CamSize = cv::Size(-1, -1); - Distorsion = cv::Mat(); -} -/** - */ -void CameraParameters::setParams(cv::Mat cameraMatrix, cv::Mat distorsionCoeff, cv::Size size) -{ - cv::Mat auxCamMatrix; - ExtrinsicMatrix = cv::Mat::zeros(1, 3, CV_64FC1); - if (cameraMatrix.rows == 3 && cameraMatrix.cols == 4) - { - ExtrinsicMatrix.at(0, 0) = cameraMatrix.at(0, 3); - ExtrinsicMatrix.at(0, 1) = cameraMatrix.at(1, 3); - ExtrinsicMatrix.at(0, 2) = cameraMatrix.at(2, 3); - - // Change size to 3x3 - auxCamMatrix = cameraMatrix(cv::Rect(0, 0, 3, 3)).clone(); - cameraMatrix = auxCamMatrix; - } - - if (cameraMatrix.rows != 3 || cameraMatrix.cols != 3) - throw cv::Exception(9000, "invalid input cameraMatrix", "CameraParameters::setParams", - __FILE__, __LINE__); - cameraMatrix.convertTo(CameraMatrix, CV_32FC1); - if (distorsionCoeff.total() < 4 || distorsionCoeff.total() >= 7) - throw cv::Exception(9000, "invalid input distorsionCoeff", - "CameraParameters::setParams", __FILE__, __LINE__); - cv::Mat auxD; - - distorsionCoeff.convertTo(Distorsion, CV_32FC1); - - // Distorsion.create(1,4,CV_32FC1); - // for (int i=0;i<4;i++) - // Distorsion.ptr(0)[i]=auxD.ptr(0)[i]; - - CamSize = size; -} - -/** - */ -cv::Point3f CameraParameters::getCameraLocation(const cv::Mat &Rvec, const cv::Mat &Tvec) -{ - cv::Mat m33(3, 3, CV_32FC1); - cv::Rodrigues(Rvec, m33); - - cv::Mat m44 = cv::Mat::eye(4, 4, CV_32FC1); - for (int i = 0; i < 3; i++) - for (int j = 0; j < 3; j++) - m44.at(i, j) = m33.at(i, j); - - // now, add translation information - for (int i = 0; i < 3; i++) - m44.at(i, 3) = Tvec.ptr(0)[i]; - - - // invert the matrix - m44.inv(); - return cv::Point3f(m44.at(0, 3), m44.at(1, 3), m44.at(2, 3)); -} - -/**Saves this to a file - */ -void CameraParameters::saveToFile(string path, bool inXML) -{ - if (!isValid()) - throw cv::Exception(9006, "invalid object", "CameraParameters::saveToFile", __FILE__, __LINE__); - if (!inXML) - { - ofstream file(path.c_str()); - if (!file) - throw cv::Exception(9006, "could not open file:" + path, - "CameraParameters::saveToFile", __FILE__, __LINE__); - file << "# Aruco 1.0 CameraParameters" << endl; - file << "fx = " << CameraMatrix.at(0, 0) << endl; - file << "cx = " << CameraMatrix.at(0, 2) << endl; - file << "fy = " << CameraMatrix.at(1, 1) << endl; - file << "cy = " << CameraMatrix.at(1, 2) << endl; - file << "k1 = " << Distorsion.at(0, 0) << endl; - file << "k2 = " << Distorsion.at(1, 0) << endl; - file << "p1 = " << Distorsion.at(2, 0) << endl; - file << "p2 = " << Distorsion.at(3, 0) << endl; - file << "tx = " << ExtrinsicMatrix.at(0, 0) << std::endl; - file << "ty = " << ExtrinsicMatrix.at(1, 0) << std::endl; - file << "tz = " << ExtrinsicMatrix.at(2, 0) << std::endl; - file << "width = " << CamSize.width << endl; - file << "height = " << CamSize.height << endl; - } - else - { - cv::FileStorage fs(path, cv::FileStorage::WRITE); - fs << "image_width" << CamSize.width; - fs << "image_height" << CamSize.height; - fs << "camera_matrix" << CameraMatrix; - fs << "distortion_coefficients" << Distorsion; - fs << "extrinsics" << ExtrinsicMatrix; - } -} - -/**Adjust the parameters to the size of the image indicated - */ -void CameraParameters::resize(cv::Size size) -{ - if (!isValid()) - throw cv::Exception(9007, "invalid object", "CameraParameters::resize", __FILE__, __LINE__); - if (size == CamSize) - return; - // now, read the camera size - // resize the camera parameters to fit this image size - float AxFactor = float(size.width) / float(CamSize.width); - float AyFactor = float(size.height) / float(CamSize.height); - CameraMatrix.at(0, 0) *= AxFactor; - CameraMatrix.at(0, 2) *= AxFactor; - CameraMatrix.at(1, 1) *= AyFactor; - CameraMatrix.at(1, 2) *= AyFactor; - CamSize = size; -} - -/**** - * - * - * - * - */ -void CameraParameters::readFromXMLFile(string filePath) -{ - cv::FileStorage fs(filePath, cv::FileStorage::READ); - if (!fs.isOpened()) - throw std::runtime_error("CameraParameters::readFromXMLFile could not open file:" + filePath); - int w = -1, h = -1; - cv::Mat MCamera, MDist, MExtrinsics; - - - fs["image_width"] >> w; - fs["image_height"] >> h; - fs["distortion_coefficients"] >> MDist; - fs["camera_matrix"] >> MCamera; - fs["extrinsics"] >> MExtrinsics; - - if (MCamera.cols == 0 || MCamera.rows == 0) - { - fs["Camera_Matrix"] >> MCamera; - if (MCamera.cols == 0 || MCamera.rows == 0) - throw cv::Exception(9007, "File :" + filePath + " does not contains valid camera matrix", - "CameraParameters::readFromXML", __FILE__, __LINE__); - } - - if (w == -1 || h == 0) - { - fs["image_Width"] >> w; - fs["image_Height"] >> h; - if (w == -1 || h == 0) - throw cv::Exception(9007, "File :" + filePath + " does not contains valid camera dimensions", - "CameraParameters::readFromXML", __FILE__, __LINE__); - } - if (MCamera.type() != CV_32FC1) - MCamera.convertTo(CameraMatrix, CV_32FC1); - else - CameraMatrix = MCamera; - - if (MDist.total() < 4) - { - fs["Distortion_Coefficients"] >> MDist; - if (MDist.total() < 4) - throw cv::Exception(9007, "File :" + filePath + " does not contains valid distortion_coefficients", - "CameraParameters::readFromXML", __FILE__, __LINE__); - } - // convert to 32 and get the 4 first elements only - cv::Mat mdist32; - MDist.convertTo(mdist32, CV_32FC1); - // Distorsion.create(1,4,CV_32FC1); - // for (int i=0;i<4;i++) - // Distorsion.ptr(0)[i]=mdist32.ptr(0)[i]; - - Distorsion.create(1, 5, CV_32FC1); - for (int i = 0; i < 5; i++) - Distorsion.ptr(0)[i] = mdist32.ptr(0)[i]; - CamSize.width = w; - CamSize.height = h; -} -/**** - * - */ -void CameraParameters::glGetProjectionMatrix(cv::Size orgImgSize, cv::Size size, - double proj_matrix[16], double gnear, - double gfar, bool invert) -{ - if (cv::countNonZero(Distorsion) != 0) - std::cerr << "CameraParameters::glGetProjectionMatrix :: The camera has distortion coefficients " - << __FILE__ << " " << __LINE__ << endl; - if (isValid() == false) - throw cv::Exception(9100, "invalid camera parameters", - "CameraParameters::glGetProjectionMatrix", __FILE__, __LINE__); - - // Deterime the rsized info - double Ax = double(size.width) / double(orgImgSize.width); - double Ay = double(size.height) / double(orgImgSize.height); - double _fx = CameraMatrix.at(0, 0) * Ax; - double _cx = CameraMatrix.at(0, 2) * Ax; - double _fy = CameraMatrix.at(1, 1) * Ay; - double _cy = CameraMatrix.at(1, 2) * Ay; - double cparam[3][4] = { { _fx, 0, _cx, 0 }, { 0, _fy, _cy, 0 }, { 0, 0, 1, 0 } }; - - argConvGLcpara2(cparam, size.width, size.height, gnear, gfar, proj_matrix, invert); -} - -/******************* - * - * - *******************/ -double CameraParameters::norm(double a, double b, double c) -{ - return (sqrt(a * a + b * b + c * c)); -} - -/******************* - * - * - *******************/ - -double CameraParameters::dot(double a1, double a2, double a3, double b1, double b2, double b3) -{ - return (a1 * b1 + a2 * b2 + a3 * b3); -} - -/******************* - * - * - *******************/ - -void CameraParameters::argConvGLcpara2(double cparam[3][4], int width, int height, - double gnear, double gfar, double m[16], bool invert) -{ - double icpara[3][4]; - double trans[3][4]; - double p[3][3], q[4][4]; - int i, j; - - cparam[0][2] *= -1.0; - cparam[1][2] *= -1.0; - cparam[2][2] *= -1.0; - - if (arParamDecompMat(cparam, icpara, trans) < 0) - throw cv::Exception(9002, "parameter error", "MarkerDetector::argConvGLcpara2", - __FILE__, __LINE__); - - for (i = 0; i < 3; i++) - { - for (j = 0; j < 3; j++) - { - p[i][j] = icpara[i][j] / icpara[2][2]; - } - } - q[0][0] = (2.0 * p[0][0] / width); - q[0][1] = (2.0 * p[0][1] / width); - q[0][2] = ((2.0 * p[0][2] / width) - 1.0); - q[0][3] = 0.0; - - q[1][0] = 0.0; - q[1][1] = (2.0 * p[1][1] / height); - q[1][2] = ((2.0 * p[1][2] / height) - 1.0); - q[1][3] = 0.0; - - q[2][0] = 0.0; - q[2][1] = 0.0; - q[2][2] = (gfar + gnear) / (gfar - gnear); - q[2][3] = -2.0 * gfar * gnear / (gfar - gnear); - - q[3][0] = 0.0; - q[3][1] = 0.0; - q[3][2] = 1.0; - q[3][3] = 0.0; - - for (i = 0; i < 4; i++) - { - for (j = 0; j < 3; j++) - { - m[i + j * 4] = q[i][0] * trans[0][j] + q[i][1] * trans[1][j] + q[i][2] * trans[2][j]; - } - m[i + 3 * 4] = - q[i][0] * trans[0][3] + q[i][1] * trans[1][3] + q[i][2] * trans[2][3] + q[i][3]; - } - - if (!invert) - { - m[13] = -m[13]; - m[1] = -m[1]; - m[5] = -m[5]; - m[9] = -m[9]; - } -} -/******************* - * - * - *******************/ - -int CameraParameters::arParamDecompMat(double source[3][4], double cpara[3][4], - double trans[3][4]) -{ - int r, c; - double Cpara[3][4]; - double rem1, rem2, rem3; - - if (source[2][3] >= 0) - { - for (r = 0; r < 3; r++) - { - for (c = 0; c < 4; c++) - { - Cpara[r][c] = source[r][c]; - } - } - } - else - { - for (r = 0; r < 3; r++) - { - for (c = 0; c < 4; c++) - { - Cpara[r][c] = -(source[r][c]); - } - } - } - - for (r = 0; r < 3; r++) - { - for (c = 0; c < 4; c++) - { - cpara[r][c] = 0.0; - } - } - cpara[2][2] = norm(Cpara[2][0], Cpara[2][1], Cpara[2][2]); - trans[2][0] = Cpara[2][0] / cpara[2][2]; - trans[2][1] = Cpara[2][1] / cpara[2][2]; - trans[2][2] = Cpara[2][2] / cpara[2][2]; - trans[2][3] = Cpara[2][3] / cpara[2][2]; - - cpara[1][2] = - dot(trans[2][0], trans[2][1], trans[2][2], Cpara[1][0], Cpara[1][1], Cpara[1][2]); - rem1 = Cpara[1][0] - cpara[1][2] * trans[2][0]; - rem2 = Cpara[1][1] - cpara[1][2] * trans[2][1]; - rem3 = Cpara[1][2] - cpara[1][2] * trans[2][2]; - cpara[1][1] = norm(rem1, rem2, rem3); - trans[1][0] = rem1 / cpara[1][1]; - trans[1][1] = rem2 / cpara[1][1]; - trans[1][2] = rem3 / cpara[1][1]; - - cpara[0][2] = - dot(trans[2][0], trans[2][1], trans[2][2], Cpara[0][0], Cpara[0][1], Cpara[0][2]); - cpara[0][1] = - dot(trans[1][0], trans[1][1], trans[1][2], Cpara[0][0], Cpara[0][1], Cpara[0][2]); - rem1 = Cpara[0][0] - cpara[0][1] * trans[1][0] - cpara[0][2] * trans[2][0]; - rem2 = Cpara[0][1] - cpara[0][1] * trans[1][1] - cpara[0][2] * trans[2][1]; - rem3 = Cpara[0][2] - cpara[0][1] * trans[1][2] - cpara[0][2] * trans[2][2]; - cpara[0][0] = norm(rem1, rem2, rem3); - trans[0][0] = rem1 / cpara[0][0]; - trans[0][1] = rem2 / cpara[0][0]; - trans[0][2] = rem3 / cpara[0][0]; - - trans[1][3] = (Cpara[1][3] - cpara[1][2] * trans[2][3]) / cpara[1][1]; - trans[0][3] = - (Cpara[0][3] - cpara[0][1] * trans[1][3] - cpara[0][2] * trans[2][3]) / cpara[0][0]; - - for (r = 0; r < 3; r++) - { - for (c = 0; c < 3; c++) - { - cpara[r][c] /= cpara[2][2]; - } - } - - return 0; -} - -/****** - * - */ -void CameraParameters::OgreGetProjectionMatrix(cv::Size orgImgSize, cv::Size size, - double proj_matrix[16], double gnear, - double gfar, bool invert) -{ - double temp_matrix[16]; - (*this).glGetProjectionMatrix(orgImgSize, size, temp_matrix, gnear, gfar, invert); - proj_matrix[0] = -temp_matrix[0]; - proj_matrix[1] = -temp_matrix[4]; - proj_matrix[2] = -temp_matrix[8]; - proj_matrix[3] = temp_matrix[12]; - - proj_matrix[4] = -temp_matrix[1]; - proj_matrix[5] = -temp_matrix[5]; - proj_matrix[6] = -temp_matrix[9]; - proj_matrix[7] = temp_matrix[13]; - - proj_matrix[8] = -temp_matrix[2]; - proj_matrix[9] = -temp_matrix[6]; - proj_matrix[10] = -temp_matrix[10]; - proj_matrix[11] = temp_matrix[14]; - - proj_matrix[12] = -temp_matrix[3]; - proj_matrix[13] = -temp_matrix[7]; - proj_matrix[14] = -temp_matrix[11]; - proj_matrix[15] = temp_matrix[15]; -} -/****** - * - */ - -cv::Mat CameraParameters::getRTMatrix(const cv::Mat &R_, const cv::Mat &T_, int forceType) -{ - cv::Mat M; - cv::Mat R, T; - R_.copyTo(R); - T_.copyTo(T); - if (R.type() == CV_64F) - { - assert(T.type() == CV_64F); - cv::Mat Matrix = cv::Mat::eye(4, 4, CV_64FC1); - - cv::Mat R33 = cv::Mat(Matrix, cv::Rect(0, 0, 3, 3)); - if (R.total() == 3) - { - cv::Rodrigues(R, R33); - } - else if (R.total() == 9) - { - cv::Mat R64; - R.convertTo(R64, CV_64F); - R.copyTo(R33); - } - for (int i = 0; i < 3; i++) - Matrix.at(i, 3) = T.ptr(0)[i]; - M = Matrix; - } - else if (R.depth() == CV_32F) - { - cv::Mat Matrix = cv::Mat::eye(4, 4, CV_32FC1); - cv::Mat R33 = cv::Mat(Matrix, cv::Rect(0, 0, 3, 3)); - if (R.total() == 3) - { - cv::Rodrigues(R, R33); - } - else if (R.total() == 9) - { - cv::Mat R32; - R.convertTo(R32, CV_32F); - R.copyTo(R33); - } - - for (int i = 0; i < 3; i++) - Matrix.at(i, 3) = T.ptr(0)[i]; - M = Matrix; - } - - if (forceType == -1) - return M; - else - { - cv::Mat MTyped; - M.convertTo(MTyped, forceType); - return MTyped; - } -} - -std::ostream &operator<<(std::ostream &str, const CameraParameters &cp) -{ - str << cp.CamSize.width << " " << cp.CamSize.height << " "; - for (std::size_t i = 0; i < cp.CameraMatrix.total(); i++) - str << cp.CameraMatrix.ptr(0)[i] << " "; - str << cp.Distorsion.total() << " "; - for (std::size_t i = 0; i < cp.Distorsion.total(); i++) - str << cp.Distorsion.ptr(0)[i] << " "; - for (std::size_t i = 0; i < cp.ExtrinsicMatrix.total(); i++) - str << cp.ExtrinsicMatrix.ptr(0)[i] << " "; - return str; -} - -std::istream &operator>>(std::istream &str, CameraParameters &cp) -{ - str >> cp.CamSize.width >> cp.CamSize.height; - cp.CameraMatrix.create(3, 3, CV_32F); - for (std::size_t i = 0; i < cp.CameraMatrix.total(); i++) - str >> cp.CameraMatrix.ptr(0)[i]; - int t; - str >> t; - cp.Distorsion.create(1, t, CV_32F); - for (std::size_t i = 0; i < cp.Distorsion.total(); i++) - str >> cp.Distorsion.ptr(0)[i]; - cp.Distorsion.create(1, 3, CV_32F); - for (std::size_t i = 0; i < cp.ExtrinsicMatrix.total(); i++) - str >> cp.ExtrinsicMatrix.ptr(0)[i]; - return str; -} - -}; // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/cvdrawingutils.cpp b/legacy/aruco_ros/aruco/src/aruco/cvdrawingutils.cpp deleted file mode 100755 index 37484dfeb..000000000 --- a/legacy/aruco_ros/aruco/src/aruco/cvdrawingutils.cpp +++ /dev/null @@ -1,164 +0,0 @@ -/** -Copyright 2020 Rafael Muñoz Salinas. All rights reserved. - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation version 3 of the License. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . -*/ -#include -#include -#include "cvdrawingutils.h" -#include "cameraparameters.h" -using namespace cv; -namespace aruco -{ -void CvDrawingUtils::draw3dAxis(cv::Mat& Image, const CameraParameters& CP, - const cv::Mat& Rvec, const cv::Mat& Tvec, float axis_size) -{ - Mat objectPoints(4, 3, CV_32FC1); - objectPoints.at(0, 0) = 0; - objectPoints.at(0, 1) = 0; - objectPoints.at(0, 2) = 0; - objectPoints.at(1, 0) = axis_size; - objectPoints.at(1, 1) = 0; - objectPoints.at(1, 2) = 0; - objectPoints.at(2, 0) = 0; - objectPoints.at(2, 1) = axis_size; - objectPoints.at(2, 2) = 0; - objectPoints.at(3, 0) = 0; - objectPoints.at(3, 1) = 0; - objectPoints.at(3, 2) = axis_size; - - std::vector imagePoints; - cv::projectPoints(objectPoints, Rvec, Tvec, CP.CameraMatrix, CP.Distorsion, imagePoints); - // draw lines of different colours - cv::line(Image, imagePoints[0], imagePoints[1], Scalar(0, 0, 255, 255), 1); - cv::line(Image, imagePoints[0], imagePoints[2], Scalar(0, 255, 0, 255), 1); - cv::line(Image, imagePoints[0], imagePoints[3], Scalar(255, 0, 0, 255), 1); - putText(Image, "x", imagePoints[1], FONT_HERSHEY_SIMPLEX, 0.6, Scalar(0, 0, 255, 255), 2); - putText(Image, "y", imagePoints[2], FONT_HERSHEY_SIMPLEX, 0.6, Scalar(0, 255, 0, 255), 2); - putText(Image, "z", imagePoints[3], FONT_HERSHEY_SIMPLEX, 0.6, Scalar(255, 0, 0, 255), 2); -} -/**** - * - * - * - ****/ -void CvDrawingUtils::draw3dAxis(cv::Mat& Image, Marker& m, const CameraParameters& CP, int lineSize) -{ - float size = m.ssize * 0.6; - Mat objectPoints(4, 3, CV_32FC1); - objectPoints.at(0, 0) = 0; - objectPoints.at(0, 1) = 0; - objectPoints.at(0, 2) = 0; - objectPoints.at(1, 0) = size; - objectPoints.at(1, 1) = 0; - objectPoints.at(1, 2) = 0; - objectPoints.at(2, 0) = 0; - objectPoints.at(2, 1) = size; - objectPoints.at(2, 2) = 0; - objectPoints.at(3, 0) = 0; - objectPoints.at(3, 1) = 0; - objectPoints.at(3, 2) = size; - - std::vector imagePoints; - cv::projectPoints(objectPoints, m.Rvec, m.Tvec, CP.CameraMatrix, CP.Distorsion, imagePoints); - // draw lines of different colours - cv::line(Image, imagePoints[0], imagePoints[1], Scalar(0, 0, 255, 255), lineSize); - cv::line(Image, imagePoints[0], imagePoints[2], Scalar(0, 255, 0, 255), lineSize); - cv::line(Image, imagePoints[0], imagePoints[3], Scalar(255, 0, 0, 255), lineSize); - putText(Image, "x", imagePoints[1], FONT_HERSHEY_SIMPLEX, 0.6, Scalar(0, 0, 255, 255), 2); - putText(Image, "y", imagePoints[2], FONT_HERSHEY_SIMPLEX, 0.6, Scalar(0, 255, 0, 255), 2); - putText(Image, "z", imagePoints[3], FONT_HERSHEY_SIMPLEX, 0.6, Scalar(255, 0, 0, 255), 2); -} - -/**** - * - * - * - ****/ -void CvDrawingUtils::draw3dCube(cv::Mat& Image, Marker& m, const CameraParameters& CP, - int lineSize, bool setYperpendicular) -{ - Mat objectPoints(8, 3, CV_32FC1); - float halfSize = m.ssize / 2.f; - - if (setYperpendicular) - { - objectPoints.at(0, 0) = -halfSize; - objectPoints.at(0, 1) = 0; - objectPoints.at(0, 2) = -halfSize; - objectPoints.at(1, 0) = halfSize; - objectPoints.at(1, 1) = 0; - objectPoints.at(1, 2) = -halfSize; - objectPoints.at(2, 0) = halfSize; - objectPoints.at(2, 1) = 0; - objectPoints.at(2, 2) = halfSize; - objectPoints.at(3, 0) = -halfSize; - objectPoints.at(3, 1) = 0; - objectPoints.at(3, 2) = halfSize; - - objectPoints.at(4, 0) = -halfSize; - objectPoints.at(4, 1) = m.ssize; - objectPoints.at(4, 2) = -halfSize; - objectPoints.at(5, 0) = halfSize; - objectPoints.at(5, 1) = m.ssize; - objectPoints.at(5, 2) = -halfSize; - objectPoints.at(6, 0) = halfSize; - objectPoints.at(6, 1) = m.ssize; - objectPoints.at(6, 2) = halfSize; - objectPoints.at(7, 0) = -halfSize; - objectPoints.at(7, 1) = m.ssize; - objectPoints.at(7, 2) = halfSize; - } - else - { - objectPoints.at(0, 0) = -halfSize; - objectPoints.at(0, 1) = -halfSize; - objectPoints.at(0, 2) = 0; - objectPoints.at(1, 0) = halfSize; - objectPoints.at(1, 1) = -halfSize; - objectPoints.at(1, 2) = 0; - objectPoints.at(2, 0) = halfSize; - objectPoints.at(2, 1) = halfSize; - objectPoints.at(2, 2) = 0; - objectPoints.at(3, 0) = -halfSize; - objectPoints.at(3, 1) = halfSize; - objectPoints.at(3, 2) = 0; - - objectPoints.at(4, 0) = -halfSize; - objectPoints.at(4, 1) = -halfSize; - objectPoints.at(4, 2) = m.ssize; - objectPoints.at(5, 0) = halfSize; - objectPoints.at(5, 1) = -halfSize; - objectPoints.at(5, 2) = m.ssize; - objectPoints.at(6, 0) = halfSize; - objectPoints.at(6, 1) = halfSize; - objectPoints.at(6, 2) = m.ssize; - objectPoints.at(7, 0) = -halfSize; - objectPoints.at(7, 1) = halfSize; - objectPoints.at(7, 2) = m.ssize; - } - - std::vector imagePoints; - projectPoints(objectPoints, m.Rvec, m.Tvec, CP.CameraMatrix, CP.Distorsion, imagePoints); - // draw lines of different colours - for (int i = 0; i < 4; i++) - cv::line(Image, imagePoints[i], imagePoints[(i + 1) % 4], Scalar(0, 0, 255, 255), lineSize); - - for (int i = 0; i < 4; i++) - cv::line(Image, imagePoints[i + 4], imagePoints[4 + (i + 1) % 4], - Scalar(0, 0, 255, 255), lineSize); - - for (int i = 0; i < 4; i++) - cv::line(Image, imagePoints[i], imagePoints[i + 4], Scalar(0, 0, 255, 255), lineSize); -} -} // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/debug.cpp b/legacy/aruco_ros/aruco/src/aruco/debug.cpp deleted file mode 100755 index 8bce9ee68..000000000 --- a/legacy/aruco_ros/aruco/src/aruco/debug.cpp +++ /dev/null @@ -1,63 +0,0 @@ -/** -Copyright 2020 Rafael Muñoz Salinas. All rights reserved. - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation version 3 of the License. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . -*/ - -#include "debug.h" -#include -namespace aruco -{ -int Debug::level = 2; -std::map Debug::strings; -void Debug::addString(std::string &label, std::string &data) -{ - strings.insert(make_pair(label, data)); -} - -std::string Debug::getString(std::string &str) -{ - auto it = strings.find(str); - if (it == strings.end()) - return ""; - else - return it->second; -} - - -bool Debug::isInited = false; - -void Debug::setLevel(int l) -{ - level = l; - isInited = false; - init(); -} -int Debug::getLevel() -{ - init(); - return level; -} -void Debug::init() -{ - if (!isInited) - { - isInited = true; - if (level >= 1) - { - } - } -} - - -} // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/dictionary.cpp b/legacy/aruco_ros/aruco/src/aruco/dictionary.cpp deleted file mode 100755 index c399c579c..000000000 --- a/legacy/aruco_ros/aruco/src/aruco/dictionary.cpp +++ /dev/null @@ -1,3715 +0,0 @@ -/** -Copyright 2020 Rafael Muñoz Salinas. All rights reserved. - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation version 3 of the License. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . -*/ -#include "dictionary.h" -#include -#include -#include -#include -#include -#include -#include -#include "markermap.h" -#include -#include -using namespace std; -namespace aruco -{ - - -Dictionary Dictionary::load(string info) -{ - if (isPredefinedDictinaryString(info)) - return loadPredefined(info); - else - return loadFromFile(info); -} - - -Dictionary Dictionary::loadFromFile(std::string path) -{ - auto parse = [](const string &str) - { - stringstream sstr(str); - string a, b; - sstr >> a >> b; - return b; - }; - auto _stoi = [](string str) - { - int i; - sscanf(str.c_str(), "%d", &i); - return i; - }; - - ifstream file(path); - if (!file) - throw std::runtime_error("Dictionary::loadFromFile could not open file"); - string line; - std::getline(file, line); - if (line.find("name") == std::string::npos) - throw std::runtime_error("Dictionary::loadFromFile 'name' not found"); - Dictionary d; - d._name = parse(line); - std::getline(file, line); - if (line.find("nbits") == std::string::npos) - throw std::runtime_error("Dictionary::loadFromFile 'nbits' not found"); - d._nbits = _stoi(parse(line)); - if (d._nbits > 64) - throw std::runtime_error("Dictionary::loadFromFile no more than 64 bits allowed "); - - - d._type = CUSTOM; - // go reading the data - while (!file.eof()) - { - std::getline(file, line); - if (line.size() == d._nbits) - { - bitset<64> marker; - // parse the bits - int idx = 0; - for (auto it = line.rbegin(); it != line.rend(); it++) - { - marker[idx++] = *it == '1'; - } - d._code_id.insert({ marker.to_ullong(), static_cast(d._code_id.size()) }); - } - } - d._tau = static_cast(computeDictionaryDistance(d)); - if (d._tau == 0) - { - cerr << "IMPORTANT MESSAGE:::: Your dictionary " << d._name << " has a distance of 0" << endl; - cerr << "It means that that there are markers that can be confused. Please check" << endl; - } - // cout<<"tau="< &codes, std::map &code_id_map) -{ - code_id_map.clear(); - int id = 0; - for (auto c : codes) - code_id_map.insert(make_pair(c, id++)); -} -Dictionary Dictionary::loadPredefined(std::string type) -{ - return loadPredefined(getTypeFromString(type)); -} - -Dictionary Dictionary::loadPredefined(DICT_TYPES type) -{ - Dictionary d; - switch (type) - { - case ARUCO: - { - vector codes = { - 0x1084210UL, 0x1084217UL, 0x1084209UL, 0x108420eUL, 0x10842f0UL, 0x10842f7UL, - 0x10842e9UL, 0x10842eeUL, 0x1084130UL, 0x1084137UL, 0x1084129UL, 0x108412eUL, - 0x10841d0UL, 0x10841d7UL, 0x10841c9UL, 0x10841ceUL, 0x1085e10UL, 0x1085e17UL, - 0x1085e09UL, 0x1085e0eUL, 0x1085ef0UL, 0x1085ef7UL, 0x1085ee9UL, 0x1085eeeUL, - 0x1085d30UL, 0x1085d37UL, 0x1085d29UL, 0x1085d2eUL, 0x1085dd0UL, 0x1085dd7UL, - 0x1085dc9UL, 0x1085dceUL, 0x1082610UL, 0x1082617UL, 0x1082609UL, 0x108260eUL, - 0x10826f0UL, 0x10826f7UL, 0x10826e9UL, 0x10826eeUL, 0x1082530UL, 0x1082537UL, - 0x1082529UL, 0x108252eUL, 0x10825d0UL, 0x10825d7UL, 0x10825c9UL, 0x10825ceUL, - 0x1083a10UL, 0x1083a17UL, 0x1083a09UL, 0x1083a0eUL, 0x1083af0UL, 0x1083af7UL, - 0x1083ae9UL, 0x1083aeeUL, 0x1083930UL, 0x1083937UL, 0x1083929UL, 0x108392eUL, - 0x10839d0UL, 0x10839d7UL, 0x10839c9UL, 0x10839ceUL, 0x10bc210UL, 0x10bc217UL, - 0x10bc209UL, 0x10bc20eUL, 0x10bc2f0UL, 0x10bc2f7UL, 0x10bc2e9UL, 0x10bc2eeUL, - 0x10bc130UL, 0x10bc137UL, 0x10bc129UL, 0x10bc12eUL, 0x10bc1d0UL, 0x10bc1d7UL, - 0x10bc1c9UL, 0x10bc1ceUL, 0x10bde10UL, 0x10bde17UL, 0x10bde09UL, 0x10bde0eUL, - 0x10bdef0UL, 0x10bdef7UL, 0x10bdee9UL, 0x10bdeeeUL, 0x10bdd30UL, 0x10bdd37UL, - 0x10bdd29UL, 0x10bdd2eUL, 0x10bddd0UL, 0x10bddd7UL, 0x10bddc9UL, 0x10bddceUL, - 0x10ba610UL, 0x10ba617UL, 0x10ba609UL, 0x10ba60eUL, 0x10ba6f0UL, 0x10ba6f7UL, - 0x10ba6e9UL, 0x10ba6eeUL, 0x10ba530UL, 0x10ba537UL, 0x10ba529UL, 0x10ba52eUL, - 0x10ba5d0UL, 0x10ba5d7UL, 0x10ba5c9UL, 0x10ba5ceUL, 0x10bba10UL, 0x10bba17UL, - 0x10bba09UL, 0x10bba0eUL, 0x10bbaf0UL, 0x10bbaf7UL, 0x10bbae9UL, 0x10bbaeeUL, - 0x10bb930UL, 0x10bb937UL, 0x10bb929UL, 0x10bb92eUL, 0x10bb9d0UL, 0x10bb9d7UL, - 0x10bb9c9UL, 0x10bb9ceUL, 0x104c210UL, 0x104c217UL, 0x104c209UL, 0x104c20eUL, - 0x104c2f0UL, 0x104c2f7UL, 0x104c2e9UL, 0x104c2eeUL, 0x104c130UL, 0x104c137UL, - 0x104c129UL, 0x104c12eUL, 0x104c1d0UL, 0x104c1d7UL, 0x104c1c9UL, 0x104c1ceUL, - 0x104de10UL, 0x104de17UL, 0x104de09UL, 0x104de0eUL, 0x104def0UL, 0x104def7UL, - 0x104dee9UL, 0x104deeeUL, 0x104dd30UL, 0x104dd37UL, 0x104dd29UL, 0x104dd2eUL, - 0x104ddd0UL, 0x104ddd7UL, 0x104ddc9UL, 0x104ddceUL, 0x104a610UL, 0x104a617UL, - 0x104a609UL, 0x104a60eUL, 0x104a6f0UL, 0x104a6f7UL, 0x104a6e9UL, 0x104a6eeUL, - 0x104a530UL, 0x104a537UL, 0x104a529UL, 0x104a52eUL, 0x104a5d0UL, 0x104a5d7UL, - 0x104a5c9UL, 0x104a5ceUL, 0x104ba10UL, 0x104ba17UL, 0x104ba09UL, 0x104ba0eUL, - 0x104baf0UL, 0x104baf7UL, 0x104bae9UL, 0x104baeeUL, 0x104b930UL, 0x104b937UL, - 0x104b929UL, 0x104b92eUL, 0x104b9d0UL, 0x104b9d7UL, 0x104b9c9UL, 0x104b9ceUL, - 0x1074210UL, 0x1074217UL, 0x1074209UL, 0x107420eUL, 0x10742f0UL, 0x10742f7UL, - 0x10742e9UL, 0x10742eeUL, 0x1074130UL, 0x1074137UL, 0x1074129UL, 0x107412eUL, - 0x10741d0UL, 0x10741d7UL, 0x10741c9UL, 0x10741ceUL, 0x1075e10UL, 0x1075e17UL, - 0x1075e09UL, 0x1075e0eUL, 0x1075ef0UL, 0x1075ef7UL, 0x1075ee9UL, 0x1075eeeUL, - 0x1075d30UL, 0x1075d37UL, 0x1075d29UL, 0x1075d2eUL, 0x1075dd0UL, 0x1075dd7UL, - 0x1075dc9UL, 0x1075dceUL, 0x1072610UL, 0x1072617UL, 0x1072609UL, 0x107260eUL, - 0x10726f0UL, 0x10726f7UL, 0x10726e9UL, 0x10726eeUL, 0x1072530UL, 0x1072537UL, - 0x1072529UL, 0x107252eUL, 0x10725d0UL, 0x10725d7UL, 0x10725c9UL, 0x10725ceUL, - 0x1073a10UL, 0x1073a17UL, 0x1073a09UL, 0x1073a0eUL, 0x1073af0UL, 0x1073af7UL, - 0x1073ae9UL, 0x1073aeeUL, 0x1073930UL, 0x1073937UL, 0x1073929UL, 0x107392eUL, - 0x10739d0UL, 0x10739d7UL, 0x10739c9UL, 0x10739ceUL, 0x1784210UL, 0x1784217UL, - 0x1784209UL, 0x178420eUL, 0x17842f0UL, 0x17842f7UL, 0x17842e9UL, 0x17842eeUL, - 0x1784130UL, 0x1784137UL, 0x1784129UL, 0x178412eUL, 0x17841d0UL, 0x17841d7UL, - 0x17841c9UL, 0x17841ceUL, 0x1785e10UL, 0x1785e17UL, 0x1785e09UL, 0x1785e0eUL, - 0x1785ef0UL, 0x1785ef7UL, 0x1785ee9UL, 0x1785eeeUL, 0x1785d30UL, 0x1785d37UL, - 0x1785d29UL, 0x1785d2eUL, 0x1785dd0UL, 0x1785dd7UL, 0x1785dc9UL, 0x1785dceUL, - 0x1782610UL, 0x1782617UL, 0x1782609UL, 0x178260eUL, 0x17826f0UL, 0x17826f7UL, - 0x17826e9UL, 0x17826eeUL, 0x1782530UL, 0x1782537UL, 0x1782529UL, 0x178252eUL, - 0x17825d0UL, 0x17825d7UL, 0x17825c9UL, 0x17825ceUL, 0x1783a10UL, 0x1783a17UL, - 0x1783a09UL, 0x1783a0eUL, 0x1783af0UL, 0x1783af7UL, 0x1783ae9UL, 0x1783aeeUL, - 0x1783930UL, 0x1783937UL, 0x1783929UL, 0x178392eUL, 0x17839d0UL, 0x17839d7UL, - 0x17839c9UL, 0x17839ceUL, 0x17bc210UL, 0x17bc217UL, 0x17bc209UL, 0x17bc20eUL, - 0x17bc2f0UL, 0x17bc2f7UL, 0x17bc2e9UL, 0x17bc2eeUL, 0x17bc130UL, 0x17bc137UL, - 0x17bc129UL, 0x17bc12eUL, 0x17bc1d0UL, 0x17bc1d7UL, 0x17bc1c9UL, 0x17bc1ceUL, - 0x17bde10UL, 0x17bde17UL, 0x17bde09UL, 0x17bde0eUL, 0x17bdef0UL, 0x17bdef7UL, - 0x17bdee9UL, 0x17bdeeeUL, 0x17bdd30UL, 0x17bdd37UL, 0x17bdd29UL, 0x17bdd2eUL, - 0x17bddd0UL, 0x17bddd7UL, 0x17bddc9UL, 0x17bddceUL, 0x17ba610UL, 0x17ba617UL, - 0x17ba609UL, 0x17ba60eUL, 0x17ba6f0UL, 0x17ba6f7UL, 0x17ba6e9UL, 0x17ba6eeUL, - 0x17ba530UL, 0x17ba537UL, 0x17ba529UL, 0x17ba52eUL, 0x17ba5d0UL, 0x17ba5d7UL, - 0x17ba5c9UL, 0x17ba5ceUL, 0x17bba10UL, 0x17bba17UL, 0x17bba09UL, 0x17bba0eUL, - 0x17bbaf0UL, 0x17bbaf7UL, 0x17bbae9UL, 0x17bbaeeUL, 0x17bb930UL, 0x17bb937UL, - 0x17bb929UL, 0x17bb92eUL, 0x17bb9d0UL, 0x17bb9d7UL, 0x17bb9c9UL, 0x17bb9ceUL, - 0x174c210UL, 0x174c217UL, 0x174c209UL, 0x174c20eUL, 0x174c2f0UL, 0x174c2f7UL, - 0x174c2e9UL, 0x174c2eeUL, 0x174c130UL, 0x174c137UL, 0x174c129UL, 0x174c12eUL, - 0x174c1d0UL, 0x174c1d7UL, 0x174c1c9UL, 0x174c1ceUL, 0x174de10UL, 0x174de17UL, - 0x174de09UL, 0x174de0eUL, 0x174def0UL, 0x174def7UL, 0x174dee9UL, 0x174deeeUL, - 0x174dd30UL, 0x174dd37UL, 0x174dd29UL, 0x174dd2eUL, 0x174ddd0UL, 0x174ddd7UL, - 0x174ddc9UL, 0x174ddceUL, 0x174a610UL, 0x174a617UL, 0x174a609UL, 0x174a60eUL, - 0x174a6f0UL, 0x174a6f7UL, 0x174a6e9UL, 0x174a6eeUL, 0x174a530UL, 0x174a537UL, - 0x174a529UL, 0x174a52eUL, 0x174a5d0UL, 0x174a5d7UL, 0x174a5c9UL, 0x174a5ceUL, - 0x174ba10UL, 0x174ba17UL, 0x174ba09UL, 0x174ba0eUL, 0x174baf0UL, 0x174baf7UL, - 0x174bae9UL, 0x174baeeUL, 0x174b930UL, 0x174b937UL, 0x174b929UL, 0x174b92eUL, - 0x174b9d0UL, 0x174b9d7UL, 0x174b9c9UL, 0x174b9ceUL, 0x1774210UL, 0x1774217UL, - 0x1774209UL, 0x177420eUL, 0x17742f0UL, 0x17742f7UL, 0x17742e9UL, 0x17742eeUL, - 0x1774130UL, 0x1774137UL, 0x1774129UL, 0x177412eUL, 0x17741d0UL, 0x17741d7UL, - 0x17741c9UL, 0x17741ceUL, 0x1775e10UL, 0x1775e17UL, 0x1775e09UL, 0x1775e0eUL, - 0x1775ef0UL, 0x1775ef7UL, 0x1775ee9UL, 0x1775eeeUL, 0x1775d30UL, 0x1775d37UL, - 0x1775d29UL, 0x1775d2eUL, 0x1775dd0UL, 0x1775dd7UL, 0x1775dc9UL, 0x1775dceUL, - 0x1772610UL, 0x1772617UL, 0x1772609UL, 0x177260eUL, 0x17726f0UL, 0x17726f7UL, - 0x17726e9UL, 0x17726eeUL, 0x1772530UL, 0x1772537UL, 0x1772529UL, 0x177252eUL, - 0x17725d0UL, 0x17725d7UL, 0x17725c9UL, 0x17725ceUL, 0x1773a10UL, 0x1773a17UL, - 0x1773a09UL, 0x1773a0eUL, 0x1773af0UL, 0x1773af7UL, 0x1773ae9UL, 0x1773aeeUL, - 0x1773930UL, 0x1773937UL, 0x1773929UL, 0x177392eUL, 0x17739d0UL, 0x17739d7UL, - 0x17739c9UL, 0x17739ceUL, 0x984210UL, 0x984217UL, 0x984209UL, 0x98420eUL, - 0x9842f0UL, 0x9842f7UL, 0x9842e9UL, 0x9842eeUL, 0x984130UL, 0x984137UL, - 0x984129UL, 0x98412eUL, 0x9841d0UL, 0x9841d7UL, 0x9841c9UL, 0x9841ceUL, - 0x985e10UL, 0x985e17UL, 0x985e09UL, 0x985e0eUL, 0x985ef0UL, 0x985ef7UL, - 0x985ee9UL, 0x985eeeUL, 0x985d30UL, 0x985d37UL, 0x985d29UL, 0x985d2eUL, - 0x985dd0UL, 0x985dd7UL, 0x985dc9UL, 0x985dceUL, 0x982610UL, 0x982617UL, - 0x982609UL, 0x98260eUL, 0x9826f0UL, 0x9826f7UL, 0x9826e9UL, 0x9826eeUL, - 0x982530UL, 0x982537UL, 0x982529UL, 0x98252eUL, 0x9825d0UL, 0x9825d7UL, - 0x9825c9UL, 0x9825ceUL, 0x983a10UL, 0x983a17UL, 0x983a09UL, 0x983a0eUL, - 0x983af0UL, 0x983af7UL, 0x983ae9UL, 0x983aeeUL, 0x983930UL, 0x983937UL, - 0x983929UL, 0x98392eUL, 0x9839d0UL, 0x9839d7UL, 0x9839c9UL, 0x9839ceUL, - 0x9bc210UL, 0x9bc217UL, 0x9bc209UL, 0x9bc20eUL, 0x9bc2f0UL, 0x9bc2f7UL, - 0x9bc2e9UL, 0x9bc2eeUL, 0x9bc130UL, 0x9bc137UL, 0x9bc129UL, 0x9bc12eUL, - 0x9bc1d0UL, 0x9bc1d7UL, 0x9bc1c9UL, 0x9bc1ceUL, 0x9bde10UL, 0x9bde17UL, - 0x9bde09UL, 0x9bde0eUL, 0x9bdef0UL, 0x9bdef7UL, 0x9bdee9UL, 0x9bdeeeUL, - 0x9bdd30UL, 0x9bdd37UL, 0x9bdd29UL, 0x9bdd2eUL, 0x9bddd0UL, 0x9bddd7UL, - 0x9bddc9UL, 0x9bddceUL, 0x9ba610UL, 0x9ba617UL, 0x9ba609UL, 0x9ba60eUL, - 0x9ba6f0UL, 0x9ba6f7UL, 0x9ba6e9UL, 0x9ba6eeUL, 0x9ba530UL, 0x9ba537UL, - 0x9ba529UL, 0x9ba52eUL, 0x9ba5d0UL, 0x9ba5d7UL, 0x9ba5c9UL, 0x9ba5ceUL, - 0x9bba10UL, 0x9bba17UL, 0x9bba09UL, 0x9bba0eUL, 0x9bbaf0UL, 0x9bbaf7UL, - 0x9bbae9UL, 0x9bbaeeUL, 0x9bb930UL, 0x9bb937UL, 0x9bb929UL, 0x9bb92eUL, - 0x9bb9d0UL, 0x9bb9d7UL, 0x9bb9c9UL, 0x9bb9ceUL, 0x94c210UL, 0x94c217UL, - 0x94c209UL, 0x94c20eUL, 0x94c2f0UL, 0x94c2f7UL, 0x94c2e9UL, 0x94c2eeUL, - 0x94c130UL, 0x94c137UL, 0x94c129UL, 0x94c12eUL, 0x94c1d0UL, 0x94c1d7UL, - 0x94c1c9UL, 0x94c1ceUL, 0x94de10UL, 0x94de17UL, 0x94de09UL, 0x94de0eUL, - 0x94def0UL, 0x94def7UL, 0x94dee9UL, 0x94deeeUL, 0x94dd30UL, 0x94dd37UL, - 0x94dd29UL, 0x94dd2eUL, 0x94ddd0UL, 0x94ddd7UL, 0x94ddc9UL, 0x94ddceUL, - 0x94a610UL, 0x94a617UL, 0x94a609UL, 0x94a60eUL, 0x94a6f0UL, 0x94a6f7UL, - 0x94a6e9UL, 0x94a6eeUL, 0x94a530UL, 0x94a537UL, 0x94a529UL, 0x94a52eUL, - 0x94a5d0UL, 0x94a5d7UL, 0x94a5c9UL, 0x94a5ceUL, 0x94ba10UL, 0x94ba17UL, - 0x94ba09UL, 0x94ba0eUL, 0x94baf0UL, 0x94baf7UL, 0x94bae9UL, 0x94baeeUL, - 0x94b930UL, 0x94b937UL, 0x94b929UL, 0x94b92eUL, 0x94b9d0UL, 0x94b9d7UL, - 0x94b9c9UL, 0x94b9ceUL, 0x974210UL, 0x974217UL, 0x974209UL, 0x97420eUL, - 0x9742f0UL, 0x9742f7UL, 0x9742e9UL, 0x9742eeUL, 0x974130UL, 0x974137UL, - 0x974129UL, 0x97412eUL, 0x9741d0UL, 0x9741d7UL, 0x9741c9UL, 0x9741ceUL, - 0x975e10UL, 0x975e17UL, 0x975e09UL, 0x975e0eUL, 0x975ef0UL, 0x975ef7UL, - 0x975ee9UL, 0x975eeeUL, 0x975d30UL, 0x975d37UL, 0x975d29UL, 0x975d2eUL, - 0x975dd0UL, 0x975dd7UL, 0x975dc9UL, 0x975dceUL, 0x972610UL, 0x972617UL, - 0x972609UL, 0x97260eUL, 0x9726f0UL, 0x9726f7UL, 0x9726e9UL, 0x9726eeUL, - 0x972530UL, 0x972537UL, 0x972529UL, 0x97252eUL, 0x9725d0UL, 0x9725d7UL, - 0x9725c9UL, 0x9725ceUL, 0x973a10UL, 0x973a17UL, 0x973a09UL, 0x973a0eUL, - 0x973af0UL, 0x973af7UL, 0x973ae9UL, 0x973aeeUL, 0x973930UL, 0x973937UL, - 0x973929UL, 0x97392eUL, 0x9739d0UL, 0x9739d7UL, 0x9739c9UL, 0x9739ceUL, - 0xe84210UL, 0xe84217UL, 0xe84209UL, 0xe8420eUL, 0xe842f0UL, 0xe842f7UL, - 0xe842e9UL, 0xe842eeUL, 0xe84130UL, 0xe84137UL, 0xe84129UL, 0xe8412eUL, - 0xe841d0UL, 0xe841d7UL, 0xe841c9UL, 0xe841ceUL, 0xe85e10UL, 0xe85e17UL, - 0xe85e09UL, 0xe85e0eUL, 0xe85ef0UL, 0xe85ef7UL, 0xe85ee9UL, 0xe85eeeUL, - 0xe85d30UL, 0xe85d37UL, 0xe85d29UL, 0xe85d2eUL, 0xe85dd0UL, 0xe85dd7UL, - 0xe85dc9UL, 0xe85dceUL, 0xe82610UL, 0xe82617UL, 0xe82609UL, 0xe8260eUL, - 0xe826f0UL, 0xe826f7UL, 0xe826e9UL, 0xe826eeUL, 0xe82530UL, 0xe82537UL, - 0xe82529UL, 0xe8252eUL, 0xe825d0UL, 0xe825d7UL, 0xe825c9UL, 0xe825ceUL, - 0xe83a10UL, 0xe83a17UL, 0xe83a09UL, 0xe83a0eUL, 0xe83af0UL, 0xe83af7UL, - 0xe83ae9UL, 0xe83aeeUL, 0xe83930UL, 0xe83937UL, 0xe83929UL, 0xe8392eUL, - 0xe839d0UL, 0xe839d7UL, 0xe839c9UL, 0xe839ceUL, 0xebc210UL, 0xebc217UL, - 0xebc209UL, 0xebc20eUL, 0xebc2f0UL, 0xebc2f7UL, 0xebc2e9UL, 0xebc2eeUL, - 0xebc130UL, 0xebc137UL, 0xebc129UL, 0xebc12eUL, 0xebc1d0UL, 0xebc1d7UL, - 0xebc1c9UL, 0xebc1ceUL, 0xebde10UL, 0xebde17UL, 0xebde09UL, 0xebde0eUL, - 0xebdef0UL, 0xebdef7UL, 0xebdee9UL, 0xebdeeeUL, 0xebdd30UL, 0xebdd37UL, - 0xebdd29UL, 0xebdd2eUL, 0xebddd0UL, 0xebddd7UL, 0xebddc9UL, 0xebddceUL, - 0xeba610UL, 0xeba617UL, 0xeba609UL, 0xeba60eUL, 0xeba6f0UL, 0xeba6f7UL, - 0xeba6e9UL, 0xeba6eeUL, 0xeba530UL, 0xeba537UL, 0xeba529UL, 0xeba52eUL, - 0xeba5d0UL, 0xeba5d7UL, 0xeba5c9UL, 0xeba5ceUL, 0xebba10UL, 0xebba17UL, - 0xebba09UL, 0xebba0eUL, 0xebbaf0UL, 0xebbaf7UL, 0xebbae9UL, 0xebbaeeUL, - 0xebb930UL, 0xebb937UL, 0xebb929UL, 0xebb92eUL, 0xebb9d0UL, 0xebb9d7UL, - 0xebb9c9UL, 0xebb9ceUL, 0xe4c210UL, 0xe4c217UL, 0xe4c209UL, 0xe4c20eUL, - 0xe4c2f0UL, 0xe4c2f7UL, 0xe4c2e9UL, 0xe4c2eeUL, 0xe4c130UL, 0xe4c137UL, - 0xe4c129UL, 0xe4c12eUL, 0xe4c1d0UL, 0xe4c1d7UL, 0xe4c1c9UL, 0xe4c1ceUL, - 0xe4de10UL, 0xe4de17UL, 0xe4de09UL, 0xe4de0eUL, 0xe4def0UL, 0xe4def7UL, - 0xe4dee9UL, 0xe4deeeUL, 0xe4dd30UL, 0xe4dd37UL, 0xe4dd29UL, 0xe4dd2eUL, - 0xe4ddd0UL, 0xe4ddd7UL, 0xe4ddc9UL, 0xe4ddceUL, 0xe4a610UL, 0xe4a617UL, - 0xe4a609UL, 0xe4a60eUL, 0xe4a6f0UL, 0xe4a6f7UL, 0xe4a6e9UL, 0xe4a6eeUL, - 0xe4a530UL, 0xe4a537UL, 0xe4a529UL, 0xe4a52eUL, 0xe4a5d0UL, 0xe4a5d7UL, - 0xe4a5c9UL, 0xe4a5ceUL, 0xe4ba10UL, 0xe4ba17UL, 0xe4ba09UL, 0xe4ba0eUL, - 0xe4baf0UL, 0xe4baf7UL, 0xe4bae9UL, 0xe4baeeUL, 0xe4b930UL, 0xe4b937UL, - 0xe4b929UL, 0xe4b92eUL, 0xe4b9d0UL, 0xe4b9d7UL, 0xe4b9c9UL, 0xe4b9ceUL, - 0xe74210UL, 0xe74217UL, 0xe74209UL, 0xe7420eUL, 0xe742f0UL, 0xe742f7UL, - 0xe742e9UL, 0xe742eeUL, 0xe74130UL, 0xe74137UL, 0xe74129UL, 0xe7412eUL, - 0xe741d0UL, 0xe741d7UL, 0xe741c9UL, 0xe741ceUL, 0xe75e10UL, 0xe75e17UL, - 0xe75e09UL, 0xe75e0eUL, 0xe75ef0UL, 0xe75ef7UL, 0xe75ee9UL, 0xe75eeeUL, - 0xe75d30UL, 0xe75d37UL, 0xe75d29UL, 0xe75d2eUL, 0xe75dd0UL, 0xe75dd7UL, - 0xe75dc9UL, 0xe75dceUL, 0xe72610UL, 0xe72617UL, 0xe72609UL, 0xe7260eUL, - 0xe726f0UL, 0xe726f7UL, 0xe726e9UL, 0xe726eeUL, 0xe72530UL, 0xe72537UL, - 0xe72529UL, 0xe7252eUL, 0xe725d0UL, 0xe725d7UL, 0xe725c9UL, 0xe725ceUL, - 0xe73a10UL, 0xe73a17UL, 0xe73a09UL, 0xe73a0eUL, 0xe73af0UL, 0xe73af7UL, - 0xe73ae9UL, 0xe73aeeUL, 0xe73930UL, 0xe73937UL, 0xe73929UL, 0xe7392eUL, - 0xe739d0UL, 0xe739d7UL, 0xe739c9UL - }; - fromVector(codes, d._code_id); - d._nbits = 25; - d._tau = 1; // - d._type = ARUCO; - d._name = "ARUCO"; - } - break; - case ARTAG: - { - vector codes = { - 0xf89c68ea2UL, 0xf021c83fdUL, 0x9b2f835a2UL, 0xf8ffdb019UL, 0xf2d12b272UL, - 0xf0e6afe8bUL, 0xe19dee435UL, 0xdbe424132UL, 0xa9885a341UL, 0x3add1e6caUL, - 0x600aa0d15UL, 0xf9d5c0938UL, 0xf85b0f3d4UL, 0xf838bcd6fUL, 0xfa6c8bf2dUL, - 0xfb469060cUL, 0xfb25238b7UL, 0xff8d4dc33UL, 0xfc3406a26UL, 0xfc57b549dUL, - 0xfcf361750UL, 0xfd7daedbcUL, 0xf42d724b4UL, 0xf1ccb47aaUL, 0xe1fe5da8eUL, - 0xe2e3c2f56UL, 0xe280711edUL, 0xe224a5220UL, 0xe36d0d5baUL, 0xed2cf4e23UL, - 0xecc188a74UL, 0xcf7ea3892UL, 0xcca45b03cUL, 0xc4de9c015UL, 0xc0b1959e7UL, - 0xd027a870eUL, 0xd1a967de2UL, 0xd3fd50fa0UL, 0xd67f25205UL, 0xdcf5013a3UL, - 0xdea1361e1UL, 0xdb8797f89UL, 0xd8f9bb4eaUL, 0x98321c07aUL, 0x9dd3da364UL, - 0x9162c0972UL, 0x91c614abfUL, 0x81339aaedUL, 0x3f3cd85d4UL, 0x3907e6e64UL, - 0x2231e480aUL, 0x287ca74daUL, 0xee52d854UL, 0x3b94b615UL, 0x1ab8cdc82UL, - 0x4463c9014UL, 0x6588d50b0UL, 0xf912a744eUL, 0xf97114af5UL, 0xfb81f7b7aUL, - 0xfbe2445c1UL, 0xff4a2a145UL, 0xfea756512UL, 0xfe03826dfUL, 0xfc90d29ebUL, - 0xfdbac90caUL, 0xfdd97ae71UL, 0xf564da32eUL, 0xf5c00e0e3UL, 0xf679456f6UL, - 0xf6be22b80UL, 0xf6dd9153bUL, 0xf7f78ac1aUL, 0xf35fe489eUL, 0xf33c57625UL, - 0xf398835e8UL, 0xf3fb30b53UL, 0xf2b298cc9UL, 0xf2164cf04UL, 0xf275ff1bfUL, - 0xf10bd3adcUL, 0xf16860467UL, 0xe1393a7f8UL, 0xe07092062UL, 0xe0b7f5d14UL, - 0xe0d4463afUL, 0xe7c56313eUL, 0xe7a6d0f85UL, 0xe70204c48UL, 0xe6281f569UL, - 0xe47c2872bUL, 0xed8820deeUL, 0xedeb93355UL, 0xed4f47098UL, 0xec06ef702UL, - 0xeef60c68dUL, 0xef78c3c61UL, 0xefbfa4117UL, 0xebb31e65eUL, 0xebd0ad8e5UL, - 0xeb7479b28UL, 0xeb17ca593UL, 0xea5e62209UL, 0xeafab61c4UL, 0xe8ae81386UL, - 0xe9204e96aUL, 0xe9e72941cUL, 0xe9849aaa7UL, 0xc86f86a03UL, 0xc9e1490efUL, - 0xcbb57e2adUL, 0xcb7219fdbUL, 0xca58026faUL, 0xca9f65b8cUL, 0xcef06c27eUL, - 0xce54b81b3UL, 0xcf1d10629UL, 0xcd8e4091dUL, 0xcc633cd4aUL, 0xccc7e8e87UL, - 0xc7c3035cdUL, 0xc767d7600UL, 0xc62e7f19aUL, 0xc64dccf21UL, 0xc6e918cecUL, - 0xc68aab257UL, 0xc2861151eUL, 0xc24176868UL, 0xc15ce9db0UL, 0xc0d22675cUL, - 0xd0e0cfa78UL, 0xd0837c4c3UL, 0xd16e00094UL, 0xd2739f54cUL, 0xd2102cbf7UL, - 0xd6dbf11c8UL, 0xd79259652UL, 0xd7368d59fUL, 0xd562ba7ddUL, 0xd5c66e410UL, - 0xd5a5ddaabUL, 0xd48fc638aUL, 0xd4ec75d31UL, 0xdc96b2d18UL, 0xddbca9439UL, - 0xdf4c4a5b6UL, 0xde05e222cUL, 0xdaad8c6a8UL, 0xdace3f813UL, 0xd9b013370UL, - 0xd9d3a0dcbUL, 0xd85d6f727UL, 0x9aa14cf4eUL, 0x9ac2ff1f5UL, 0x9b4c30b19UL, - 0x9be8e48d4UL, 0x9b8b5766fUL, 0x99bcd3a96UL, 0x99df6042dUL, 0x96b482695UL, - 0x979e99fb4UL, 0x95caaedf6UL, 0x950dc9080UL, 0x956e7ae3bUL, 0x9427d29a1UL, - 0x908fbcd25UL, 0x9392238fdUL, 0x92b8381dcUL, 0x824db618eUL, 0x83c379b62UL, - 0x83041e614UL, 0x81f4fd79bUL, 0x80dee6ebaUL, 0x8019813ccUL, 0x853f20da4UL, - 0x87cfc3c2bUL, 0x8e5878855UL, 0x8fb504c02UL, 0x8b1d6a886UL, 0x8a93a526aUL, - 0xabdc6d103UL, 0xaa3111554UL, 0xaa52a2befUL, 0xa8a241a60UL, 0xa8c1f24dbUL, - 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0x4876079cfUL, 0x4f6722b5eUL, 0x4fa045628UL, 0x4d50a67a7UL, 0x6f02f1116UL, - 0x6fa6252dbUL, 0x6e4b5968cUL, 0x6a8084cb3UL, 0x695a7c41dUL, 0x61e7dc942UL, - 0x623d241ecUL, 0x625e97f57UL, 0x67dce22f2UL, 0x65eb66e0bUL, 0x7457409c3UL, - 0x751ee8e59UL, 0x75d98f32fUL, 0x77296c2a0UL, 0x76c4106f7UL, 0x72c8aa1beUL, - 0x71b686addUL, 0x703849031UL, 0x78e65a3d5UL, 0x78428e018UL, 0x796895939UL, - 0x79aff244fUL, 0x7c2d879eaUL, 0x7ceae049cUL, 0xc3cfb9284UL, 0xdb40f02ffUL, - 0x8b7ed963dUL, 0xab78b92ceUL, 0xf0851c03UL, 0xcb11aa16UL, 0xd9b01337UL, - 0x18ecfaecUL, 0x46f099f2UL, 0x1b360266eUL, 0x5ad7bebdfUL, 0x551888aaaUL, - 0x63b3ebb00UL, 0x75ba3cd94UL, 0x98f57bd0cUL, 0xf912a744eUL - }; - fromVector(codes, d._code_id); - d._nbits = 36; - d._tau = 0; - d._type = ARTAG; - d._name = "ARTAG"; - } - break; - case ARTOOLKITPLUS: - { - vector codes = { - 0x6dc269c27UL, 0x6d4229e26UL, 0x6cc2e9825UL, 0x6c42a9a24UL, 0x6fc369423UL, - 0x6f4329622UL, 0x6ec3e9021UL, 0x6e43a9220UL, 0x69c068c2fUL, 0x694028e2eUL, - 0x68c0e882dUL, 0x6840a8a2cUL, 0x6bc16842bUL, 0x6b412862aUL, 0x6ac1e8029UL, - 0x6a41a8228UL, 0x65c66bc37UL, 0x65462be36UL, 0x64c6eb835UL, 0x6446aba34UL, - 0x67c76b433UL, 0x67472b632UL, 0x66c7eb031UL, 0x6647ab230UL, 0x61c46ac3fUL, - 0x61442ae3eUL, 0x60c4ea83dUL, 0x6044aaa3cUL, 0x63c56a43bUL, 0x63452a63aUL, - 0x62c5ea039UL, 0x6245aa238UL, 0x7dca6dc07UL, 0x7d4a2de06UL, 0x7ccaed805UL, - 0x7c4aada04UL, 0x7fcb6d403UL, 0x7f4b2d602UL, 0x7ecbed001UL, 0x7e4bad200UL, - 0x79c86cc0fUL, 0x79482ce0eUL, 0x78c8ec80dUL, 0x7848aca0cUL, 0x7bc96c40bUL, - 0x7b492c60aUL, 0x7ac9ec009UL, 0x7a49ac208UL, 0x75ce6fc17UL, 0x754e2fe16UL, - 0x74ceef815UL, 0x744eafa14UL, 0x77cf6f413UL, 0x774f2f612UL, 0x76cfef011UL, - 0x764faf210UL, 0x71cc6ec1fUL, 0x714c2ee1eUL, 0x70ccee81dUL, 0x704caea1cUL, - 0x73cd6e41bUL, 0x734d2e61aUL, 0x72cdee019UL, 0x724dae218UL, 0x4dd261c67UL, - 0x4d5221e66UL, 0x4cd2e1865UL, 0x4c52a1a64UL, 0x4fd361463UL, 0x4f5321662UL, - 0x4ed3e1061UL, 0x4e53a1260UL, 0x49d060c6fUL, 0x495020e6eUL, 0x48d0e086dUL, - 0x4850a0a6cUL, 0x4bd16046bUL, 0x4b512066aUL, 0x4ad1e0069UL, 0x4a51a0268UL, - 0x45d663c77UL, 0x455623e76UL, 0x44d6e3875UL, 0x4456a3a74UL, 0x47d763473UL, - 0x475723672UL, 0x46d7e3071UL, 0x4657a3270UL, 0x41d462c7fUL, 0x415422e7eUL, - 0x40d4e287dUL, 0x4054a2a7cUL, 0x43d56247bUL, 0x43552267aUL, 0x42d5e2079UL, - 0x4255a2278UL, 0x5dda65c47UL, 0x5d5a25e46UL, 0x5cdae5845UL, 0x5c5aa5a44UL, - 0x5fdb65443UL, 0x5f5b25642UL, 0x5edbe5041UL, 0x5e5ba5240UL, 0x59d864c4fUL, - 0x595824e4eUL, 0x58d8e484dUL, 0x5858a4a4cUL, 0x5bd96444bUL, 0x5b592464aUL, - 0x5ad9e4049UL, 0x5a59a4248UL, 0x55de67c57UL, 0x555e27e56UL, 0x54dee7855UL, - 0x545ea7a54UL, 0x57df67453UL, 0x575f27652UL, 0x56dfe7051UL, 0x565fa7250UL, - 0x51dc66c5fUL, 0x515c26e5eUL, 0x50dce685dUL, 0x505ca6a5cUL, 0x53dd6645bUL, - 0x535d2665aUL, 0x52dde6059UL, 0x525da6258UL, 0x2de279ca7UL, 0x2d6239ea6UL, - 0x2ce2f98a5UL, 0x2c62b9aa4UL, 0x2fe3794a3UL, 0x2f63396a2UL, 0x2ee3f90a1UL, - 0x2e63b92a0UL, 0x29e078cafUL, 0x296038eaeUL, 0x28e0f88adUL, 0x2860b8aacUL, - 0x2be1784abUL, 0x2b61386aaUL, 0x2ae1f80a9UL, 0x2a61b82a8UL, 0x25e67bcb7UL, - 0x25663beb6UL, 0x24e6fb8b5UL, 0x2466bbab4UL, 0x27e77b4b3UL, 0x27673b6b2UL, - 0x26e7fb0b1UL, 0x2667bb2b0UL, 0x21e47acbfUL, 0x21643aebeUL, 0x20e4fa8bdUL, - 0x2064baabcUL, 0x23e57a4bbUL, 0x23653a6baUL, 0x22e5fa0b9UL, 0x2265ba2b8UL, - 0x3dea7dc87UL, 0x3d6a3de86UL, 0x3ceafd885UL, 0x3c6abda84UL, 0x3feb7d483UL, - 0x3f6b3d682UL, 0x3eebfd081UL, 0x3e6bbd280UL, 0x39e87cc8fUL, 0x39683ce8eUL, - 0x38e8fc88dUL, 0x3868bca8cUL, 0x3be97c48bUL, 0x3b693c68aUL, 0x3ae9fc089UL, - 0x3a69bc288UL, 0x35ee7fc97UL, 0x356e3fe96UL, 0x34eeff895UL, 0x346ebfa94UL, - 0x37ef7f493UL, 0x376f3f692UL, 0x36efff091UL, 0x366fbf290UL, 0x31ec7ec9fUL, - 0x316c3ee9eUL, 0x30ecfe89dUL, 0x306cbea9cUL, 0x33ed7e49bUL, 0x336d3e69aUL, - 0x32edfe099UL, 0x326dbe298UL, 0xdf271ce7UL, 0xd7231ee6UL, 0xcf2f18e5UL, - 0xc72b1ae4UL, 0xff3714e3UL, 0xf73316e2UL, 0xef3f10e1UL, 0xe73b12e0UL, - 0x9f070cefUL, 0x97030eeeUL, 0x8f0f08edUL, 0x870b0aecUL, 0xbf1704ebUL, - 0xb71306eaUL, 0xaf1f00e9UL, 0xa71b02e8UL, 0x5f673cf7UL, 0x57633ef6UL, - 0x4f6f38f5UL, 0x476b3af4UL, 0x7f7734f3UL, 0x777336f2UL, 0x6f7f30f1UL, - 0x677b32f0UL, 0x1f472cffUL, 0x17432efeUL, 0xf4f28fdUL, 0x74b2afcUL, - 0x3f5724fbUL, 0x375326faUL, 0x2f5f20f9UL, 0x275b22f8UL, 0x1dfa75cc7UL, - 0x1d7a35ec6UL, 0x1cfaf58c5UL, 0x1c7ab5ac4UL, 0x1ffb754c3UL, 0x1f7b356c2UL, - 0x1efbf50c1UL, 0x1e7bb52c0UL, 0x19f874ccfUL, 0x197834eceUL, 0x18f8f48cdUL, - 0x1878b4accUL, 0x1bf9744cbUL, 0x1b79346caUL, 0x1af9f40c9UL, 0x1a79b42c8UL, - 0x15fe77cd7UL, 0x157e37ed6UL, 0x14fef78d5UL, 0x147eb7ad4UL, 0x17ff774d3UL, - 0x177f376d2UL, 0x16fff70d1UL, 0x167fb72d0UL, 0x11fc76cdfUL, 0x117c36edeUL, - 0x10fcf68ddUL, 0x107cb6adcUL, 0x13fd764dbUL, 0x137d366daUL, 0x12fdf60d9UL, - 0x127db62d8UL, 0xed8249d27UL, 0xed0209f26UL, 0xec82c9925UL, 0xec0289b24UL, - 0xef8349523UL, 0xef0309722UL, 0xee83c9121UL, 0xee0389320UL, 0xe98048d2fUL, - 0xe90008f2eUL, 0xe880c892dUL, 0xe80088b2cUL, 0xeb814852bUL, 0xeb010872aUL, - 0xea81c8129UL, 0xea0188328UL, 0xe5864bd37UL, 0xe5060bf36UL, 0xe486cb935UL, - 0xe4068bb34UL, 0xe7874b533UL, 0xe7070b732UL, 0xe687cb131UL, 0xe6078b330UL, - 0xe1844ad3fUL, 0xe1040af3eUL, 0xe084ca93dUL, 0xe0048ab3cUL, 0xe3854a53bUL, - 0xe3050a73aUL, 0xe285ca139UL, 0xe2058a338UL, 0xfd8a4dd07UL, 0xfd0a0df06UL, - 0xfc8acd905UL, 0xfc0a8db04UL, 0xff8b4d503UL, 0xff0b0d702UL, 0xfe8bcd101UL, - 0xfe0b8d300UL, 0xf9884cd0fUL, 0xf9080cf0eUL, 0xf888cc90dUL, 0xf8088cb0cUL, - 0xfb894c50bUL, 0xfb090c70aUL, 0xfa89cc109UL, 0xfa098c308UL, 0xf58e4fd17UL, - 0xf50e0ff16UL, 0xf48ecf915UL, 0xf40e8fb14UL, 0xf78f4f513UL, 0xf70f0f712UL, - 0xf68fcf111UL, 0xf60f8f310UL, 0xf18c4ed1fUL, 0xf10c0ef1eUL, 0xf08cce91dUL, - 0xf00c8eb1cUL, 0xf38d4e51bUL, 0xf30d0e71aUL, 0xf28dce119UL, 0xf20d8e318UL, - 0xcd9241d67UL, 0xcd1201f66UL, 0xcc92c1965UL, 0xcc1281b64UL, 0xcf9341563UL, - 0xcf1301762UL, 0xce93c1161UL, 0xce1381360UL, 0xc99040d6fUL, 0xc91000f6eUL, - 0xc890c096dUL, 0xc81080b6cUL, 0xcb914056bUL, 0xcb110076aUL, 0xca91c0169UL, - 0xca1180368UL, 0xc59643d77UL, 0xc51603f76UL, 0xc496c3975UL, 0xc41683b74UL, - 0xc79743573UL, 0xc71703772UL, 0xc697c3171UL, 0xc61783370UL, 0xc19442d7fUL, - 0xc11402f7eUL, 0xc094c297dUL, 0xc01482b7cUL, 0xc3954257bUL, 0xc3150277aUL, - 0xc295c2179UL, 0xc21582378UL, 0xdd9a45d47UL, 0xdd1a05f46UL, 0xdc9ac5945UL, - 0xdc1a85b44UL, 0xdf9b45543UL, 0xdf1b05742UL, 0xde9bc5141UL, 0xde1b85340UL, - 0xd99844d4fUL, 0xd91804f4eUL, 0xd898c494dUL, 0xd81884b4cUL, 0xdb994454bUL, - 0xdb190474aUL, 0xda99c4149UL, 0xda1984348UL, 0xd59e47d57UL, 0xd51e07f56UL, - 0xd49ec7955UL, 0xd41e87b54UL, 0xd79f47553UL, 0xd71f07752UL, 0xd69fc7151UL, - 0xd61f87350UL, 0xd19c46d5fUL, 0xd11c06f5eUL, 0xd09cc695dUL, 0xd01c86b5cUL, - 0xd39d4655bUL, 0xd31d0675aUL, 0xd29dc6159UL, 0xd21d86358UL, 0xada259da7UL, - 0xad2219fa6UL, 0xaca2d99a5UL, 0xac2299ba4UL, 0xafa3595a3UL, 0xaf23197a2UL, - 0xaea3d91a1UL, 0xae23993a0UL, 0xa9a058dafUL, 0xa92018faeUL, 0xa8a0d89adUL, - 0xa82098bacUL, 0xaba1585abUL, 0xab21187aaUL, 0xaaa1d81a9UL, 0xaa21983a8UL, - 0xa5a65bdb7UL, 0xa5261bfb6UL, 0xa4a6db9b5UL, 0xa4269bbb4UL, 0xa7a75b5b3UL, - 0xa7271b7b2UL, 0xa6a7db1b1UL, 0xa6279b3b0UL, 0xa1a45adbfUL, 0xa1241afbeUL, - 0xa0a4da9bdUL, 0xa0249abbcUL, 0xa3a55a5bbUL, 0xa3251a7baUL, 0xa2a5da1b9UL, - 0xa2259a3b8UL, 0xbdaa5dd87UL, 0xbd2a1df86UL, 0xbcaadd985UL, 0xbc2a9db84UL, - 0xbfab5d583UL, 0xbf2b1d782UL, 0xbeabdd181UL, 0xbe2b9d380UL, 0xb9a85cd8fUL, - 0xb9281cf8eUL, 0xb8a8dc98dUL, 0xb8289cb8cUL, 0xbba95c58bUL, 0xbb291c78aUL, - 0xbaa9dc189UL, 0xba299c388UL, 0xb5ae5fd97UL, 0xb52e1ff96UL, 0xb4aedf995UL, - 0xb42e9fb94UL, 0xb7af5f593UL, 0xb72f1f792UL, 0xb6afdf191UL, 0xb62f9f390UL, - 0xb1ac5ed9fUL, 0xb12c1ef9eUL, 0xb0acde99dUL, 0xb02c9eb9cUL, 0xb3ad5e59bUL, - 0xb32d1e79aUL, 0xb2adde199UL, 0xb22d9e398UL, 0x8db251de7UL, 0x8d3211fe6UL, - 0x8cb2d19e5UL, 0x8c3291be4UL, 0x8fb3515e3UL, 0x8f33117e2UL, 0x8eb3d11e1UL, - 0x8e33913e0UL, 0x89b050defUL, 0x893010feeUL, 0x88b0d09edUL, 0x883090becUL, - 0x8bb1505ebUL, 0x8b31107eaUL, 0x8ab1d01e9UL, 0x8a31903e8UL, 0x85b653df7UL, - 0x853613ff6UL, 0x84b6d39f5UL, 0x843693bf4UL, 0x87b7535f3UL, 0x8737137f2UL, - 0x86b7d31f1UL, 0x8637933f0UL, 0x81b452dffUL, 0x813412ffeUL, 0x80b4d29fdUL, - 0x803492bfcUL, 0x83b5525fbUL, 0x8335127faUL, 0x82b5d21f9UL, 0x8235923f8UL, - 0x9dba55dc7UL, 0x9d3a15fc6UL, 0x9cbad59c5UL, 0x9c3a95bc4UL, 0x9fbb555c3UL, - 0x9f3b157c2UL, 0x9ebbd51c1UL, 0x9e3b953c0UL, 0x99b854dcfUL, 0x993814fceUL, - 0x98b8d49cdUL, 0x983894bccUL, 0x9bb9545cbUL, 0x9b39147caUL, 0x9ab9d41c9UL, - 0x9a39943c8UL, 0x95be57dd7UL, 0x953e17fd6UL, 0x94bed79d5UL, 0x943e97bd4UL, - 0x97bf575d3UL, 0x973f177d2UL, 0x96bfd71d1UL, 0x963f973d0UL, 0x91bc56ddfUL, - 0x913c16fdeUL, 0x90bcd69ddUL, 0x903c96bdcUL, 0x93bd565dbUL, 0x933d167daUL, - 0x92bdd61d9UL, 0x923d963d8UL - }; - fromVector(codes, d._code_id); - d._nbits = 36; - d._tau = 4; // - d._type = ARTOOLKITPLUS; - d._name = "ARTOOLKITPLUS"; - } - break; - case ARTOOLKITPLUSBCH: - { - vector codes = { - 0x8f80b8750UL, 0x8f9d0a027UL, 0x8fa66eec9UL, 0x8fbbdc9beUL, 0x8fcd15462UL, - 0x8fd0a7315UL, 0x8febc3dfbUL, 0x8ff671a8cUL, 0x8f0650643UL, 0x8f1be2134UL, - 0x8f2086fdaUL, 0x8f3d348adUL, 0x8f4bfd571UL, 0x8f564f206UL, 0x8f6d2bce8UL, - 0x8f7099b9fUL, 0x8e8d68576UL, 0x8e90da201UL, 0x8eabbecefUL, 0x8eb60cb98UL, - 0x8ec0c5644UL, 0x8edd77133UL, 0x8ee613fddUL, 0x8efba18aaUL, 0x8e0b80465UL, - 0x8e1632312UL, 0x8e2d56dfcUL, 0x8e30e4a8bUL, 0x8e462d757UL, 0x8e5b9f020UL, - 0x8e60fbeceUL, 0x8e7d499b9UL, 0x8d86aa46bUL, 0x8d9b1831cUL, 0x8da07cdf2UL, - 0x8dbdcea85UL, 0x8dcb07759UL, 0x8dd6b502eUL, 0x8dedd1ec0UL, 0x8df0639b7UL, - 0x8d0042578UL, 0x8d1df020fUL, 0x8d2694ce1UL, 0x8d3b26b96UL, 0x8d4def64aUL, - 0x8d505d13dUL, 0x8d6b39fd3UL, 0x8d768b8a4UL, 0x8c8b7a64dUL, 0x8c96c813aUL, - 0x8cadacfd4UL, 0x8cb01e8a3UL, 0x8cc6d757fUL, 0x8cdb65208UL, 0x8ce001ce6UL, - 0x8cfdb3b91UL, 0x8c0d9275eUL, 0x8c1020029UL, 0x8c2b44ec7UL, 0x8c36f69b0UL, - 0x8c403f46cUL, 0x8c5d8d31bUL, 0x8c66e9df5UL, 0x8c7b5ba82UL, 0x8b8c9c126UL, - 0x8b912e651UL, 0x8baa4a8bfUL, 0x8bb7f8fc8UL, 0x8bc131214UL, 0x8bdc83563UL, - 0x8be7e7b8dUL, 0x8bfa55cfaUL, 0x8b0a74035UL, 0x8b17c6742UL, 0x8b2ca29acUL, - 0x8b3110edbUL, 0x8b47d9307UL, 0x8b5a6b470UL, 0x8b610fa9eUL, 0x8b7cbdde9UL, - 0x8a814c300UL, 0x8a9cfe477UL, 0x8aa79aa99UL, 0x8aba28deeUL, 0x8acce1032UL, - 0x8ad153745UL, 0x8aea379abUL, 0x8af785edcUL, 0x8a07a4213UL, 0x8a1a16564UL, - 0x8a2172b8aUL, 0x8a3cc0cfdUL, 0x8a4a09121UL, 0x8a57bb656UL, 0x8a6cdf8b8UL, - 0x8a716dfcfUL, 0x898a8e21dUL, 0x89973c56aUL, 0x89ac58b84UL, 0x89b1eacf3UL, - 0x89c72312fUL, 0x89da91658UL, 0x89e1f58b6UL, 0x89fc47fc1UL, 0x890c6630eUL, - 0x8911d4479UL, 0x892ab0a97UL, 0x893702de0UL, 0x8941cb03cUL, 0x895c7974bUL, - 0x89671d9a5UL, 0x897aafed2UL, 0x88875e03bUL, 0x889aec74cUL, 0x88a1889a2UL, - 0x88bc3aed5UL, 0x88caf3309UL, 0x88d74147eUL, 0x88ec25a90UL, 0x88f197de7UL, - 0x8801b6128UL, 0x881c0465fUL, 0x8827608b1UL, 0x883ad2fc6UL, 0x884c1b21aUL, - 0x8851a956dUL, 0x886acdb83UL, 0x88777fcf4UL, 0x878542ccbUL, 0x8798f0bbcUL, - 0x87a394552UL, 0x87be26225UL, 0x87c8efff9UL, 0x87d55d88eUL, 0x87ee39660UL, - 0x87f38b117UL, 0x8703aadd8UL, 0x871e18aafUL, 0x87257c441UL, 0x8738ce336UL, - 0x874e07eeaUL, 0x8753b599dUL, 0x8768d1773UL, 0x877563004UL, 0x868892eedUL, - 0x86952099aUL, 0x86ae44774UL, 0x86b3f6003UL, 0x86c53fddfUL, 0x86d88daa8UL, - 0x86e3e9446UL, 0x86fe5b331UL, 0x860e7affeUL, 0x8613c8889UL, 0x8628ac667UL, - 0x86351e110UL, 0x8643d7cccUL, 0x865e65bbbUL, 0x866501555UL, 0x8678b3222UL, - 0x858350ff0UL, 0x859ee2887UL, 0x85a586669UL, 0x85b83411eUL, 0x85cefdcc2UL, - 0x85d34fbb5UL, 0x85e82b55bUL, 0x85f59922cUL, 0x8505b8ee3UL, 0x85180a994UL, - 0x85236e77aUL, 0x853edc00dUL, 0x854815dd1UL, 0x8555a7aa6UL, 0x856ec3448UL, - 0x85737133fUL, 0x848e80dd6UL, 0x849332aa1UL, 0x84a85644fUL, 0x84b5e4338UL, - 0x84c32dee4UL, 0x84de9f993UL, 0x84e5fb77dUL, 0x84f84900aUL, 0x840868cc5UL, - 0x8415dabb2UL, 0x842ebe55cUL, 0x84330c22bUL, 0x8445c5ff7UL, 0x845877880UL, - 0x84631366eUL, 0x847ea1119UL, 0x838966abdUL, 0x8394d4dcaUL, 0x83afb0324UL, - 0x83b202453UL, 0x83c4cb98fUL, 0x83d979ef8UL, 0x83e21d016UL, 0x83ffaf761UL, - 0x830f8ebaeUL, 0x83123ccd9UL, 0x832958237UL, 0x8334ea540UL, 0x83422389cUL, - 0x835f91febUL, 0x8364f5105UL, 0x837947672UL, 0x8284b689bUL, 0x829904fecUL, - 0x82a260102UL, 0x82bfd2675UL, 0x82c91bba9UL, 0x82d4a9cdeUL, 0x82efcd230UL, - 0x82f27f547UL, 0x82025e988UL, 0x821feceffUL, 0x822488011UL, 0x82393a766UL, - 0x824ff3abaUL, 0x825241dcdUL, 0x826925323UL, 0x827497454UL, 0x818f74986UL, - 0x8192c6ef1UL, 0x81a9a201fUL, 0x81b410768UL, 0x81c2d9ab4UL, 0x81df6bdc3UL, - 0x81e40f32dUL, 0x81f9bd45aUL, 0x81099c895UL, 0x81142efe2UL, 0x812f4a10cUL, - 0x8132f867bUL, 0x814431ba7UL, 0x815983cd0UL, 0x8162e723eUL, 0x817f55549UL, - 0x8082a4ba0UL, 0x809f16cd7UL, 0x80a472239UL, 0x80b9c054eUL, 0x80cf09892UL, - 0x80d2bbfe5UL, 0x80e9df10bUL, 0x80f46d67cUL, 0x80044cab3UL, 0x8019fedc4UL, - 0x80229a32aUL, 0x803f2845dUL, 0x8049e1981UL, 0x805453ef6UL, 0x806f37018UL, - 0x80728576fUL, 0x9f8b4d066UL, 0x9f96ff711UL, 0x9fad9b9ffUL, 0x9fb029e88UL, - 0x9fc6e0354UL, 0x9fdb52423UL, 0x9fe036acdUL, 0x9ffd84dbaUL, 0x9f0da5175UL, - 0x9f1017602UL, 0x9f2b738ecUL, 0x9f36c1f9bUL, 0x9f4008247UL, 0x9f5dba530UL, - 0x9f66debdeUL, 0x9f7b6cca9UL, 0x9e869d240UL, 0x9e9b2f537UL, 0x9ea04bbd9UL, - 0x9ebdf9caeUL, 0x9ecb30172UL, 0x9ed682605UL, 0x9eede68ebUL, 0x9ef054f9cUL, - 0x9e0075353UL, 0x9e1dc7424UL, 0x9e26a3acaUL, 0x9e3b11dbdUL, 0x9e4dd8061UL, - 0x9e506a716UL, 0x9e6b0e9f8UL, 0x9e76bce8fUL, 0x9d8d5f35dUL, 0x9d90ed42aUL, - 0x9dab89ac4UL, 0x9db63bdb3UL, 0x9dc0f206fUL, 0x9ddd40718UL, 0x9de6249f6UL, - 0x9dfb96e81UL, 0x9d0bb724eUL, 0x9d1605539UL, 0x9d2d61bd7UL, 0x9d30d3ca0UL, - 0x9d461a17cUL, 0x9d5ba860bUL, 0x9d60cc8e5UL, 0x9d7d7ef92UL, 0x9c808f17bUL, - 0x9c9d3d60cUL, 0x9ca6598e2UL, 0x9cbbebf95UL, 0x9ccd22249UL, 0x9cd09053eUL, - 0x9cebf4bd0UL, 0x9cf646ca7UL, 0x9c0667068UL, 0x9c1bd571fUL, 0x9c20b19f1UL, - 0x9c3d03e86UL, 0x9c4bca35aUL, 0x9c567842dUL, 0x9c6d1cac3UL, 0x9c70aedb4UL, - 0x9b8769610UL, 0x9b9adb167UL, 0x9ba1bff89UL, 0x9bbc0d8feUL, 0x9bcac4522UL, - 0x9bd776255UL, 0x9bec12cbbUL, 0x9bf1a0bccUL, 0x9b0181703UL, 0x9b1c33074UL, - 0x9b2757e9aUL, 0x9b3ae59edUL, 0x9b4c2c431UL, 0x9b519e346UL, 0x9b6afada8UL, - 0x9b7748adfUL, 0x9a8ab9436UL, 0x9a970b341UL, 0x9aac6fdafUL, 0x9ab1ddad8UL, - 0x9ac714704UL, 0x9adaa6073UL, 0x9ae1c2e9dUL, 0x9afc709eaUL, 0x9a0c51525UL, - 0x9a11e3252UL, 0x9a2a87cbcUL, 0x9a3735bcbUL, 0x9a41fc617UL, 0x9a5c4e160UL, - 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0x51b9528eaUL, 0x51cf9b536UL, 0x51d229241UL, 0x51e94dcafUL, 0x51f4ffbd8UL, - 0x5104de717UL, 0x51196c060UL, 0x512208e8eUL, 0x513fba9f9UL, 0x514973425UL, - 0x5154c1352UL, 0x516fa5dbcUL, 0x517217acbUL, 0x508fe6422UL, 0x509254355UL, - 0x50a930dbbUL, 0x50b482accUL, 0x50c24b710UL, 0x50dff9067UL, 0x50e49de89UL, - 0x50f92f9feUL, 0x50090e531UL, 0x5014bc246UL, 0x502fd8ca8UL, 0x50326abdfUL, - 0x5044a3603UL, 0x505911174UL, 0x506275f9aUL, 0x507fc78edUL, 0x6f8c576ffUL, - 0x6f91e5188UL, 0x6faa81f66UL, 0x6fb733811UL, 0x6fc1fa5cdUL, 0x6fdc482baUL, - 0x6fe72cc54UL, 0x6ffa9eb23UL, 0x6f0abf7ecUL, 0x6f170d09bUL, 0x6f2c69e75UL, - 0x6f31db902UL, 0x6f47124deUL, 0x6f5aa03a9UL, 0x6f61c4d47UL, 0x6f7c76a30UL, - 0x6e81874d9UL, 0x6e9c353aeUL, 0x6ea751d40UL, 0x6ebae3a37UL, 0x6ecc2a7ebUL, - 0x6ed19809cUL, 0x6eeafce72UL, 0x6ef74e905UL, 0x6e076f5caUL, 0x6e1add2bdUL, - 0x6e21b9c53UL, 0x6e3c0bb24UL, 0x6e4ac26f8UL, 0x6e577018fUL, 0x6e6c14f61UL, - 0x6e71a6816UL, 0x6d8a455c4UL, 0x6d97f72b3UL, 0x6dac93c5dUL, 0x6db121b2aUL, - 0x6dc7e86f6UL, 0x6dda5a181UL, 0x6de13ef6fUL, 0x6dfc8c818UL, 0x6d0cad4d7UL, - 0x6d111f3a0UL, 0x6d2a7bd4eUL, 0x6d37c9a39UL, 0x6d41007e5UL, 0x6d5cb2092UL, - 0x6d67d6e7cUL, 0x6d7a6490bUL, 0x6c87957e2UL, 0x6c9a27095UL, 0x6ca143e7bUL, - 0x6cbcf190cUL, 0x6cca384d0UL, 0x6cd78a3a7UL, 0x6ceceed49UL, 0x6cf15ca3eUL, - 0x6c017d6f1UL, 0x6c1ccf186UL, 0x6c27abf68UL, 0x6c3a1981fUL, 0x6c4cd05c3UL, - 0x6c51622b4UL, 0x6c6a06c5aUL, 0x6c77b4b2dUL, 0x6b8073089UL, 0x6b9dc17feUL, - 0x6ba6a5910UL, 0x6bbb17e67UL, 0x6bcdde3bbUL, 0x6bd06c4ccUL, 0x6beb08a22UL, - 0x6bf6bad55UL, 0x6b069b19aUL, 0x6b1b296edUL, 0x6b204d803UL, 0x6b3dfff74UL, - 0x6b4b362a8UL, 0x6b56845dfUL, 0x6b6de0b31UL, 0x6b7052c46UL, 0x6a8da32afUL, - 0x6a90115d8UL, 0x6aab75b36UL, 0x6ab6c7c41UL, 0x6ac00e19dUL, 0x6addbc6eaUL, - 0x6ae6d8804UL, 0x6afb6af73UL, 0x6a0b4b3bcUL, 0x6a16f94cbUL, 0x6a2d9da25UL, - 0x6a302fd52UL, 0x6a46e608eUL, 0x6a5b547f9UL, 0x6a6030917UL, 0x6a7d82e60UL, - 0x6986613b2UL, 0x699bd34c5UL, 0x69a0b7a2bUL, 0x69bd05d5cUL, 0x69cbcc080UL, - 0x69d67e7f7UL, 0x69ed1a919UL, 0x69f0a8e6eUL, 0x6900892a1UL, 0x691d3b5d6UL, - 0x69265fb38UL, 0x693bedc4fUL, 0x694d24193UL, 0x6950966e4UL, 0x696bf280aUL, - 0x697640f7dUL, 0x688bb1194UL, 0x6896036e3UL, 0x68ad6780dUL, 0x68b0d5f7aUL, - 0x68c61c2a6UL, 0x68dbae5d1UL, 0x68e0cab3fUL, 0x68fd78c48UL, 0x680d59087UL, - 0x6810eb7f0UL, 0x682b8f91eUL, 0x68363de69UL, 0x6840f43b5UL, 0x685d464c2UL, - 0x686622a2cUL, 0x687b90d5bUL, 0x6789add64UL, 0x67941fa13UL, 0x67af7b4fdUL, - 0x67b2c938aUL, 0x67c400e56UL, 0x67d9b2921UL, 0x67e2d67cfUL, 0x67ff640b8UL, - 0x670f45c77UL, 0x6712f7b00UL, 0x6729935eeUL, 0x673421299UL, 0x6742e8f45UL, - 0x675f5a832UL, 0x67643e6dcUL, 0x67798c1abUL, 0x66847df42UL, 0x6699cf835UL, - 0x66a2ab6dbUL, 0x66bf191acUL, 0x66c9d0c70UL, 0x66d462b07UL, 0x66ef065e9UL, - 0x66f2b429eUL, 0x660295e51UL, 0x661f27926UL, 0x6624437c8UL, 0x6639f10bfUL, - 0x664f38d63UL, 0x66528aa14UL, 0x6669ee4faUL, 0x66745c38dUL, 0x658fbfe5fUL, - 0x65920d928UL, 0x65a9697c6UL, 0x65b4db0b1UL, 0x65c212d6dUL, 0x65dfa0a1aUL, - 0x65e4c44f4UL, 0x65f976383UL, 0x650957f4cUL, 0x6514e583bUL, 0x652f816d5UL, - 0x6532331a2UL, 0x6544fac7eUL, 0x655948b09UL, 0x65622c5e7UL, 0x657f9e290UL, - 0x64826fc79UL, 0x649fddb0eUL, 0x64a4b95e0UL, 0x64b90b297UL, 0x64cfc2f4bUL, - 0x64d27083cUL, 0x64e9146d2UL, 0x64f4a61a5UL, 0x640487d6aUL, 0x641935a1dUL, - 0x6422514f3UL, 0x643fe3384UL, 0x64492ae58UL, 0x64549892fUL, 0x646ffc7c1UL, - 0x64724e0b6UL, 0x638589b12UL, 0x63983bc65UL, 0x63a35f28bUL, 0x63beed5fcUL, - 0x63c824820UL, 0x63d596f57UL, 0x63eef21b9UL, 0x63f3406ceUL, 0x630361a01UL, - 0x631ed3d76UL, 0x6325b7398UL, 0x6338054efUL, 0x634ecc933UL, 0x63537ee44UL, - 0x63681a0aaUL, 0x6375a87ddUL, 0x628859934UL, 0x6295ebe43UL, 0x62ae8f0adUL, - 0x62b33d7daUL, 0x62c5f4a06UL, 0x62d846d71UL, 0x62e32239fUL, 0x62fe904e8UL, - 0x620eb1827UL, 0x621303f50UL, 0x6228671beUL, 0x6235d56c9UL, 0x62431cb15UL, - 0x625eaec62UL, 0x6265ca28cUL, 0x6278785fbUL, 0x61839b829UL, 0x619e29f5eUL, - 0x61a54d1b0UL, 0x61b8ff6c7UL, 0x61ce36b1bUL, 0x61d384c6cUL, 0x61e8e0282UL, - 0x61f5525f5UL, 0x61057393aUL, 0x6118c1e4dUL, 0x6123a50a3UL, 0x613e177d4UL, - 0x6148dea08UL, 0x61556cd7fUL, 0x616e08391UL, 0x6173ba4e6UL, 0x608e4ba0fUL, - 0x6093f9d78UL, 0x60a89d396UL, 0x60b52f4e1UL, 0x60c3e693dUL, 0x60de54e4aUL, - 0x60e5300a4UL, 0x60f8827d3UL, 0x6008a3b1cUL, 0x601511c6bUL, 0x602e75285UL, - 0x6033c75f2UL, 0x60450e82eUL, 0x6058bcf59UL, 0x6063d81b7UL, 0x607e6a6c0UL, - 0x7f87a21c9UL, 0x7f9a106beUL, 0x7fa174850UL, 0x7fbcc6f27UL, 0x7fca0f2fbUL, - 0x7fd7bd58cUL, 0x7fecd9b62UL, 0x7ff16bc15UL, 0x7f014a0daUL, 0x7f1cf87adUL, - 0x7f279c943UL, 0x7f3a2ee34UL, 0x7f4ce73e8UL, 0x7f515549fUL, 0x7f6a31a71UL, - 0x7f7783d06UL, 0x7e8a723efUL, 0x7e97c0498UL, 0x7eaca4a76UL, 0x7eb116d01UL, - 0x7ec7df0ddUL, 0x7eda6d7aaUL, 0x7ee109944UL, 0x7efcbbe33UL, 0x7e0c9a2fcUL, - 0x7e112858bUL, 0x7e2a4cb65UL, 0x7e37fec12UL, 0x7e41371ceUL, 0x7e5c856b9UL, - 0x7e67e1857UL, 0x7e7a53f20UL, 0x7d81b02f2UL, 0x7d9c02585UL, 0x7da766b6bUL, - 0x7dbad4c1cUL, 0x7dcc1d1c0UL, 0x7dd1af6b7UL, 0x7deacb859UL, 0x7df779f2eUL, - 0x7d07583e1UL, 0x7d1aea496UL, 0x7d218ea78UL, 0x7d3c3cd0fUL, 0x7d4af50d3UL, - 0x7d57477a4UL, 0x7d6c2394aUL, 0x7d7191e3dUL, 0x7c8c600d4UL, 0x7c91d27a3UL, - 0x7caab694dUL, 0x7cb704e3aUL, 0x7cc1cd3e6UL, 0x7cdc7f491UL, 0x7ce71ba7fUL, - 0x7cfaa9d08UL, 0x7c0a881c7UL, 0x7c173a6b0UL, 0x7c2c5e85eUL, 0x7c31ecf29UL, - 0x7c47252f5UL, 0x7c5a97582UL, 0x7c61f3b6cUL, 0x7c7c41c1bUL, 0x7b8b867bfUL, - 0x7b96340c8UL, 0x7bad50e26UL, 0x7bb0e2951UL, 0x7bc62b48dUL, 0x7bdb993faUL, - 0x7be0fdd14UL, 0x7bfd4fa63UL, 0x7b0d6e6acUL, 0x7b10dc1dbUL, 0x7b2bb8f35UL, - 0x7b360a842UL, 0x7b40c359eUL, 0x7b5d712e9UL, 0x7b6615c07UL, 0x7b7ba7b70UL, - 0x7a8656599UL, 0x7a9be42eeUL, 0x7aa080c00UL, 0x7abd32b77UL, 0x7acbfb6abUL, - 0x7ad6491dcUL, 0x7aed2df32UL, 0x7af09f845UL, 0x7a00be48aUL, 0x7a1d0c3fdUL, - 0x7a2668d13UL, 0x7a3bdaa64UL, 0x7a4d137b8UL, 0x7a50a10cfUL, 0x7a6bc5e21UL, - 0x7a7677956UL, 0x798d94484UL, 0x7990263f3UL, 0x79ab42d1dUL, 0x79b6f0a6aUL, - 0x79c0397b6UL, 0x79dd8b0c1UL, 0x79e6efe2fUL, 0x79fb5d958UL, 0x790b7c597UL, - 0x7916ce2e0UL, 0x792daac0eUL, 0x793018b79UL, 0x7946d16a5UL, 0x795b631d2UL, - 0x796007f3cUL, 0x797db584bUL, 0x7880446a2UL, 0x789df61d5UL, 0x78a692f3bUL, - 0x78bb2084cUL, 0x78cde9590UL, 0x78d05b2e7UL, 0x78eb3fc09UL, 0x78f68db7eUL, - 0x7806ac7b1UL, 0x781b1e0c6UL, 0x78207ae28UL, 0x783dc895fUL, 0x784b01483UL, - 0x7856b33f4UL, 0x786dd7d1aUL, 0x787065a6dUL, 0x778258a52UL, 0x779fead25UL, - 0x77a48e3cbUL, 0x77b93c4bcUL, 0x77cff5960UL, 0x77d247e17UL, 0x77e9230f9UL, - 0x77f49178eUL, 0x7704b0b41UL, 0x771902c36UL, 0x7722662d8UL, 0x773fd45afUL, - 0x77491d873UL, 0x7754aff04UL, 0x776fcb1eaUL, 0x77727969dUL, 0x768f88874UL, - 0x76923af03UL, 0x76a95e1edUL, 0x76b4ec69aUL, 0x76c225b46UL, 0x76df97c31UL, - 0x76e4f32dfUL, 0x76f9415a8UL, 0x760960967UL, 0x7614d2e10UL, 0x762fb60feUL, - 0x763204789UL, 0x7644cda55UL, 0x76597fd22UL, 0x76621b3ccUL, 0x767fa94bbUL, - 0x75844a969UL, 0x7599f8e1eUL, 0x75a29c0f0UL, 0x75bf2e787UL, 0x75c9e7a5bUL, - 0x75d455d2cUL, 0x75ef313c2UL, 0x75f2834b5UL, 0x7502a287aUL, 0x751f10f0dUL, - 0x7524741e3UL, 0x7539c6694UL, 0x754f0fb48UL, 0x7552bdc3fUL, 0x7569d92d1UL, - 0x75746b5a6UL, 0x74899ab4fUL, 0x749428c38UL, 0x74af4c2d6UL, 0x74b2fe5a1UL, - 0x74c43787dUL, 0x74d985f0aUL, 0x74e2e11e4UL, 0x74ff53693UL, 0x740f72a5cUL, - 0x7412c0d2bUL, 0x7429a43c5UL, 0x7434164b2UL, 0x7442df96eUL, 0x745f6de19UL, - 0x7464090f7UL, 0x7479bb780UL, 0x738e7cc24UL, 0x7393ceb53UL, 0x73a8aa5bdUL, - 0x73b5182caUL, 0x73c3d1f16UL, 0x73de63861UL, 0x73e50768fUL, 0x73f8b51f8UL, - 0x730894d37UL, 0x731526a40UL, 0x732e424aeUL, 0x7333f03d9UL, 0x734539e05UL, - 0x73588b972UL, 0x7363ef79cUL, 0x737e5d0ebUL, 0x7283ace02UL, 0x729e1e975UL, - 0x72a57a79bUL, 0x72b8c80ecUL, 0x72ce01d30UL, 0x72d3b3a47UL, 0x72e8d74a9UL, - 0x72f5653deUL, 0x720544f11UL, 0x7218f6866UL, 0x722392688UL, 0x723e201ffUL, - 0x7248e9c23UL, 0x72555bb54UL, 0x726e3f5baUL, 0x72738d2cdUL, 0x71886ef1fUL, - 0x7195dc868UL, 0x71aeb8686UL, 0x71b30a1f1UL, 0x71c5c3c2dUL, 0x71d871b5aUL, - 0x71e3155b4UL, 0x71fea72c3UL, 0x710e86e0cUL, 0x71133497bUL, 0x712850795UL, - 0x7135e20e2UL, 0x71432bd3eUL, 0x715e99a49UL, 0x7165fd4a7UL, 0x71784f3d0UL, - 0x7085bed39UL, 0x70980ca4eUL, 0x70a3684a0UL, 0x70beda3d7UL, 0x70c813e0bUL, - 0x70d5a197cUL, 0x70eec5792UL, 0x70f3770e5UL, 0x700356c2aUL, 0x701ee4b5dUL, - 0x7025805b3UL, 0x7038322c4UL, 0x704efbf18UL, 0x70534986fUL, 0x70682d681UL, - 0x70759f1f6UL - }; - fromVector(codes, d._code_id); - d._nbits = 36; - d._tau = 2; // - d._type = ARTOOLKITPLUSBCH; - d._name = "ARTOOLKITPLUSBCH"; - } - break; - case TAG36h11: - { - vector codes = { - 0xd5d628584UL, 0xd97f18b49UL, 0xdd280910eUL, 0xe479e9c98UL, 0xebcbca822UL, - 0xf31dab3acUL, 0x56a5d085UL, 0x10652e1d4UL, 0x22b1dfeadUL, 0x265ad0472UL, - 0x34fe91b86UL, 0x3ff962cd5UL, 0x43a25329aUL, 0x474b4385fUL, 0x4e9d243e9UL, - 0x5246149aeUL, 0x5997f5538UL, 0x683bb6c4cUL, 0x6be4a7211UL, 0x7e3158eeaUL, - 0x81da494afUL, 0x858339a74UL, 0x8cd51a5feUL, 0x9f21cc2d7UL, 0xa2cabc89cUL, - 0xadc58d9ebUL, 0xb16e7dfb0UL, 0xb8c05eb3aUL, 0xd25ef139dUL, 0xd607e1962UL, - 0xe4aba3076UL, 0x2dde6a3daUL, 0x43d40c678UL, 0x5620be351UL, 0x64c47fa65UL, - 0x686d7002aUL, 0x6c16605efUL, 0x6fbf50bb4UL, 0x8d06d39dcUL, 0x9f53856b5UL, - 0xadf746dc9UL, 0xbc9b084ddUL, 0xd290aa77bUL, 0xd9e28b305UL, 0xe4dd5c454UL, - 0xfad2fe6f2UL, 0x181a8151aUL, 0x26be42c2eUL, 0x2e10237b8UL, 0x405cd5491UL, - 0x7742eab1cUL, 0x85e6ac230UL, 0x8d388cdbaUL, 0x9f853ea93UL, 0xc41ea2445UL, - 0xcf1973594UL, 0x14a34a333UL, 0x31eacd15bUL, 0x6c79d2dabUL, 0x73cbb3935UL, - 0x89c155bd3UL, 0x8d6a46198UL, 0x91133675dUL, 0xa708d89fbUL, 0xae5ab9585UL, - 0xb9558a6d4UL, 0xb98743ab2UL, 0xd6cec68daUL, 0x1506bcaefUL, 0x4becd217aUL, - 0x4f95c273fUL, 0x658b649ddUL, 0xa76c4b1b7UL, 0xecf621f56UL, 0x1c8a56a57UL, - 0x3628e92baUL, 0x53706c0e2UL, 0x5e6b3d231UL, 0x7809cfa94UL, 0xe97eead6fUL, - 0x5af40604aUL, 0x7492988adUL, 0xed5994712UL, 0x5eceaf9edUL, 0x7c1632815UL, - 0xc1a0095b4UL, 0xe9e25d52bUL, 0x3a6705419UL, 0xa8333012fUL, 0x4ce5704d0UL, - 0x508e60a95UL, 0x877476120UL, 0xa864e950dUL, 0xea45cfce7UL, 0x19da047e8UL, - 0x24d4d5937UL, 0x6e079cc9bUL, 0x99f2e11d7UL, 0x33aa50429UL, 0x499ff26c7UL, - 0x50f1d3251UL, 0x66e7754efUL, 0x96ad633ceUL, 0x9a5653993UL, 0xaca30566cUL, - 0xc298a790aUL, 0x8be44b65dUL, 0xdc68f354bUL, 0x16f7f919bUL, 0x4dde0e826UL, - 0xd548cbd9fUL, 0xe0439ceeeUL, 0xfd8b1fd16UL, 0x76521bb7bUL, 0xd92375742UL, - 0xcab16d40cUL, 0x730c9dd72UL, 0xad9ba39c2UL, 0xb14493f87UL, 0x52b15651fUL, - 0x185409cadUL, 0x77ae2c68dUL, 0x94f5af4b5UL, 0xa13bad55UL, 0x61ea437cdUL, - 0xa022399e2UL, 0x203b163d1UL, 0x7bba8f40eUL, 0x95bc9442dUL, 0x41c0b5358UL, - 0x8e9c6cc81UL, 0xeb549670UL, 0x9da3a0b51UL, 0xd832a67a1UL, 0xdcd4350bcUL, - 0x4aa05fdd2UL, 0x60c7bb44eUL, 0x4b358b96cUL, 0x67299b45UL, 0xb9c89b5faUL, - 0x6975acaeaUL, 0x62b8f7afaUL, 0x33567c3d7UL, 0xbac139950UL, 0xa5927c62aUL, - 0x5c916e6a4UL, 0x260ecb7d5UL, 0x29b7bbd9aUL, 0x903205f26UL, 0xae72270a4UL, - 0x3d2ec51a7UL, 0x82ea55324UL, 0x11a6f3427UL, 0x1ca1c4576UL, 0xa40c81aefUL, - 0xbddccd730UL, 0xe617561eUL, 0x969317b0fUL, 0x67f781364UL, 0x610912f96UL, - 0xb2549fdfcUL, 0x6e5aaa6bUL, 0xb6c475339UL, 0xc56836a4dUL, 0x844e351ebUL, - 0x4647f83b4UL, 0x908a04f5UL, 0x7f51034c9UL, 0xaee537fcaUL, 0x5e92494baUL, - 0xd445808f4UL, 0x28d68b563UL, 0x4d25374bUL, 0x2bc065f65UL, 0x96dc3ea0cUL, - 0x4b2ade817UL, 0x7c3fd502UL, 0xe768b5cafUL, 0x17605cf6cUL, 0x182741ee4UL, - 0x62846097cUL, 0x72b5ebf80UL, 0x263da6e13UL, 0xfa841bcb5UL, 0x7e45e8c69UL, - 0x653c81fa0UL, 0x7443b5e70UL, 0xa5234afdUL, 0x74756f24eUL, 0x157ebf02aUL, - 0x82ef46939UL, 0x80d420264UL, 0x2aeed3e98UL, 0xb0a1dd4f8UL, 0xb5436be13UL, - 0x7b7b4b13bUL, 0x1ce80d6d3UL, 0x16c08427dUL, 0xee54462ddUL, 0x1f7644cceUL, - 0x9c7b5cc92UL, 0xe369138f8UL, 0x5d5a66e91UL, 0x485d62f49UL, 0xe6e819e94UL, - 0xb1f340eb5UL, 0x9d198ce2UL, 0xd60717437UL, 0x196b856cUL, 0xf0a6173a5UL, - 0x12c0e1ec6UL, 0x62b82d5cfUL, 0xad154c067UL, 0xce3778832UL, 0x6b0a7b864UL, - 0x4c7686694UL, 0x5058ff3ecUL, 0xd5e21ea23UL, 0x9ff4a76eeUL, 0x9dd981019UL, - 0x1bad4d30aUL, 0xc601896d1UL, 0x973439b48UL, 0x1ce7431a8UL, 0x57a8021d6UL, - 0xf9dba96e6UL, 0x83a2e4e7cUL, 0x8ea585380UL, 0xaf6c0e744UL, 0x875b73babUL, - 0xda34ca901UL, 0x2ab9727efUL, 0xd39f21b9aUL, 0x8a10b742fUL, 0x5f8952dbaUL, - 0xf8da71ab0UL, 0xc25f9df96UL, 0x6f8a5d94UL, 0xe42e63e1aUL, 0xb78409d1bUL, - 0x792229addUL, 0x5acf8c455UL, 0x2fc29a9b0UL, 0xea486237bUL, 0xb0c9685a0UL, - 0x1ad748a47UL, 0x3b4712d5UL, 0xf29216d30UL, 0x8dad65e49UL, 0xa2cf09ddUL, - 0xb5f174c6UL, 0xe54f57743UL, 0xb9cf54d78UL, 0x4a312a88aUL, 0x27babc962UL, - 0xb86897111UL, 0xf2ff6c116UL, 0x82274bd8aUL, 0x97023505eUL, 0x52d46edd1UL, - 0x585c1f538UL, 0xbddd00e43UL, 0x5590b74dfUL, 0x729404a1fUL, 0x65320855eUL, - 0xd3d4b6956UL, 0x7ae374f14UL, 0x2d7a60e06UL, 0x315cd9b5eUL, 0xfd36b4eacUL, - 0xf1df7642bUL, 0x55db27726UL, 0x8f15ebc19UL, 0x992f8c531UL, 0x62dea2a40UL, - 0x928275cabUL, 0x69c263cb9UL, 0xa774cca9eUL, 0x266b2110eUL, 0x1b14acbb8UL, - 0x624b8a71bUL, 0x1c539406bUL, 0x3086d529bUL, 0x111dd66eUL, 0x98cd630bfUL, - 0x8b9d1ffdcUL, 0x72b2f61e7UL, 0x9ed9d672bUL, 0x96cdd15f3UL, 0x6366c2504UL, - 0x6ca9df73aUL, 0xa066d60f0UL, 0xe7a4b8addUL, 0x8264647efUL, 0xaa195bf81UL, - 0x9a3db8244UL, 0x14d2df6aUL, 0xb63265b7UL, 0x2f010de73UL, 0x97e774986UL, - 0x248affc29UL, 0xfb57dcd11UL, 0xb1a7e4d9UL, 0x4bfa2d07dUL, 0x54e5cdf96UL, - 0x4c15c1c86UL, 0xcd9c61166UL, 0x499380b2aUL, 0x540308d09UL, 0x8b63fe66fUL, - 0xc81aeb35eUL, 0x86fe0bd5cUL, 0xce2480c2aUL, 0x1ab29ee60UL, 0x8048daa15UL, - 0xdbfeb2d39UL, 0x567c9858cUL, 0x2b6edc5bcUL, 0x2078fca82UL, 0xadacc22aaUL, - 0xb92486f49UL, 0x51fac5964UL, 0x691ee6420UL, 0xf63b3e129UL, 0x39be7e572UL, - 0xda2ce6c74UL, 0x20cf17a5cUL, 0xee55f9b6eUL, 0xfb8572726UL, 0xb2c2de548UL, - 0xcaa9bce92UL, 0xae9182db3UL, 0x74b6e5bd1UL, 0x137b252afUL, 0x51f686881UL, - 0xd672f6c02UL, 0x654146ce4UL, 0xf944bc825UL, 0xe8327f809UL, 0x76a73fd59UL, - 0xf79da4cb4UL, 0x956f8099bUL, 0x7b5f2655cUL, 0xd06b114a6UL, 0xd0697ca50UL, - 0x27c390797UL, 0xbc61ed9b2UL, 0xcc12dd19bUL, 0xeb7818d2cUL, 0x92fcecdaUL, - 0x89ded4ea1UL, 0x256a0ba34UL, 0xb6948e627UL, 0x1ef6b1054UL, 0x8639294a2UL, - 0xeda3780a4UL, 0x39ee2af1dUL, 0xcd257edc5UL, 0x2d9d6bc22UL, 0x121d3b47dUL, - 0x37e23f8adUL, 0x119f31cf6UL, 0x2c97f4f09UL, 0xd502abfe0UL, 0x10bc3ca77UL, - 0x53d7190efUL, 0x90c3e62a6UL, 0x7e9ebf675UL, 0x979ce23d1UL, 0x27f0c98e9UL, - 0xeafb4ae59UL, 0x7ca7fe2bdUL, 0x1490ca8f6UL, 0x9123387baUL, 0xb3bc73888UL, - 0x3ea87e325UL, 0x4888964aaUL, 0xa0188a6b9UL, 0xcd383c666UL, 0x40029a3fdUL, - 0xe1c00ac5cUL, 0x39e6f2b6eUL, 0xde664f622UL, 0xe979a75e8UL, 0x7c6b4c86cUL, - 0xfd492e071UL, 0x8fbb35118UL, 0x40b4a09b7UL, 0xaf80bd6daUL, 0x70e0b2521UL, - 0x2f5c54d93UL, 0x3f4a118d5UL, 0x9c1897b9UL, 0x79776eacUL, 0x84b00b17UL, - 0x3a95ad90eUL, 0x28c544095UL, 0x39d457c05UL, 0x7a3791a78UL, 0xbb770e22eUL, - 0x9a822bd6cUL, 0x68a4b1fedUL, 0xa5fd27b3bUL, 0xc3995b79UL, 0xd1519dff1UL, - 0x8e7eee359UL, 0xcd3ca50b1UL, 0xb73b8b793UL, 0x57aca1c43UL, 0xec2655277UL, - 0x785a2c1b3UL, 0x75a07985aUL, 0xa4b01eb69UL, 0xa18a11347UL, 0xdb1f28ca3UL, - 0x877ec3e25UL, 0x31f6341b8UL, 0x1363a3a4cUL, 0x75d8b9baUL, 0x7ae0792a9UL, - 0xa83a21651UL, 0x7f08f9fb5UL, 0xd0cf73a9UL, 0xb04dcc98eUL, 0xf65c7b0f8UL, - 0x65ddaf69aUL, 0x2cf9b86b3UL, 0x14cb51e25UL, 0xf48027b5bUL, 0xec26ea8bUL, - 0x44bafd45cUL, 0xb12c7c0c4UL, 0x959fd9d82UL, 0xc77c9725aUL, 0x48a22d462UL, - 0x8398e8072UL, 0xec89b05ceUL, 0xbb682d4c9UL, 0xe5a86d2ffUL, 0x358f01134UL, - 0x8556ddcf6UL, 0x67584b6e2UL, 0x11609439fUL, 0x8488816eUL, 0xaaf1a2c46UL, - 0xf879898cfUL, 0x8bbe5e2f7UL, 0x101eee363UL, 0x690f69377UL, 0xf5bd93cd9UL, - 0xcea4c2bf6UL, 0x9550be706UL, 0x2c5b38a60UL, 0xe72033547UL, 0x4458b0629UL, - 0xee8d9ed41UL, 0xd2f918d72UL, 0x78dc39fd3UL, 0x8212636f6UL, 0x7450a72a7UL, - 0xc4f0cf4c6UL, 0x367bcddcdUL, 0xc1caf8cc6UL, 0xa7f5b853dUL, 0x9d536818bUL, - 0x535e021b0UL, 0xa7eb8729eUL, 0x422a67b49UL, 0x929e928a6UL, 0x48e8aefccUL, - 0xa9897393cUL, 0x5eb81d37eUL, 0x1e80287b7UL, 0x34770d903UL, 0x2eef86728UL, - 0x59266ccb6UL, 0x110bba61UL, 0x1dfd284efUL, 0x447439d1bUL, 0xfece0e599UL, - 0x9309f3703UL, 0x80764d1ddUL, 0x353f1e6a0UL, 0x2c1c12dccUL, 0xc1d21b9d7UL, - 0x457ee453eUL, 0xd66faf540UL, 0x44831e652UL, 0xcfd49a848UL, 0x9312d4133UL, - 0x3f097d3eeUL, 0x8c9ebef7aUL, 0xa99e29e88UL, 0xe9fab22cUL, 0x4e748f4fbUL, - 0xecdee4288UL, 0xabce5f1d0UL, 0xc42f6876cUL, 0x7ed402ea0UL, 0xe5c4242c3UL, - 0xd5b2c31aeUL, 0x286863be6UL, 0x160444d94UL, 0x5f0f5808eUL, 0xae3d44b2aUL, - 0x9f5c5d109UL, 0x8ad9316d7UL, 0x3422ba064UL, 0x2fed11d56UL, 0xbea6e3e04UL, - 0x4b029eecUL, 0x6deed7435UL, 0x3718ce17cUL, 0x55857f5e2UL, 0x2edac7b62UL, - 0x85d6c512UL, 0xd6ca88e0fUL, 0x2b7e1fc69UL, 0xa699d5c1bUL, 0xf05ad74deUL, - 0x4cf5fb56dUL, 0x5725e07e1UL, 0x72f18a2deUL, 0x1cec52609UL, 0x48534243cUL, - 0x2523a4d69UL, 0x35c1b80d1UL, 0xa4d7338a7UL, 0xdb1af012UL, 0xe61a9475dUL, - 0x5df03f91UL, 0x97ae260bbUL, 0x32d627fefUL, 0xb640f73c2UL, 0x45a1ac9c6UL, - 0x6a2202de1UL, 0x57d3e25f2UL, 0x5aa9f986eUL, 0xcc859d8aUL, 0xe3ec6cca8UL, - 0x54e95e1aeUL, 0x446887b06UL, 0x7516732beUL, 0x3817ac8f5UL, 0x3e26d938cUL, - 0xaa81bc235UL, 0xdf387ca1bUL, 0xf3a3b3f2UL, 0xb4bf69677UL, 0xae21868edUL, - 0x81e1d2d9dUL, 0xa0a9ea14cUL, 0x8eee297a9UL, 0x4740c0559UL, 0xe8b141837UL, - 0xac69e0a3dUL, 0x9ed83a1e1UL, 0x5edb55ecbUL, 0x7340fe81UL, 0x50dfbc6bfUL, - 0x4f583508aUL, 0xcb1fb78bcUL, 0x4025ced2fUL, 0x39791ebecUL, 0x53ee388f1UL, - 0x7d6c0bd23UL, 0x93a995fbeUL, 0x8a41728deUL, 0x2fe70e053UL, 0xab3db443aUL, - 0x1364edb05UL, 0x47b6eeed6UL, 0x12e71af01UL, 0x52ff83587UL, 0x3a1575dd8UL, - 0x3feaa3564UL, 0xeacf78ba7UL, 0x872b94f8UL, 0xda8ddf9a2UL, 0x9aa920d2bUL, - 0x1f350ed36UL, 0x18a5e861fUL, 0x2c35b89c3UL, 0x3347ac48aUL, 0x7f23e022eUL, - 0x2459068fbUL, 0xe83be4b73UL - }; - fromVector(codes, d._code_id); - d._nbits = 36; - d._tau = 11; - d._type = TAG36h11; - d._name = "TAG36h11"; - } - break; - case TAG36h10: - { - vector codes = { - 0x1ca92a687UL, 0x20521ac4cUL, 0x27a3fb7d6UL, 0x2b4cebd9bUL, 0x3647bceeaUL, - 0x39f0ad4afUL, 0x3d999da74UL, 0x44eb7e5feUL, 0x538f3fd12UL, 0x5738302d7UL, - 0x65dbf19ebUL, 0x70d6c2b3aUL, 0x7f7a8424eUL, 0x832374813UL, 0x86cc64dd8UL, - 0x8a755539dUL, 0x9570264ecUL, 0x991916ab1UL, 0xa06af763bUL, 0xab65c878aUL, - 0xb2b7a9314UL, 0xb660998d9UL, 0xbdb27a463UL, 0xcc563bb77UL, 0xe24bdde15UL, - 0xed46aef64UL, 0xf4988faeeUL, 0x6e5417c7UL, 0x158902edbUL, 0x1cdae3a65UL, - 0x242cc45efUL, 0x27d5b4bb4UL, 0x2b7ea5179UL, 0x32d085d03UL, 0x3679762c8UL, - 0x3a226688dUL, 0x3dcb56e52UL, 0x48c627fa1UL, 0x5769e96b5UL, 0x6264ba804UL, - 0x660daadc9UL, 0x6d5f8b953UL, 0x74b16c4ddUL, 0x7fac3d62cUL, 0x91f8ef305UL, - 0x95a1df8caUL, 0x994acfe8fUL, 0xa09cb0a19UL, 0xa445a0fdeUL, 0xa7ee915a3UL, - 0xab9781b68UL, 0xaf407212dUL, 0xb69252cb7UL, 0xc8df04990UL, 0xd3d9d5adfUL, - 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0xfb1e2d8c6UL, 0xd8a0af7a7UL, 0x37d05b182UL, 0x8d1241d83UL, 0xda1ea7b6eUL, - 0x65bea93dbUL, 0x2a02f8753UL, 0x454243289UL, 0x4150bc5a2UL, 0xbbabe5911UL, - 0x4cbcdbc59UL, 0xf0e61340bUL, 0x30a2cdea8UL, 0x5daecb091UL, 0x5dc93d891UL, - 0xc501b4051UL, 0x782cfba78UL, 0x4c191b61eUL, 0xb7e27ef35UL, 0x5a476838UL, - 0x9b0209574UL, 0xa775164cfUL, 0xd33d21701UL, 0x3afcb7d45UL, 0x4df2035cdUL, - 0x498819a21UL, 0x293f9e506UL, 0x9a35ff1c8UL, 0xc090ebe6bUL, 0xa4f0551d4UL, - 0x5dc0dc194UL, 0x1388aeb31UL, 0x340b27bf4UL, 0x3a0f320abUL, 0x996be75dUL, - 0xb257ecf39UL, 0x78d86f2f1UL, 0x673f5ff91UL, 0x4538d7e3eUL, 0xde5bc4369UL - }; - fromVector(codes, d._code_id); - d._nbits = 36; - d._tau = 10; - d._type = TAG36h10; - d._name = "TAG36h10"; - } - break; - case TAG16h5: - { - vector codes = { 0x231bUL, 0x2ea5UL, 0x346aUL, 0x45b9UL, 0x79a6UL, - 0x7f6bUL, 0xb358UL, 0xe745UL, 0xfe59UL, 0x156dUL, - 0x380bUL, 0xf0abUL, 0xd84UL, 0x4736UL, 0x8c72UL, - 0xaf10UL, 0x93cUL, 0x93b4UL, 0xa503UL, 0x468fUL, - 0xe137UL, 0x5795UL, 0xdf42UL, 0x1c1dUL, 0xe9dcUL, - 0x73adUL, 0xad5fUL, 0xd530UL, 0x7caUL, 0xaf2eUL }; - fromVector(codes, d._code_id); - d._nbits = 16; - d._tau = 5; - d._type = TAG16h5; - d._name = "TAG16h5"; - } - break; - case TAG25h7: - { - vector codes = { - 0x4b770dUL, 0x11693e6UL, 0x1a599abUL, 0xc3a535UL, 0x152aafaUL, 0xaccd98UL, - 0x1cad922UL, 0x2c2fadUL, 0xbb3572UL, 0x14a3b37UL, 0x186524bUL, 0xc99d4cUL, - 0x23bfeaUL, 0x141cb74UL, 0x1d0d139UL, 0x1670aebUL, 0x851675UL, 0x150334eUL, - 0x6e3ed8UL, 0xfd449dUL, 0xaa55ecUL, 0x1c86176UL, 0x15e9b28UL, 0x7ca6b2UL, - 0x147c38bUL, 0x1d6c950UL, 0x8b0e8cUL, 0x11a1451UL, 0x1562b65UL, 0x13f53c8UL, - 0xd58d7aUL, 0x829ec9UL, 0xfaccf1UL, 0x136e405UL, 0x7a2f06UL, 0x10934cbUL, - 0x16a8b56UL, 0x1a6a26aUL, 0xf85545UL, 0x195c2e4UL, 0x24c8a9UL, 0x12bfc96UL, - 0x16813aaUL, 0x1a42abeUL, 0x1573424UL, 0x1044573UL, 0xb156c2UL, 0x5e6811UL, - 0x1659bfeUL, 0x1d55a63UL, 0x5bf065UL, 0xe28667UL, 0x1e9ba54UL, 0x17d7c5aUL, - 0x1f5aa82UL, 0x1a2bbd1UL, 0x1ae9f9UL, 0x1259e51UL, 0x134062bUL, 0xe1177aUL, - 0xed07a8UL, 0x162be24UL, 0x59128bUL, 0x1663e8fUL, 0x1a83cbUL, 0x45bb59UL, - 0x189065aUL, 0x4bb370UL, 0x16fb711UL, 0x122c077UL, 0xeca17aUL, 0xdbc1f4UL, - 0x88d343UL, 0x58ac5dUL, 0xba02e8UL, 0x1a1d9dUL, 0x1c72eecUL, 0x924bc5UL, - 0xdccab3UL, 0x886d15UL, 0x178c965UL, 0x5bc69aUL, 0x1716261UL, 0x174e2ccUL, - 0x1ed10f4UL, 0x156aa8UL, 0x3e2a8aUL, 0x2752edUL, 0x153c651UL, 0x1741670UL, - 0x765b05UL, 0x119c0bbUL, 0x172a783UL, 0x4faca1UL, 0xf31257UL, 0x12441fcUL, - 0xd3748UL, 0xc21f15UL, 0xac5037UL, 0x180e592UL, 0x7d3210UL, 0xa27187UL, - 0x2beeafUL, 0x26ff57UL, 0x690e82UL, 0x77765cUL, 0x1a9e1d7UL, 0x140be1aUL, - 0x1aa1e3aUL, 0x1944f5cUL, 0x19b5032UL, 0x169897UL, 0x1068eb9UL, 0xf30dbcUL, - 0x106a151UL, 0x1d53e95UL, 0x1348ceeUL, 0xcf4fcaUL, 0x1728bb5UL, 0xdc1eecUL, - 0x69e8dbUL, 0x16e1523UL, 0x105fa25UL, 0x18abb0cUL, 0xc4275dUL, 0x6d8e76UL, - 0xe8d6dbUL, 0xe16fd7UL, 0x1ac2682UL, 0x77435bUL, 0xa359ddUL, 0x3a9c4eUL, - 0x123919aUL, 0x1e25817UL, 0x2a836UL, 0x1545a4UL, 0x1209c8dUL, 0xbb5f69UL, - 0x1dc1f02UL, 0x5d5f7eUL, 0x12d0581UL, 0x13786c2UL, 0xe15409UL, 0x1aa3599UL, - 0x139aad8UL, 0xb09d2aUL, 0x54488fUL, 0x13c351cUL, 0x976079UL, 0xb25b12UL, - 0x1addb34UL, 0x1cb23aeUL, 0x1175738UL, 0x1303bb8UL, 0xd47716UL, 0x188ceeaUL, - 0xbaf967UL, 0x1226d39UL, 0x135e99bUL, 0x34adc5UL, 0x2e384dUL, 0x90d3faUL, - 0x232713UL, 0x17d49b1UL, 0xaa84d6UL, 0xc2ddf8UL, 0x1665646UL, 0x4f345fUL, - 0x2276b1UL, 0x1255dd7UL, 0x16f4cccUL, 0x4aaffcUL, 0xc46da6UL, 0x85c7b3UL, - 0x1311fcbUL, 0x9c6c4fUL, 0x187d947UL, 0x8578e4UL, 0xe2bf0bUL, 0xa01b4cUL, - 0xa1493bUL, 0x7ad766UL, 0xccfe82UL, 0x1981b5bUL, 0x1cacc85UL, 0x562cdbUL, - 0x15b0e78UL, 0x8f66c5UL, 0x3332bfUL, 0x12ce754UL, 0x96a76UL, 0x1d5e3baUL, - 0x27ea41UL, 0x14412dfUL, 0x67b9b4UL, 0xdaa51aUL, 0x1dcb17UL, 0x4d4afdUL, - 0x6335d5UL, 0xee2334UL, 0x17d4e55UL, 0x1b8b0f0UL, 0x14999e3UL, 0x1513dfaUL, - 0x765cf2UL, 0x56af90UL, 0x12e16acUL, 0x1d3d86cUL, 0xff279bUL, 0x18822ddUL, - 0x99d478UL, 0x8dc0d2UL, 0x34b666UL, 0xcf9526UL, 0x186443dUL, 0x7a8e29UL, - 0x19c6aa5UL, 0x1f2a27dUL, 0x12b2136UL, 0xd0cd0dUL, 0x12cb320UL, 0x17ddb0bUL, - 0x5353bUL, 0x15b2cafUL, 0x1e5a507UL, 0x120f1e5UL, 0x114605aUL, 0x14efe4cUL, - 0x568134UL, 0x11b9f92UL, 0x174d2a7UL, 0x692b1dUL, 0x39e4feUL, 0xaaff3dUL, - 0x96224cUL, 0x13c9f77UL, 0x110ee8fUL, 0xf17beaUL, 0x99fb5dUL, 0x337141UL, - 0x2b54dUL, 0x1233a70UL - }; - fromVector(codes, d._code_id); - d._nbits = 25; - d._tau = 7; - d._type = TAG25h7; - d._name = "TAG25h7"; - } - break; - case TAG25h9: - { - vector codes = { - 0x155cbf1UL, 0x1e4d1b6UL, 0x17b0b68UL, 0x1eac9cdUL, 0x12e14ceUL, 0x3548bbUL, - 0x7757e6UL, 0x1065dabUL, 0x1baa2e7UL, 0xdea688UL, 0x81d927UL, 0x51b241UL, - 0xdbc8aeUL, 0x1e50e19UL, 0x15819d2UL, 0x16d8282UL, 0x163e035UL, 0x9d9b81UL, - 0x173eec4UL, 0xae3a09UL, 0x5f7c51UL, 0x1a137fcUL, 0xdc9562UL, 0x1802e45UL, - 0x1c3542cUL, 0x870fa4UL, 0x914709UL, 0x16684f0UL, 0xc8f2a5UL, 0x833ebbUL, - 0x59717fUL, 0x13cd050UL, 0xfa0ad1UL, 0x1b763b0UL, 0xb991ceUL - }; - fromVector(codes, d._code_id); - d._nbits = 25; - d._tau = 9; - d._type = TAG25h9; - d._name = "TAG25h9"; - } - break; - case ARUCO_MIP_16h3: - { - vector codes = { - 0x5867UL, 0x8b03UL, 0x2537UL, 0xb6c7UL, 0xe45UL, 0x161UL, 0x219UL, 0x859bUL, - 0x87UL, 0xc93fUL, 0x905fUL, 0x3e73UL, 0x6ab7UL, 0x1bafUL, 0x6f0fUL, 0x23d3UL, - 0x47a5UL, 0x8cf7UL, 0x83cfUL, 0x9205UL, 0x29a5UL, 0x8033UL, 0x857dUL, 0xa4afUL, - 0x422fUL, 0x1d07UL, 0x4ee3UL, 0x64c5UL, 0xaa7fUL, 0x4b75UL, 0x34dbUL, 0x926UL, - 0x262UL, 0x501dUL, 0x415UL, 0x6201UL, 0x2064UL, 0x2d5UL, 0x10bUL, 0x9427UL, - 0xc16bUL, 0xa603UL, 0x911UL, 0x1043UL, 0x87bUL, 0xccfUL, 0x162bUL, 0x9ab3UL, - 0x30b7UL, 0xad0bUL, 0x60a6UL, 0x3845UL, 0xce2bUL, 0xadc7UL, 0x612UL, 0x4253UL, - 0x9cc3UL, 0xc23UL, 0x409bUL, 0x8e87UL, 0x98e5UL, 0x20f1UL, 0xa807UL, 0x1bfUL, - 0x7023UL, 0xdf1UL, 0x2957UL, 0x26b3UL, 0xd80fUL, 0x4076UL, 0x233bUL, 0x32e3UL, - 0x7a85UL, 0x4349UL, 0xc857UL, 0x41c6UL, 0x3813UL, 0x6d97UL, 0x324fUL, 0xe3fUL, - 0x47ffUL, 0x2217UL, 0xdd6fUL, 0x48b1UL, 0x8b95UL, 0xd9c7UL, 0x1a7dUL, 0x867bUL, - 0xb7ffUL, 0x7fa7UL, 0x478bUL, 0x6d43UL, 0x6167UL, 0x8f67UL, 0xcda7UL, 0x5cb7UL, - 0xf3afUL, 0x889fUL, 0x2fdfUL, 0xd2e7UL, 0x553UL, 0xbc1fUL, 0x7607UL, 0x2a61UL, - 0x11ebUL, 0xa457UL, 0x789fUL, 0x2e95UL, 0xb46bUL, 0x39ffUL, 0x4fb6UL, 0x647fUL, - 0x250dUL, 0x5883UL, 0xc5d7UL, 0xe73fUL, 0x129fUL, 0x548fUL, 0xb253UL, 0x635fUL, - 0x1ed7UL, 0xc647UL, 0xa1f7UL, 0x565fUL, 0x7e6fUL, 0xe10fUL, 0xf56UL, 0xf2dfUL, - 0x87a3UL, 0x4b87UL, 0x24f6UL, 0xafb7UL, 0x3bc7UL, 0x51a7UL, 0x6a47UL, 0x4c46UL, - 0x6723UL, 0x2787UL, 0x2667UL, 0x2f13UL, 0x50d7UL, 0x680dUL, 0x7ad3UL, 0x454fUL, - 0x6c35UL, 0xf17fUL, 0x6b91UL, 0x4011UL, 0x16UL, 0x2022UL, 0xa1UL, 0x142UL, - 0x40fUL, 0x1025UL, 0xcbUL, 0x45UL, 0x4427UL, 0x8491UL, 0x2292UL, 0x482bUL, - 0x8221UL, 0x8293UL, 0xf7UL, 0x7dUL, 0x601UL, 0x84a5UL, 0x2443UL, 0x806fUL, - 0x21c1UL, 0x4825UL, 0x466UL, 0x742dUL, 0xca07UL, 0x20bbUL, 0x88a3UL, 0x2251UL, - 0xa81UL, 0x202dUL, 0x205bUL, 0x1a07UL, 0x8119UL, 0x6413UL, 0x6105UL, 0x820bUL, - 0x8715UL, 0x1c0bUL, 0xb003UL, 0x307UL, 0x147bUL, 0x135UL, 0x62a3UL, 0x6c0bUL, - 0x14b3UL, 0x5c05UL, 0xd81UL, 0x36dUL, 0x8d3UL, 0x8ba7UL, 0xb25UL, 0x4c5bUL, - 0x2867UL, 0x242bUL, 0x1237UL, 0x4206UL, 0xa0c3UL, 0xa4f3UL, 0x984bUL, 0x8507UL, - 0x4529UL, 0xf0dUL, 0xb2bUL, 0x2891UL, 0x1a3bUL, 0x234bUL, 0x8d43UL, 0x22e6UL, - 0x7245UL, 0x1c77UL, 0x825dUL, 0x3487UL, 0x60d6UL, 0x5403UL, 0x90e3UL, 0xa43UL, - 0x6519UL, 0x6169UL, 0xc397UL, 0x2285UL, 0xc127UL, 0x2c05UL, 0x8871UL, 0x5a0bUL, - 0x4e26UL, 0x15afUL, 0xf97UL, 0x258bUL, 0x463bUL, 0x86c3UL, 0x292fUL, 0x9e3UL, - 0x2571UL, 0x4ce5UL, 0x81d5UL, 0x459UL, 0x40e2UL, 0x5b6UL, 0x4a33UL, 0x837UL, - 0xa2a7UL, 0xf4bUL - }; - fromVector(codes, d._code_id); - d._nbits = 16; - d._tau = 3; - d._type = ARUCO_MIP_16h3; - d._name = "ARUCO_MIP_16h3"; - } - break; - - case ARUCO_MIP_25h7: - { - vector codes = { - 0x1ad2487UL, 0x141b6e9UL, 0x1780e66UL, 0x1a86ad8UL, 0x1146916UL, 0x14ebcb6UL, - 0x1a1893cUL, 0xd79525UL, 0xf8db53UL, 0x1b5928UL, 0x127bf52UL, 0x1cb3a02UL, - 0x145ed8cUL, 0x3970efUL, 0xc8934cUL, 0x5badedUL, 0x53c9daUL, 0x1991f79UL, - 0x1d40a4dUL, 0x1631993UL, 0x74d97cUL, 0x62c8a5UL, 0x1a6ce96UL, 0x1c71456UL, - 0x18d8df2UL, 0xe290faUL, 0x494061UL, 0xedc6cdUL, 0x12bd8f0UL, 0x1a5d254UL, - 0x172eb3aUL, 0x9d6e92UL, 0x10a2172UL, 0x1bd085aUL, 0x186e528UL, 0xb4af45UL, - 0x55a5b2UL, 0x5e5136UL, 0x88508bUL, 0xea2c6fUL, 0x1a9274cUL, 0xbbb977UL, - 0x5ede62UL, 0x105ba85UL, 0x18a79bcUL, 0x18d4b9dUL, 0x1a144deUL, 0x1ba5390UL, - 0x1b8a652UL, 0x1c4948dUL, 0x3ce285UL, 0xb5cce7UL, 0x16d2cb9UL, 0xb7d338UL, - 0xb650e9UL, 0x130e4b1UL, 0xd3badcUL, 0xf2161dUL, 0x17a45a7UL, 0x14c5c50UL, - 0x14be8abUL, 0x1230de9UL, 0xf7c242UL, 0x508697UL, 0x14b1cc5UL, 0x2c1e94UL, - 0xf89469UL, 0xdc52d8UL, 0x6eb5c4UL, 0xd8ea08UL, 0x16c779dUL, 0x1770dbeUL, - 0x90a4ecUL, 0x1bf212eUL, 0x1a4b99aUL, 0x1d2d3a9UL, 0xf4f5aeUL, 0x842e89UL, - 0x1c0e8d4UL, 0x1af4a4cUL, 0x189044bUL, 0xdd3108UL, 0x1ab639eUL, 0x18836c5UL, - 0x5f5ad3UL, 0x1410f5dUL, 0xeb532fUL, 0xbda0baUL, 0x9edf2dUL, 0xd5ae4eUL, - 0x165d1b8UL, 0x187d07aUL, 0x1dd616dUL, 0x912527UL, 0x940c3cUL, 0x516b8dUL, - 0xc1da19UL, 0xc7db85UL, 0x144cb34UL, 0xcd7a34UL - }; - fromVector(codes, d._code_id); - d._nbits = 25; - d._tau = 7; - d._type = ARUCO_MIP_25h7; - d._name = "ARUCO_MIP_25h7"; - } - break; - - case ARUCO_MIP_36h12: - { - vector codes = { - 0xd2b63a09dUL, 0x6001134e5UL, 0x1206fbe72UL, 0xff8ad6cb4UL, 0x85da9bc49UL, - 0xb461afe9cUL, 0x6db51fe13UL, 0x5248c541fUL, 0x8f34503UL, 0x8ea462eceUL, - 0xeac2be76dUL, 0x1af615c44UL, 0xb48a49f27UL, 0x2e4e1283bUL, 0x78b1f2fa8UL, - 0x27d34f57eUL, 0x89222fff1UL, 0x4c1669406UL, 0xbf49b3511UL, 0xdc191cd5dUL, - 0x11d7c3f85UL, 0x16a130e35UL, 0xe29f27effUL, 0x428d8ae0cUL, 0x90d548477UL, - 0x2319cbc93UL, 0xc3b0c3dfcUL, 0x424bccc9UL, 0x2a081d630UL, 0x762743d96UL, - 0xd0645bf19UL, 0xf38d7fd60UL, 0xc6cbf9a10UL, 0x3c1be7c65UL, 0x276f75e63UL, - 0x4490a3f63UL, 0xda60acd52UL, 0x3cc68df59UL, 0xab46f9daeUL, 0x88d533d78UL, - 0xb6d62ec21UL, 0xb3c02b646UL, 0x22e56d408UL, 0xac5f5770aUL, 0xaaa993f66UL, - 0x4caa07c8dUL, 0x5c9b4f7b0UL, 0xaa9ef0e05UL, 0x705c5750UL, 0xac81f545eUL, - 0x735b91e74UL, 0x8cc35cee4UL, 0xe44694d04UL, 0xb5e121de0UL, 0x261017d0fUL, - 0xf1d439eb5UL, 0xa1a33ac96UL, 0x174c62c02UL, 0x1ee27f716UL, 0x8b1c5ece9UL, - 0x6a05b0c6aUL, 0xd0568dfcUL, 0x192d25e5fUL, 0x1adbeccc8UL, 0xcfec87f00UL, - 0xd0b9dde7aUL, 0x88dcef81eUL, 0x445681cb9UL, 0xdbb2ffc83UL, 0xa48d96df1UL, - 0xb72cc2e7dUL, 0xc295b53fUL, 0xf49832704UL, 0x9968edc29UL, 0x9e4e1af85UL, - 0x8683e2d1bUL, 0x810b45c04UL, 0x6ac44bfe2UL, 0x645346615UL, 0x3990bd598UL, - 0x1c9ed0f6aUL, 0xc26729d65UL, 0x83993f795UL, 0x3ac05ac5dUL, 0x357adff3bUL, - 0xd5c05565UL, 0x2f547ef44UL, 0x86c115041UL, 0x640fd9e5fUL, 0xce08bbcf7UL, - 0x109bb343eUL, 0xc21435c92UL, 0x35b4dfce4UL, 0x459752cf2UL, 0xec915b82cUL, - 0x51881eed0UL, 0x2dda7dc97UL, 0x2e0142144UL, 0x42e890f99UL, 0x9a8856527UL, - 0x8e80d9d80UL, 0x891cbcf34UL, 0x25dd82410UL, 0x239551d34UL, 0x8fe8f0c70UL, - 0x94106a970UL, 0x82609b40cUL, 0xfc9caf36UL, 0x688181d11UL, 0x718613c08UL, - 0xf1ab7629UL, 0xa357bfc18UL, 0x4c03b7a46UL, 0x204dedce6UL, 0xad6300d37UL, - 0x84cc4cd09UL, 0x42160e5c4UL, 0x87d2adfa8UL, 0x7850e7749UL, 0x4e750fc7cUL, - 0xbf2e5dfdaUL, 0xd88324da5UL, 0x234b52f80UL, 0x378204514UL, 0xabdf2ad53UL, - 0x365e78ef9UL, 0x49caa6ca2UL, 0x3c39ddf3UL, 0xc68c5385dUL, 0x5bfcbbf67UL, - 0x623241e21UL, 0xabc90d5ccUL, 0x388c6fe85UL, 0xda0e2d62dUL, 0x10855dfe9UL, - 0x4d46efd6bUL, 0x76ea12d61UL, 0x9db377d3dUL, 0xeed0efa71UL, 0xe6ec3ae2fUL, - 0x441faee83UL, 0xba19c8ff5UL, 0x313035eabUL, 0x6ce8f7625UL, 0x880dab58dUL, - 0x8d3409e0dUL, 0x2be92ee21UL, 0xd60302c6cUL, 0x469ffc724UL, 0x87eebeed3UL, - 0x42587ef7aUL, 0x7a8cc4e52UL, 0x76a437650UL, 0x999e41ef4UL, 0x7d0969e42UL, - 0xc02baf46bUL, 0x9259f3e47UL, 0x2116a1dc0UL, 0x9f2de4d84UL, 0xeffac29UL, - 0x7b371ff8cUL, 0x668339da9UL, 0xd010aee3fUL, 0x1cd00b4c0UL, 0x95070fc3bUL, - 0xf84c9a770UL, 0x38f863d76UL, 0x3646ff045UL, 0xce1b96412UL, 0x7a5d45da8UL, - 0x14e00ef6cUL, 0x5e95abfd8UL, 0xb2e9cb729UL, 0x36c47dd7UL, 0xb8ee97c6bUL, - 0xe9e8f657UL, 0xd4ad2ef1aUL, 0x8811c7f32UL, 0x47bde7c31UL, 0x3adadfb64UL, - 0x6e5b28574UL, 0x33e67cd91UL, 0x2ab9fdd2dUL, 0x8afa67f2bUL, 0xe6a28fc5eUL, - 0x72049cdbdUL, 0xae65dac12UL, 0x1251a4526UL, 0x1089ab841UL, 0xe2f096ee0UL, - 0xb0caee573UL, 0xfd6677e86UL, 0x444b3f518UL, 0xbe8b3a56aUL, 0x680a75cfcUL, - 0xac02baea8UL, 0x97d815e1cUL, 0x1d4386e08UL, 0x1a14f5b0eUL, 0xe658a8d81UL, - 0xa3868efa7UL, 0x3668a9673UL, 0xe8fc53d85UL, 0x2e2b7edd5UL, 0x8b2470f13UL, - 0xf69795f32UL, 0x4589ffc8eUL, 0x2e2080c9cUL, 0x64265f7dUL, 0x3d714dd10UL, - 0x1692c6ef1UL, 0x3e67f2f49UL, 0x5041dad63UL, 0x1a1503415UL, 0x64c18c742UL, - 0xa72eec35UL, 0x1f0f9dc60UL, 0xa9559bc67UL, 0xf32911d0dUL, 0x21c0d4ffcUL, - 0xe01cef5b0UL, 0x4e23a3520UL, 0xaa4f04e49UL, 0xe1c4fcc43UL, 0x208e8f6e8UL, - 0x8486774a5UL, 0x9e98c7558UL, 0x2c59fb7dcUL, 0x9446a4613UL, 0x8292dcc2eUL, - 0x4d61631UL, 0xd05527809UL, 0xa0163852dUL, 0x8f657f639UL, 0xcca6c3e37UL, - 0xcb136bc7aUL, 0xfc5a83e53UL, 0x9aa44fc30UL, 0xbdec1bd3cUL, 0xe020b9f7cUL, - 0x4b8f35fb0UL, 0xb8165f637UL, 0x33dc88d69UL, 0x10a2f7e4dUL, 0xc8cb5ff53UL, - 0xde259ff6bUL, 0x46d070dd4UL, 0x32d3b9741UL, 0x7075f1c04UL, 0x4d58dbea0UL - }; - fromVector(codes, d._code_id); - d._nbits = 36; - d._tau = 12; - d._type = ARUCO_MIP_36h12; - d._name = "ARUCO_MIP_36h12"; - } - break; - case CHILITAGS: - { - vector codes = { 0x7c765c6e0c3e00UL, - 0x7c765c14121e00UL, - 0x7c765a06763e00UL, - 0x7c765a7c681e00UL, - 0x7c764248643e00UL, - 0x7c7642327a1e00UL, - 0x7c7644201e3e00UL, - 0x7c76445a001e00UL, - 0x7c7626702c3800UL, - 0x7c76260a321800UL, - 0x7c762018563800UL, - 0x7c762062481800UL, - 0x7c763856443800UL, - 0x7c76382c5a1800UL, - 0x7c763e3e3e3800UL, - 0x7c763e44201800UL, - 0x7c70346e120000UL, - 0x7c7034140c2000UL, - 0x7c703206680000UL, - 0x7c70327c762000UL, - 0x7c702a487a0000UL, - 0x7c702a32642000UL, - 0x7c702c20000000UL, - 0x7c702c5a1e2000UL, - 0x7c704e70320600UL, - 0x7c704e0a2c2600UL, - 0x7c704818480600UL, - 0x7c704862562600UL, - 0x7c7050565a0600UL, - 0x7c70502c442600UL, - 0x7c70563e200600UL, - 0x7c7056443e2600UL, - 0x7c687c6e764400UL, - 0x7c687c14686400UL, - 0x7c687a060c4400UL, - 0x7c687a7c126400UL, - 0x7c6862481e4400UL, - 0x7c686232006400UL, - 0x7c686420644400UL, - 0x7c68645a7a6400UL, - 0x7c680670564200UL, - 0x7c68060a486200UL, - 0x7c6800182c4200UL, - 0x7c680062326200UL, - 0x7c6818563e4200UL, - 0x7c68182c206200UL, - 0x7c681e3e444200UL, - 0x7c681e445a6200UL, - 0x7c6e146e687a00UL, - 0x7c6e1414765a00UL, - 0x7c6e1206127a00UL, - 0x7c6e127c0c5a00UL, - 0x7c6e0a48007a00UL, - 0x7c6e0a321e5a00UL, - 0x7c6e0c207a7a00UL, - 0x7c6e0c5a645a00UL, - 0x7c6e6e70487c00UL, - 0x7c6e6e0a565c00UL, - 0x7c6e6818327c00UL, - 0x7c6e68622c5c00UL, - 0x7c6e7056207c00UL, - 0x7c6e702c3e5c00UL, - 0x7c6e763e5a7c00UL, - 0x7c6e7644445c00UL, - 0x7c0c5c68625600UL, - 0x7c0c5c127c7600UL, - 0x7c0c5a00185600UL, - 0x7c0c5a7a067600UL, - 0x7c0c424e0a5600UL, - 0x7c0c4234147600UL, - 0x7c0c4426705600UL, - 0x7c0c445c6e7600UL, - 0x7c0c2676425000UL, - 0x7c0c260c5c7000UL, - 0x7c0c201e385000UL, - 0x7c0c2064267000UL, - 0x7c0c38502a5000UL, - 0x7c0c382a347000UL, - 0x7c0c3e38505000UL, - 0x7c0c3e424e7000UL, - 0x7c0a34687c6800UL, - 0x7c0a3412624800UL, - 0x7c0a3200066800UL, - 0x7c0a327a184800UL, - 0x7c0a2a4e146800UL, - 0x7c0a2a340a4800UL, - 0x7c0a2c266e6800UL, - 0x7c0a2c5c704800UL, - 0x7c0a4e765c6e00UL, - 0x7c0a4e0c424e00UL, - 0x7c0a481e266e00UL, - 0x7c0a4864384e00UL, - 0x7c0a5050346e00UL, - 0x7c0a502a2a4e00UL, - 0x7c0a56384e6e00UL, - 0x7c0a5642504e00UL, - 0x7c127c68182c00UL, - 0x7c127c12060c00UL, - 0x7c127a00622c00UL, - 0x7c127a7a7c0c00UL, - 0x7c12624e702c00UL, - 0x7c1262346e0c00UL, - 0x7c1264260a2c00UL, - 0x7c12645c140c00UL, - 0x7c120676382a00UL, - 0x7c12060c260a00UL, - 0x7c12001e422a00UL, - 0x7c1200645c0a00UL, - 0x7c121850502a00UL, - 0x7c12182a4e0a00UL, - 0x7c121e382a2a00UL, - 0x7c121e42340a00UL, - 0x7c141468061200UL, - 0x7c141412183200UL, - 0x7c1412007c1200UL, - 0x7c14127a623200UL, - 0x7c140a4e6e1200UL, - 0x7c140a34703200UL, - 0x7c140c26141200UL, - 0x7c140c5c0a3200UL, - 0x7c146e76261400UL, - 0x7c146e0c383400UL, - 0x7c14681e5c1400UL, - 0x7c146864423400UL, - 0x7c1470504e1400UL, - 0x7c14702a503400UL, - 0x7c147638341400UL, - 0x7c1476422a3400UL, - 0x7a1e5c70321800UL, - 0x7a1e5c0a2c3800UL, - 0x7a1e5a18481800UL, - 0x7a1e5a62563800UL, - 0x7a1e42565a1800UL, - 0x7a1e422c443800UL, - 0x7a1e443e201800UL, - 0x7a1e44443e3800UL, - 0x7a1e266e121e00UL, - 0x7a1e26140c3e00UL, - 0x7a1e2006681e00UL, - 0x7a1e207c763e00UL, - 0x7a1e38487a1e00UL, - 0x7a1e3832643e00UL, - 0x7a1e3e20001e00UL, - 0x7a1e3e5a1e3e00UL, - 0x7a1834702c2600UL, - 0x7a18340a320600UL, - 0x7a183218562600UL, - 0x7a183262480600UL, - 0x7a182a56442600UL, - 0x7a182a2c5a0600UL, - 0x7a182c3e3e2600UL, - 0x7a182c44200600UL, - 0x7a184e6e0c2000UL, - 0x7a184e14120000UL, - 0x7a184806762000UL, - 0x7a18487c680000UL, - 0x7a185048642000UL, - 0x7a1850327a0000UL, - 0x7a1856201e2000UL, - 0x7a18565a000000UL, - 0x7a007c70486200UL, - 0x7a007c0a564200UL, - 0x7a007a18326200UL, - 0x7a007a622c4200UL, - 0x7a006256206200UL, - 0x7a00622c3e4200UL, - 0x7a00643e5a6200UL, - 0x7a006444444200UL, - 0x7a00066e686400UL, - 0x7a000614764400UL, - 0x7a000006126400UL, - 0x7a00007c0c4400UL, - 0x7a001848006400UL, - 0x7a0018321e4400UL, - 0x7a001e207a6400UL, - 0x7a001e5a644400UL, - 0x7a061470565c00UL, - 0x7a06140a487c00UL, - 0x7a0612182c5c00UL, - 0x7a061262327c00UL, - 0x7a060a563e5c00UL, - 0x7a060a2c207c00UL, - 0x7a060c3e445c00UL, - 0x7a060c445a7c00UL, - 0x7a066e6e765a00UL, - 0x7a066e14687a00UL, - 0x7a0668060c5a00UL, - 0x7a06687c127a00UL, - 0x7a0670481e5a00UL, - 0x7a067032007a00UL, - 0x7a067620645a00UL, - 0x7a06765a7a7a00UL, - 0x7a645c765c7000UL, - 0x7a645c0c425000UL, - 0x7a645a1e267000UL, - 0x7a645a64385000UL, - 0x7a644250347000UL, - 0x7a64422a2a5000UL, - 0x7a6444384e7000UL, - 0x7a644442505000UL, - 0x7a6426687c7600UL, - 0x7a642612625600UL, - 0x7a642000067600UL, - 0x7a64207a185600UL, - 0x7a64384e147600UL, - 0x7a6438340a5600UL, - 0x7a643e266e7600UL, - 0x7a643e5c705600UL, - 0x7a623476424e00UL, - 0x7a62340c5c6e00UL, - 0x7a62321e384e00UL, - 0x7a623264266e00UL, - 0x7a622a502a4e00UL, - 0x7a622a2a346e00UL, - 0x7a622c38504e00UL, - 0x7a622c424e6e00UL, - 0x7a624e68624800UL, - 0x7a624e127c6800UL, - 0x7a624800184800UL, - 0x7a62487a066800UL, - 0x7a62504e0a4800UL, - 0x7a625034146800UL, - 0x7a625626704800UL, - 0x7a62565c6e6800UL, - 0x7a7a7c76260a00UL, - 0x7a7a7c0c382a00UL, - 0x7a7a7a1e5c0a00UL, - 0x7a7a7a64422a00UL, - 0x7a7a62504e0a00UL, - 0x7a7a622a502a00UL, - 0x7a7a6438340a00UL, - 0x7a7a64422a2a00UL, - 0x7a7a0668060c00UL, - 0x7a7a0612182c00UL, - 0x7a7a00007c0c00UL, - 0x7a7a007a622c00UL, - 0x7a7a184e6e0c00UL, - 0x7a7a1834702c00UL, - 0x7a7a1e26140c00UL, - 0x7a7a1e5c0a2c00UL, - 0x7a7c1476383400UL, - 0x7a7c140c261400UL, - 0x7a7c121e423400UL, - 0x7a7c12645c1400UL, - 0x7a7c0a50503400UL, - 0x7a7c0a2a4e1400UL, - 0x7a7c0c382a3400UL, - 0x7a7c0c42341400UL, - 0x7a7c6e68183200UL, - 0x7a7c6e12061200UL, - 0x7a7c6800623200UL, - 0x7a7c687a7c1200UL, - 0x7a7c704e703200UL, - 0x7a7c70346e1200UL, - 0x7a7c76260a3200UL, - 0x7a7c765c141200UL, - 0x62565c6e680600UL, - 0x62565c14762600UL, - 0x62565a06120600UL, - 0x62565a7c0c2600UL, - 0x62564248000600UL, - 0x625642321e2600UL, - 0x625644207a0600UL, - 0x6256445a642600UL, - 0x62562670480000UL, - 0x6256260a562000UL, - 0x62562018320000UL, - 0x625620622c2000UL, - 0x62563856200000UL, - 0x6256382c3e2000UL, - 0x62563e3e5a0000UL, - 0x62563e44442000UL, - 0x6250346e763800UL, - 0x62503414681800UL, - 0x625032060c3800UL, - 0x6250327c121800UL, - 0x62502a481e3800UL, - 0x62502a32001800UL, - 0x62502c20643800UL, - 0x62502c5a7a1800UL, - 0x62504e70563e00UL, - 0x62504e0a481e00UL, - 0x625048182c3e00UL, - 0x62504862321e00UL, - 0x625050563e3e00UL, - 0x6250502c201e00UL, - 0x6250563e443e00UL, - 0x625056445a1e00UL, - 0x62487c6e127c00UL, - 0x62487c140c5c00UL, - 0x62487a06687c00UL, - 0x62487a7c765c00UL, - 0x624862487a7c00UL, - 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0x1e5a00060a5000UL, - 0x1e5a007c147000UL, - 0x1e5a1848185000UL, - 0x1e5a1832067000UL, - 0x1e5a1e20625000UL, - 0x1e5a1e5a7c7000UL, - 0x1e5c14704e6800UL, - 0x1e5c140a504800UL, - 0x1e5c1218346800UL, - 0x1e5c12622a4800UL, - 0x1e5c0a56266800UL, - 0x1e5c0a2c384800UL, - 0x1e5c0c3e5c6800UL, - 0x1e5c0c44424800UL, - 0x1e5c6e6e6e6e00UL, - 0x1e5c6e14704e00UL, - 0x1e5c6806146e00UL, - 0x1e5c687c0a4e00UL, - 0x1e5c7048066e00UL, - 0x1e5c7032184e00UL, - 0x1e5c76207c6e00UL, - 0x1e5c765a624e00UL }; - fromVector(codes, d._code_id); - d._nbits = 64; - d._tau = 5; - d._type = CHILITAGS; - d._name = "CHILITAGS"; - } - break; - case CUSTOM: - throw cv::Exception(-1, "CUSTOM type is only set by loading from file", - "Dictionary::loadPredefined", "dictionary.h", -1); - break; - case ALL_DICTS: - { - d._nbits = 64; - d._tau = 1; // - d._type = ALL_DICTS; - d._name = "ALL_DICTS"; - } - break; - - default: - throw cv::Exception(9001, "Invalid Dictionary type requested", - "Dictionary::loadPredefined", __FILE__, __LINE__); - }; - return d; -} -/** - * @brief Dictionary::getMarkerImage_id - * @param id - * @return - */ -// cv::Mat Dictionary::getMarkerMatrix_id(int id){ -// const int nBitsSquared = static_cast(std::sqrt(nbits())); -// const int A=bit_size*(2+nBitsSquared); - -// cv::Mat img=cv::Mat::zeros(A,A,CV_8UC1); -//} - - -cv::Mat Dictionary::getMarkerImage_id(int id, int bit_size, bool addWaterMark, - bool enclosed_corners, bool externalWhiteBorder, - bool centralCircle) -{ - const int nBitsSquared = static_cast(std::sqrt(nbits())); - const int A = bit_size * (2 + nBitsSquared); - - cv::Mat img = cv::Mat::zeros(A, A, CV_8UC1); - - // find the code in the map - uint64_t code; - bool found = false; - for (auto c_id : _code_id) - if (c_id.second == id) - { - found = true; - code = c_id.first; - break; - } - if (!found) - { - cerr << "marker " << id << " not found" << endl; - return cv::Mat(); - } - // get the code as a bitset - bitset<64> bset = code; - - int bidx = 0; - for (int y = nBitsSquared - 1; y >= 0; y--) - for (int x = nBitsSquared - 1; x >= 0; x--) - { - if (bset[bidx++]) - { - cv::Mat bit_pix = img(cv::Range((1 + y) * bit_size, (2 + y) * bit_size), - cv::Range((1 + x) * bit_size, (2 + x) * bit_size)); - bit_pix.setTo(cv::Scalar::all(255)); - } - } - - if (addWaterMark) - { - char idcad[30]; - sprintf(idcad, "#%d", id); - float ax = static_cast(A) / 100.f; - int linew = 1 + (img.rows / 500); - cv::putText(img, idcad, cv::Point(0, img.rows - img.rows / 40), - cv::FONT_HERSHEY_COMPLEX, ax * 0.15f, cv::Scalar::all(30), linew); - } - - - if (enclosed_corners) - { - cv::Mat biggerImage(img.rows + img.rows / 2, img.cols + img.cols / 2, img.type()); - biggerImage.setTo(cv::Scalar::all(255)); - // set the image in the center - int sy = img.rows / 4; - int sx = img.cols / 4; - cv::Mat center = biggerImage(cv::Range(sy, sy + img.rows), cv::Range(sx, sx + img.cols)); - img.copyTo(center); - biggerImage(cv::Range(0, sy), cv::Range(0, sx)).setTo(cv::Scalar::all(0)); - biggerImage(cv::Range(biggerImage.rows - sy, biggerImage.rows), cv::Range(0, sx)) - .setTo(cv::Scalar::all(0)); - biggerImage(cv::Range(biggerImage.rows - sy, biggerImage.rows), - cv::Range(biggerImage.cols - sx, biggerImage.cols)) - .setTo(cv::Scalar::all(0)); - biggerImage(cv::Range(0, sy), cv::Range(biggerImage.cols - sx, biggerImage.cols)) - .setTo(cv::Scalar::all(0)); - - img = biggerImage; - } - - if (externalWhiteBorder && !enclosed_corners) - { - int borderSize = bit_size; - // Create another image in white and put the marker in the middle - cv::Mat biggerImage(img.rows + 2 * borderSize, img.cols + 2 * borderSize, img.type()); - biggerImage.setTo(cv::Scalar::all(255)); - // set the image in the center - cv::Mat center = biggerImage(cv::Range(borderSize, borderSize + img.rows), - cv::Range(borderSize, borderSize + img.cols)); - img.copyTo(center); - img = biggerImage; - } - - if (centralCircle) - { - // at the image center, draw a circle to mark the center - cv::Point2f center(img.cols / 2, img.rows / 2); - cv::Mat mask(img.size(), CV_8UC1); - mask.setTo(cv::Scalar::all(0)); - cv::circle(mask, center, sqrt(bit_size), cv::Scalar::all(255), -1); - // now, invert the color in the image - for (int r = 0; r < img.rows; r++) - { - uchar *imgptr = img.ptr(r); - uchar *maskptr = mask.ptr(r); - for (int c = 0; c < img.cols; c++) - { - if (maskptr[c]) - imgptr[c] = 255 - imgptr[c]; - } - } - } - return img; -} - - -std::string Dictionary::getTypeString(DICT_TYPES t) -{ - switch (t) - { - case ARUCO: - return "ARUCO"; - case ARUCO_MIP_16h3: - return "ARUCO_MIP_16h3"; - case ARUCO_MIP_25h7: - return "ARUCO_MIP_25h7"; - case ARTAG: - return "ARTAG"; - - case ARUCO_MIP_36h12: - return "ARUCO_MIP_36h12"; - case ARTOOLKITPLUS: - return "ARTOOLKITPLUS"; - case ARTOOLKITPLUSBCH: - return "ARTOOLKITPLUSBCH"; - case TAG16h5: - return "TAG16h5"; - case TAG25h7: - return "TAG25h7"; - case TAG25h9: - return "TAG25h9"; - case TAG36h11: - return "TAG36h11"; - case TAG36h10: - return "TAG36h10"; - case CHILITAGS: - return "CHILITAGS"; - case CUSTOM: - return "CUSTOM"; - case ALL_DICTS: - return "ALL_DICTS"; - }; - return "Non valid DICT_TYPE"; -} - -Dictionary::DICT_TYPES Dictionary::getTypeFromString(std::string str) -{ - if (str == "ARUCO") - return ARUCO; - if (str == "ARUCO_MIP_16h3") - return ARUCO_MIP_16h3; - if (str == "ARUCO_MIP_25h7") - return ARUCO_MIP_25h7; - if (str == "ARUCO_MIP_36h12") - return ARUCO_MIP_36h12; - if (str == "ARTOOLKITPLUS") - return ARTOOLKITPLUS; - if (str == "ARTOOLKITPLUSBCH") - return ARTOOLKITPLUSBCH; - if (str == "ARTAG") - return ARTAG; - if (str == "TAG16h5") - return TAG16h5; - if (str == "TAG25h7") - return TAG25h7; - if (str == "TAG25h9") - return TAG25h9; - if (str == "TAG36h11") - return TAG36h11; - if (str == "TAG36h10") - return TAG36h10; - if (str == "CHILITAGS") - return CHILITAGS; - if (str == "ALL_DICTS") - return ALL_DICTS; - else - return CUSTOM; - - // throw cv::Exception(9001, "Invalid string <"+str+"> to convert to Dictionary - // type", "Dictionary::getTypeFromString", __FILE__, __LINE__); -} - -bool Dictionary::isPredefinedDictinaryString(string str) -{ - return getTypeFromString(str) != CUSTOM; -} - -vector Dictionary::getDicTypes() -{ - return { "ARUCO", "ARUCO_MIP_16h3", "ARUCO_MIP_25h7", "ARUCO_MIP_36h12", - "ARTOOLKITPLUS", "ARTOOLKITPLUSBCH", "TAG16h5", "TAG25h7", - "TAG25h9", "TAG36h11", "TAG36h10", "CHILITAGS", - "ALL_DICTS" }; -} - -MarkerMap Dictionary::createMarkerMap(cv::Size gridSize, int MarkerSize, int MarkerDistance, - const std::vector &ids, bool chess_board) -{ - if (gridSize.height * gridSize.width != int(ids.size())) - throw cv::Exception(9001, "gridSize != ids.size()Invalid ", - "Dictionary::createMarkerMap", __FILE__, __LINE__); - MarkerMap TInfo; - - TInfo.mInfoType = MarkerMap::PIX; - TInfo.setDictionary(getTypeString(_type)); - const float markerSizeFloat = static_cast(MarkerSize); - - - if (!chess_board) - { - TInfo.resize(ids.size()); - for (size_t i = 0; i < ids.size(); i++) - TInfo[i].id = ids[i]; - int idp = 0; - float mtotal = static_cast(MarkerDistance) + markerSizeFloat; - for (int y = 0; y < gridSize.height; y++) - for (int x = 0; x < gridSize.width; x++, idp++) - { - /// \todo use const auto & - for (auto p : aruco::Marker::get3DPoints(markerSizeFloat)) - TInfo[idp].points.push_back(p + cv::Point3f(x * mtotal, y * mtotal, 0)); - } - } - else - { - // find the center so that the ref systeem is in it - int CurMarkerIdx = 0; - for (int y = 0; y < gridSize.height; y++) - { - bool toWrite; - if (y % 2 == 0) - toWrite = false; - else - toWrite = true; - for (int x = 0; x < gridSize.width; x++) - { - toWrite = !toWrite; - if (toWrite) - { - if (CurMarkerIdx >= int(ids.size())) - throw cv::Exception(999, " FiducidalMarkers::createMarkerMapImage_ChessMarkerMap", - "INTERNAL ERROR. REWRITE THIS!!", __FILE__, __LINE__); - TInfo.push_back(Marker3DInfo(ids[CurMarkerIdx++])); - /// \todo use const auto & - for (auto p : aruco::Marker::get3DPoints(markerSizeFloat)) - TInfo.back().points.push_back( - p + cv::Point3f(x * markerSizeFloat, y * markerSizeFloat, 0)); - } - } - } - } - - // cv::Point3f center(0,0,0); - // double n=0; - // for(auto &ti:TInfo)for(auto p:ti) {center+=p;n++;} - // center*=1./n; - cv::Point3f center(gridSize.width / 2.0f * markerSizeFloat - markerSizeFloat / 2.0f, - gridSize.height / 2.0f * markerSizeFloat - markerSizeFloat / 2.0f, 0.f); - for (auto &ti : TInfo) - for (auto &p : ti.points) - p -= center; - - - return TInfo; -} - -/** - * @brief Dictionary::computeDictionaryDistance - * @param dict - * @return - */ -uint64_t Dictionary::computeDictionaryDistance(const Dictionary &dict) -{ - auto rotate = [](const cv::Mat &in) - { - cv::Mat out; - in.copyTo(out); - for (int i = 0; i < in.rows; i++) - { - for (int j = 0; j < in.cols; j++) - { - out.at(i, j) = in.at(in.cols - j - 1, i); - } - } - return out; - }; - auto getImage = [](uint64_t tag, int nbits) - { - std::bitset<64> bs(tag); - cv::Mat im(nbits, nbits, CV_8UC1); - int bit = (nbits * nbits) - 1; - for (int i = 0; i < nbits; i++) - for (int j = 0; j < nbits; j++) - im.at(i, j) = bs[bit--]; - return im; - }; - - auto getCode = [](const cv::Mat &in) - { - assert(in.type() == CV_8UC1); - std::bitset<64> bs; - size_t bit = in.total() - 1; - for (int i = 0; i < in.rows; i++) - for (int j = 0; j < in.cols; j++) - bs[bit--] = in.at(i, j); - return bs.to_ullong(); - }; - - - // convert each element into its 4 rorations first - std::vector all_rotations; - - std::vector ids; - // for chilitag - auto code_id2 = dict._code_id; - for (auto tag_id : code_id2) - { - all_rotations.push_back(tag_id.first); - auto m = getImage(tag_id.first, static_cast(sqrt(dict._nbits))); - for (int i = 0; i < 3; i++) - { - m = rotate(m); - all_rotations.push_back(getCode(m)); - ids.push_back(tag_id.second); - } - assert(getCode(rotate(m)) == tag_id.first); - } - - // now, compute minimum distance - std::map > errors; - uint64_t mind = std::numeric_limits::max(); - for (size_t i = 0; i < all_rotations.size(); i++) - { - for (size_t j = 0; j < all_rotations.size(); j++) - { - if (i != j) - { - auto d = bitset<64>(all_rotations[i] ^ all_rotations[j]).count(); - if (d == 0) - { - if (errors[ids[i]].count(ids[j]) == 0) - { - cerr << " Dictionary::computeDictionaryDistance ERROR IN YOUR DICT!!!!!" << endl; - if (ids[i] == ids[j]) - { - cerr << "marker " << ids[i] - << " can be confused with one of its rotations. It is imposible to determine properly its rotation. You should remove this marker from the dictionary" - << endl; - } - else - { - cerr << "marker " << ids[i] << " and " << ids[j] - << " can be confused. It is imposible to determine distinguish them . You should remove any of this marker from the dictionary" - << endl; - } - errors[ids[i]].insert(ids[j]); - errors[ids[j]].insert(ids[i]); - } - } - mind = std::min(mind, uint64_t(d)); - } - } - } - return mind; -} - -}; // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/dictionary_based.cpp b/legacy/aruco_ros/aruco/src/aruco/dictionary_based.cpp deleted file mode 100755 index 67ed69d94..000000000 --- a/legacy/aruco_ros/aruco/src/aruco/dictionary_based.cpp +++ /dev/null @@ -1,309 +0,0 @@ -/** -Copyright 2017 Rafael Muñoz Salinas. All rights reserved. - -Redistribution and use in source and binary forms, with or without modification, are -permitted provided that the following conditions are met: - - 1. Redistributions of source code must retain the above copyright notice, this list of - conditions and the following disclaimer. - - 2. Redistributions in binary form must reproduce the above copyright notice, this list - of conditions and the following disclaimer in the documentation and/or other -materials provided with the distribution. - -THIS SOFTWARE IS PROVIDED BY Rafael Muñoz Salinas ''AS IS'' AND ANY EXPRESS OR IMPLIED -WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND -FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Rafael Muñoz Salinas OR -CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR -SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON -ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING -NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF -ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -The views and conclusions contained in the software and documentation are those of the -authors and should not be interpreted as representing official policies, either expressed -or implied, of Rafael Muñoz Salinas. -*/ - -#include "dictionary_based.h" - -#include -#include -#include -#include "aruco_cvversioning.h" -namespace aruco -{ -void DictionaryBased::setParams(const Dictionary& dic, float max_correction_rate) -{ - _nsubdivisions = sqrt(dic.nbits()) + 2; - nbits_dict.clear(); - dicttypename = dic.getName(); - if (dic.getType() == Dictionary::ALL_DICTS) - { - for (auto& dt : Dictionary::getDicTypes()) - if (dt != "ALL_DICTS" && dt != "CUSTOM") - vdic.push_back(Dictionary ::loadPredefined(dt)); - } - else - vdic.push_back(dic); - - // - for (auto& dic : vdic) - nbits_dict[dic.nbits()].push_back(&dic); - - _max_correction_rate = std::max(0.f, std::min(1.0f, max_correction_rate)); -} - -std::string DictionaryBased::getName() const -{ - return dicttypename; -} - -void DictionaryBased::toMat(uint64_t code, int nbits_sq, cv::Mat& out) -{ - out.create(nbits_sq, nbits_sq, CV_8UC1); - std::bitset<64> bs(code); - int curbit = 0; - for (int r = 0; r < nbits_sq; r++) - { - uchar* pr = out.ptr(r); - for (int c = 0; c < nbits_sq; c++) - pr[c] = bs[curbit]; - } -} - -int hamm_distance(uint64_t a, uint64_t b) -{ - return static_cast(std::bitset<64>(a ^ b).count()); -} - -bool DictionaryBased::detect(const cv::Mat& in, int& marker_id, int& nRotations, - std::string& additionalInfo) -{ - assert(in.rows == in.cols); - - cv::Mat grey; - if (in.type() == CV_8UC1) - grey = in; - else - cv::cvtColor(in, grey, CV_BGR2GRAY); - // threshold image - cv::threshold(grey, grey, 125, 255, cv::THRESH_BINARY | cv::THRESH_OTSU); - - - std::map > nbits_ids; - // for each - for (auto& bitsids : nbits_dict) - { - int nbits = bitsids.first; - std::vector ids; - getInnerCode(grey, nbits, ids); - if (ids.size() > 0) - { - if (ids[0] != 0) - { - nbits_ids[nbits] = ids; - } - } - } - // how many are there? - - if (nbits_ids.size() == 0) - return false; - // check if any dictionary recognizes it - for (auto nbits : nbits_ids) - { - const auto& ids = nbits.second; - // check in every dictionary - for (auto& dic : nbits_dict[nbits.first]) - { - // try a perfecf match - for (int rot = 0; rot < 4; rot++) - if (dic->is(ids[rot])) - { - // std::cout<<"MATCH:"<getName()<<" "<at(ids[rot]); - additionalInfo = dic->getName(); - return true; - } - - // try with some error/correction if allowed - if (_max_correction_rate > 0) - { // find distance to map elements - int _maxCorrectionAllowed = - static_cast(static_cast(dic->tau()) * _max_correction_rate); - - int min_dist = 100000000; - bool found = false; - for (auto ci : dic->getMapCode()) - { - for (int i = 0; i < 4; i++) - { - int curr_dist = hamm_distance(ci.first, ids[i]); - if (curr_dist < _maxCorrectionAllowed && curr_dist < min_dist) - { - found = true; - min_dist = curr_dist; - marker_id = ci.second; - nRotations = i; - additionalInfo = dic->getName(); - } - } - } - return found; - } - } - } - - - return false; -} - - -bool DictionaryBased::getInnerCode(const cv::Mat& thres_img, int total_nbits, - std::vector& ids) -{ - int bits_noborder = static_cast(std::sqrt(total_nbits)); - int bits_withborder = bits_noborder + 2; - // Markers are divided in (bits_a+2)x(bits_a+2) regions, of which the inner - // bits_axbits_a belongs to marker info the external border shoould be entirely black - cv::Mat nonZeros(bits_withborder, bits_withborder, CV_32SC1); - cv::Mat nValues(bits_withborder, bits_withborder, CV_32SC1); - nonZeros.setTo(cv::Scalar::all(0)); - nValues.setTo(cv::Scalar::all(0)); - for (int y = 0; y < thres_img.rows; y++) - { - const uchar* ptr = thres_img.ptr(y); - int my = float(bits_withborder) * float(y) / float(thres_img.rows); - for (int x = 0; x < thres_img.cols; x++) - { - int mx = float(bits_withborder) * float(x) / float(thres_img.cols); - if (ptr[x] > 125) - nonZeros.at(my, mx)++; - nValues.at(my, mx)++; - } - } - cv::Mat binaryCode(bits_withborder, bits_withborder, CV_8UC1); - // now, make the theshold - for (int y = 0; y < bits_withborder; y++) - for (int x = 0; x < bits_withborder; x++) - { - if (nonZeros.at(y, x) > nValues.at(y, x) / 2) - binaryCode.at(y, x) = 1; - else - binaryCode.at(y, x) = 0; - } - - // check if border is completely black - for (int y = 0; y < bits_withborder; y++) - { - int inc = bits_withborder - 1; - if (y == 0 || y == bits_withborder - 1) - inc = 1; // for first and last row, check the whole border - for (int x = 0; x < bits_withborder; x += inc) - if (binaryCode.at(y, x) != 0) - return false; - } - - // take the inner code - - cv::Mat _bits(bits_noborder, bits_noborder, CV_8UC1); - for (int y = 0; y < bits_noborder; y++) - for (int x = 0; x < bits_noborder; x++) - _bits.at(y, x) = binaryCode.at(y + 1, x + 1); - - // now, get the 64bits ids - - int nr = 0; - do - { - ids.push_back(touulong(_bits)); - _bits = rotate(_bits); - nr++; - } while (nr < 4); - return true; -} - - -// bool DictionaryBased::getInnerCode(const cv::Mat& thres_img, int total_nbits, -// std::vector& ids) -// { -// auto toInt=[](float v){return int(v+0.5);}; -// int bits_a = static_cast(std::sqrt(total_nbits)); -// int bits_a2 = bits_a + 2; -// // Markers are divided in (bits_a+2)x(bits_a+2) regions, of which the inner -// bits_axbits_a belongs to marker -// // info -// // the external border shoould be entirely black - -// float swidth = float(thres_img.rows) / float(bits_a2); -// for (int y = 0; y < bits_a2; y++) -// { -// int inc = bits_a2 - 1; -// if (y == 0 || y == bits_a2 - 1) -// inc = 1; // for first and last row, check the whole border -// for (int x = 0; x < bits_a2; x += inc) -// { -// cv::Mat square = thres_img(cv::Rect( toInt(float(x) * swidth ), toInt(float(y) -// * swidth), swidth, swidth)); if (cv::countNonZero(square) > (swidth * swidth) / 2) -// return false; // can not be a marker because the border element is not black! -// } -// } - -// // now, -// // get information(for each inner square, determine if it is black or white) - -// // now, -// cv::Mat _bits = cv::Mat::zeros(bits_a, bits_a, CV_8UC1); -// // get information(for each inner square, determine if it is black or white) - -// for (int y = 0; y < bits_a; y++) -// { -// for (int x = 0; x < bits_a; x++) -// { -// int Xstart = toInt(float(x + 1) * swidth); -// int Ystart = toInt(float(y + 1) * swidth); -// cv::Mat square = thres_img(cv::Rect(Xstart, Ystart, swidth, swidth)); -// int nZ = cv::countNonZero(square); -// if (nZ > (swidth * swidth) / 2) -// _bits.at(y, x) = 1; -// } -// } -// // now, get the 64bits ids - -// int nr = 0; -// do -// { -// ids.push_back(touulong(_bits)); -// _bits = rotate(_bits); -// nr++; -// } while (nr < 4); -// return true; -// } - -// convert matrix of (0,1)s in a 64 bit value -uint64_t DictionaryBased::touulong(const cv::Mat& code) -{ - std::bitset<64> bits; - int bidx = 0; - for (int y = code.rows - 1; y >= 0; y--) - for (int x = code.cols - 1; x >= 0; x--) - bits[bidx++] = code.at(y, x); - return bits.to_ullong(); -} -cv::Mat DictionaryBased::rotate(const cv::Mat& in) -{ - cv::Mat out; - in.copyTo(out); - for (int i = 0; i < in.rows; i++) - { - for (int j = 0; j < in.cols; j++) - { - out.at(i, j) = in.at(in.cols - j - 1, i); - } - } - return out; -} -} // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/fractaldetector.cpp b/legacy/aruco_ros/aruco/src/aruco/fractaldetector.cpp deleted file mode 100755 index 56db5a135..000000000 --- a/legacy/aruco_ros/aruco/src/aruco/fractaldetector.cpp +++ /dev/null @@ -1,185 +0,0 @@ -/** -Copyright 2020 Rafael Muñoz Salinas. All rights reserved. - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation version 3 of the License. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . -*/ -#include "fractaldetector.h" -#include "opencv2/calib3d/calib3d.hpp" -#include "cvdrawingutils.h" -#include -#include "aruco_cvversioning.h" - -namespace aruco -{ -FractalDetector::FractalDetector() -{ - _markerDetector = new MarkerDetector(); - MarkerDetector::Params p; - p.markerWarpPixSize = 10; - _markerDetector->setParameters(p); -}; - -void FractalDetector::setConfiguration(int params) -{ - _fractalLabeler = FractalMarkerLabeler::create((FractalMarkerSet::CONF_TYPES)params); - _params.configuration_type = - FractalMarkerSet::getTypeString((FractalMarkerSet::CONF_TYPES)params); - _markerDetector->setMarkerLabeler(_fractalLabeler); -} - -void FractalDetector::setConfiguration(std::string params) -{ - _params.configuration_type = params; - _fractalLabeler = FractalMarkerLabeler::create(params); - _markerDetector->setMarkerLabeler(_fractalLabeler); -} - -void FractalDetector::drawMarkers(cv::Mat &img) -{ - float size = std::max(1., float(img.cols) / 1280.); - for (auto m : Markers) - m.draw(img, cv::Scalar(0, 0, 255), size, false); -} - -void FractalDetector::draw2d(cv::Mat &img) -{ - if (Markers.size() > 0) - { - std::map id_fmarker = - _fractalLabeler->_fractalMarkerSet.fractalMarkerCollection; - - std::vector inners; - std::map> id_innerCorners = - _fractalLabeler->_fractalMarkerSet.getInnerCorners(); - for (auto id_innerC : id_innerCorners) - { - std::vector inner3d; - for (auto pt : id_innerC.second) - inners.push_back(cv::Point2f(pt.x, pt.y)); - } - - std::vector points3d; - std::vector points2d; - for (auto m : Markers) - { - for (auto p : id_fmarker[m.id].points) - points3d.push_back(cv::Point2f(p.x, p.y)); - - for (auto p : m) - points2d.push_back(p); - } - - cv::Mat H = cv::findHomography(points3d, points2d); - std::vector dstPnt; - cv::perspectiveTransform(inners, dstPnt, H); - - float size = std::max(1., float(img.cols) / 1280.); - for (auto p : dstPnt) - cv::circle(img, p, size, cv::Scalar(0, 0, 255), CV_FILLED); - } -} - -void FractalDetector::draw3d(cv::Mat &img, bool cube, bool axis) -{ - if (Tracker.isPoseValid()) - { - cv::Mat rot; - cv::Rodrigues(Tracker.getRvec(), rot); - - std::vector innerPoints3d; - for (auto pt : Tracker.getInner3d()) - { - cv::Mat_ src(3, 1, rot.type()); - src(0, 0) = pt.x; - src(1, 0) = pt.y; - src(2, 0) = pt.z; - - cv::Mat cam_image_point = rot * src + Tracker.getTvec(); - cam_image_point = cam_image_point / cv::norm(cam_image_point); - - if (cam_image_point.at(2, 0) > 0.85) - innerPoints3d.push_back(pt); - } - // Draw inner points - if (innerPoints3d.size() > 0) - { - std::vector innerPoints; - projectPoints(innerPoints3d, Tracker.getRvec(), Tracker.getTvec(), - _cam_params.CameraMatrix, _cam_params.Distorsion, innerPoints); - for (auto p : innerPoints) - circle(img, p, 3, cv::Scalar(0, 0, 255), CV_FILLED); - } - // Draw cube - if (cube) - { - std::map id_fmarker = Tracker.getFractal().fractalMarkerCollection; - for (auto m : Markers) - draw3dCube(img, id_fmarker[m.id], _cam_params, 2); - } - - // Draw axes - if (axis) - CvDrawingUtils::draw3dAxis(img, _cam_params, getRvec(), getTvec(), - Tracker.getFractal().getFractalSize() / 2); - } -} - -void FractalDetector::draw3dCube(cv::Mat &Image, FractalMarker m, - const CameraParameters &CP, int lineSize) -{ - cv::Mat objectPoints(8, 3, CV_32FC1); - - float msize = m.getMarkerSize(); - float halfSize = msize / 2; - - objectPoints.at(0, 0) = -halfSize; - objectPoints.at(0, 1) = -halfSize; - objectPoints.at(0, 2) = 0; - objectPoints.at(1, 0) = halfSize; - objectPoints.at(1, 1) = -halfSize; - objectPoints.at(1, 2) = 0; - objectPoints.at(2, 0) = halfSize; - objectPoints.at(2, 1) = halfSize; - objectPoints.at(2, 2) = 0; - objectPoints.at(3, 0) = -halfSize; - objectPoints.at(3, 1) = halfSize; - objectPoints.at(3, 2) = 0; - - objectPoints.at(4, 0) = -halfSize; - objectPoints.at(4, 1) = -halfSize; - objectPoints.at(4, 2) = msize; - objectPoints.at(5, 0) = halfSize; - objectPoints.at(5, 1) = -halfSize; - objectPoints.at(5, 2) = msize; - objectPoints.at(6, 0) = halfSize; - objectPoints.at(6, 1) = halfSize; - objectPoints.at(6, 2) = msize; - objectPoints.at(7, 0) = -halfSize; - objectPoints.at(7, 1) = halfSize; - objectPoints.at(7, 2) = msize; - - - std::vector imagePoints; - projectPoints(objectPoints, getRvec(), getTvec(), CP.CameraMatrix, CP.Distorsion, imagePoints); - - for (int i = 0; i < 4; i++) - cv::line(Image, imagePoints[i], imagePoints[(i + 1) % 4], cv::Scalar(0, 0, 255, 255), lineSize); - - for (int i = 0; i < 4; i++) - cv::line(Image, imagePoints[i + 4], imagePoints[4 + (i + 1) % 4], - cv::Scalar(0, 0, 255, 255), lineSize); - - for (int i = 0; i < 4; i++) - cv::line(Image, imagePoints[i], imagePoints[i + 4], cv::Scalar(0, 0, 255, 255), lineSize); -} -}; // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/fractallabelers/fractallabeler.cpp b/legacy/aruco_ros/aruco/src/aruco/fractallabelers/fractallabeler.cpp deleted file mode 100755 index dd0b8be48..000000000 --- a/legacy/aruco_ros/aruco/src/aruco/fractallabelers/fractallabeler.cpp +++ /dev/null @@ -1,145 +0,0 @@ -#include "fractallabelers/fractallabeler.h" - -#include "aruco_cvversioning.h" -namespace aruco -{ - -void FractalMarkerLabeler::setConfiguration(const FractalMarkerSet& fractMarkerSet) -{ - _fractalMarkerSet = fractMarkerSet; -} - -bool FractalMarkerLabeler::detect(const cv::Mat& in, int& marker_id, int& nRotations, - std::string& additionalInfo) -{ - assert(in.rows == in.cols); - cv::Mat grey; - if (in.type() == CV_8UC1) - grey = in; - else - cv::cvtColor(in, grey, CV_BGR2GRAY); - // threshold image - cv::threshold(grey, grey, 125, 255, cv::THRESH_BINARY | cv::THRESH_OTSU); - - std::map > nbits_innerCodes; - - for (auto bitsids : _fractalMarkerSet.nbits_fractalMarkerIDs) - { - int nbits = bitsids.first; - std::vector innerCodes; - getInnerCode(grey, nbits, innerCodes); - - if (innerCodes.size() > 0) - { - if (sum(innerCodes[0])[0] != 0) - { - nbits_innerCodes[nbits] = innerCodes; - } - } - } - - if (nbits_innerCodes.size() == 0) - return false; - - // check if any dictionary recognizes it - for (auto bit_innerCodes : nbits_innerCodes) - { - uint32_t nb = bit_innerCodes.first; - auto innerCodes = bit_innerCodes.second; - - for (int i = 0; i < 4; i++) - { - if (_fractalMarkerSet.isFractalMarker(innerCodes[i], nb, marker_id)) - { - // is in the set? - nRotations = i; // how many rotations are and its id - return true; // bye bye - } - } - } - return false; -} - - -std::string FractalMarkerLabeler::getName() const -{ - return "fractal"; - ; -} - -bool FractalMarkerLabeler::getInnerCode(const cv::Mat& thres_img, int total_nbits, - std::vector& innerCodes) -{ - int bits_noborder = static_cast(std::sqrt(total_nbits)); - int bits_withborder = bits_noborder + 2; - // Markers are divided in (bits_a+2)x(bits_a+2) regions, of which the inner - // bits_axbits_a belongs to marker info the external border shoould be entirely black - cv::Mat nonZeros(bits_withborder, bits_withborder, CV_32SC1); - cv::Mat nValues(bits_withborder, bits_withborder, CV_32SC1); - nonZeros.setTo(cv::Scalar::all(0)); - nValues.setTo(cv::Scalar::all(0)); - for (int y = 0; y < thres_img.rows; y++) - { - const uchar* ptr = thres_img.ptr(y); - int my = float(bits_withborder) * float(y) / float(thres_img.rows); - for (int x = 0; x < thres_img.cols; x++) - { - int mx = float(bits_withborder) * float(x) / float(thres_img.cols); - if (ptr[x] > 125) - nonZeros.at(my, mx)++; - nValues.at(my, mx)++; - } - } - cv::Mat binaryCode(bits_withborder, bits_withborder, CV_8UC1); - // now, make the theshold - for (int y = 0; y < bits_withborder; y++) - for (int x = 0; x < bits_withborder; x++) - { - if (nonZeros.at(y, x) > nValues.at(y, x) / 2) - binaryCode.at(y, x) = 1; - else - binaryCode.at(y, x) = 0; - } - - // check if border is completely black - for (int y = 0; y < bits_withborder; y++) - { - int inc = bits_withborder - 1; - if (y == 0 || y == bits_withborder - 1) - inc = 1; // for first and last row, check the whole border - for (int x = 0; x < bits_withborder; x += inc) - if (binaryCode.at(y, x) != 0) - return false; - } - - // take the inner code - cv::Mat _bits(bits_noborder, bits_noborder, CV_8UC1); - for (int y = 0; y < bits_noborder; y++) - for (int x = 0; x < bits_noborder; x++) - _bits.at(y, x) = binaryCode.at(y + 1, x + 1); - - // now, get the 64bits ids - int nr = 0; - do - { - innerCodes.push_back(_bits); - _bits = rotate(_bits); - nr++; - } while (nr < 4); - return true; -} - -cv::Mat FractalMarkerLabeler::rotate(const cv::Mat& in) -{ - cv::Mat out; - in.copyTo(out); - for (int i = 0; i < in.rows; i++) - { - for (int j = 0; j < in.cols; j++) - { - out.at(i, j) = in.at(in.cols - j - 1, i); - } - } - return out; -} -} // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/fractallabelers/fractalmarker.cpp b/legacy/aruco_ros/aruco/src/aruco/fractallabelers/fractalmarker.cpp deleted file mode 100755 index aafd78a0f..000000000 --- a/legacy/aruco_ros/aruco/src/aruco/fractallabelers/fractalmarker.cpp +++ /dev/null @@ -1,76 +0,0 @@ -#include "fractallabelers/fractalmarker.h" - -#include - - -namespace aruco -{ -FractalMarker::FractalMarker() -{ -} - -FractalMarker::FractalMarker(int id, cv::Mat m, std::vector corners, - std::vector id_submarkers) -{ - this->id = id; - this->_M = m; - for (auto p : corners) - push_back(p); - - _submarkers = id_submarkers; - _mask = cv::Mat::ones(m.size(), CV_8UC1); -} - -void FractalMarker::addSubFractalMarker(FractalMarker submarker) -{ - float bitSize = (at(1).x - at(0).x) / int(mat().cols + 2); - float nsubBits = (submarker.at(1).x - submarker.at(0).x) / bitSize; - - int x_min = int(round(submarker[0].x / bitSize + mat().cols / 2)); - int x_max = x_min + nsubBits; - int y_min = int(round(-submarker[0].y / bitSize + mat().cols / 2)); - int y_max = y_min + nsubBits; - - for (int y = y_min; y < y_max; y++) - { - for (int x = x_min; x < x_max; x++) - { - _mask.at(y, x) = 0; - } - } -} - -std::vector FractalMarker::findInnerCorners() -{ - int nBitsSquared = int(sqrt(mat().total())); - float bitSize = getMarkerSize() / (nBitsSquared + 2); - - // Set submarker pixels (=1) and add border - cv::Mat marker; - mat().copyTo(marker); - marker += -1 * (mask() - 1); - cv::Mat markerBorder; - copyMakeBorder(marker, markerBorder, 1, 1, 1, 1, cv::BORDER_CONSTANT, 0); - - // Get inner corners - std::vector innerCorners; - for (int y = 0; y < markerBorder.rows - 1; y++) - { - for (int x = 0; x < markerBorder.cols - 1; x++) - { - if (((markerBorder.at(y, x) == markerBorder.at(y + 1, x + 1)) && - (markerBorder.at(y, x) != markerBorder.at(y, x + 1) || - markerBorder.at(y, x) != markerBorder.at(y + 1, x))) - - || - - ((markerBorder.at(y, x + 1) == markerBorder.at(y + 1, x)) && - (markerBorder.at(y, x + 1) != markerBorder.at(y, x) || - markerBorder.at(y, x + 1) != markerBorder.at(y + 1, x + 1)))) - innerCorners.push_back( - cv::Point3f(x - nBitsSquared / 2.f, -(y - nBitsSquared / 2.f), 0) * bitSize); - } - } - return innerCorners; -} -} // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/fractallabelers/fractalmarkerset.cpp b/legacy/aruco_ros/aruco/src/aruco/fractallabelers/fractalmarkerset.cpp deleted file mode 100755 index 75f1f1cd1..000000000 --- a/legacy/aruco_ros/aruco/src/aruco/fractallabelers/fractalmarkerset.cpp +++ /dev/null @@ -1,866 +0,0 @@ -#include "fractallabelers/fractalmarkerset.h" -#include -#include - -namespace aruco -{ - -FractalMarkerSet FractalMarkerSet::load(std::string info) -{ - if (isPredefinedConfigurationString(info)) - return loadPredefined(info); - else - return readFromFile(info); -} - -FractalMarkerSet FractalMarkerSet::loadPredefined(std::string type) -{ - return loadPredefined(getTypeFromString(type)); -} - -FractalMarkerSet FractalMarkerSet::loadPredefined(CONF_TYPES type) -{ - FractalMarkerSet fms; - - switch (type) - { - case FRACTAL_2L_6: - { - unsigned char _conf_2L_6[] = { - 0x02, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x64, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xbf, 0x00, 0x00, - 0x80, 0x3f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x3f, 0x00, 0x00, 0x80, - 0x3f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x3f, 0x00, 0x00, 0x80, 0xbf, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xbf, 0x00, 0x00, 0x80, 0xbf, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, - 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, 0x01, - 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, - 0x00, 0x01, 0x01, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, - 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, - 0x01, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, - 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, - 0x01, 0x01, 0x01, 0x00, 0x01, 0x01, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x01, - 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x24, 0x00, - 0x00, 0x00, 0xab, 0xaa, 0xaa, 0xbe, 0xab, 0xaa, 0xaa, 0x3e, 0x00, 0x00, 0x00, - 0x00, 0xab, 0xaa, 0xaa, 0x3e, 0xab, 0xaa, 0xaa, 0x3e, 0x00, 0x00, 0x00, 0x00, - 0xab, 0xaa, 0xaa, 0x3e, 0xab, 0xaa, 0xaa, 0xbe, 0x00, 0x00, 0x00, 0x00, 0xab, - 0xaa, 0xaa, 0xbe, 0xab, 0xaa, 0xaa, 0xbe, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, - 0x00, 0x01, 0x01, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x01, - 0x00, 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, - 0x01, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00 - }; - unsigned int _conf_2L_6_len = 272; - - std::stringstream stream; - stream.write((char *)_conf_2L_6, sizeof(unsigned char) * _conf_2L_6_len); - _fromStream(fms, stream); - } - break; - case FRACTAL_3L_6: - { - unsigned char _conf_3L_6[] = { - 0x02, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x90, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xbf, 0x00, 0x00, - 0x80, 0x3f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x3f, 0x00, 0x00, 0x80, - 0x3f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x3f, 0x00, 0x00, 0x80, 0xbf, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xbf, 0x00, 0x00, 0x80, 0xbf, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x01, 0x01, 0x00, 0x00, - 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x01, 0x01, 0x00, - 0x01, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, - 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, - 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x01, 0x01, - 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x01, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x00, 0x01, 0x01, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, - 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 0x01, 0x00, 0x01, 0x01, 0x01, 0x00, 0x01, - 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x01, 0x01, 0x00, 0x01, 0x01, 0x00, 0x01, - 0x00, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, - 0x00, 0x00, 0x00, 0x64, 0x00, 0x00, 0x00, 0xb7, 0x6d, 0xdb, 0xbe, 0xb7, 0x6d, - 0xdb, 0x3e, 0x00, 0x00, 0x00, 0x00, 0xb7, 0x6d, 0xdb, 0x3e, 0xb7, 0x6d, 0xdb, - 0x3e, 0x00, 0x00, 0x00, 0x00, 0xb7, 0x6d, 0xdb, 0x3e, 0xb7, 0x6d, 0xdb, 0xbe, - 0x00, 0x00, 0x00, 0x00, 0xb7, 0x6d, 0xdb, 0xbe, 0xb7, 0x6d, 0xdb, 0xbe, 0x00, - 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, - 0x00, 0x01, 0x00, 0x01, 0x01, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01, - 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, - 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, - 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, - 0x01, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, - 0x01, 0x01, 0x01, 0x00, 0x00, 0x01, 0x00, 0x01, 0x01, 0x00, 0x00, 0x01, 0x01, - 0x01, 0x01, 0x01, 0x00, 0x01, 0x01, 0x01, 0x00, 0x01, 0x01, 0x01, 0x00, 0x01, - 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x24, 0x00, - 0x00, 0x00, 0x25, 0x49, 0x12, 0xbe, 0x25, 0x49, 0x12, 0x3e, 0x00, 0x00, 0x00, - 0x00, 0x25, 0x49, 0x12, 0x3e, 0x25, 0x49, 0x12, 0x3e, 0x00, 0x00, 0x00, 0x00, - 0x25, 0x49, 0x12, 0x3e, 0x25, 0x49, 0x12, 0xbe, 0x00, 0x00, 0x00, 0x00, 0x25, - 0x49, 0x12, 0xbe, 0x25, 0x49, 0x12, 0xbe, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x01, 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x01, - 0x00, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, - 0x01, 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 - }; - unsigned int _conf_3L_6_len = 480; - - std::stringstream stream; - stream.write((char *)_conf_3L_6, sizeof(unsigned char) * _conf_3L_6_len); - _fromStream(fms, stream); - } - break; - case FRACTAL_4L_6: - { - unsigned char _conf_4L_6[] = { - 0x02, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0xa9, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xbf, 0x00, 0x00, - 0x80, 0x3f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x3f, 0x00, 0x00, 0x80, - 0x3f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x3f, 0x00, 0x00, 0x80, 0xbf, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xbf, 0x00, 0x00, 0x80, 0xbf, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x01, 0x00, - 0x01, 0x01, 0x00, 0x01, 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01, - 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, - 0x01, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x01, 0x01, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x01, 0x00, 0x01, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x01, 0x01, 0x00, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x01, 0x01, 0x01, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x01, 0x00, 0x01, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x01, 0x00, 0x01, 0x00, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, - 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, 0x01, 0x01, 0x00, 0x01, 0x00, 0x01, 0x00, - 0x01, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, - 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, - 0x00, 0x00, 0x90, 0x00, 0x00, 0x00, 0xef, 0xee, 0xee, 0xbe, 0xef, 0xee, 0xee, - 0x3e, 0x00, 0x00, 0x00, 0x00, 0xef, 0xee, 0xee, 0x3e, 0xef, 0xee, 0xee, 0x3e, - 0x00, 0x00, 0x00, 0x00, 0xef, 0xee, 0xee, 0x3e, 0xef, 0xee, 0xee, 0xbe, 0x00, - 0x00, 0x00, 0x00, 0xef, 0xee, 0xee, 0xbe, 0xef, 0xee, 0xee, 0xbe, 0x00, 0x00, - 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x00, 0x00, 0x01, 0x01, - 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, - 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x01, 0x00, - 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x01, 0x00, 0x01, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, - 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x01, - 0x01, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, - 0x01, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x02, 0x00, - 0x00, 0x00, 0x64, 0x00, 0x00, 0x00, 0xcd, 0xcc, 0x4c, 0xbe, 0xcd, 0xcc, 0x4c, - 0x3e, 0x00, 0x00, 0x00, 0x00, 0xcd, 0xcc, 0x4c, 0x3e, 0xcd, 0xcc, 0x4c, 0x3e, - 0x00, 0x00, 0x00, 0x00, 0xcd, 0xcc, 0x4c, 0x3e, 0xcd, 0xcc, 0x4c, 0xbe, 0x00, - 0x00, 0x00, 0x00, 0xcd, 0xcc, 0x4c, 0xbe, 0xcd, 0xcc, 0x4c, 0xbe, 0x00, 0x00, - 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x01, 0x01, 0x00, 0x01, 0x00, 0x01, - 0x01, 0x01, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x01, 0x01, 0x00, 0x01, 0x01, - 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, - 0x01, 0x01, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, - 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x01, - 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x01, - 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 0x01, 0x01, 0x01, 0x00, 0x00, 0x01, - 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, 0x01, 0x00, 0x01, 0x01, 0x00, - 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, - 0x00, 0x89, 0x88, 0x88, 0xbd, 0x89, 0x88, 0x88, 0x3d, 0x00, 0x00, 0x00, 0x00, - 0x89, 0x88, 0x88, 0x3d, 0x89, 0x88, 0x88, 0x3d, 0x00, 0x00, 0x00, 0x00, 0x89, - 0x88, 0x88, 0x3d, 0x89, 0x88, 0x88, 0xbd, 0x00, 0x00, 0x00, 0x00, 0x89, 0x88, - 0x88, 0xbd, 0x89, 0x88, 0x88, 0xbd, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, - 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x01, 0x01, - 0x01, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x01, 0x00, 0x01, 0x01, 0x00, 0x00, - 0x01, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00 - }; - unsigned int _conf_4L_6_len = 713; - - std::stringstream stream; - stream.write((char *)_conf_4L_6, sizeof(unsigned char) * _conf_4L_6_len); - _fromStream(fms, stream); - } - break; - case FRACTAL_5L_6: - { - unsigned char _conf_5L_6[] = { - 0x02, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x79, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xbf, 0x00, 0x00, - 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0x01, 0x00, 0x01, 0x00, 0x01, 0x01, 0x00, 0x01, 0x00, 0x01, 0x01, 0x01, 0x00, - 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00 - }; - unsigned int _conf_5L_6_len = 898; - - std::stringstream stream; - stream.write((char *)_conf_5L_6, sizeof(unsigned char) * _conf_5L_6_len); - _fromStream(fms, stream); - } - break; - case CUSTOM: - throw cv::Exception(-1, "CUSTOM type is only set by loading from file", - "FractalMarkerSet::loadPredefined", "fractalmarkerset.h", -1); - break; - - default: - throw cv::Exception(9001, "Invalid Dictionary type requested", - "Dictionary::loadPredefined", __FILE__, __LINE__); - } - return fms; -} - -bool FractalMarkerSet::isPredefinedConfigurationString(std::string str) -{ - return getTypeFromString(str) != CUSTOM; -} - -std::string FractalMarkerSet::getTypeString(CONF_TYPES t) -{ - switch (t) - { - case FRACTAL_2L_6: - return "FRACTAL_2L_6"; - case FRACTAL_3L_6: - return "FRACTAL_3L_6"; - case FRACTAL_4L_6: - return "FRACTAL_4L_6"; - case FRACTAL_5L_6: - return "FRACTAL_5L_6"; - case CUSTOM: - return "CUSTOM"; - }; - return "Non valid CONF_TYPE"; -} - -FractalMarkerSet::CONF_TYPES FractalMarkerSet::getTypeFromString(std::string str) -{ - if (str == "FRACTAL_2L_6") - return FRACTAL_2L_6; - if (str == "FRACTAL_3L_6") - return FRACTAL_3L_6; - if (str == "FRACTAL_4L_6") - return FRACTAL_4L_6; - if (str == "FRACTAL_5L_6") - return FRACTAL_5L_6; - else - return CUSTOM; -} - -std::vector FractalMarkerSet::getConfigurations() -{ - return { "FRACTAL_2L_6", "FRACTAL_3L_6", "FRACTAL_4L_6", "FRACTAL_5L_6" }; -} - -void FractalMarkerSet::_toStream(FractalMarkerSet &configuration, std::ostream &str) -{ - str.write((char *)&configuration.mInfoType, sizeof(mInfoType)); - str.write((char *)&configuration._nmarkers, sizeof(_nmarkers)); - str.write((char *)&configuration._idExternal, sizeof(_idExternal)); - - for (auto fractal : configuration.fractalMarkerCollection) - { - // ID - int id = fractal.first; - str.write((char *)&id, sizeof(id)); - // NBITS - int nbits = fractal.second.nBits(); - str.write((char *)&nbits, sizeof(nbits)); - // CORNERS - std::vector corners = fractal.second.points; - str.write((char *)&corners[0], sizeof(cv::Point3f) * 4); - // MAT - cv::Mat mat = fractal.second.mat(); - str.write((char *)mat.data, mat.elemSize() * mat.total()); - // SUBMARKERS - std::vector sub = fractal.second.subMarkers(); - int nsub = sub.size(); - str.write((char *)&nsub, sizeof(nsub)); - str.write((char *)&sub[0], sizeof(int) * nsub); - } -} - -void FractalMarkerSet::_fromStream(FractalMarkerSet &configuration, std::istream &str) -{ - str.read((char *)&configuration.mInfoType, sizeof(mInfoType)); - str.read((char *)&configuration._nmarkers, sizeof(_nmarkers)); - str.read((char *)&configuration._idExternal, sizeof(_idExternal)); - - for (int i = 0; i < configuration._nmarkers; i++) - { - // ID - int id; - str.read((char *)&id, sizeof(id)); - // NBITS - int nbits; - str.read((char *)&nbits, sizeof(nbits)); - - // CORNERS - std::vector corners(4); - str.read((char *)&corners[0], sizeof(cv::Point3f) * 4); - // MAT - cv::Mat mat; - mat.create(sqrt(nbits), sqrt(nbits), CV_8UC1); - str.read((char *)mat.data, mat.elemSize() * mat.total()); - // SUBMARKERS - int nsub; - str.read((char *)&nsub, sizeof(nsub)); - std::vector id_submarkers(nsub); - if (nsub > 0) - str.read((char *)&id_submarkers[0], sizeof(int) * nsub); - - FractalMarker fractalMarker = FractalMarker(id, mat, corners, id_submarkers); - configuration.nbits_fractalMarkerIDs[mat.total()].push_back(fractalMarker.id); - configuration.fractalMarkerCollection[fractalMarker.id] = fractalMarker; - } - - // Add subfractals - for (auto &id_marker : configuration.fractalMarkerCollection) - { - FractalMarker &marker = id_marker.second; - for (auto id : id_marker.second.subMarkers()) - marker.addSubFractalMarker(configuration.fractalMarkerCollection[id]); - } -} - -void FractalMarkerSet::create(std::vector> regionsConfig, float pixSize) -{ - if (pixSize == -1) - { - mInfoType = NORM; - pixSize = 1; - } - else - mInfoType = PIX; - - _nmarkers = regionsConfig.size(); - _idExternal = 0; - - std::vector submarkers; - submarkers.clear(); - float pix = 0; - for (int n = regionsConfig.size() - 1; n >= 0; n--) - { - int nVal = regionsConfig[n].first; - int kVal = regionsConfig[n].second; - - cv::Mat mat = configureMat(nVal, kVal); - - pix = (nVal + 2) * pixSize; - std::vector corners = { cv::Point3f(-pix / 2, pix / 2, 0.), - cv::Point3f(pix / 2, pix / 2, 0.), - cv::Point3f(pix / 2, -pix / 2, 0.), - cv::Point3f(-pix / 2, -pix / 2, 0.) }; - - FractalMarker fractal = FractalMarker(n, mat, corners, submarkers); - fractalMarkerCollection[n] = fractal; - submarkers.clear(); - submarkers.push_back(n); - - - float kValSup = regionsConfig[n - 1].second - 2; - float newP = (nVal + 2) / (kValSup); - pixSize = newP * pixSize; - } - - // Normalize corners. Fractal marker: (-1,1,0)(1,1,0)(1,-1,0)(-1,-1,0) - if (isNormalize()) - { - for (auto &m : fractalMarkerCollection) - { - for (auto &c : m.second.points) - { - c.x /= pix / 2; - c.y /= pix / 2; - } - } - } -} - -cv::Mat FractalMarkerSet::configureMat(int nVal, int kVal, int maxIter) -{ - // Pixels to configure (n-k region) - std::vector pixels; - for (int y = 0; y < nVal; y++) - { - for (int x = 0; x < nVal; x++) - { - if ((x <= ((nVal - kVal) / 2) - 1 || x >= kVal + (nVal - kVal) / 2) || - (y <= ((nVal - kVal) / 2) - 1 || y >= kVal + (nVal - kVal) / 2)) - { - pixels.push_back(cv::Point2i(x, y)); - } - } - } - - int dst_mkr = 0; - int dst_set = 0; - - cv::Mat m; - int markerIters = 0; - do - { - std::vector conf_pixels = pixels; - m = cv::Mat::ones(nVal, nVal, CV_8UC1); - - // struct timespec ts; - // clock_gettime(CLOCK_MONOTONIC, &ts); - // srand((time_t)ts.tv_nsec); - - // Random delete half of pixels - int npix = conf_pixels.size() / 2; - for (int i = 0; i < npix; i++) - { - int idxSelected = rand() % conf_pixels.size(); - conf_pixels.erase(conf_pixels.begin() + idxSelected); - } - - // Put the new configuration (0 selected pixels) - for (auto p : conf_pixels) - m.at(p.y, p.x) = 0; - - // Check marker distance to itself - int new_dst_mkr = dstMarker(m); - if (new_dst_mkr > dst_mkr) - { - // Check marker distance to set - int new_dst_set = dstMarkerToFractalDict(m); - if (new_dst_set > dst_set) - { - dst_mkr = new_dst_mkr; - dst_set = new_dst_set; - } - } - } while (markerIters++ < maxIter); - - for (int y = ((nVal - kVal) / 2) + 1; y < kVal + (nVal - kVal) / 2 - 1; y++) - { - for (int x = ((nVal - kVal) / 2) + 1; x < kVal + (nVal - kVal) / 2 - 1; x++) - { - m.at(y, x) = 0; - } - } - - return m; -} - -/* - * Calculate minimum distance between marker 'm' and the 4 rotations of each word in the dictionary - */ -int FractalMarkerSet::dstMarkerToFractalDict(cv::Mat m) -{ - int HDist = m.cols * m.rows; // distancia maxima - int HDistTemp; - - for (auto marker : fractalMarkerCollection) - { - if (marker.second.nBits() == m.total()) - { - HDistTemp = dstMarkerToMarker(marker.second.mat(), m); - - if (HDistTemp == 0) - return 0; - else if (HDistTemp < HDist) - HDist = HDistTemp; - } - } - return HDist; -} - -/* - * Calculate minimum distance between marker1 'm' and the 4 rotations of marker2 'm2' - */ -auto rotate = [](const cv::Mat &m) -{ - cv::Mat out; - m.copyTo(out); - for (int i = 0; i < m.rows; i++) - { - for (int j = 0; j < m.cols; j++) - { - out.at(i, j) = m.at(m.cols - j - 1, i); - } - } - return out; -}; - -int FractalMarkerSet::dstMarker(const cv::Mat m) -{ - int HDist = m.cols * m.rows; // maximum distance - int HDistTemp; - - cv::Mat rot; - m.copyTo(rot); - - - for (int i = 0; i < 3; i++) - { - cv::Mat diff; - rot = rotate(rot); - cv::compare(rot, m, diff, cv::CMP_NE); - HDistTemp = cv::countNonZero(diff); - if (HDistTemp < HDist) - HDist = HDistTemp; - } - return HDist; -} - -int FractalMarkerSet::dstMarkerToMarker(const cv::Mat m1, const cv::Mat m2) -{ - int HDist = m2.cols * m2.rows; // maximum distance - int HDistTemp; - - for (int i = 0; i < 4; i++) - { - cv::Mat diff; - cv::compare(rotate(m2), m1, diff, cv::CMP_NE); - HDistTemp = cv::countNonZero(diff); - if (HDistTemp < HDist) - HDist = HDistTemp; - } - - return HDist; -} - - -FractalMarkerSet FractalMarkerSet::readFromFile(std::string path) -{ - cv::FileStorage fs; - try - { - fs.open(path, cv::FileStorage::READ); - } - catch (std::exception &ex) - { - throw cv::Exception(81818, "FractalMarkerSet::readFromFile", - ex.what() + std::string(" file=)") + path, __FILE__, __LINE__); - } - - FractalMarkerSet configuration; - - fs["mInfoType"] >> configuration.mInfoType; - fs["fractal_levels"] >> configuration._nmarkers; - fs["fractal_external_id"] >> configuration._idExternal; - - cv::FileNode markers = fs["markers"]; - int i = 0; - for (cv::FileNodeIterator it = markers.begin(); it != markers.end(); ++it, i++) - { - int id = (*it)["id"]; - std::vector bits; - - std::vector corners; - std::vector submarkers_id; - - cv::FileNode bitsMarker = (*it)["bits"]; - for (cv::FileNodeIterator itb = bitsMarker.begin(); itb != bitsMarker.end(); ++itb) - { - bits.push_back(*itb); - } - cv::Mat m = cv::Mat(sqrt(bits.size()), sqrt(bits.size()), CV_32SC1); - memcpy(m.data, bits.data(), bits.size() * sizeof(int)); - - m.convertTo(m, CV_8UC1); - - cv::FileNode cornersFractal = (*it)["corners"]; - for (cv::FileNodeIterator itp = cornersFractal.begin(); itp != cornersFractal.end(); ++itp) - { - std::vector coordinates3d; - (*itp) >> coordinates3d; - if (coordinates3d.size() != 3) - throw cv::Exception(81818, "FractalMarkerSet::readFromFile", - "invalid file type 3", __FILE__, __LINE__); - cv::Point3f point(coordinates3d[0], coordinates3d[1], coordinates3d[2]); - corners.push_back(point); - } - - cv::FileNode submarkersID = (*it)["submarkers_id"]; - for (cv::FileNodeIterator itm = submarkersID.begin(); itm != submarkersID.end(); ++itm) - { - submarkers_id.push_back((*itm)); - } - - FractalMarker fractalMarker = FractalMarker(id, m, corners, submarkers_id); - configuration.nbits_fractalMarkerIDs[m.total()].push_back(fractalMarker.id); - configuration.fractalMarkerCollection[fractalMarker.id] = fractalMarker; - } - - // Add subfractals - for (auto &id_marker : configuration.fractalMarkerCollection) - { - FractalMarker &marker = id_marker.second; - for (auto id : id_marker.second.subMarkers()) - marker.addSubFractalMarker(configuration.fractalMarkerCollection[id]); - } - - return configuration; -} - -void FractalMarkerSet::saveToFile(cv::FileStorage &fs) -{ - fs << "codeid" - << "fractalmarkers"; - fs << "mInfoType" << mInfoType; - fs << "fractal_levels" << _nmarkers; - fs << "fractal_external_id" << _idExternal; - fs << "markers" - << "["; - for (auto id_marker : fractalMarkerCollection) - { - FractalMarker marker = id_marker.second; - - fs << "{:" - << "id" << (int)id_marker.first; - - fs << "bits" - << "[:"; - cv::Mat m = marker.mat(); - for (int y = 0; y < m.cols; y++) - for (int x = 0; x < m.rows; x++) - if (m.at(y, x) == 2) - fs << 0; - else - fs << m.at(y, x); - fs << "]"; - - fs << "corners" - << "[:"; - for (auto corner : marker.points) - fs << corner; - fs << "]"; - - fs << "submarkers_id" - << "[:"; - for (auto idsub : marker.subMarkers()) - fs << (int)idsub; - fs << "]"; - - fs << "}"; - } - fs << "]"; -} - -bool FractalMarkerSet::isFractalMarker(cv::Mat &m, int nbits, int &markerid) -{ - bool found = false; - - for (auto id : nbits_fractalMarkerIDs[nbits]) - { - FractalMarker fm = fractalMarkerCollection[id]; - - // Apply mask to substract submarkers - cv::Mat m2; - m.copyTo(m2, fm.mask()); - - // Code without submarkers == fractal marker? - if (cv::countNonZero(m2 != fm.mat()) == 0) - { - found = true; - - // Change new code!! - ////////////// - markerid = fm.id; - ///////////// - - break; - } - } - - return found; -} - -FractalMarkerSet FractalMarkerSet::convertToMeters(float fractalSizeM) -{ - if (!(isExpressedInPixels() || isNormalize())) - throw cv::Exception(-1, "The FractalMarkers are not expressed in pixels", - "FractalMarkerSet::convertToMeters", __FILE__, __LINE__); - - FractalMarkerSet BInfo(*this); - BInfo.mInfoType = FractalMarkerSet::METERS; - - // now, get the size of a pixel, and change scale - float pixSizeM = fractalSizeM / float(BInfo.getFractalSize()); - - for (size_t i = 0; i < BInfo.fractalMarkerCollection.size(); i++) - { - // Convert to meters the position fractal marker - for (int c = 0; c < 4; c++) - { - BInfo.fractalMarkerCollection[i][c] *= pixSizeM; - } - } - return BInfo; -} - -FractalMarkerSet FractalMarkerSet::normalize() -{ - if (!(isExpressedInPixels() || isExpressedInMeters())) - throw cv::Exception(-1, "The FractalMarkers are not expressed in pixels or meters", - "FractalMarkerSet::convertToMeters", __FILE__, __LINE__); - - FractalMarkerSet BInfo(*this); - BInfo.mInfoType = FractalMarkerSet::NORM; - - float currentHalfSize = BInfo.getFractalSize() / 2.f; - - for (size_t i = 0; i < BInfo.fractalMarkerCollection.size(); i++) - { - // Normalize the position fractal marker - for (size_t c = 0; c < 4; c++) - { - BInfo.fractalMarkerCollection[i][c] /= currentHalfSize; - } - } - - return BInfo; -} - -std::map> FractalMarkerSet::getInnerCorners() -{ - std::map> id_innerCorners; - - for (auto id_fm : fractalMarkerCollection) - { - int id = id_fm.first; - FractalMarker fm = id_fm.second; - - for (auto ic : fm.getInnerCorners()) - id_innerCorners[id].push_back(ic); // Conversion - } - return id_innerCorners; -} - -cv::Mat FractalMarkerSet::getFractalMarkerImage(int pixSize, bool border) -{ - if (fractalMarkerCollection.size() < 1) - throw cv::Exception(9001, "There is not any fractal marker loaded", - "FractalMarkerSet::getFractalMarkerImage", __FILE__, __LINE__); - - // Smallest fractal marker - FractalMarker innerM = (--fractalMarkerCollection.end())->second; - float bitSize = innerM.getMarkerSize() / (pixSize * (sqrt(innerM.nBits()) + 2)); - - FractalMarker externMarker = fractalMarkerCollection[_idExternal]; - float markerSize = externMarker.getMarkerSize() / bitSize; - float markerBitSize = markerSize / (sqrt(externMarker.nBits()) + 2); - cv::Mat img = cv::Mat::zeros(markerSize, markerSize, CV_8U); - - // Asign value pixels - cv::Mat m = externMarker.mat(); - - for (int y = m.cols - 1; y >= 0; y--) - for (int x = m.cols - 1; x >= 0; x--) - { - if (m.at(y, x) == 1) - { - cv::Range val1 = cv::Range((1 + y) * markerBitSize, (y + 2) * markerBitSize); - cv::Range val2 = cv::Range((1 + x) * markerBitSize, (x + 2) * markerBitSize); - - cv::Mat bit_pix = img(val1, val2); - bit_pix.setTo(cv::Scalar::all(255)); - } - } - - for (auto idSubmarker : externMarker.subMarkers()) - { - std::vector idds; - idds.push_back(idSubmarker); - while (!idds.empty()) - { - idSubmarker = idds.back(); - idds.pop_back(); - - FractalMarker submarker = fractalMarkerCollection[idSubmarker]; - - cv::Mat m = submarker.mat(); - cv::Point3f coord = submarker.points[0]; - - float markerSize = submarker.getMarkerSize() / bitSize; - float markerBitSize = markerSize / (sqrt(submarker.nBits()) + 2); - - // Get position inside fractal marker - float offsetX = fabs(coord.x - externMarker.points[0].x) / bitSize; - float offsetY = fabs(coord.y - externMarker.points[0].y) / bitSize; - - // Asign value pixels - for (int y = m.cols - 1; y >= 0; y--) - for (int x = m.cols - 1; x >= 0; x--) - { - if (m.at(y, x) == 1) - { - cv::Range val1 = cv::Range((1 + y) * markerBitSize + offsetY, - (2 + y) * markerBitSize + offsetY); - cv::Range val2 = cv::Range((1 + x) * markerBitSize + offsetX, - (2 + x) * markerBitSize + offsetX); - - cv::Mat bit_pix = img(val1, val2); - bit_pix.setTo(cv::Scalar::all(255)); - } - } - - // Add submarkers to draw - for (auto idsm : submarker.subMarkers()) - idds.push_back(idsm); - } - } - - if (border) - copyMakeBorder(img, img, markerBitSize, markerBitSize, markerBitSize, markerBitSize, - cv::BORDER_CONSTANT, cv::Scalar::all(255)); - - return img; -} -}; // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/fractallabelers/fractalposetracker.cpp b/legacy/aruco_ros/aruco/src/aruco/fractallabelers/fractalposetracker.cpp deleted file mode 100755 index ac17b7f3c..000000000 --- a/legacy/aruco_ros/aruco/src/aruco/fractallabelers/fractalposetracker.cpp +++ /dev/null @@ -1,1093 +0,0 @@ -#include "fractallabelers/fractalposetracker.h" -#include "levmarq.h" -#include "ippe.h" -#include "aruco_export.h" -#include "timers.h" - - -#include "opencv2/calib3d/calib3d.hpp" -#include "aruco_cvversioning.h" - -namespace aruco -{ - -/* - * KeyPoint cornersubpixel - */ -void kcornerSubPix(const cv::Mat image, std::vector &kpoints) -{ - std::vector points; - cv::KeyPoint::convert(kpoints, points); - - cv::Size winSize = cv::Size(4, 4); - cv::Size zeroZone = cv::Size(-1, -1); - cv::TermCriteria criteria(cv::TermCriteria::MAX_ITER | cv::TermCriteria::EPS, 12, - 0.005); // cv::cornerSubPix(image, points, winSize, zeroZone, criteria); - cornerSubPix(image, points, winSize, zeroZone, criteria); - - // Update kpoints - uint32_t i = 0; - for (auto &k : kpoints) - { - k.pt = points[i]; - i++; - } -} - -/* - * KeyPoints Filter. Delete kpoints with low response and duplicated. - */ -void kfilter(std::vector &kpoints) -{ - float minResp = kpoints[0].response; - float maxResp = kpoints[0].response; - for (auto &p : kpoints) - { - p.size = 40; - if (p.response < minResp) - minResp = p.response; - if (p.response > maxResp) - maxResp = p.response; - } - float thresoldResp = (maxResp - minResp) * 0.20f + minResp; - - for (uint32_t xi = 0; xi < kpoints.size(); xi++) - { - // Erase keypoints with low response (20%) - if (kpoints[xi].response < thresoldResp) - { - kpoints[xi].size = -1; - continue; - } - - // Duplicated keypoints (closer) - for (uint32_t xj = xi + 1; xj < kpoints.size(); xj++) - { - if (pow(kpoints[xi].pt.x - kpoints[xj].pt.x, 2) + - pow(kpoints[xi].pt.y - kpoints[xj].pt.y, 2) < - 200) - { - if (kpoints[xj].response > kpoints[xi].response) - kpoints[xi] = kpoints[xj]; - - kpoints[xj].size = -1; - } - } - } - kpoints.erase(std::remove_if(kpoints.begin(), kpoints.end(), - [](const cv::KeyPoint &kpt) { return kpt.size == -1; }), - kpoints.end()); -} - -void assignClass(const cv::Mat &im, std::vector &kpoints, float sizeNorm, int wsize) -{ - if (im.type() != CV_8UC1) - throw std::runtime_error("assignClass Input image must be 8UC1"); - int wsizeFull = wsize * 2 + 1; - - cv::Mat labels = cv::Mat::zeros(wsize * 2 + 1, wsize * 2 + 1, CV_8UC1); - cv::Mat thresIm = cv::Mat(wsize * 2 + 1, wsize * 2 + 1, CV_8UC1); - - for (auto &kp : kpoints) - { - float x = kp.pt.x; - float y = kp.pt.y; - - // Convert point range from norm (-size/2, size/2) to (0,imageSize) - if (sizeNorm > 0) - { - // x = im.cols * (x/_fractalMarker.getFractalSize() + 0.5f); - // y = im.rows * (-y/_fractalMarker.getFractalSize() + 0.5f); - x = im.cols * (x / sizeNorm + 0.5f); - y = im.rows * (-y / sizeNorm + 0.5f); - } - - x = int(x + 0.5f); - y = int(y + 0.5f); - - cv::Rect r = cv::Rect(x - wsize, y - wsize, wsize * 2 + 1, wsize * 2 + 1); - // Check boundaries - if (r.x < 0 || r.x + r.width > im.cols || r.y < 0 || r.y + r.height > im.rows) - continue; - - int endX = r.x + r.width; - int endY = r.y + r.height; - uchar minV = 255, maxV = 0; - for (int y = r.y; y < endY; y++) - { - const uchar *ptr = im.ptr(y); - for (int x = r.x; x < endX; x++) - { - if (minV > ptr[x]) - minV = ptr[x]; - if (maxV < ptr[x]) - maxV = ptr[x]; - } - } - - if ((maxV - minV) < 25) - { - kp.class_id = 0; - continue; - } - - double thres = (maxV + minV) / 2.0; - - unsigned int nZ = 0; - // count non zero considering the threshold - for (int y = 0; y < wsizeFull; y++) - { - const uchar *ptr = im.ptr(r.y + y) + r.x; - uchar *thresPtr = thresIm.ptr(y); - for (int x = 0; x < wsizeFull; x++) - { - if (ptr[x] > thres) - { - nZ++; - thresPtr[x] = 255; - } - else - thresPtr[x] = 0; - } - } - // set all to zero labels.setTo(cv::Scalar::all(0)); - for (int y = 0; y < thresIm.rows; y++) - { - uchar *labelsPtr = labels.ptr(y); - for (int x = 0; x < thresIm.cols; x++) - labelsPtr[x] = 0; - } - - uchar newLab = 1; - std::map unions; - for (int y = 0; y < thresIm.rows; y++) - { - uchar *thresPtr = thresIm.ptr(y); - uchar *labelsPtr = labels.ptr(y); - for (int x = 0; x < thresIm.cols; x++) - { - uchar reg = thresPtr[x]; - uchar lleft_px = 0; - uchar ltop_px = 0; - - if (x - 1 > -1) - { - if (reg == thresPtr[x - 1]) - lleft_px = labelsPtr[x - 1]; - } - - if (y - 1 > -1) - { - if (reg == thresIm.ptr(y - 1)[x]) // thresIm.at(y-1, x) - ltop_px = labels.at(y - 1, x); - } - - if (lleft_px == 0 && ltop_px == 0) - labelsPtr[x] = newLab++; - - else if (lleft_px != 0 && ltop_px != 0) - { - if (lleft_px < ltop_px) - { - labelsPtr[x] = lleft_px; - unions[ltop_px] = lleft_px; - } - else if (lleft_px > ltop_px) - { - labelsPtr[x] = ltop_px; - unions[lleft_px] = ltop_px; - } - else - { // IGuales - labelsPtr[x] = ltop_px; - } - } - else - { - if (lleft_px != 0) - labelsPtr[x] = lleft_px; - else - labelsPtr[x] = ltop_px; - } - } - } - - int nc = newLab - 1 - unions.size(); - if (nc == 2) - { - if (nZ > thresIm.total() - nZ) - kp.class_id = 0; - else - kp.class_id = 1; - } - else if (nc > 2) - { - kp.class_id = 2; - } - } -} - -FractalPoseTracker::FractalPoseTracker() -{ -} - -void FractalPoseTracker::setParams(const CameraParameters &cam_params, - const FractalMarkerSet &msconf, const float markerSize) -{ - _cam_params = cam_params; - _fractalMarker = msconf; - - if (!cam_params.isValid()) - throw cv::Exception(9001, "Invalid camera parameters", - "FractalPoseTracker::setParams", __FILE__, __LINE__); - if (_fractalMarker.mInfoType == aruco::FractalMarkerSet::NONE) - throw cv::Exception(9001, "Invalid FractalMarker", "FractalPoseTracker::setParams", - __FILE__, __LINE__); - if ((_fractalMarker.mInfoType == aruco::FractalMarkerSet::PIX || - _fractalMarker.mInfoType == aruco::FractalMarkerSet::NORM) && - markerSize <= 0) - throw cv::Exception(9001, "You should indicate the markersize since the Fractal Marker is in pixels or normalized", - "FractalPoseTracker::setParams", __FILE__, __LINE__); - if (_fractalMarker.mInfoType == aruco::FractalMarkerSet::PIX || - _fractalMarker.mInfoType == aruco::FractalMarkerSet::NORM) - _fractalMarker = _fractalMarker.convertToMeters(markerSize); - - for (auto id_innerMarker : _fractalMarker.fractalMarkerCollection) - { - int markerId = id_innerMarker.first; - FractalMarker innerMarker = id_innerMarker.second; - - // Inner corners - _id_innerp3d[markerId] = innerMarker.getInnerCorners(); - for (auto pt : _id_innerp3d[markerId]) - { - _innerp3d.push_back(pt); - _innerkpoints.push_back(cv::KeyPoint(cv::Point2f(pt.x, pt.y), 20, -1, 0, markerId)); - } - - // radius search by marker - float radiusF = 0.25; - float ratio = innerMarker.getMarkerSize() / _fractalMarker.getFractalSize(); - float NBits = float(sqrt(_fractalMarker.nBits()) + 2) * ratio; - _id_radius[markerId] = - ((2 * NBits) / ((sqrt(innerMarker.nBits()) + 2) * (sqrt(_fractalMarker.nBits()) + 2))) * - radiusF * _fractalMarker.getFractalSize() / 2; - } - - // Get synthetic image (pixsize 6 in order to get inner corners classification) - cv::Mat imageGray = _fractalMarker.getFractalMarkerImage(6) * 255; - assignClass(imageGray, _innerkpoints, _fractalMarker.getFractalSize()); - _kdtree.build(_innerkpoints); - - // #define _fractal_debug_classification -#ifdef _fractal_debug_classification - drawKeyPoints(imageGray, _innerkpoints, false, true); -#endif -} - -bool FractalPoseTracker::fractalRefinement(const cv::Ptr markerDetector, - int markerWarpPix) -{ - // ScopedTimerEvents Timer("fractal-refinement"); - - std::vector imagePyramid = markerDetector->getImagePyramid(); - std::vector _ref_inner3d; - std::vector _ref_inner2d; - - cv::Mat _p_rvec; - _rvec.copyTo(_p_rvec); - cv::Mat _p_tvec; - _tvec.copyTo(_p_tvec); - - cv::Mat rot; - cv::Rodrigues(_rvec, rot); - - for (auto id_marker : _fractalMarker.fractalMarkerCollection) - { - // Check z value for 4 external corners - std::vector marker3d; - for (auto pt : id_marker.second.points) - { - cv::Mat_ src(3, 1, rot.type()); - src(0, 0) = pt.x; - src(1, 0) = pt.y; - src(2, 0) = pt.z; - - cv::Mat cam_image_point = rot * src + _tvec; - cam_image_point = cam_image_point / cv::norm(cam_image_point); - - if (cam_image_point.at(2, 0) > 0.85) - marker3d.push_back(pt); - else - break; - } - - std::vector _inners3d; - std::vector _inners2d; - float area = 0; - if (marker3d.size() < 4) - { - if (_id_area.find(id_marker.first) != _id_area.end()) - area = _id_area[id_marker.first]; - else - return false; - - for (auto pt : _id_innerp3d[id_marker.first]) - { - cv::Mat_ src(3, 1, _rvec.type()); - src(0, 0) = pt.x; - src(1, 0) = pt.y; - src(2, 0) = pt.z; - - cv::Mat cam_image_point = rot * src + _tvec; - cam_image_point = cam_image_point / cv::norm(cam_image_point); - - if (cam_image_point.at(2, 0) > 0.85) - _inners3d.push_back(pt); - } - - if (_inners3d.size() == 0) - return false; - - cv::projectPoints(_inners3d, _rvec, _tvec, _cam_params.CameraMatrix, - _cam_params.Distorsion, _inners2d); - } - else - { - std::vector marker2d; - cv::projectPoints(marker3d, _rvec, _tvec, _cam_params.CameraMatrix, - _cam_params.Distorsion, marker2d); - - cv::Point2f v01 = marker2d[1] - marker2d[0]; - cv::Point2f v03 = marker2d[3] - marker2d[0]; - float area1 = fabs(v01.x * v03.y - v01.y * v03.x); - cv::Point2f v21 = marker2d[1] - marker2d[2]; - cv::Point2f v23 = marker2d[3] - marker2d[2]; - float area2 = fabs(v21.x * v23.y - v21.y * v23.x); - - area = (area2 + area1) / 2.f; - _id_area[id_marker.first] = area; - - _inners3d = _id_innerp3d[id_marker.first]; - cv::projectPoints(_inners3d, _rvec, _tvec, _cam_params.CameraMatrix, - _cam_params.Distorsion, _inners2d); - } - - size_t imgPyrIdx = 0; - auto markerWarpSize = (sqrt(id_marker.second.nBits()) + 2) * markerWarpPix; - float desiredarea = std::pow(static_cast(markerWarpSize), 2.f); - for (size_t p = 1; p < imagePyramid.size(); p++) - { - if (area / pow(4, p) >= desiredarea) - imgPyrIdx = p; - else - break; - } - - float ratio = float(imagePyramid[imgPyrIdx].cols) / float(imagePyramid[0].cols); - - // std::cout << "REFINE["<< id_marker.first <<"], imgPyrId:"< _inners2d_error; - if (ratio == 1 && area >= desiredarea) - { - int halfwsize = - 4 * float(imagePyramid[imgPyrIdx].cols) / float(imagePyramid[imgPyrIdx].cols) + 0.5; - - std::vector _inners2d_copy; - for (auto pt : _inners2d) - { - _inners2d_copy.push_back(pt); - } - cornerSubPix( - imagePyramid[imgPyrIdx], _inners2d, cv::Size(halfwsize, halfwsize), cv::Size(-1, -1), - cv::TermCriteria(cv::TermCriteria::MAX_ITER | cv::TermCriteria::EPS, 12, 0.005)); - int idx = 0; - for (auto pt : _inners2d) - { - _inners2d_error.push_back(sqrt(pow(_inners2d_copy[idx].x - pt.x, 2) + - pow(_inners2d_copy[idx].y - pt.y, 2))); - idx++; - } - } - else if (ratio != 1 && area >= desiredarea) - { - std::vector _inners2d_copy; - for (auto &pt : _inners2d) - { - _inners2d_copy.push_back(pt); - pt *= ratio; - } - - std::vector> vpnts; - vpnts.push_back(_inners2d); - markerDetector->cornerUpsample(vpnts, imagePyramid[imgPyrIdx].size()); - - int idx = 0; - for (auto pt : vpnts[0]) - { - _inners2d_error.push_back(sqrt(pow(_inners2d_copy[idx].x - pt.x, 2) + - pow(_inners2d_copy[idx].y - pt.y, 2))); - _inners2d[idx++] = pt; - } - } - - // Elimina puntos que no son esquinas - if (area >= desiredarea) - { - // We discard outliers. Points above limit Q3+3*(Q3-1) - std::vector _inners2d_error_copy; - for (auto err : _inners2d_error) - _inners2d_error_copy.push_back(err); - sort(_inners2d_error_copy.begin(), _inners2d_error_copy.end()); - int q1 = (_inners2d_error_copy.size() + 1) / 4; - int q3 = 3 * (_inners2d_error_copy.size() + 1) / 4; - - double limit = _inners2d_error_copy[q3] + - 3 * (_inners2d_error_copy[q3] - _inners2d_error_copy[q1]); - - int wsize = 10; - for (int idx = 0; idx < _inners2d.size(); idx++) - { - if (_inners2d_error[idx] > limit) - continue; - - float x = int(_inners2d[idx].x + 0.5f); - float y = int(_inners2d[idx].y + 0.5f); - - cv::Rect r = cv::Rect(x - wsize, y - wsize, wsize * 2 + 1, wsize * 2 + 1); - // Check boundaries - if (r.x < 0 || r.x + r.width > imagePyramid[0].cols || r.y < 0 || - r.y + r.height > imagePyramid[0].rows) - continue; - - int endX = r.x + r.width; - int endY = r.y + r.height; - uchar minV = 255, maxV = 0; - for (int y = r.y; y < endY; y++) - { - const uchar *ptr = imagePyramid[0].ptr(y); - for (int x = r.x; x < endX; x++) - { - if (minV > ptr[x]) - minV = ptr[x]; - if (maxV < ptr[x]) - maxV = ptr[x]; - } - } - - if ((maxV - minV) < 25) - continue; - - _ref_inner3d.push_back(_inners3d[idx]); - _ref_inner2d.push_back(_inners2d[idx]); - } - } - // Timer.add("refine-"+std::to_string(id_marker.first)); - } - - // Solve - if (_ref_inner3d.size() > 4) - { - aruco::solvePnP(_ref_inner3d, _ref_inner2d, _cam_params.CameraMatrix, - _cam_params.Distorsion, _rvec, _tvec); - -//#define _fractal_debug_inners -#ifdef _fractal_debug_inners - cv::Mat InImageCopy; - cv::cvtColor(imagePyramid[0], InImageCopy, CV_GRAY2RGB); - - // Show first position (estimation with detected markers) - std::vector preinnersPrj; - for (auto id_marker : _fractalMarker.fractalMarkerCollection) - { - cv::projectPoints(_id_innerp3d[id_marker.first], _p_rvec, _p_tvec, - _cam_params.CameraMatrix, _cam_params.Distorsion, preinnersPrj); - for (auto pt : preinnersPrj) - cv::circle(InImageCopy, pt, 5, cv::Scalar(0, 0, 255), CV_FILLED); - } - - // Show first position with refinement - for (auto p : _ref_inner2d) - cv::circle(InImageCopy, p, 5, cv::Scalar(255, 0, 0), CV_FILLED); - - _rvec.convertTo(_rvec, CV_32F); - _tvec.convertTo(_tvec, CV_32F); - cv::Rodrigues(_rvec, rot); - - std::vector _inners; - for (auto pt : _inner_corners_3d) - { - cv::Mat_ src(3, 1, rot.type()); - src(0, 0) = pt.x; - src(1, 0) = pt.y; - src(2, 0) = pt.z; - - cv::Mat cam_image_point = rot * src + _tvec; - cam_image_point = cam_image_point / cv::norm(cam_image_point); - - if (cam_image_point.at(2, 0) > 0.85f) - _inners.push_back(pt); - } - std::vector _inners_prj; - cv::projectPoints(_inners, _rvec, _tvec, _cam_params.CameraMatrix, - _cam_params.Distorsion, _inners_prj); - - // Show new projection using all inner points - for (auto pt : _inners_prj) - cv::circle(InImageCopy, pt, 5, cv::Scalar(0, 255, 0), CV_FILLED); - - cv::namedWindow("AA", cv::WINDOW_NORMAL); - imshow("AA", InImageCopy); - cv::waitKey(); -#endif - // Timer.add("solve"); - - return true; - } - else - return false; -} - -bool FractalPoseTracker::fractalInnerPose(const cv::Ptr markerDetector, - const std::vector &vmarkers, - bool refinement) -{ - if (vmarkers.size() > 0) - { - // ScopedTimerEvents Timer("pnp"); - // std::cout << "[Case 1]"<< std::endl; - std::vector p2d; - std::vector p3d; - for (auto marker : vmarkers) - { - if (_fractalMarker.fractalMarkerCollection.find(marker.id) != - _fractalMarker.fractalMarkerCollection.end()) - { - for (auto p : marker) - p2d.push_back(p); - - for (auto p : _fractalMarker.fractalMarkerCollection[marker.id].points) - p3d.push_back(p); - } - } - - // Initial pose estimation - aruco::solvePnP(p3d, p2d, _cam_params.CameraMatrix, _cam_params.Distorsion, _rvec, _tvec); - - // Timer.add("solve"); - - // REFINE - if (refinement) - { - fractalRefinement(markerDetector); - // Timer.add("refine-solution"); - } - - return true; - } - else - { - if (!_rvec.empty()) - { - // std::cout << "[Case 2]"<< std::endl; - // ScopedTimerEvents Timer("ransac"); - // Timer.add("detect"); - - std::vector innerPoints2d; - std::vector innerPoints3d; - - float radius = 0; - cv::Mat rot; - cv::Rodrigues(_rvec, rot); - - // Getting the keypoints search radius - for (auto id_marker : _fractalMarker.fractalMarkerCollection) - { - std::vector marker2d; - std::vector marker3d; - for (auto pt : _fractalMarker.fractalMarkerCollection[id_marker.first].points) - { - cv::Mat_ src(3, 1, rot.type()); - src(0, 0) = pt.x; - src(1, 0) = pt.y; - src(2, 0) = pt.z; - cv::Mat cam_image_point = rot * src + _tvec; - cam_image_point = cam_image_point / cv::norm(cam_image_point); - - if (cam_image_point.at(2, 0) > 0.85) - marker3d.push_back(pt); - else - break; - } - - if (marker3d.size() == 4) - { - cv::projectPoints(marker3d, _rvec, _tvec, _cam_params.CameraMatrix, - _cam_params.Distorsion, marker2d); - - // Find marker area - cv::Point2f v01 = marker2d[1] - marker2d[0]; - cv::Point2f v03 = marker2d[3] - marker2d[0]; - float area1 = fabs(v01.x * v03.y - v01.y * v03.x); - cv::Point2f v21 = marker2d[1] - marker2d[2]; - cv::Point2f v23 = marker2d[3] - marker2d[2]; - float area2 = fabs(v21.x * v23.y - v21.y * v23.x); - double area = (area2 + area1) / 2.f; - - auto markerWarpSize = - (sqrt(_fractalMarker.fractalMarkerCollection[id_marker.first].nBits()) + 2) * 10; - float desiredarea = std::pow(static_cast(markerWarpSize), 2.f); - if (area >= desiredarea) - { - for (auto pt : _id_innerp3d[id_marker.first]) - innerPoints3d.push_back(pt); - } - - if (radius == 0.f) - radius = sqrt(area) / (sqrt(id_marker.second.nBits()) + 2.f); - } - else - { - for (auto pt : _id_innerp3d[id_marker.first]) - innerPoints3d.push_back(pt); - } - } - - if (radius == 0) - radius = _preRadius; - _preRadius = radius; - - if (innerPoints3d.size() > 0 && radius > 0) - { - cv::projectPoints(innerPoints3d, _rvec, _tvec, _cam_params.CameraMatrix, - _cam_params.Distorsion, innerPoints2d); - - cv::Mat region; - cv::Point2f offset; - float ratio; - if (!ROI(markerDetector->getImagePyramid(), region, innerPoints2d, offset, ratio)) - return false; - radius = radius * ratio; - // Timer.add("roi"); - - - std::cout << "radius: " << radius << std::endl; - -//#define _fractal_debug_region -#ifdef _fractal_debug_region - cv::Mat out; - cv::cvtColor(region, out, CV_GRAY2RGB); - for (uint32_t i = 0; i < innerPoints2d.size(); i++) - circle(out, innerPoints2d[i], radius, cv::Scalar(0, 0, 255), 2); - cv::imshow("REGION ", out); - cv::waitKey(); -#endif - - // FAST - std::vector kpoints; - cv::Ptr fd = cv::FastFeatureDetector::create(); - fd->detect(region, kpoints); - // Timer.add("fast"); - - - if (kpoints.size() > 0) - { - // Filter kpoints (low response) and removing duplicated. - kfilter(kpoints); - // Timer.add("fast-filter"); - // std::cout << "fast-filter" << std::endl; - - // Assign class to keypoints - assignClass(region, kpoints); -// Timer.add("fast-class"); - -//#define _fractal_debug_classification -#ifdef _fractal_debug_classification - drawKeyPoints(region, kpoints); - cv::waitKey(); -#endif - // Get keypoints with better response in a radius - picoflann::KdTreeIndex<2, PicoFlann_KeyPointAdapter> kdtreeImg; - kdtreeImg.build(kpoints); - std::vector>> inner_candidates; - for (uint idx = 0; idx < innerPoints2d.size(); idx++) - { - std::vector> res = - kdtreeImg.radiusSearch(kpoints, innerPoints2d[idx], radius); - - std::vector candidates; - for (auto r : res) - { - if (kpoints[r.first].class_id == _innerkpoints[idx].class_id) - candidates.push_back(r.first); - } - if (candidates.size() > 0) - inner_candidates.push_back(make_pair(idx, candidates)); - } - - // Timer.add("candidates"); - cv::Mat bestModel = - fractal_solve_ransac(innerPoints2d.size(), inner_candidates, kpoints); - // Timer.add("find-solution"); - - if (!bestModel.empty()) - { - std::vector p3d; - std::vector p2d; - - std::vector pnts, pntsDst; - cv::KeyPoint::convert(kpoints, pnts); - perspectiveTransform(pnts, pntsDst, bestModel); - for (uint32_t id = 0; id < pntsDst.size(); id++) - { - std::vector> res = - _kdtree.radiusSearch(_innerkpoints, pntsDst[id], _id_radius[0]); - - int i = 0; - for (auto r : res) - { - uint32_t innerId = r.first; - double dist = sqrt(r.second); - - uint32_t fmarkerId = _innerkpoints[innerId].octave; - if (dist > _id_radius[fmarkerId]) - res.erase(res.begin() + i); - else - i++; - } - if (res.size() > 0) - { - p3d.push_back(_innerp3d[res[0].first]); - p2d.push_back( - cv::Point2f(kpoints[id].pt.x + offset.x, kpoints[id].pt.y + offset.y) / ratio); - } - } - - if (p3d.size() >= 4) - { - // std::cout << "solves" << std::endl; - aruco::solvePnP(p3d, p2d, _cam_params.CameraMatrix, _cam_params.Distorsion, - _rvec, _tvec); - // Timer.add("solves"); - - if (refinement) - { - // std::cout << "refine-solution" << std::endl; - fractalRefinement(markerDetector); - // Timer.add("refine-solution"); - } - - return true; - } - } - } - } - } - _rvec = cv::Mat(); - _tvec = cv::Mat(); - - return false; - } -} - -bool FractalPoseTracker::ROI(const std::vector imagePyramid, cv::Mat &img, - std::vector &innerPoints2d, cv::Point2f &offset, - float &ratio) -{ - cv::Mat rot; - cv::Rodrigues(_rvec, rot); - - // Biggest marker projection - std::vector biggest_p2d; - std::vector biggest_p3d; - for (int idx = 0; - idx < _fractalMarker.fractalMarkerCollection.size() & biggest_p3d.size() < 4; idx++) - { - biggest_p3d.empty(); - for (auto pt : _fractalMarker.fractalMarkerCollection[idx].points) - { - cv::Mat_ src(3, 1, rot.type()); - src(0, 0) = pt.x; - src(1, 0) = pt.y; - src(2, 0) = pt.z; - cv::Mat cam_image_point = rot * src + _tvec; - cam_image_point = cam_image_point / cv::norm(cam_image_point); - - if (cam_image_point.at(2, 0) > 0.85) - biggest_p3d.push_back(pt); - else - break; - } - } - - if (!biggest_p3d.empty()) - { - cv::projectPoints(biggest_p3d, _rvec, _tvec, _cam_params.CameraMatrix, - _cam_params.Distorsion, biggest_p2d); - - // Smallest marker projection - std::vector smallest_p2d; - std::vector smallest_p3d; - auto marker_smallest = (--_fractalMarker.fractalMarkerCollection.end())->second; - for (auto pt : marker_smallest.points) - smallest_p3d.push_back(pt); - cv::projectPoints(smallest_p3d, _rvec, _tvec, _cam_params.CameraMatrix, - _cam_params.Distorsion, smallest_p2d); - - // Smallest marker area - cv::Point2f v01 = smallest_p2d[1] - smallest_p2d[0]; - cv::Point2f v03 = smallest_p2d[3] - smallest_p2d[0]; - float area1 = fabs(v01.x * v03.y - v01.y * v03.x); - cv::Point2f v21 = smallest_p2d[1] - smallest_p2d[2]; - cv::Point2f v23 = smallest_p2d[3] - smallest_p2d[2]; - float area2 = fabs(v21.x * v23.y - v21.y * v23.x); - double area = (area2 + area1) / 2.f; - - - // Compute boundaries region - float border = sqrt(area) / sqrt(marker_smallest.nBits()) + 2; - int minX = imagePyramid[0].cols, minY = imagePyramid[0].rows, maxX = 0, maxY = 0; - for (auto p : biggest_p2d) - { - if (p.x < minX) - minX = p.x - border; - if (p.x > maxX) - maxX = p.x + border; - if (p.y < minY) - minY = p.y - border; - if (p.y > maxY) - maxY = p.y + border; - } - if (minX < 0) - minX = 0; - if (minY < 0) - minY = 0; - if (maxX > imagePyramid[0].cols) - maxX = imagePyramid[0].cols; - if (maxY > imagePyramid[0].rows) - maxY = imagePyramid[0].rows; - - - // Select imagePyramid - size_t imgPyrIdx = 0; - auto markerWarpSize = (sqrt(marker_smallest.nBits()) + 2) * 10; - float desiredarea = std::pow(static_cast(markerWarpSize), 2.f); - for (size_t p = 1; p < imagePyramid.size(); p++) - { - if (area / pow(4, p) >= desiredarea) - imgPyrIdx = p; - else - break; - } - - ratio = float(imagePyramid[imgPyrIdx].cols) / float(imagePyramid[0].cols); - offset = cv::Point2i(minX, minY) * ratio; - cv::Rect region = cv::Rect(cv::Point2i(minX, minY) * ratio, cv::Point2i(maxX, maxY) * ratio); - img = imagePyramid[imgPyrIdx](region); - - for (auto &pt : innerPoints2d) - { - pt.x = pt.x * ratio - region.x; - pt.y = pt.y * ratio - region.y; - } - return true; - } - else - return false; -} - -cv::Mat FractalPoseTracker::fractal_solve_ransac( - int ninners, std::vector>> inner_kpnt, - std::vector kpnts, uint32_t maxIter, float _minInliers, float _thresInliers) -{ - std::vector pnts; - cv::KeyPoint::convert(kpnts, pnts); - - // Number randomly values selected - uint32_t numInliers = 4; - // Number of inliers to consider it good model, stop iterating!!! - uint32_t thresInliers = uint32_t(ninners * _thresInliers); - // Enough number of inliers to consider the model as valid - uint32_t minInliers = uint32_t(ninners * _minInliers); - - // Number of inliers - uint32_t bestInliers = 0; - // Best model - cv::Mat bestH = cv::Mat(); - - // struct timespec ts; - // clock_gettime(CLOCK_MONOTONIC, &ts); - // srand((time_t)ts.tv_nsec); - - uint32_t count = 0; - for (auto ik : inner_kpnt) - if (ik.second.size() > 0) - count++; - if (count < minInliers) - return cv::Mat(); - - uint32_t iter = 0; - do - { - // New stop condition to avoid infinite loop, when it tries to find the initial inliers - // For instance, for innerkpts group: 23{2} 18{3}, 14{3}, 3{7,6,5}, 2{3}, - // when the initial group of inliers is selected: - // 23{2},18{3},3{6} there's no way to find the fourth ... - uint32_t iter2 = 0; - std::vector> inliers; - while (inliers.size() < numInliers && iter2++ < maxIter) - { - uint idx = rand() % inner_kpnt.size(); - uint id_dst = inner_kpnt[idx].first; - - uint idxc = rand() % inner_kpnt[idx].second.size(); - uint id_src = inner_kpnt[idx].second[idxc]; - - // avoid duplicate observations - bool exist = false; - for (auto in : inliers) - { - if ((in.first != id_dst) && (in.second != id_src)) - continue; - else - { - exist = true; - break; - } - } - - // if it is a new observation, add it! - if (!exist) - inliers.push_back(std::make_pair(id_dst, id_src)); - } - - if (iter2 >= maxIter) - return cv::Mat(); - - std::vector srcInliers; - std::vector dstInliers; - for (auto in : inliers) - { - dstInliers.push_back(_innerkpoints[in.first].pt); - srcInliers.push_back(kpnts[in.second].pt); - } - // Fit model with initial random inliers - cv::Mat H = findHomography(srcInliers, dstInliers); - - if (!H.empty()) - { - std::vector> newInliers; - std::vector> newInliers2; - - std::vector dstNewInliers; - std::vector srcNewInliers; - std::vector pntsTranf; - perspectiveTransform(pnts, pntsTranf, H); - - for (uint idP = 0; idP < pntsTranf.size(); idP++) - { - std::vector> res = - _kdtree.radiusSearch(_innerkpoints, pntsTranf[idP], _id_radius[0]); - - int i = 0; - for (auto r : res) - { - uint32_t innerId = r.first; - double dist = sqrt(r.second); - - uint32_t fmarkerId = _innerkpoints[innerId].octave; - if (dist > _id_radius[fmarkerId]) - res.erase(res.begin() + i); - else - i++; - } - - if (res.size() > 0) - { - // avoid duplicate observations - bool exist = false; - for (auto in : newInliers) - { - if (in.first != res[0].first) - continue; - else - { - exist = true; - break; - } - } - // if it is a new observation and these belong to the same class, add it! - if (!exist) - { - if (_innerkpoints[res[0].first].class_id == kpnts[idP].class_id) - newInliers.push_back(std::make_pair(res[0].first, idP)); - } - } - } - if (newInliers.size() > bestInliers) - { - bestInliers = newInliers.size(); - bestH = H; - } - } - iter++; - } while (iter < maxIter && bestInliers < thresInliers); - - // std::cout << "[RANSAC] minInliers: "<< minInliers ; - // std::cout << " ,bestInliers: "<< bestInliers; - // std::cout << " ,iterations: "<< iter << std::endl; - - if (bestInliers < minInliers) - bestH = cv::Mat(); - - return bestH; -} - -void FractalPoseTracker::drawKeyPoints(const cv::Mat image, std::vector kpoints, - bool text, bool transf) -{ - if (transf) - { - // Convert point range from norm (-size/2, size/2) to (0,imageSize) - for (auto &k : kpoints) - { - k.pt.x = image.cols * (k.pt.x / _fractalMarker.getFractalSize() + 0.5f); - k.pt.y = image.rows * (-k.pt.y / _fractalMarker.getFractalSize() + 0.5f); - } - } - - cv::Mat out; - cv::cvtColor(image, out, CV_GRAY2BGR); - // drawKeypoints(image, kpoints, out, cv::Scalar(0,0,255), cv::DrawMatchesFlags::DRAW_RICH_KEYPOINTS); - - cv::Scalar color; - for (auto kp : kpoints) - { - if (kp.class_id == -1) - color = cv::Scalar(255, 0, 255); - if (kp.class_id == 0) - color = cv::Scalar(0, 0, 255); - if (kp.class_id == 1) - color = cv::Scalar(0, 255, 0); - if (kp.class_id == 2) - color = cv::Scalar(255, 0, 0); - circle(out, kp.pt, 2, color, -1); - } - - if (text) - { - int nkm = 0; - for (auto kp : kpoints) - { - putText(out, std::to_string(nkm++), kp.pt, CV_FONT_HERSHEY_COMPLEX, 1, - cv::Scalar(0, 0, 255), 2, 8); - } - } - - //#ifdef _DEBUG - // imshow("KPoints", out); - // cv::waitKey(); - //#endif -} -} // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/ippe.cpp b/legacy/aruco_ros/aruco/src/aruco/ippe.cpp deleted file mode 100755 index 7cacdd5cf..000000000 --- a/legacy/aruco_ros/aruco/src/aruco/ippe.cpp +++ /dev/null @@ -1,1300 +0,0 @@ -/** -Copyright 2020 Rafael Muñoz Salinas. All rights reserved. - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation version 3 of the License. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . -*/ - -#include "ippe.h" -#include - -#include - -using namespace cv; -using namespace std; - - -namespace aruco -{ - -/****** - * - */ - -cv::Mat getRTMatrix(const cv::Mat& R_, const cv::Mat& T_, int forceType) -{ - cv::Mat M; - cv::Mat R, T; - R_.copyTo(R); - T_.copyTo(T); - if (R.type() == CV_64F) - { - assert(T.type() == CV_64F); - cv::Mat Matrix = cv::Mat::eye(4, 4, CV_64FC1); - - cv::Mat R33 = cv::Mat(Matrix, cv::Rect(0, 0, 3, 3)); - if (R.total() == 3) - { - cv::Rodrigues(R, R33); - } - else if (R.total() == 9) - { - cv::Mat R64; - R.convertTo(R64, CV_64F); - R.copyTo(R33); - } - for (int i = 0; i < 3; i++) - Matrix.at(i, 3) = T.ptr(0)[i]; - M = Matrix; - } - else if (R.depth() == CV_32F) - { - cv::Mat Matrix = cv::Mat::eye(4, 4, CV_32FC1); - cv::Mat R33 = cv::Mat(Matrix, cv::Rect(0, 0, 3, 3)); - if (R.total() == 3) - { - cv::Rodrigues(R, R33); - } - else if (R.total() == 9) - { - cv::Mat R32; - R.convertTo(R32, CV_32F); - R.copyTo(R33); - } - - for (int i = 0; i < 3; i++) - Matrix.at(i, 3) = T.ptr(0)[i]; - M = Matrix; - } - - if (forceType == -1) - return M; - else - { - cv::Mat MTyped; - M.convertTo(MTyped, forceType); - return MTyped; - } -} -vector solvePnP(const vector& objPoints, - const std::vector& imgPoints, - cv::InputArray cameraMatrix, cv::InputArray distCoeffs) -{ - cv::Mat Rvec, Tvec; - float reprojErr1, reprojErr2; - cv::Mat Rvec2, Tvec2; - - IPPE::PoseSolver Solver; - Solver.solveGeneric(objPoints, imgPoints, cameraMatrix, distCoeffs, Rvec, Tvec, - reprojErr1, Rvec2, Tvec2, reprojErr2); - - return { getRTMatrix(Rvec, Tvec, CV_32F), getRTMatrix(Rvec2, Tvec2, CV_32F) }; -} - -void solvePnP(const vector& objPoints, - const std::vector& imgPoints, cv::InputArray cameraMatrix, - cv::InputArray distCoeffs, cv::Mat& rvec, cv::Mat& tvec) -{ - float reprojErr1, reprojErr2; - cv::Mat Rvec2, Tvec2; - - IPPE::PoseSolver Solver; - Solver.solveGeneric(objPoints, imgPoints, cameraMatrix, distCoeffs, rvec, tvec, - reprojErr1, Rvec2, Tvec2, reprojErr2); -} - -std::vector> solvePnP_(float size, - const std::vector& imgPoints, - cv::InputArray cameraMatrix, - cv::InputArray distCoeffs) -{ - cv::Mat Rvec, Tvec, Rvec2, Tvec2; - float reprojErr1, reprojErr2; - - IPPE::PoseSolver Solver; - Solver.solveSquare(size, imgPoints, cameraMatrix, distCoeffs, Rvec, Tvec, reprojErr1, - Rvec2, Tvec2, reprojErr2); - - - return { make_pair(getRTMatrix(Rvec, Tvec, CV_32F), reprojErr1), - make_pair(getRTMatrix(Rvec2, Tvec2, CV_32F), reprojErr2) }; -} - -std::vector> solvePnP_(const std::vector& objPoints, - const std::vector& imgPoints, - cv::InputArray cameraMatrix, - cv::InputArray distCoeffs) -{ - cv::Mat Rvec, Tvec; - float reprojErr1, reprojErr2; - cv::Mat Rvec2, Tvec2; - - IPPE::PoseSolver Solver; - Solver.solveGeneric(objPoints, imgPoints, cameraMatrix, distCoeffs, Rvec, Tvec, - reprojErr1, Rvec2, Tvec2, reprojErr2); - - - return { make_pair(getRTMatrix(Rvec, Tvec, CV_32F), reprojErr1), - make_pair(getRTMatrix(Rvec2, Tvec2, CV_32F), reprojErr2) }; -} -} // namespace aruco - -IPPE::PoseSolver::PoseSolver() -{ -} - -IPPE::PoseSolver::~PoseSolver() -{ -} - -void IPPE::PoseSolver::solveGeneric(cv::InputArray _objectPoints, cv::InputArray _imagePoints, - cv::InputArray _cameraMatrix, cv::InputArray _distCoeffs, - cv::OutputArray _rvec1, cv::OutputArray _tvec1, - float& err1, cv::OutputArray _rvec2, - cv::OutputArray _tvec2, float& err2) -{ - cv::Mat normalizedImagePoints; // undistored version of imagePoints - - if (_cameraMatrix.empty()) - { - // there is no camera matrix and image points are given in normalized pixel coordinates. - _imagePoints.copyTo(normalizedImagePoints); - } - else - { - // undistort the image points (i.e. put them in normalized pixel coordinates): - cv::undistortPoints(_imagePoints, normalizedImagePoints, _cameraMatrix, _distCoeffs); - } - - // solve: - cv::Mat Ma, Mb; - solveGeneric(_objectPoints, normalizedImagePoints, Ma, Mb); - - // the two poses computed by IPPE (sorted): - cv::Mat M1, M2; - - // sort poses by reprojection error: - sortPosesByReprojError(_objectPoints, _imagePoints, _cameraMatrix, _distCoeffs, Ma, Mb, - M1, M2, err1, err2); - - // fill outputs - rot2vec(M1.colRange(0, 3).rowRange(0, 3), _rvec1); - rot2vec(M2.colRange(0, 3).rowRange(0, 3), _rvec2); - - M1.colRange(3, 4).rowRange(0, 3).copyTo(_tvec1); - M2.colRange(3, 4).rowRange(0, 3).copyTo(_tvec2); -} - -void IPPE::PoseSolver::solveGeneric(cv::InputArray _objectPoints, - cv::InputArray _normalizedInputPoints, - cv::OutputArray _Ma, cv::OutputArray _Mb) -{ - // argument checking: - size_t n = _objectPoints.rows() * _objectPoints.cols(); // number of points - int objType = _objectPoints.type(); - int type_input = _normalizedInputPoints.type(); - assert((objType == CV_32FC3) | (objType == CV_64FC3)); - assert((type_input == CV_32FC2) | (type_input == CV_64FC2)); - assert((_objectPoints.rows() == 1) | (_objectPoints.cols() == 1)); - assert((_objectPoints.rows() >= 4) | (_objectPoints.cols() >= 4)); - assert((_normalizedInputPoints.rows() == 1) | (_normalizedInputPoints.cols() == 1)); - assert(static_cast(_objectPoints.rows() * _objectPoints.cols()) == n); - - cv::Mat normalizedInputPoints; - if (type_input == CV_32FC2) - { - _normalizedInputPoints.getMat().convertTo(normalizedInputPoints, CV_64FC2); - } - else - { - normalizedInputPoints = _normalizedInputPoints.getMat(); - } - - cv::Mat objectInputPoints; - if (type_input == CV_32FC3) - { - _objectPoints.getMat().convertTo(objectInputPoints, CV_64FC3); - } - else - { - objectInputPoints = _objectPoints.getMat(); - } - - cv::Mat canonicalObjPoints; - cv::Mat MmodelPoints2Canonical; - - // transform object points to the canonical position (zero centred and on the plane z=0): - makeCanonicalObjectPoints(objectInputPoints, canonicalObjPoints, MmodelPoints2Canonical); - - // compute the homography mapping the model's points to normalizedInputPoints - cv::Mat H; - HomographyHO::homographyHO(canonicalObjPoints, _normalizedInputPoints, H); - - // now solve - cv::Mat MaCanon, MbCanon; - solveCanonicalForm(canonicalObjPoints, normalizedInputPoints, H, MaCanon, MbCanon); - - // transform computed poses to account for canonical transform: - cv::Mat Ma = MaCanon * MmodelPoints2Canonical; - cv::Mat Mb = MbCanon * MmodelPoints2Canonical; - - // output poses: - Ma.copyTo(_Ma); - Mb.copyTo(_Mb); -} - -void IPPE::PoseSolver::solveCanonicalForm(cv::InputArray _canonicalObjPoints, - cv::InputArray _normalizedInputPoints, - cv::InputArray _H, cv::OutputArray _Ma, - cv::OutputArray _Mb) -{ - _Ma.create(4, 4, CV_64FC1); - _Mb.create(4, 4, CV_64FC1); - - cv::Mat Ma = _Ma.getMat(); - cv::Mat Mb = _Mb.getMat(); - cv::Mat H = _H.getMat(); - - // initialise poses: - Ma.setTo(0); - Ma.at(3, 3) = 1; - Mb.setTo(0); - Mb.at(3, 3) = 1; - - // Compute the Jacobian J of the homography at (0,0): - double j00, j01, j10, j11, v0, v1; - - j00 = H.at(0, 0) - H.at(2, 0) * H.at(0, 2); - j01 = H.at(0, 1) - H.at(2, 1) * H.at(0, 2); - j10 = H.at(1, 0) - H.at(2, 0) * H.at(1, 2); - j11 = H.at(1, 1) - H.at(2, 1) * H.at(1, 2); - - // Compute the transformation of (0,0) into the image: - v0 = H.at(0, 2); - v1 = H.at(1, 2); - - // compute the two rotation solutions: - cv::Mat Ra = Ma.colRange(0, 3).rowRange(0, 3); - cv::Mat Rb = Mb.colRange(0, 3).rowRange(0, 3); - computeRotations(j00, j01, j10, j11, v0, v1, Ra, Rb); - - // for each rotation solution, compute the corresponding translation solution: - cv::Mat ta = Ma.colRange(3, 4).rowRange(0, 3); - cv::Mat tb = Mb.colRange(3, 4).rowRange(0, 3); - computeTranslation(_canonicalObjPoints, _normalizedInputPoints, Ra, ta); - computeTranslation(_canonicalObjPoints, _normalizedInputPoints, Rb, tb); -} - -void IPPE::PoseSolver::solveSquare(double squareLength, InputArray _imagePoints, - InputArray _cameraMatrix, InputArray _distCoeffs, - OutputArray _rvec1, OutputArray _tvec1, float& err1, - OutputArray _rvec2, OutputArray _tvec2, float& err2) -{ - // allocate outputs: - _rvec1.create(3, 1, CV_64FC1); - _tvec1.create(3, 1, CV_64FC1); - _rvec2.create(3, 1, CV_64FC1); - _tvec2.create(3, 1, CV_64FC1); - - cv::Mat normalizedInputPoints; // undistored version of imagePoints - cv::Mat objectPoints2D; - - // generate the object points: - generateSquareObjectCorners2D(squareLength, objectPoints2D); - - cv::Mat H; // homography from canonical object points to normalized pixels - - - if (_cameraMatrix.empty()) - { - // this means imagePoints are defined in normalized pixel coordinates, so just copy it: - _imagePoints.copyTo(normalizedInputPoints); - } - else - { - // undistort the image points (i.e. put them in normalized pixel coordinates). - cv::undistortPoints(_imagePoints, normalizedInputPoints, _cameraMatrix, _distCoeffs); - } - - if (normalizedInputPoints.type() == CV_32FC2) - { - normalizedInputPoints.convertTo(normalizedInputPoints, CV_64F); - } - - // compute H - homographyFromSquarePoints(normalizedInputPoints, squareLength / 2.0, H); - - // now solve - cv::Mat Ma, Mb; - solveCanonicalForm(objectPoints2D, normalizedInputPoints, H, Ma, Mb); - - // sort poses according to reprojection error: - cv::Mat M1, M2; - cv::Mat objectPoints3D; - generateSquareObjectCorners3D(squareLength, objectPoints3D); - - sortPosesByReprojError(objectPoints3D, normalizedInputPoints, _cameraMatrix, - _distCoeffs, Ma, Mb, M1, M2, err1, err2); - - // fill outputs - rot2vec(M1.colRange(0, 3).rowRange(0, 3), _rvec1); - rot2vec(M2.colRange(0, 3).rowRange(0, 3), _rvec2); - - M1.colRange(3, 4).rowRange(0, 3).copyTo(_tvec1); - M2.colRange(3, 4).rowRange(0, 3).copyTo(_tvec2); -} - -void IPPE::PoseSolver::generateSquareObjectCorners3D(double squareLength, OutputArray _objectPoints) -{ - _objectPoints.create(1, 4, CV_64FC3); - cv::Mat objectPoints = _objectPoints.getMat(); - objectPoints.ptr(0)[0] = Vec3d(-squareLength / 2.0, squareLength / 2.0, 0.0); - objectPoints.ptr(0)[1] = Vec3d(squareLength / 2.0, squareLength / 2.0, 0.0); - objectPoints.ptr(0)[2] = Vec3d(squareLength / 2.0, -squareLength / 2.0, 0.0); - objectPoints.ptr(0)[3] = Vec3d(-squareLength / 2.0, -squareLength / 2.0, 0.0); -} - -void IPPE::PoseSolver::generateSquareObjectCorners2D(double squareLength, OutputArray _objectPoints) -{ - _objectPoints.create(1, 4, CV_64FC2); - cv::Mat objectPoints = _objectPoints.getMat(); - objectPoints.ptr(0)[0] = Vec2d(-squareLength / 2.0, squareLength / 2.0); - objectPoints.ptr(0)[1] = Vec2d(squareLength / 2.0, squareLength / 2.0); - objectPoints.ptr(0)[2] = Vec2d(squareLength / 2.0, -squareLength / 2.0); - objectPoints.ptr(0)[3] = Vec2d(-squareLength / 2.0, -squareLength / 2.0); -} - -double IPPE::PoseSolver::meanSceneDepth(InputArray _objectPoints, InputArray _rvec, InputArray _tvec) -{ - assert(_objectPoints.type() == CV_64FC3); - - size_t n = static_cast(_objectPoints.rows() * _objectPoints.cols()); - Mat R; - Mat q; - Rodrigues(_rvec, R); - double zBar = 0; - - for (size_t i = 0; i < n; i++) - { - cv::Mat p(_objectPoints.getMat().at(i)); - q = R * p + _tvec.getMat(); - double z; - if (q.depth() == CV_64FC1) - { - z = q.at(2); - } - else - { - z = static_cast(q.at(2)); - } - zBar += z; - - // if (z <= 0) { - // std::cout << "Warning: object point " << i << " projects behind the camera! - // This should not be allowed. " << std::endl; - // } - } - return zBar / static_cast(n); -} - -void IPPE::PoseSolver::rot2vec(InputArray _R, OutputArray _r) -{ - assert(_R.type() == CV_64FC1); - assert(_R.rows() == 3); - assert(_R.cols() == 3); - - _r.create(3, 1, CV_64FC1); - - cv::Mat R = _R.getMat(); - cv::Mat rvec = _r.getMat(); - - double trace = R.at(0, 0) + R.at(1, 1) + R.at(2, 2); - double w_norm = acos((trace - 1.0) / 2.0); - double c0, c1, c2; - double eps = std::numeric_limits::epsilon(); - double d = 1 / (2 * sin(w_norm)) * w_norm; - if (w_norm < eps) // rotation is the identity - { - rvec.setTo(0); - } - else - { - c0 = R.at(2, 1) - R.at(1, 2); - c1 = R.at(0, 2) - R.at(2, 0); - c2 = R.at(1, 0) - R.at(0, 1); - rvec.at(0) = d * c0; - rvec.at(1) = d * c1; - rvec.at(2) = d * c2; - } -} - -void IPPE::PoseSolver::computeTranslation(InputArray _objectPoints, InputArray _normalizedImgPoints, - InputArray _R, OutputArray _t) -{ - // This is solved by building the linear system At = b, where t corresponds to the - // (unknown) translation. This is then inverted with the associated normal equations to - // give t = inv(transpose(A)*A)*transpose(A)*b For efficiency we only store the - // coefficients of (transpose(A)*A) and (transpose(A)*b) - - assert(_objectPoints.type() == CV_64FC2); - assert(_normalizedImgPoints.type() == CV_64FC2); - assert(_R.type() == CV_64FC1); - - assert((_R.rows() == 3) & (_R.cols() == 3)); - assert((_objectPoints.rows() == 1) | (_objectPoints.cols() == 1)); - assert((_normalizedImgPoints.rows() == 1) | (_normalizedImgPoints.cols() == 1)); - - size_t n = static_cast(_normalizedImgPoints.rows() * _normalizedImgPoints.cols()); - assert(n == static_cast(_objectPoints.rows() * _objectPoints.cols())); - - cv::Mat objectPoints = _objectPoints.getMat(); - cv::Mat imgPoints = _normalizedImgPoints.getMat(); - - _t.create(3, 1, CV_64FC1); - - cv::Mat R = _R.getMat(); - - // coefficients of (transpose(A)*A) - double ATA00 = n; - double ATA02 = 0; - double ATA11 = n; - double ATA12 = 0; - double ATA20 = 0; - double ATA21 = 0; - double ATA22 = 0; - - // coefficients of (transpose(A)*b) - double ATb0 = 0; - double ATb1 = 0; - double ATb2 = 0; - - // S gives inv(transpose(A)*A)/det(A)^2 - double S00, S01, S02; - double S10, S11, S12; - double S20, S21, S22; - - double rx, ry, rz; - double a2; - double b2; - double bx, by; - - // now loop through each point and increment the coefficients: - for (size_t i = 0; i < n; i++) - { - rx = R.at(0, 0) * objectPoints.at(i)(0) + - R.at(0, 1) * objectPoints.at(i)(1); - ry = R.at(1, 0) * objectPoints.at(i)(0) + - R.at(1, 1) * objectPoints.at(i)(1); - rz = R.at(2, 0) * objectPoints.at(i)(0) + - R.at(2, 1) * objectPoints.at(i)(1); - - a2 = -imgPoints.at(i)(0); - b2 = -imgPoints.at(i)(1); - - ATA02 = ATA02 + a2; - ATA12 = ATA12 + b2; - ATA20 = ATA20 + a2; - ATA21 = ATA21 + b2; - ATA22 = ATA22 + a2 * a2 + b2 * b2; - - bx = -a2 * rz - rx; - by = -b2 * rz - ry; - - ATb0 = ATb0 + bx; - ATb1 = ATb1 + by; - ATb2 = ATb2 + a2 * bx + b2 * by; - } - - double detAInv = 1.0 / (ATA00 * ATA11 * ATA22 - ATA00 * ATA12 * ATA21 - ATA02 * ATA11 * ATA20); - - // construct S: - S00 = ATA11 * ATA22 - ATA12 * ATA21; - S01 = ATA02 * ATA21; - S02 = -ATA02 * ATA11; - S10 = ATA12 * ATA20; - S11 = ATA00 * ATA22 - ATA02 * ATA20; - S12 = -ATA00 * ATA12; - S20 = -ATA11 * ATA20; - S21 = -ATA00 * ATA21; - S22 = ATA00 * ATA11; - - // solve t: - Mat t = _t.getMat(); - t.at(0) = detAInv * (S00 * ATb0 + S01 * ATb1 + S02 * ATb2); - t.at(1) = detAInv * (S10 * ATb0 + S11 * ATb1 + S12 * ATb2); - t.at(2) = detAInv * (S20 * ATb0 + S21 * ATb1 + S22 * ATb2); -} - -void IPPE::PoseSolver::computeRotations(double j00, double j01, double j10, double j11, - double p, double q, OutputArray _R1, OutputArray _R2) -{ - // This is fairly optimized code which makes it hard to understand. The matlab code is certainly easier to read. - _R1.create(3, 3, CV_64FC1); - _R2.create(3, 3, CV_64FC1); - - double a00, a01, a10, a11, ata00, ata01, ata11, b00, b01, b10, b11, binv00, binv01, - binv10, binv11; - // double rv00, rv01, rv02, rv10, rv11, rv12, rv20, rv21, rv22; - double rtilde00, rtilde01, rtilde10, rtilde11; - double rtilde00_2, rtilde01_2, rtilde10_2, rtilde11_2; - double b0, b1, gamma, dtinv; - double sp; - - Mat Rv; - cv::Mat v(3, 1, CV_64FC1); - v.at(0) = p; - v.at(1) = q; - v.at(2) = 1; - rotateVec2ZAxis(v, Rv); - Rv = Rv.t(); - - - // setup the 2x2 SVD decomposition: - double rv00, rv01, rv02; - double rv10, rv11, rv12; - double rv20, rv21, rv22; - rv00 = Rv.at(0, 0); - rv01 = Rv.at(0, 1); - rv02 = Rv.at(0, 2); - - rv10 = Rv.at(1, 0); - rv11 = Rv.at(1, 1); - rv12 = Rv.at(1, 2); - - rv20 = Rv.at(2, 0); - rv21 = Rv.at(2, 1); - rv22 = Rv.at(2, 2); - - b00 = rv00 - p * rv20; - b01 = rv01 - p * rv21; - b10 = rv10 - q * rv20; - b11 = rv11 - q * rv21; - - dtinv = 1.0 / ((b00 * b11 - b01 * b10)); - - binv00 = dtinv * b11; - binv01 = -dtinv * b01; - binv10 = -dtinv * b10; - binv11 = dtinv * b00; - - a00 = binv00 * j00 + binv01 * j10; - a01 = binv00 * j01 + binv01 * j11; - a10 = binv10 * j00 + binv11 * j10; - a11 = binv10 * j01 + binv11 * j11; - - // compute the largest singular value of A: - ata00 = a00 * a00 + a01 * a01; - ata01 = a00 * a10 + a01 * a11; - ata11 = a10 * a10 + a11 * a11; - - gamma = sqrt( - 0.5 * (ata00 + ata11 + sqrt((ata00 - ata11) * (ata00 - ata11) + 4.0 * ata01 * ata01))); - - // reconstruct the full rotation matrices: - rtilde00 = a00 / gamma; - rtilde01 = a01 / gamma; - rtilde10 = a10 / gamma; - rtilde11 = a11 / gamma; - - rtilde00_2 = rtilde00 * rtilde00; - rtilde01_2 = rtilde01 * rtilde01; - rtilde10_2 = rtilde10 * rtilde10; - rtilde11_2 = rtilde11 * rtilde11; - - b0 = sqrt(-rtilde00_2 - rtilde10_2 + 1); - b1 = sqrt(-rtilde01_2 - rtilde11_2 + 1); - sp = (-rtilde00 * rtilde01 - rtilde10 * rtilde11); - - if (sp < 0) - { - b1 = -b1; - } - - // store results: - Mat R1 = _R1.getMat(); - Mat R2 = _R2.getMat(); - - R1.at(0, 0) = (rtilde00)*rv00 + (rtilde10)*rv01 + (b0)*rv02; - R1.at(0, 1) = (rtilde01)*rv00 + (rtilde11)*rv01 + (b1)*rv02; - R1.at(0, 2) = (b1 * rtilde10 - b0 * rtilde11) * rv00 + - (b0 * rtilde01 - b1 * rtilde00) * rv01 + - (rtilde00 * rtilde11 - rtilde01 * rtilde10) * rv02; - R1.at(1, 0) = (rtilde00)*rv10 + (rtilde10)*rv11 + (b0)*rv12; - R1.at(1, 1) = (rtilde01)*rv10 + (rtilde11)*rv11 + (b1)*rv12; - R1.at(1, 2) = (b1 * rtilde10 - b0 * rtilde11) * rv10 + - (b0 * rtilde01 - b1 * rtilde00) * rv11 + - (rtilde00 * rtilde11 - rtilde01 * rtilde10) * rv12; - R1.at(2, 0) = (rtilde00)*rv20 + (rtilde10)*rv21 + (b0)*rv22; - R1.at(2, 1) = (rtilde01)*rv20 + (rtilde11)*rv21 + (b1)*rv22; - R1.at(2, 2) = (b1 * rtilde10 - b0 * rtilde11) * rv20 + - (b0 * rtilde01 - b1 * rtilde00) * rv21 + - (rtilde00 * rtilde11 - rtilde01 * rtilde10) * rv22; - - R2.at(0, 0) = (rtilde00)*rv00 + (rtilde10)*rv01 + (-b0) * rv02; - R2.at(0, 1) = (rtilde01)*rv00 + (rtilde11)*rv01 + (-b1) * rv02; - R2.at(0, 2) = (b0 * rtilde11 - b1 * rtilde10) * rv00 + - (b1 * rtilde00 - b0 * rtilde01) * rv01 + - (rtilde00 * rtilde11 - rtilde01 * rtilde10) * rv02; - R2.at(1, 0) = (rtilde00)*rv10 + (rtilde10)*rv11 + (-b0) * rv12; - R2.at(1, 1) = (rtilde01)*rv10 + (rtilde11)*rv11 + (-b1) * rv12; - R2.at(1, 2) = (b0 * rtilde11 - b1 * rtilde10) * rv10 + - (b1 * rtilde00 - b0 * rtilde01) * rv11 + - (rtilde00 * rtilde11 - rtilde01 * rtilde10) * rv12; - R2.at(2, 0) = (rtilde00)*rv20 + (rtilde10)*rv21 + (-b0) * rv22; - R2.at(2, 1) = (rtilde01)*rv20 + (rtilde11)*rv21 + (-b1) * rv22; - R2.at(2, 2) = (b0 * rtilde11 - b1 * rtilde10) * rv20 + - (b1 * rtilde00 - b0 * rtilde01) * rv21 + - (rtilde00 * rtilde11 - rtilde01 * rtilde10) * rv22; -} - - -void IPPE::PoseSolver::homographyFromSquarePoints(InputArray _targetPoints, - double halfLength, OutputArray H_) -{ - assert((_targetPoints.type() == CV_32FC2) | (_targetPoints.type() == CV_64FC2)); - - cv::Mat pts = _targetPoints.getMat(); - H_.create(3, 3, CV_64FC1); - Mat H = H_.getMat(); - - double p1x, p1y; - double p2x, p2y; - double p3x, p3y; - double p4x, p4y; - - if (_targetPoints.type() == CV_32FC2) - { - p1x = -pts.at(0)(0); - p1y = -pts.at(0)(1); - - p2x = -pts.at(1)(0); - p2y = -pts.at(1)(1); - - p3x = -pts.at(2)(0); - p3y = -pts.at(2)(1); - - p4x = -pts.at(3)(0); - p4y = -pts.at(3)(1); - } - else - { - p1x = -pts.at(0)(0); - p1y = -pts.at(0)(1); - - p2x = -pts.at(1)(0); - p2y = -pts.at(1)(1); - - p3x = -pts.at(2)(0); - p3y = -pts.at(2)(1); - - p4x = -pts.at(3)(0); - p4y = -pts.at(3)(1); - } - - // analytic solution: - double detsInv = -1 / (halfLength * (p1x * p2y - p2x * p1y - p1x * p4y + p2x * p3y - - p3x * p2y + p4x * p1y + p3x * p4y - p4x * p3y)); - - H.at(0, 0) = - detsInv * (p1x * p3x * p2y - p2x * p3x * p1y - p1x * p4x * p2y + p2x * p4x * p1y - - p1x * p3x * p4y + p1x * p4x * p3y + p2x * p3x * p4y - p2x * p4x * p3y); - H.at(0, 1) = - detsInv * (p1x * p2x * p3y - p1x * p3x * p2y - p1x * p2x * p4y + p2x * p4x * p1y + - p1x * p3x * p4y - p3x * p4x * p1y - p2x * p4x * p3y + p3x * p4x * p2y); - H.at(0, 2) = - detsInv * halfLength * - (p1x * p2x * p3y - p2x * p3x * p1y - p1x * p2x * p4y + p1x * p4x * p2y - - p1x * p4x * p3y + p3x * p4x * p1y + p2x * p3x * p4y - p3x * p4x * p2y); - H.at(1, 0) = - detsInv * (p1x * p2y * p3y - p2x * p1y * p3y - p1x * p2y * p4y + p2x * p1y * p4y - - p3x * p1y * p4y + p4x * p1y * p3y + p3x * p2y * p4y - p4x * p2y * p3y); - H.at(1, 1) = - detsInv * (p2x * p1y * p3y - p3x * p1y * p2y - p1x * p2y * p4y + p4x * p1y * p2y + - p1x * p3y * p4y - p4x * p1y * p3y - p2x * p3y * p4y + p3x * p2y * p4y); - H.at(1, 2) = - detsInv * halfLength * - (p1x * p2y * p3y - p3x * p1y * p2y - p2x * p1y * p4y + p4x * p1y * p2y - - p1x * p3y * p4y + p3x * p1y * p4y + p2x * p3y * p4y - p4x * p2y * p3y); - H.at(2, 0) = -detsInv * (p1x * p3y - p3x * p1y - p1x * p4y - p2x * p3y + - p3x * p2y + p4x * p1y + p2x * p4y - p4x * p2y); - H.at(2, 1) = detsInv * (p1x * p2y - p2x * p1y - p1x * p3y + p3x * p1y + - p2x * p4y - p4x * p2y - p3x * p4y + p4x * p3y); - H.at(2, 2) = 1.0; -} - -void IPPE::PoseSolver::makeCanonicalObjectPoints(InputArray _objectPoints, - OutputArray _canonicalObjPoints, - OutputArray _MmodelPoints2Canonical) -{ - int objType = _objectPoints.type(); - assert((objType == CV_64FC3) | (objType == CV_32FC3)); - - size_t n = _objectPoints.rows() * _objectPoints.cols(); - - _canonicalObjPoints.create(1, n, CV_64FC2); - _MmodelPoints2Canonical.create(4, 4, CV_64FC1); - - cv::Mat objectPoints = _objectPoints.getMat(); - cv::Mat canonicalObjPoints = _canonicalObjPoints.getMat(); - - cv::Mat UZero(3, n, CV_64FC1); - - double xBar = 0; - double yBar = 0; - double zBar = 0; - bool isOnZPlane = true; - for (size_t i = 0; i < n; i++) - { - double x, y, z; - if (objType == CV_32FC3) - { - x = static_cast(objectPoints.at(i)[0]); - y = static_cast(objectPoints.at(i)[1]); - z = static_cast(objectPoints.at(i)[2]); - } - else - { - x = objectPoints.at(i)[0]; - y = objectPoints.at(i)[1]; - z = objectPoints.at(i)[2]; - - if (abs(z) > IPPE_SMALL) - { - isOnZPlane = false; - } - } - xBar += x; - yBar += y; - zBar += z; - - UZero.at(0, i) = x; - UZero.at(1, i) = y; - UZero.at(2, i) = z; - } - xBar = xBar / (double)n; - yBar = yBar / (double)n; - zBar = zBar / (double)n; - - for (size_t i = 0; i < n; i++) - { - UZero.at(0, i) -= xBar; - UZero.at(1, i) -= yBar; - UZero.at(2, i) -= zBar; - } - - cv::Mat MCenter(4, 4, CV_64FC1); - MCenter.setTo(0); - MCenter.at(0, 0) = 1; - MCenter.at(1, 1) = 1; - MCenter.at(2, 2) = 1; - MCenter.at(3, 3) = 1; - - MCenter.at(0, 3) = -xBar; - MCenter.at(1, 3) = -yBar; - MCenter.at(2, 3) = -zBar; - - if (isOnZPlane) - { - // MmodelPoints2Canonical is given by MCenter - MCenter.copyTo(_MmodelPoints2Canonical); - for (size_t i = 0; i < n; i++) - { - canonicalObjPoints.at(i)[0] = UZero.at(0, i); - canonicalObjPoints.at(i)[1] = UZero.at(1, i); - } - } - else - { - cv::Mat UZeroAligned(3, n, CV_64FC1); - cv::Mat R; // rotation that rotates objectPoints to the plane z=0 - - if (!computeObjextSpaceR3Pts(objectPoints, R)) - { - // we could not compute R, problably because there is a duplicate point in - // {objectPoints(0),objectPoints(1),objectPoints(2)}. So we compute it with the SVD (which is slower): - computeObjextSpaceRSvD(UZero, R); - } - - UZeroAligned = R * UZero; - - for (size_t i = 0; i < n; i++) - { - canonicalObjPoints.at(i)[0] = UZeroAligned.at(0, i); - canonicalObjPoints.at(i)[1] = UZeroAligned.at(1, i); - assert(abs(UZeroAligned.at(2, i)) <= IPPE_SMALL); - } - - cv::Mat MRot(4, 4, CV_64FC1); - MRot.setTo(0); - MRot.at(3, 3) = 1; - - R.copyTo(MRot.colRange(0, 3).rowRange(0, 3)); - cv::Mat Mb = MRot * MCenter; - Mb.copyTo(_MmodelPoints2Canonical); - } -} - -void IPPE::PoseSolver::evalReprojError(cv::InputArray _objectPoints, cv::InputArray _imagePoints, - cv::InputArray _cameraMatrix, cv::InputArray _distCoeffs, - cv::InputArray _M, float& err) -{ - cv::Mat projectedPoints; - cv::Mat imagePoints = _imagePoints.getMat(); - cv::Mat r; - rot2vec(_M.getMat().colRange(0, 3).rowRange(0, 3), r); - - if (_cameraMatrix.empty()) - { - // there is no camera matrix and image points are in normalized pixel coordinates - cv::Mat K(3, 3, CV_64FC1); - K.setTo(0); - K.at(0, 0) = 1; - K.at(1, 1) = 1; - K.at(2, 2) = 1; - cv::Mat kc; - cv::projectPoints(_objectPoints, r, _M.getMat().colRange(3, 4).rowRange(0, 3), K, kc, - projectedPoints); - } - else - { - cv::projectPoints(_objectPoints, r, _M.getMat().colRange(3, 4).rowRange(0, 3), - _cameraMatrix, _distCoeffs, projectedPoints); - } - - err = 0; - size_t n = _objectPoints.rows() * _objectPoints.cols(); - - float dx, dy; - for (size_t i = 0; i < n; i++) - { - if (projectedPoints.depth() == CV_32FC1) - { - dx = projectedPoints.at(i)[0] - imagePoints.at(i)[0]; - dy = projectedPoints.at(i)[1] - imagePoints.at(i)[1]; - } - else - { - dx = projectedPoints.at(i)[0] - imagePoints.at(i)[0]; - dy = projectedPoints.at(i)[1] - imagePoints.at(i)[1]; - } - - err += dx * dx + dy * dy; - } - err = sqrt(err / (2.0f * n)); -} - -void IPPE::PoseSolver::sortPosesByReprojError(cv::InputArray _objectPoints, - cv::InputArray _imagePoints, - cv::InputArray _cameraMatrix, - cv::InputArray _distCoeffs, cv::InputArray _Ma, - cv::InputArray _Mb, cv::OutputArray _M1, - cv::OutputArray _M2, float& err1, float& err2) -{ - float erra, errb; - evalReprojError(_objectPoints, _imagePoints, _cameraMatrix, _distCoeffs, _Ma, erra); - evalReprojError(_objectPoints, _imagePoints, _cameraMatrix, _distCoeffs, _Mb, errb); - if (erra < errb) - { - err1 = erra; - _Ma.copyTo(_M1); - - err2 = errb; - _Mb.copyTo(_M2); - } - else - { - err1 = errb; - _Mb.copyTo(_M1); - - err2 = erra; - _Ma.copyTo(_M2); - } -} - -void HomographyHO::normalizeDataIsotropic(cv::InputArray _Data, cv::OutputArray _DataN, - cv::OutputArray _T, cv::OutputArray _Ti) -{ - cv::Mat Data = _Data.getMat(); - int numPoints = Data.rows * Data.cols; - assert((Data.rows == 1) | (Data.cols == 1)); - assert((Data.channels() == 2) | (Data.channels() == 3)); - assert(numPoints >= 4); - - int dataType = _Data.type(); - assert((dataType == CV_64FC2) | (dataType == CV_64FC3) | (dataType == CV_32FC2) | - (dataType == CV_32FC3)); - - _DataN.create(2, numPoints, CV_64FC1); - - _T.create(3, 3, CV_64FC1); - _Ti.create(3, 3, CV_64FC1); - - cv::Mat DataN = _DataN.getMat(); - cv::Mat T = _T.getMat(); - cv::Mat Ti = _Ti.getMat(); - - _T.setTo(0); - _Ti.setTo(0); - - double xm, ym; - int numChannels = Data.channels(); - - xm = 0; - ym = 0; - for (int i = 0; i < numPoints; i++) - { - if (numChannels == 2) - { - if (dataType == CV_32FC2) - { - xm = xm + Data.at(i)[0]; - ym = ym + Data.at(i)[1]; - } - else - { - xm = xm + Data.at(i)[0]; - ym = ym + Data.at(i)[1]; - } - } - else - { - if (dataType == CV_32FC3) - { - xm = xm + Data.at(i)[0]; - ym = ym + Data.at(i)[1]; - } - else - { - xm = xm + Data.at(i)[0]; - ym = ym + Data.at(i)[1]; - } - } - } - xm = xm / (double)numPoints; - ym = ym / (double)numPoints; - - double kappa = 0; - double xh, yh; - - for (int i = 0; i < numPoints; i++) - { - if (numChannels == 2) - { - if (dataType == CV_32FC2) - { - xh = Data.at(i)[0] - xm; - yh = Data.at(i)[1] - ym; - } - else - { - xh = Data.at(i)[0] - xm; - yh = Data.at(i)[1] - ym; - } - } - else - { - if (dataType == CV_32FC3) - { - xh = Data.at(i)[0] - xm; - yh = Data.at(i)[1] - ym; - } - else - { - xh = Data.at(i)[0] - xm; - yh = Data.at(i)[1] - ym; - } - } - - DataN.at(0, i) = xh; - DataN.at(1, i) = yh; - kappa = kappa + xh * xh + yh * yh; - } - double beta = sqrt(2 * numPoints / kappa); - DataN = DataN * beta; - - T.at(0, 0) = 1.0 / beta; - T.at(1, 1) = 1.0 / beta; - - T.at(0, 2) = xm; - T.at(1, 2) = ym; - - T.at(2, 2) = 1; - - Ti.at(0, 0) = beta; - Ti.at(1, 1) = beta; - - Ti.at(0, 2) = -beta * xm; - Ti.at(1, 2) = -beta * ym; - - Ti.at(2, 2) = 1; -} - -void HomographyHO::homographyHO(cv::InputArray _srcPoints, cv::InputArray _targPoints, - cv::OutputArray _H) -{ - _H.create(3, 3, CV_64FC1); - cv::Mat H = _H.getMat(); - - cv::Mat DataA, DataB, TA, TAi, TB, TBi; - - HomographyHO::normalizeDataIsotropic(_srcPoints, DataA, TA, TAi); - HomographyHO::normalizeDataIsotropic(_targPoints, DataB, TB, TBi); - - int n = DataA.cols; - assert(n == DataB.cols); - - cv::Mat C1(1, n, CV_64FC1); - cv::Mat C2(1, n, CV_64FC1); - cv::Mat C3(1, n, CV_64FC1); - cv::Mat C4(1, n, CV_64FC1); - - cv::Mat Mx(n, 3, CV_64FC1); - cv::Mat My(n, 3, CV_64FC1); - - double mC1, mC2, mC3, mC4; - mC1 = 0; - mC2 = 0; - mC3 = 0; - mC4 = 0; - - for (int i = 0; i < n; i++) - { - C1.at(0, i) = -DataB.at(0, i) * DataA.at(0, i); - C2.at(0, i) = -DataB.at(0, i) * DataA.at(1, i); - C3.at(0, i) = -DataB.at(1, i) * DataA.at(0, i); - C4.at(0, i) = -DataB.at(1, i) * DataA.at(1, i); - - mC1 = mC1 + C1.at(0, i); - mC2 = mC2 + C2.at(0, i); - mC3 = mC3 + C3.at(0, i); - mC4 = mC4 + C4.at(0, i); - } - - mC1 = mC1 / n; - mC2 = mC2 / n; - mC3 = mC3 / n; - mC4 = mC4 / n; - - for (int i = 0; i < n; i++) - { - Mx.at(i, 0) = C1.at(0, i) - mC1; - Mx.at(i, 1) = C2.at(0, i) - mC2; - Mx.at(i, 2) = -DataB.at(0, i); - - My.at(i, 0) = C3.at(0, i) - mC3; - My.at(i, 1) = C4.at(0, i) - mC4; - My.at(i, 2) = -DataB.at(1, i); - } - - cv::Mat DataAT, DataADataAT, DataADataATi, Pp, Bx, By, Ex, Ey, D; - - cv::transpose(DataA, DataAT); - DataADataAT = DataA * DataAT; - double dt = DataADataAT.at(0, 0) * DataADataAT.at(1, 1) - - DataADataAT.at(0, 1) * DataADataAT.at(1, 0); - - DataADataATi = cv::Mat(2, 2, CV_64FC1); - DataADataATi.at(0, 0) = DataADataAT.at(1, 1) / dt; - DataADataATi.at(0, 1) = -DataADataAT.at(0, 1) / dt; - DataADataATi.at(1, 0) = -DataADataAT.at(1, 0) / dt; - DataADataATi.at(1, 1) = DataADataAT.at(0, 0) / dt; - - Pp = DataADataATi * DataA; - - Bx = Pp * Mx; - By = Pp * My; - - Ex = DataAT * Bx; - Ey = DataAT * By; - - D = cv::Mat(2 * n, 3, CV_64FC1); - cv::Mat DT, DDT; - - for (int i = 0; i < n; i++) - { - D.at(i, 0) = Mx.at(i, 0) - Ex.at(i, 0); - D.at(i, 1) = Mx.at(i, 1) - Ex.at(i, 1); - D.at(i, 2) = Mx.at(i, 2) - Ex.at(i, 2); - - D.at(i + n, 0) = My.at(i, 0) - Ey.at(i, 0); - D.at(i + n, 1) = My.at(i, 1) - Ey.at(i, 1); - D.at(i + n, 2) = My.at(i, 2) - Ey.at(i, 2); - } - - cv::transpose(D, DT); - DDT = DT * D; - - cv::Mat S, U, V, h12, h45; - double h3, h6; - - cv::eigen(DDT, S, U); - - cv::Mat h789(3, 1, CV_64FC1); - h789.at(0, 0) = U.at(2, 0); - h789.at(1, 0) = U.at(2, 1); - h789.at(2, 0) = U.at(2, 2); - - h12 = -Bx * h789; - h45 = -By * h789; - - h3 = -(mC1 * h789.at(0, 0) + mC2 * h789.at(1, 0)); - h6 = -(mC3 * h789.at(0, 0) + mC4 * h789.at(1, 0)); - - H.at(0, 0) = h12.at(0, 0); - H.at(0, 1) = h12.at(1, 0); - H.at(0, 2) = h3; - - H.at(1, 0) = h45.at(0, 0); - H.at(1, 1) = h45.at(1, 0); - H.at(1, 2) = h6; - - H.at(2, 0) = h789.at(0, 0); - H.at(2, 1) = h789.at(1, 0); - H.at(2, 2) = h789.at(2, 0); - - H = TB * H * TAi; - H = H / H.at(2, 2); -} - - -void IPPE::PoseSolver::rotateVec2ZAxis(InputArray _a, OutputArray _Ra) -{ - _Ra.create(3, 3, CV_64FC1); - Mat Ra = _Ra.getMat(); - - double ax = _a.getMat().at(0); - double ay = _a.getMat().at(1); - double az = _a.getMat().at(2); - - double nrm = sqrt(ax * ax + ay * ay + az * az); - ax = ax / nrm; - ay = ay / nrm; - az = az / nrm; - - double c = az; - - if (abs(1.0 + c) < std::numeric_limits::epsilon()) - { - Ra.setTo(0.0); - Ra.at(0, 0) = 1.0; - Ra.at(1, 1) = 1.0; - Ra.at(2, 2) = -1.0; - } - else - { - double d = 1.0 / (1.0 + c); - double ax2 = ax * ax; - double ay2 = ay * ay; - double axay = ax * ay; - - Ra.at(0, 0) = -ax2 * d + 1.0; - Ra.at(0, 1) = -axay * d; - Ra.at(0, 2) = -ax; - - Ra.at(1, 0) = -axay * d; - Ra.at(1, 1) = -ay2 * d + 1.0; - Ra.at(1, 2) = -ay; - - Ra.at(2, 0) = ax; - Ra.at(2, 1) = ay; - Ra.at(2, 2) = 1.0 - (ax2 + ay2) * d; - } -} - -bool IPPE::PoseSolver::computeObjextSpaceR3Pts(InputArray _objectPoints, OutputArray R) -{ - bool ret; // return argument - double p1x, p1y, p1z; - double p2x, p2y, p2z; - double p3x, p3y, p3z; - - cv::Mat objectPoints = _objectPoints.getMat(); - size_t n = objectPoints.rows * objectPoints.cols; - if (objectPoints.type() == CV_32FC3) - { - p1x = objectPoints.at(0)[0]; - p1y = objectPoints.at(0)[1]; - p1z = objectPoints.at(0)[2]; - - p2x = objectPoints.at(1)[0]; - p2y = objectPoints.at(1)[1]; - p2z = objectPoints.at(1)[2]; - - p3x = objectPoints.at(2)[0]; - p3y = objectPoints.at(2)[1]; - p3z = objectPoints.at(2)[2]; - } - else - { - p1x = objectPoints.at(0)[0]; - p1y = objectPoints.at(0)[1]; - p1z = objectPoints.at(0)[2]; - - p2x = objectPoints.at(1)[0]; - p2y = objectPoints.at(1)[1]; - p2z = objectPoints.at(1)[2]; - - p3x = objectPoints.at(2)[0]; - p3y = objectPoints.at(2)[1]; - p3z = objectPoints.at(2)[2]; - } - - double nx = (p1y - p2y) * (p1z - p3z) - (p1y - p3y) * (p1z - p2z); - double ny = (p1x - p3x) * (p1z - p2z) - (p1x - p2x) * (p1z - p3z); - double nz = (p1x - p2x) * (p1y - p3y) - (p1x - p3x) * (p1y - p2y); - - double nrm = sqrt(nx * nx + ny * ny + nz * nz); - if (nrm > IPPE_SMALL) - { - nx = nx / nrm; - ny = ny / nrm; - nz = nz / nrm; - cv::Mat v(3, 1, CV_64FC1); - v.at(0) = nx; - v.at(1) = ny; - v.at(2) = nz; - rotateVec2ZAxis(v, R); - ret = true; - } - else - { - ret = false; - } - return ret; -} - -bool IPPE::PoseSolver::computeObjextSpaceRSvD(InputArray _objectPointsZeroMean, OutputArray _R) -{ - bool ret; // return argument - _R.create(3, 3, CV_64FC1); - cv::Mat R = _R.getMat(); - - // we could not compute R with the first three points, so lets use the SVD - cv::SVD s; - cv::Mat W, U, VT; - s.compute(_objectPointsZeroMean.getMat() * _objectPointsZeroMean.getMat().t(), W, U, VT); - double s3 = W.at(2); - double s2 = W.at(1); - - // check if points are coplanar: - assert(s3 / s2 < IPPE_SMALL); - - R = U.t(); - if (cv::determinant(R) < 0) - { // this ensures R is a rotation matrix and not a general unitary matrix: - R.at(2, 0) = -R.at(2, 0); - R.at(2, 1) = -R.at(2, 1); - R.at(2, 2) = -R.at(2, 2); - } - ret = true; - return ret; -} diff --git a/legacy/aruco_ros/aruco/src/aruco/marker.cpp b/legacy/aruco_ros/aruco/src/aruco/marker.cpp deleted file mode 100755 index 917ba63ea..000000000 --- a/legacy/aruco_ros/aruco/src/aruco/marker.cpp +++ /dev/null @@ -1,495 +0,0 @@ -/** -Copyright 2020 Rafael Muñoz Salinas. All rights reserved. - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation version 3 of the License. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . -*/ - -#include "marker.h" - -/// \todo set this definition in the cmake code -#define _USE_MATH_DEFINES - -#include -#include - -#include -#include -#include "cameraparameters.h" -#include "ippe.h" - -namespace aruco -{ -/** - * - */ -Marker::Marker() -{ - id = -1; - ssize = -1; - Rvec.create(3, 1, CV_32FC1); - Tvec.create(3, 1, CV_32FC1); - for (int i = 0; i < 3; i++) - Tvec.at(i, 0) = Rvec.at(i, 0) = -999999; -} -/** - * - */ -Marker::Marker(int _id) -{ - id = _id; - ssize = -1; - Rvec.create(3, 1, CV_32FC1); - Tvec.create(3, 1, CV_32FC1); - for (int i = 0; i < 3; i++) - Tvec.at(i, 0) = Rvec.at(i, 0) = -999999; -} -/** - * - */ -Marker::Marker(const Marker& M) : std::vector(M) -{ - M.copyTo(*this); -} - -/** - * - */ -Marker::Marker(const std::vector& corners, int _id) - : std::vector(corners) -{ - id = _id; - ssize = -1; - Rvec.create(3, 1, CV_32FC1); - Tvec.create(3, 1, CV_32FC1); - for (int i = 0; i < 3; i++) - Tvec.at(i, 0) = Rvec.at(i, 0) = -999999; -} - -void Marker::copyTo(Marker& m) const -{ - m.id = id; - // size of the markers sides in meters - m.ssize = ssize; - // matrices of rotation and translation respect to the camera - Rvec.copyTo(m.Rvec); - Tvec.copyTo(m.Tvec); - m.resize(size()); - for (size_t i = 0; i < size(); i++) - m.at(i) = at(i); - m.dict_info = dict_info; - m.contourPoints = contourPoints; -} -/**compares ids - */ -Marker& Marker::operator=(const Marker& m) -{ - m.copyTo(*this); - return *this; -} -/** - * - */ -void Marker::glGetModelViewMatrix(double modelview_matrix[16]) -{ - // check if paremeters are valid - bool invalid = false; - for (int i = 0; i < 3 && !invalid; i++) - { - if (Tvec.at(i, 0) != -999999) - invalid |= false; - if (Rvec.at(i, 0) != -999999) - invalid |= false; - } - if (invalid) - throw cv::Exception(9003, "extrinsic parameters are not set", - "Marker::getModelViewMatrix", __FILE__, __LINE__); - cv::Mat Rot(3, 3, CV_32FC1), Jacob; - cv::Rodrigues(Rvec, Rot, Jacob); - - double para[3][4]; - for (int i = 0; i < 3; i++) - for (int j = 0; j < 3; j++) - para[i][j] = Rot.at(i, j); - // now, add the translation - para[0][3] = Tvec.at(0, 0); - para[1][3] = Tvec.at(1, 0); - para[2][3] = Tvec.at(2, 0); - double scale = 1; - - modelview_matrix[0 + 0 * 4] = para[0][0]; - // R1C2 - modelview_matrix[0 + 1 * 4] = para[0][1]; - modelview_matrix[0 + 2 * 4] = para[0][2]; - modelview_matrix[0 + 3 * 4] = para[0][3]; - // R2 - modelview_matrix[1 + 0 * 4] = para[1][0]; - modelview_matrix[1 + 1 * 4] = para[1][1]; - modelview_matrix[1 + 2 * 4] = para[1][2]; - modelview_matrix[1 + 3 * 4] = para[1][3]; - // R3 - modelview_matrix[2 + 0 * 4] = -para[2][0]; - modelview_matrix[2 + 1 * 4] = -para[2][1]; - modelview_matrix[2 + 2 * 4] = -para[2][2]; - modelview_matrix[2 + 3 * 4] = -para[2][3]; - modelview_matrix[3 + 0 * 4] = 0.0; - modelview_matrix[3 + 1 * 4] = 0.0; - modelview_matrix[3 + 2 * 4] = 0.0; - modelview_matrix[3 + 3 * 4] = 1.0; - if (scale != 0.0) - { - modelview_matrix[12] *= scale; - modelview_matrix[13] *= scale; - modelview_matrix[14] *= scale; - } -} - -/**** - * - */ -void Marker::OgreGetPoseParameters(double position[3], double orientation[4]) -{ - // check if paremeters are valid - bool invalid = false; - for (int i = 0; i < 3 && !invalid; i++) - { - if (Tvec.at(i, 0) != -999999) - invalid |= false; - if (Rvec.at(i, 0) != -999999) - invalid |= false; - } - if (invalid) - throw cv::Exception(9003, "extrinsic parameters are not set", - "Marker::getModelViewMatrix", __FILE__, __LINE__); - - // calculate position vector - position[0] = -Tvec.ptr(0)[0]; - position[1] = -Tvec.ptr(0)[1]; - position[2] = +Tvec.ptr(0)[2]; - - // now calculare orientation quaternion - cv::Mat Rot(3, 3, CV_32FC1); - cv::Rodrigues(Rvec, Rot); - - // calculate axes for quaternion - double stAxes[3][3]; - // x axis - stAxes[0][0] = -Rot.at(0, 0); - stAxes[0][1] = -Rot.at(1, 0); - stAxes[0][2] = +Rot.at(2, 0); - // y axis - stAxes[1][0] = -Rot.at(0, 1); - stAxes[1][1] = -Rot.at(1, 1); - stAxes[1][2] = +Rot.at(2, 1); - // for z axis, we use cross product - stAxes[2][0] = stAxes[0][1] * stAxes[1][2] - stAxes[0][2] * stAxes[1][1]; - stAxes[2][1] = -stAxes[0][0] * stAxes[1][2] + stAxes[0][2] * stAxes[1][0]; - stAxes[2][2] = stAxes[0][0] * stAxes[1][1] - stAxes[0][1] * stAxes[1][0]; - - // transposed matrix - double axes[3][3]; - axes[0][0] = stAxes[0][0]; - axes[1][0] = stAxes[0][1]; - axes[2][0] = stAxes[0][2]; - - axes[0][1] = stAxes[1][0]; - axes[1][1] = stAxes[1][1]; - axes[2][1] = stAxes[1][2]; - - axes[0][2] = stAxes[2][0]; - axes[1][2] = stAxes[2][1]; - axes[2][2] = stAxes[2][2]; - - // Algorithm in Ken Shoemake's article in 1987 SIGGRAPH course notes - // article "Quaternion Calculus and Fast Animation". - double fTrace = axes[0][0] + axes[1][1] + axes[2][2]; - double fRoot; - - if (fTrace > 0.0) - { - // |w| > 1/2, may as well choose w > 1/2 - fRoot = sqrt(fTrace + 1.0); // 2w - orientation[0] = 0.5 * fRoot; - fRoot = 0.5 / fRoot; // 1/(4w) - orientation[1] = (axes[2][1] - axes[1][2]) * fRoot; - orientation[2] = (axes[0][2] - axes[2][0]) * fRoot; - orientation[3] = (axes[1][0] - axes[0][1]) * fRoot; - } - else - { - // |w| <= 1/2 - static unsigned int s_iNext[3] = { 1, 2, 0 }; - unsigned int i = 0; - if (axes[1][1] > axes[0][0]) - i = 1; - if (axes[2][2] > axes[i][i]) - i = 2; - unsigned int j = s_iNext[i]; - unsigned int k = s_iNext[j]; - - fRoot = sqrt(axes[i][i] - axes[j][j] - axes[k][k] + 1.0); - double* apkQuat[3] = { &orientation[1], &orientation[2], &orientation[3] }; - *apkQuat[i] = 0.5 * fRoot; - fRoot = 0.5 / fRoot; - orientation[0] = (axes[k][j] - axes[j][k]) * fRoot; - *apkQuat[j] = (axes[j][i] + axes[i][j]) * fRoot; - *apkQuat[k] = (axes[k][i] + axes[i][k]) * fRoot; - } -} - -void Marker::draw(cv::Mat& in, cv::Scalar color, int lineWidth, bool writeId, bool writeInfo) const -{ - auto _to_string = [](int i) - { - std::stringstream str; - str << i; - return str.str(); - }; - - if (size() != 4) - return; - float flineWidth = lineWidth; - if (lineWidth == -1) // auto - flineWidth = std::max(1.f, std::min(5.f, float(in.cols) / 500.f)); - lineWidth = round(flineWidth); - cv::line(in, (*this)[0], (*this)[1], color, lineWidth); - cv::line(in, (*this)[1], (*this)[2], color, lineWidth); - cv::line(in, (*this)[2], (*this)[3], color, lineWidth); - cv::line(in, (*this)[3], (*this)[0], color, lineWidth); - - auto p2 = - cv::Point2f(2.f * static_cast(lineWidth), 2.f * static_cast(lineWidth)); - cv::rectangle(in, (*this)[0] - p2, (*this)[0] + p2, cv::Scalar(0, 0, 255, 255), -1); - cv::rectangle(in, (*this)[1] - p2, (*this)[1] + p2, cv::Scalar(0, 255, 0, 255), lineWidth); - cv::rectangle(in, (*this)[2] - p2, (*this)[2] + p2, cv::Scalar(255, 0, 0, 255), lineWidth); - - - - if (writeId) - { - // determine the centroid - cv::Point cent(0, 0); - for (int i = 0; i < 4; i++) - { - cent.x += static_cast((*this)[i].x); - cent.y += static_cast((*this)[i].y); - } - cent.x /= 4; - cent.y /= 4; - std::string str; - if (writeInfo) - str += dict_info + ":"; - if (writeId) - str += _to_string(id); - float fsize = std::min(3.0f, flineWidth * 0.75f); - cv::putText(in, str, cent - cv::Point(10 * flineWidth, 0), cv::FONT_HERSHEY_SIMPLEX, - fsize, cv::Scalar(255, 255, 255) - color, lineWidth, cv::LINE_AA); - } -} - -/** - */ -void Marker::calculateExtrinsics(float markerSize, const CameraParameters& CP, bool setYPerpendicular) -{ - if (!CP.isValid()) - throw cv::Exception(9004, "!CP.isValid(): invalid camera parameters. It is not possible to calculate extrinsics", - "calculateExtrinsics", __FILE__, __LINE__); - calculateExtrinsics(markerSize, CP.CameraMatrix, CP.Distorsion, CP.ExtrinsicMatrix, - setYPerpendicular); -} - -void print(cv::Point3f p, std::string cad) -{ - std::cout << cad << " " << p.x << " " << p.y << " " << p.z << std::endl; -} -/** - */ -void Marker::calculateExtrinsics(float markerSizeMeters, cv::Mat camMatrix, cv::Mat distCoeff, - cv::Mat Extrinsics, bool setYPerpendicular, bool correctFisheye) -{ - if (!isValid()) - throw cv::Exception(9004, "!isValid(): invalid marker. It is not possible to calculate extrinsics", - "calculateExtrinsics", __FILE__, __LINE__); - if (markerSizeMeters <= 0) - throw cv::Exception(9004, "markerSize<=0: invalid markerSize", "calculateExtrinsics", - __FILE__, __LINE__); - if (camMatrix.rows == 0 || camMatrix.cols == 0) - throw cv::Exception(9004, "CameraMatrix is empty", "calculateExtrinsics", __FILE__, __LINE__); - - std::vector objpoints = get3DPoints(markerSizeMeters); - - cv::Mat raux, taux; - if (correctFisheye) - { - std::vector undistorted; - cv::fisheye::undistortPoints(*this, undistorted, camMatrix, distCoeff); - cv::solvePnP(objpoints, undistorted, cv::Mat::eye(camMatrix.size(), camMatrix.type()), - cv::Mat::zeros(distCoeff.size(), distCoeff.type()), raux, taux); - } - else - { - cv::solvePnP(objpoints, *this, camMatrix, distCoeff, raux, taux); - } - raux.convertTo(Rvec, CV_32F); - taux.convertTo(Tvec, CV_32F); - float tx = -1 * (Extrinsics.at(0, 0) / camMatrix.at(0, 0)); - Tvec.at(0) += tx; - float ty = -1 * (Extrinsics.at(0, 1) / camMatrix.at(1, 1)); - Tvec.at(1) += ty; - float tz = -1 * (Extrinsics.at(0, 2) / camMatrix.at(2, 2)); - Tvec.at(2) += tz; - - // rotate the X axis so that Y is perpendicular to the marker plane - if (setYPerpendicular) - rotateXAxis(Rvec); - ssize = markerSizeMeters; - // cout << (*this) << endl; -} - - -std::vector Marker::get3DPoints(float msize) -{ - float halfSize = msize / 2.f; - // std::vector res(4); - // res[0]=cv::Point3f(-halfSize, halfSize, 0); - // res[1]=cv::Point3f(halfSize, halfSize, 0); - // res[2]=cv::Point3f(halfSize,-halfSize, 0); - // res[3]=cv::Point3f(-halfSize,- halfSize, 0); - // return res; - return { cv::Point3f(-halfSize, halfSize, 0), cv::Point3f(halfSize, halfSize, 0), - cv::Point3f(halfSize, -halfSize, 0), cv::Point3f(-halfSize, -halfSize, 0) }; -} - -void Marker::rotateXAxis(cv::Mat& rotation) -{ - cv::Mat R(3, 3, CV_32F); - cv::Rodrigues(rotation, R); - // create a rotation matrix for x axis - cv::Mat RX = cv::Mat::eye(3, 3, CV_32F); - const float angleRad = 3.14159265359f / 2.f; - RX.at(1, 1) = cos(angleRad); - RX.at(1, 2) = -sin(angleRad); - RX.at(2, 1) = sin(angleRad); - RX.at(2, 2) = cos(angleRad); - // now multiply - R = R * RX; - // finally, the the rodrigues back - Rodrigues(R, rotation); -} - -/** - */ -cv::Point2f Marker::getCenter() const -{ - cv::Point2f cent(0, 0); - for (size_t i = 0; i < size(); i++) - { - cent.x += (*this)[i].x; - cent.y += (*this)[i].y; - } - cent.x /= float(size()); - cent.y /= float(size()); - return cent; -} - -/** - */ -float Marker::getArea() const -{ - assert(size() == 4); - // use the cross products - cv::Point2f v01 = (*this)[1] - (*this)[0]; - cv::Point2f v03 = (*this)[3] - (*this)[0]; - float area1 = fabs(v01.x * v03.y - v01.y * v03.x); - cv::Point2f v21 = (*this)[1] - (*this)[2]; - cv::Point2f v23 = (*this)[3] - (*this)[2]; - float area2 = fabs(v21.x * v23.y - v21.y * v23.x); - return (area2 + area1) / 2.f; -} -/** - */ -float Marker::getPerimeter() const -{ - assert(size() == 4); - float sum = 0; - for (int i = 0; i < 4; i++) - sum += static_cast(norm((*this)[i] - (*this)[(i + 1) % 4])); - return sum; -} - - -// saves to a binary stream -void Marker::toStream(std::ostream& str) const -{ - assert(Rvec.type() == CV_32F && Tvec.type() == CV_32F); - str.write((char*)&id, sizeof(id)); - str.write((char*)&ssize, sizeof(ssize)); - str.write((char*)Rvec.ptr(0), 3 * sizeof(float)); - str.write((char*)Tvec.ptr(0), 3 * sizeof(float)); - // write the 2d points - uint32_t np = static_cast(size()); - str.write((char*)&np, sizeof(np)); - for (size_t i = 0; i < size(); i++) - str.write((char*)&at(i), sizeof(cv::Point2f)); - // write the additional info - uint32_t s = dict_info.size(); - str.write((char*)&s, sizeof(s)); - str.write((char*)&dict_info[0], dict_info.size()); - s = contourPoints.size(); - str.write((char*)&s, sizeof(s)); - str.write((char*)&contourPoints[0], contourPoints.size() * sizeof(contourPoints[0])); -} -// reads from a binary stream -void Marker::fromStream(std::istream& str) -{ - Rvec.create(1, 3, CV_32F); - Tvec.create(1, 3, CV_32F); - str.read((char*)&id, sizeof(id)); - str.read((char*)&ssize, sizeof(ssize)); - str.read((char*)Rvec.ptr(0), 3 * sizeof(float)); - str.read((char*)Tvec.ptr(0), 3 * sizeof(float)); - uint32_t np; - str.read((char*)&np, sizeof(np)); - resize(np); - for (size_t i = 0; i < size(); i++) - str.read((char*)&(*this)[i], sizeof(cv::Point2f)); - // read the additional info - uint32_t s; - str.read((char*)&s, sizeof(s)); - dict_info.resize(s); - str.read((char*)&dict_info[0], dict_info.size()); - str.read((char*)&s, sizeof(s)); - contourPoints.resize(s); - str.read((char*)&contourPoints[0], contourPoints.size() * sizeof(contourPoints[0])); -} - -cv::Mat Marker::getTransformMatrix() const -{ - cv::Mat T = cv::Mat::eye(4, 4, CV_32F); - cv::Mat rot = T.rowRange(0, 3).colRange(0, 3); - cv::Rodrigues(Rvec, rot); - for (int i = 0; i < 3; i++) - T.at(i, 3) = Tvec.ptr(0)[i]; - return T; -} - -float Marker::getRadius() const -{ - auto center = getCenter(); - - float maxDist = 0; - for (auto p : *this) - maxDist = std::max(maxDist, float(cv::norm(p - center))); - return maxDist; -} - -} // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/markerdetector.cpp b/legacy/aruco_ros/aruco/src/aruco/markerdetector.cpp deleted file mode 100755 index 88f24baa0..000000000 --- a/legacy/aruco_ros/aruco/src/aruco/markerdetector.cpp +++ /dev/null @@ -1,466 +0,0 @@ -/** -Copyright 2020 Rafael Muñoz Salinas. All rights reserved. - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation version 3 of the License. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . -*/ - -#include "markerdetector.h" -#include "cameraparameters.h" -#include "markerlabeler.h" -#include "timers.h" - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include "debug.h" -#include "aruco_cvversioning.h" -#include "markerdetector_impl.h" - -//#ifdef _DEBUG -//#include -//#endif -using namespace std; -using namespace cv; - -namespace aruco -{ -/************************************ - * - * - * - * - ************************************/ -MarkerDetector::MarkerDetector() -{ - _impl = new MarkerDetector_Impl(); - // _iplm=std::unique_ptr(new MarkerDetector_Impl()); -} -/************************************ - * - * - * - * - ************************************/ -MarkerDetector::MarkerDetector(int dict_type, float error_correction_rate) -{ - _impl = new MarkerDetector_Impl(); - setDictionary(dict_type, error_correction_rate); - setDetectionMode(DM_NORMAL); -} -/************************************ - * - * - * - * - ************************************/ -MarkerDetector::MarkerDetector(std::string dict_type, float error_correction_rate) -{ - _impl = new MarkerDetector_Impl(); - setDictionary(dict_type, error_correction_rate); - setDetectionMode(DM_NORMAL); -} -/************************************ - * - * - * - * - ************************************/ - -MarkerDetector::~MarkerDetector() -{ - delete _impl; -} - -void MarkerDetector::setParameters(const Params ¶ms) -{ - _impl->setParameters(params); -} - -/************************************ - * - * - * - * - ************************************/ -void MarkerDetector::setDetectionMode(DetectionMode dm, float minMarkerSize) -{ - _impl->_params.setDetectionMode(dm, minMarkerSize); -} - -DetectionMode MarkerDetector::getDetectionMode() -{ - return _impl->_params.detectMode; -} - - - -/************************************ - * - * - * - * - ************************************/ - -std::vector MarkerDetector::detect(const cv::Mat &input) -{ - return _impl->detect(input); -} - -std::vector MarkerDetector::detect(const cv::Mat &input, - const CameraParameters &camParams, - float markerSizeMeters, - bool setYPerperdicular, bool correctFisheye) -{ - return _impl->detect(input, camParams, markerSizeMeters, setYPerperdicular); -} - -/************************************ - * - * - * - * - ************************************/ -void MarkerDetector::detect(const cv::Mat &input, std::vector &detectedMarkers, - CameraParameters camParams, float markerSizeMeters, - bool setYPerpendicular, bool correctFisheye) -{ - _impl->detect(input, detectedMarkers, camParams, markerSizeMeters, setYPerpendicular); -} - -/**Returns operating params - */ -MarkerDetector::Params MarkerDetector::getParameters() const -{ - return _impl->getParameters(); -} -/**Returns operating params - */ -MarkerDetector::Params &MarkerDetector::getParameters() -{ - return _impl->getParameters(); -} - - - -std::vector MarkerDetector::getCandidates() const -{ - return _impl->getCandidates(); -} - -std::vector MarkerDetector::getImagePyramid() -{ - return _impl->getImagePyramid(); -} -cv::Ptr MarkerDetector::getMarkerLabeler() -{ - return _impl->getMarkerLabeler(); -} -void MarkerDetector::setMarkerLabeler(cv::Ptr detector) -{ - _impl->setMarkerLabeler(detector); -} - -void MarkerDetector::setDictionary(int dict_type, float error_correction_rate) -{ - _impl->setDictionary(dict_type, error_correction_rate); -} - - -void MarkerDetector::setDictionary(string dict_type, float error_correction_rate) -{ - _impl->setDictionary(dict_type, error_correction_rate); -} -cv::Mat MarkerDetector::getThresholdedImage(uint32_t idx) -{ - return _impl->getThresholdedImage(idx); -} - -void MarkerDetector::Params::save(cv::FileStorage &fs) const -{ - fs << "aruco-dictionary" << dictionary; - fs << "aruco-detectMode" << toString(detectMode); - fs << "aruco-cornerRefinementM" << toString(cornerRefinementM); - fs << "aruco-thresMethod" << toString(thresMethod); - fs << "aruco-maxThreads" << maxThreads; - fs << "aruco-borderDistThres" << borderDistThres; - fs << "aruco-lowResMarkerSize" << lowResMarkerSize; - fs << "aruco-minSize" << minSize; - fs << "aruco-minSize_pix" << minSize_pix; - fs << "aruco-enclosedMarker" << enclosedMarker; - fs << "aruco-NAttemptsAutoThresFix" << NAttemptsAutoThresFix; - fs << "aruco-AdaptiveThresWindowSize" << AdaptiveThresWindowSize; - fs << "aruco-ThresHold" << ThresHold; - fs << "aruco-AdaptiveThresWindowSize_range" << AdaptiveThresWindowSize_range; - fs << "aruco-markerWarpPixSize" << markerWarpPixSize; - fs << "aruco-autoSize" << autoSize; - fs << "aruco-ts" << ts; - fs << "aruco-pyrfactor" << pyrfactor; - fs << "aruco-error_correction_rate" << error_correction_rate; - fs << "aruco-trackingMinDetections" << trackingMinDetections; - fs << "aruco-closingSize" << closingSize; -} - -void MarkerDetector::Params::load(cv::FileStorage &fs) -{ - attemtpRead("aruco-maxThreads", maxThreads, fs); - attemtpRead("aruco-borderDistThres", borderDistThres, fs); - attemtpRead("aruco-lowResMarkerSize", lowResMarkerSize, fs); - attemtpRead("aruco-minSize", minSize, fs); - attemtpRead("aruco-minSize_pix", minSize_pix, fs); - attemtpRead("aruco-enclosedMarker", enclosedMarker, fs); - attemtpRead("aruco-NAttemptsAutoThresFix", NAttemptsAutoThresFix, fs); - attemtpRead("aruco-AdaptiveThresWindowSize", AdaptiveThresWindowSize, fs); - attemtpRead("aruco-ThresHold", ThresHold, fs); - attemtpRead("aruco-AdaptiveThresWindowSize_range", AdaptiveThresWindowSize_range, fs); - attemtpRead("aruco-markerWarpPixSize", markerWarpPixSize, fs); - attemtpRead("aruco-autoSize", autoSize, fs); - attemtpRead("aruco-ts", ts, fs); - attemtpRead("aruco-pyrfactor", pyrfactor, fs); - attemtpRead("aruco-error_correction_rate", error_correction_rate, fs); - attemtpRead("aruco-dictionary", dictionary, fs); - attemtpRead("aruco-trackingMinDetections", trackingMinDetections, fs); - attemtpRead("aruco-closingSize", closingSize, fs); - - - - if (fs["aruco-detectMode"].type() != cv::FileNode::NONE) - { - string aux; - fs["aruco-detectMode"] >> aux; - detectMode = getDetectionModeFromString(aux); - } - if (fs["aruco-thresMethod"].type() != cv::FileNode::NONE) - { - string aux; - fs["aruco-thresMethod"] >> aux; - thresMethod = getCornerThresMethodFromString(aux); - } - if (fs["aruco-cornerRefinementM"].type() != cv::FileNode::NONE) - { - string aux; - fs["aruco-cornerRefinementM"] >> aux; - cornerRefinementM = getCornerRefinementMethodFromString(aux); - } -} - - -void MarkerDetector::Params::toStream(std::ostream &str) const -{ - str.write((char *)&detectMode, sizeof(detectMode)); - str.write((char *)&maxThreads, sizeof(maxThreads)); - str.write((char *)&borderDistThres, sizeof(borderDistThres)); - str.write((char *)&lowResMarkerSize, sizeof(lowResMarkerSize)); - str.write((char *)&minSize, sizeof(minSize)); - str.write((char *)&minSize_pix, sizeof(minSize_pix)); - str.write((char *)&enclosedMarker, sizeof(enclosedMarker)); - str.write((char *)&thresMethod, sizeof(thresMethod)); - str.write((char *)&NAttemptsAutoThresFix, sizeof(NAttemptsAutoThresFix)); - str.write((char *)&AdaptiveThresWindowSize, sizeof(AdaptiveThresWindowSize)); - str.write((char *)&ThresHold, sizeof(ThresHold)); - str.write((char *)&AdaptiveThresWindowSize_range, sizeof(AdaptiveThresWindowSize_range)); - str.write((char *)&markerWarpPixSize, sizeof(markerWarpPixSize)); - str.write((char *)&cornerRefinementM, sizeof(cornerRefinementM)); - str.write((char *)&autoSize, sizeof(autoSize)); - str.write((char *)&ts, sizeof(pyrfactor)); - str.write((char *)&error_correction_rate, sizeof(error_correction_rate)); - str.write((char *)&trackingMinDetections, sizeof(trackingMinDetections)); - str.write((char *)&closingSize, sizeof(closingSize)); - - - _toStream(dictionary, str); -} -void MarkerDetector::Params::fromStream(std::istream &str) -{ - str.read((char *)&detectMode, sizeof(detectMode)); - str.read((char *)&maxThreads, sizeof(maxThreads)); - str.read((char *)&borderDistThres, sizeof(borderDistThres)); - str.read((char *)&lowResMarkerSize, sizeof(lowResMarkerSize)); - str.read((char *)&minSize, sizeof(minSize)); - str.read((char *)&minSize_pix, sizeof(minSize_pix)); - str.read((char *)&enclosedMarker, sizeof(enclosedMarker)); - str.read((char *)&thresMethod, sizeof(thresMethod)); - str.read((char *)&NAttemptsAutoThresFix, sizeof(NAttemptsAutoThresFix)); - str.read((char *)&AdaptiveThresWindowSize, sizeof(AdaptiveThresWindowSize)); - str.read((char *)&ThresHold, sizeof(ThresHold)); - str.read((char *)&AdaptiveThresWindowSize_range, sizeof(AdaptiveThresWindowSize_range)); - str.read((char *)&markerWarpPixSize, sizeof(markerWarpPixSize)); - str.read((char *)&cornerRefinementM, sizeof(cornerRefinementM)); - str.read((char *)&autoSize, sizeof(autoSize)); - str.read((char *)&ts, sizeof(pyrfactor)); - str.read((char *)&error_correction_rate, sizeof(error_correction_rate)); - str.read((char *)&trackingMinDetections, sizeof(trackingMinDetections)); - str.read((char *)&closingSize, sizeof(closingSize)); - _fromStream(dictionary, str); -} -/**Saves the configuration of the detector to a file - */ -void MarkerDetector::saveParamsToFile(const std::string &path) const -{ - _impl->saveParamsToFile(path); -} - -/**Loads the configuration from a file - */ -void MarkerDetector::loadParamsFromFile(const std::string &path) -{ - _impl->loadParamsFromFile(path); -} - -void MarkerDetector::toStream(std::ostream &str) const -{ - _impl->toStream(str); -} - -void MarkerDetector::fromStream(std::istream &str) -{ - _impl->fromStream(str); -} - -std::string MarkerDetector::Params::toString(DetectionMode dm) -{ - switch (dm) - { - case DM_FAST: - return "DM_FAST"; - case DM_NORMAL: - return "DM_NORMAL"; - case DM_VIDEO_FAST: - return "DM_VIDEO_FAST"; - }; - return "DM_NORMAL"; -} - -DetectionMode MarkerDetector::Params::getDetectionModeFromString(const std::string &str) -{ - if (str == "DM_FAST") - return DM_FAST; - if (str == "DM_NORMAL") - return DM_NORMAL; - if (str == "DM_VIDEO_FAST") - return DM_VIDEO_FAST; - return DM_NORMAL; -} - -std::string MarkerDetector::Params::toString(CornerRefinementMethod dm) -{ - switch (dm) - { - case CORNER_LINES: - return "CORNER_LINES"; - case CORNER_SUBPIX: - return "CORNER_SUBPIX"; - case CORNER_NONE: - return "CORNER_NONE"; - }; - return "CORNER_SUBPIX"; -} -CornerRefinementMethod MarkerDetector::Params::getCornerRefinementMethodFromString(const std::string &str) -{ - if (str == "CORNER_LINES") - return CORNER_LINES; - if (str == "CORNER_SUBPIX") - return CORNER_SUBPIX; - if (str == "CORNER_NONE") - return CORNER_NONE; - return CORNER_SUBPIX; -} -std::string MarkerDetector::Params::toString(MarkerDetector::ThresMethod dm) -{ - switch (dm) - { - case THRES_ADAPTIVE: - return "THRES_ADAPTIVE"; - case THRES_AUTO_FIXED: - return "THRES_AUTO_FIXED"; - }; - return "THRES_ADAPTIVE"; -} -MarkerDetector::ThresMethod MarkerDetector::Params::getCornerThresMethodFromString(const std::string &str) -{ - if (str == "THRES_ADAPTIVE") - return THRES_ADAPTIVE; - if (str == "THRES_AUTO_FIXED") - return THRES_AUTO_FIXED; - return THRES_ADAPTIVE; -} -void MarkerDetector::Params::setThresholdMethod(MarkerDetector::ThresMethod method, - int thresHold, int wsize, int wsize_range) -{ - AdaptiveThresWindowSize = wsize; - thresMethod = method; - if (thresHold == -1) - { - if (method == MarkerDetector::THRES_AUTO_FIXED) - ThresHold = 100; - else - ThresHold = 7; - } - else - ThresHold = thresHold; - AdaptiveThresWindowSize_range = wsize_range; -} -void MarkerDetector::Params::setDetectionMode(DetectionMode dm, float minMarkerSize) -{ - detectMode = dm; - minSize = minMarkerSize; - if (detectMode == DM_NORMAL) - { - setAutoSizeSpeedUp(false); - setThresholdMethod(THRES_ADAPTIVE); - } - else if (detectMode == DM_FAST) - { - setAutoSizeSpeedUp(false); - setThresholdMethod(THRES_AUTO_FIXED); - } - else if (detectMode == DM_VIDEO_FAST) - { - setThresholdMethod(THRES_AUTO_FIXED); - setAutoSizeSpeedUp(true, 0.3); - } -} -void MarkerDetector::Params::setCornerRefinementMethod(CornerRefinementMethod method) -{ - cornerRefinementM = method; - if (method != CORNER_SUBPIX) - minSize = 0; -} -void MarkerDetector::Params::_toStream(const std::string &strg, std::ostream &str) -{ - uint32_t s = strg.size(); - str.write((char *)&s, sizeof(s)); - str.write(strg.c_str(), strg.size()); -} -void MarkerDetector::Params::_fromStream(std::string &strg, std::istream &str) -{ - uint32_t s; - str.read((char *)&s, sizeof(s)); - strg.resize(s); - str.read(&strg[0], strg.size()); -} - -void MarkerDetector::cornerUpsample(std::vector > &corners, - cv::Size lowResImageSize) -{ - _impl->cornerUpsample(corners, lowResImageSize); -} - - - -}; // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/markerdetector_impl.cpp b/legacy/aruco_ros/aruco/src/aruco/markerdetector_impl.cpp deleted file mode 100755 index e1a21a65a..000000000 --- a/legacy/aruco_ros/aruco/src/aruco/markerdetector_impl.cpp +++ /dev/null @@ -1,1851 +0,0 @@ -/** -Copyright 2020 Rafael Muñoz Salinas. All rights reserved. - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation version 3 of the License. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . -*/ - -#include "markerdetector_impl.h" -#include "cameraparameters.h" -#include "markerlabeler.h" -#include "timers.h" - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include "debug.h" -#include "aruco_cvversioning.h" -//#include "picoflann.h" - -//#ifdef _DEBUG -//#include -//#endif -using namespace std; -using namespace cv; - -namespace aruco -{ -/************************************ - * - * - * - * - ************************************/ -MarkerDetector_Impl::MarkerDetector_Impl() -{ - markerIdDetector = aruco::MarkerLabeler::create(Dictionary::ALL_DICTS); - setDetectionMode(DM_NORMAL); -} -/************************************ - * - * - * - * - ************************************/ -MarkerDetector_Impl::MarkerDetector_Impl(int dict_type, float error_correction_rate) -{ - setDictionary(dict_type, error_correction_rate); - setDetectionMode(DM_NORMAL); -} -/************************************ - * - * - * - * - ************************************/ -MarkerDetector_Impl::MarkerDetector_Impl(std::string dict_type, float error_correction_rate) -{ - setDictionary(dict_type, error_correction_rate); - setDetectionMode(DM_NORMAL); -} -/************************************ - * - * - * - * - ************************************/ - -MarkerDetector_Impl::~MarkerDetector_Impl() -{ -} - -void MarkerDetector_Impl::setParameters(const MarkerDetector::Params ¶ms) -{ - _params = params; - setDictionary(_params.dictionary, _params.error_correction_rate); -} - -/************************************ - * - * - * - * - ************************************/ -void MarkerDetector_Impl::setDetectionMode(DetectionMode dm, float minMarkerSize) -{ - _params.setDetectionMode(dm, minMarkerSize); -} - -DetectionMode MarkerDetector_Impl::getDetectionMode() -{ - return _params.detectMode; -} - - - -/************************************ - * - * - * - * - ************************************/ - -std::vector MarkerDetector_Impl::detect(const cv::Mat &input) -{ - std::vector detectedMarkers; - detect(input, detectedMarkers); - return detectedMarkers; -} - -std::vector MarkerDetector_Impl::detect(const cv::Mat &input, - const CameraParameters &camParams, - float markerSizeMeters, - bool setYPerperdicular, bool correctFisheye) -{ - std::vector detectedMarkers; - detect(input, detectedMarkers, camParams, markerSizeMeters, setYPerperdicular, correctFisheye); - return detectedMarkers; -} - -/************************************ - * - * - * - * - ************************************/ -void MarkerDetector_Impl::detect(const cv::Mat &input, std::vector &detectedMarkers, - CameraParameters camParams, float markerSizeMeters, - bool setYPerpendicular, bool correctFisheye) -{ - if (camParams.CamSize != input.size() && camParams.isValid() && markerSizeMeters > 0) - { - // must resize camera parameters if we want to compute properly marker poses - CameraParameters cp_aux = camParams; - cp_aux.resize(input.size()); - detect(input, detectedMarkers, cp_aux.CameraMatrix, cp_aux.Distorsion, - cp_aux.ExtrinsicMatrix, markerSizeMeters, setYPerpendicular, correctFisheye); - } - else - { - detect(input, detectedMarkers, camParams.CameraMatrix, camParams.Distorsion, - camParams.ExtrinsicMatrix, markerSizeMeters, setYPerpendicular, correctFisheye); - } -} -int MarkerDetector_Impl::getMarkerWarpSize() -{ - auto bis = markerIdDetector->getBestInputSize(); - if (bis != -1) - return bis; - - int ndiv = markerIdDetector->getNSubdivisions(); - if (ndiv == -1) - ndiv = 7; // set any possible value(it is used for non dictionary based labelers) - return _params.markerWarpPixSize * - ndiv; // this is the minimum size that the smallest marker will have -} - - - -void MarkerDetector_Impl::buildPyramid(vector &ImagePyramid, const cv::Mat &grey, - int minSize) -{ - // determine numbre of pyramid images - int npyrimg = 1; - cv::Size imgpsize = grey.size(); - while (imgpsize.width > minSize) - { - imgpsize = cv::Size(imgpsize.width / _params.pyrfactor, imgpsize.height / _params.pyrfactor); - npyrimg++; - } - - ImagePyramid.resize(npyrimg); - imagePyramid[0] = grey; - // now, create pyramid images - imgpsize = grey.size(); - for (int i = 1; i < npyrimg; i++) - { - cv::Size nsize(ImagePyramid[i - 1].cols / _params.pyrfactor, - ImagePyramid[i - 1].rows / _params.pyrfactor); - cv::resize(ImagePyramid[i - 1], ImagePyramid[i], nsize); - } -} - -void impl_assignClass_fast(const cv::Mat &im, std::vector &kpoints, - bool norm, int wsize) -{ - if (im.type() != CV_8UC1) - throw std::runtime_error("assignClass_fast Input image must be 8UC1"); - int wsizeFull = wsize * 2 + 1; - - cv::Mat labels = cv::Mat::zeros(wsize * 2 + 1, wsize * 2 + 1, CV_8UC1); - cv::Mat thresIm = cv::Mat(wsize * 2 + 1, wsize * 2 + 1, CV_8UC1); - - for (auto &kp : kpoints) - { - int x = kp.pt.x + 0.5f; - int y = kp.pt.y + 0.5f; - - cv::Rect r = cv::Rect(x - wsize, y - wsize, wsize * 2 + 1, wsize * 2 + 1); - // Check boundaries - if (r.x < 0 || r.x + r.width > im.cols || r.y < 0 || r.y + r.height > im.rows) - continue; - - - int endX = r.x + r.width; - int endY = r.y + r.height; - uchar minV = 255, maxV = 0; - for (int y = r.y; y < endY; y++) - { - const uchar *ptr = im.ptr(y); - for (int x = r.x; x < endX; x++) - { - if (minV > ptr[x]) - minV = ptr[x]; - if (maxV < ptr[x]) - maxV = ptr[x]; - } - } - - if ((maxV - minV) < 25) - { - kp.class_id = 0; - continue; - } - - double thres = (maxV + minV) / 2.0; - - unsigned int nZ = 0; - // count non zero considering the threshold - for (int y = 0; y < wsizeFull; y++) - { - const uchar *ptr = im.ptr(r.y + y) + r.x; - uchar *thresPtr = thresIm.ptr(y); - for (int x = 0; x < wsizeFull; x++) - { - if (ptr[x] > thres) - { - nZ++; - thresPtr[x] = 255; - } - else - thresPtr[x] = 0; - } - } - // set all to zero labels.setTo(cv::Scalar::all(0)); - for (int y = 0; y < thresIm.rows; y++) - { - uchar *labelsPtr = labels.ptr(y); - for (int x = 0; x < thresIm.cols; x++) - labelsPtr[x] = 0; - } - - uchar newLab = 1; - std::map unions; - for (int y = 0; y < thresIm.rows; y++) - { - uchar *thresPtr = thresIm.ptr(y); - uchar *labelsPtr = labels.ptr(y); - for (int x = 0; x < thresIm.cols; x++) - { - uchar reg = thresPtr[x]; - uchar lleft_px = 0; - uchar ltop_px = 0; - - if (x - 1 > -1) - { - if (reg == thresPtr[x - 1]) - lleft_px = labelsPtr[x - 1]; - } - - if (y - 1 > -1) - { - if (reg == thresIm.ptr(y - 1)[x]) // thresIm.at(y-1, x) - ltop_px = labels.at(y - 1, x); - } - - if (lleft_px == 0 && ltop_px == 0) - labelsPtr[x] = newLab++; - - else if (lleft_px != 0 && ltop_px != 0) - { - if (lleft_px < ltop_px) - { - labelsPtr[x] = lleft_px; - unions[ltop_px] = lleft_px; - } - else if (lleft_px > ltop_px) - { - labelsPtr[x] = ltop_px; - unions[lleft_px] = ltop_px; - } - else - { // IGuales - labelsPtr[x] = ltop_px; - } - } - else - { - if (lleft_px != 0) - labelsPtr[x] = lleft_px; - else - labelsPtr[x] = ltop_px; - } - } - } - - int nc = newLab - 1 - unions.size(); - if (nc == 2) - { - if (nZ > thresIm.total() - nZ) - kp.class_id = 0; - else - kp.class_id = 1; - } - else if (nc > 2) - { - kp.class_id = 2; - } - } -} - -// void fastCorners{ -// vector kpts; -// cv::FAST(input,kpts,7); - -// // Adapter. -// // Given an Point2f element, it returns the element of the dimension specified such -// that dim=0 is x and dim=1 is y struct PicoFlann_Point2fAdapter{ -// inline float operator( )(const cv::KeyPoint &kp, int dim)const { return -// dim==0?kp.pt.x:kp.pt.y; } -// }; - -// picoflann::KdTreeIndex<2,PicoFlann_Point2fAdapter> kdtree;//2 is the number of -// dimensions kdtree.build(kpts); -// //search 10 nearest neibors to point (0,0) -// vector maxima(kpts.size(),true); -// for(auto &kpt:kpts){ -// kpt.size=1;//used -// kpt.class_id=-1;//not yet -// } - -// int classIdx=0; -// vector > center_weight; -// center_weight.reserve(kpts.size()); - -// for(size_t i=0;i > res=kdtree.radiusSearch(kpts,kpts[i],7); -// //compute the one with max response -// for(auto p:res){ -// if( kpts[p.first].response>= kpts[maxResponseIdx].response && kpts[p.first].size) -// maxResponseIdx= p.first ; -// } -// auto &maxKp=kpts[ maxResponseIdx]; - -// if(maxKp.class_id==-1){ -// maxKp.class_id=int(center_weight.size()); -// center_weight.push_back( { maxKp.pt*maxKp.response,maxKp.response}); -// } - -// //the others are non maxima -// for(auto p:res){ -// if(p.first==maxResponseIdx) continue; -// auto &kp=kpts[p.first]; -// if( kp.size!=0 && kp.class_id==-1){ -// kp.size=0;//sets as non maxiima -// center_weight[maxKp.class_id].first+=kp.pt*kp.response; -// center_weight[maxKp.class_id].second+=kp.response; -// } -// } -// } -// } - -// //take only the selected ones -// kpts.clear(); -// for(auto cw:center_weight){ -// cv::KeyPoint kp; -// kp.pt= cw.first*(1./cw.second); -// kpts.push_back(kp); -// } - -//// kpts.erase(std::remove_if(kpts.begin(),kpts.end(), [ ](const cv::KeyPoint -///&kp){return kp.class_id==0;}), kpts.end()); - -// assignClass_fast(input,kpts,false,5); - - -// cv::Mat im2; -// cv::cvtColor(input,im2,CV_GRAY2BGR); -// for(int i=0;i< kpts.size();i++){ -// auto & kp=kpts[i]; - -// if(kp.class_id==2){ - -// cv::rectangle(auxThresImage,kp.pt-cv::Point2f(2,2),kp.pt+cv::Point2f(2,2),cv::Scalar(0,0,0),-1); -// cv::rectangle(im2,kp.pt-cv::Point2f(2,2),kp.pt+cv::Point2f(2,2),cv::Scalar(255,0,123)); -// } -// else -// cv::rectangle(im2,kp.pt-cv::Point2f(2,2),kp.pt+cv::Point2f(2,2),cv::Scalar(125,125,125)); -// } - -//} -/************************************************** - * - */ - -vector MarkerDetector_Impl::thresholdAndDetectRectangles( - const cv::Mat &input, int thres_param1, int thres_param2, bool enclosed, cv::Mat &auxThresImage) -{ - // ensure that _thresParam1%2==1 - __ARUCO_ADDTIMER__; - if (thres_param1 < 3) - thres_param1 = 3; - else if (((int)thres_param1) % 2 != 1) - thres_param1 = (int)(thres_param1 + 1); - - int enclosedOffset = -1; - cv::Mat auxImage; - // if ( !erode) - auxImage = auxThresImage; - if (_params.thresMethod == MarkerDetector::THRES_AUTO_FIXED) - { - cv::threshold(input, auxImage, static_cast(thres_param2), 255, THRESH_BINARY_INV); - if (enclosed) - { - cv::Mat aux1; - enclosedOffset = int(std::max(3.0, 3. / 1920. * float(auxImage.cols))); - if (enclosedOffset % 2 == 0) - enclosedOffset++; - cv::erode(auxImage, aux1, - getStructuringElement(MORPH_CROSS, cv::Size(enclosedOffset, enclosedOffset), - cv::Point(enclosedOffset / 2, enclosedOffset / 2))); - cv::bitwise_xor(aux1, auxImage, auxImage); - - __ARUCO_TIMER_EVENT__("erode"); - } - } - else - { - cv::adaptiveThreshold(input, auxImage, 255., ADAPTIVE_THRESH_MEAN_C, THRESH_BINARY_INV, - static_cast(thres_param1), static_cast(thres_param2)); - if (_params.closingSize > 0) - { - int p = _params.closingSize * 2 + 1; - cv::Mat im2; - cv::Mat ker = cv::getStructuringElement(cv::MORPH_RECT, cv::Size(p, p)); - cv::morphologyEx(auxImage, im2, cv::MORPH_OPEN, ker); - auxThresImage = im2; - } - enclosedOffset = thres_param1; - } - __ARUCO_TIMER_EVENT__("thres"); - - - // fastCorners () - - - vector MarkerCanditates; - // calcualte the min_max contour sizes - int thisImageMinSize = int(3.5 * float(_params.lowResMarkerSize)); - // if image is eroded, minSize must be adapted - std::vector hierarchy; - std::vector> contours; - cv::findContours(auxThresImage, contours, cv::noArray(), cv::RETR_LIST, cv::CHAIN_APPROX_NONE); - __ARUCO_TIMER_EVENT__("find-cont"); - vector approxCurve; -//#define _aruco_debug_detectrectangles -#ifdef _aruco_debug_detectrectangles - cv::Mat simage; - cv::cvtColor(input, simage, CV_GRAY2BGR); -#endif - - /// for each contour, analyze if it is a paralelepiped likely to be the marker - for (unsigned int i = 0; i < contours.size(); i++) - { -#ifdef _aruco_debug_detectrectangles - drawContour(simage, contours[i], Scalar(125, 125, 255)); -#endif - // check it is a possible element by first checking that is is large enough - if (thisImageMinSize < int(contours[i].size())) - { - // can approximate to a convex rect? - cv::approxPolyDP(contours[i], approxCurve, double(contours[i].size()) * 0.05, true); - - if (approxCurve.size() == 4 && cv::isContourConvex(approxCurve)) - { -#ifdef _aruco_debug_detectrectangles - drawApproxCurve(simage, approxCurve, Scalar(255, 0, 255), 1); -#endif - // ensure that the distace between consecutive points is large enough - float minDist = std::numeric_limits::max(); - for (int j = 0; j < 4; j++) - { - float d = cv::norm(approxCurve[j] - approxCurve[(j + 1) % 4]); - if (d < minDist) - minDist = d; - } - - // add the points - MarkerCanditates.push_back(MarkerCandidate()); - for (int j = 0; j < 4; j++) - MarkerCanditates.back().push_back(Point2f(static_cast(approxCurve[j].x), - static_cast(approxCurve[j].y))); - // now, if it is eroded, must enalrge 1 bit the corners to go to the real location - // for each opposite pair, take the line joining them and move one pixel apart - // ideally, Bresenham's algorithm should be used - if (enclosed) - { - enlargeMarkerCandidate(MarkerCanditates.back(), float(enclosedOffset) / 2.); - } -#ifdef _aruco_debug_detectrectangles - MarkerCanditates.back().draw(simage, Scalar(255, 255, 0), 1, false); -#endif - MarkerCanditates.back().contourPoints = contours[i]; - } - } - } -#ifdef _aruco_debug_detectrectangles - cv::imshow("contours", simage); -#endif - return MarkerCanditates; -} - - -void MarkerDetector_Impl::thresholdAndDetectRectangles_thread() -{ - while (true) - { - bool enclosed = false; - auto tad = _tasks.pop(); - if (tad.task == EXIT_TASK) - return; - else if (tad.task == ENCLOSE_TASK) - enclosed = true; - _vcandidates[tad.outIdx] = - thresholdAndDetectRectangles(_thres_Images[tad.inIdx], tad.param1, tad.param2, - enclosed, _thres_Images[tad.outIdx]); - }; -} - -vector MarkerDetector_Impl::thresholdAndDetectRectangles( - const cv::Mat &image) -{ - // compute the different values of param1 - - int adaptiveWindowSize = _params.AdaptiveThresWindowSize; - if (_params.AdaptiveThresWindowSize == -1) - adaptiveWindowSize = max(int(3), int(15 * float(image.cols) / 1920.)); - if (adaptiveWindowSize % 2 == 0) - adaptiveWindowSize++; - - // adaptiveWindowSize=15; - - vector p1_values; - for (int i = static_cast( - std::max(3., adaptiveWindowSize - 2. * _params.AdaptiveThresWindowSize_range)); - i <= adaptiveWindowSize + 2 * _params.AdaptiveThresWindowSize_range; i += 2) - p1_values.push_back(i); - - size_t nimages = p1_values.size(); - _tooNearDistance = p1_values.back(); - _vcandidates.resize(nimages); - _thres_Images.resize(nimages + 1); - _thres_Images.back() = image; // add at the end the original image - // first, thresholded images - ThresAndDetectRectTASK tad; - vector vtad; - - - ThreadTasks task = THRESHOLD_TASK; - if (_params.enclosedMarker) - task = ENCLOSE_TASK; - for (size_t i = 0; i < p1_values.size(); i++) - { - tad.inIdx = int(_thres_Images.size() - 1); - tad.param1 = p1_values[i]; - tad.param2 = _params.ThresHold; - tad.outIdx = i; - tad.task = task; - _tasks.push(tad); - vtad.push_back(tad); - } - - - // reserve images - for (size_t i = 0; i < nimages; i++) - _thres_Images[i].create(image.size(), CV_8UC1); - - - // how many threads will be used? - int nthreads = 0; - if (_params.maxThreads <= 0) // if allowed to use all , take max()-1, since the - // buildpyramid must be working at this moment - nthreads = std::thread::hardware_concurrency() - 1; - else - nthreads = max(1, _params.maxThreads - 1); - - tad.task = EXIT_TASK; - for (int i = 0; i < nthreads; i++) - _tasks.push(tad); - - if (nthreads == 1) - { // no threads - ScopeTimer Timer("non-parallel"); - thresholdAndDetectRectangles_thread(); - } - else - { // parallell mode - // add the final task END - ScopeTimer Timer("parallel"); - - // run the tasks (in parallel) - vector threads; - for (int i = 0; i < nthreads; i++) - threads.push_back( - std::thread(&MarkerDetector_Impl::thresholdAndDetectRectangles_thread, this)); - // wait for them to finish - for (auto &th : threads) - th.join(); - } - vector joined; - joinVectors(_vcandidates, joined); - return joined; -} - -vector MarkerDetector_Impl::prefilterCandidates( - vector &MarkerCanditates, cv::Size imgSize) -{ - ///////////////////////////////////////////////////////////////////////////////////// - /// CANDIDATE PREFILTERING- Merge and Remove candidates so that only reliable ones are returned - ////////////////////////////////////////////////////////////////////////////////// - /// sort the points in anti-clockwise order - valarray swapped(false, MarkerCanditates.size()); // used later - for (unsigned int i = 0; i < MarkerCanditates.size(); i++) - { - // trace a line between the first and second point. - // if the thrid point is at the right side, then the points are anti-clockwise - double dx1 = MarkerCanditates[i][1].x - MarkerCanditates[i][0].x; - double dy1 = MarkerCanditates[i][1].y - MarkerCanditates[i][0].y; - double dx2 = MarkerCanditates[i][2].x - MarkerCanditates[i][0].x; - double dy2 = MarkerCanditates[i][2].y - MarkerCanditates[i][0].y; - double o = (dx1 * dy2) - (dy1 * dx2); - - if (o < 0.0) - { // if the third point is in the left side, then sort in anti-clockwise order - swap(MarkerCanditates[i][1], MarkerCanditates[i][3]); - swapped[i] = true; - } - } - - if (0) - { - /// remove these elements which corners are too close to each other - // first detect candidates to be removed - vector> TooNearCandidates; - for (unsigned int i = 0; i < MarkerCanditates.size(); i++) - { - // calculate the average distance of each corner to the nearest corner of the other marker candidate - for (unsigned int j = i + 1; j < MarkerCanditates.size(); j++) - { - valarray vdist(4); - for (int c = 0; c < 4; c++) - vdist[c] = cv::norm(MarkerCanditates[i][c] - MarkerCanditates[j][c]); - // if distance is too small - if (vdist[0] < _tooNearDistance && vdist[1] < _tooNearDistance && - vdist[2] < _tooNearDistance && vdist[3] < _tooNearDistance) - TooNearCandidates.push_back(pair(i, j)); - } - } - - /// mark for removal the element of the pair with smaller perimeter - vector toRemove(MarkerCanditates.size(), false); - for (unsigned int i = 0; i < TooNearCandidates.size(); i++) - { - if (perimeter(MarkerCanditates[TooNearCandidates[i].first]) > - perimeter(MarkerCanditates[TooNearCandidates[i].second])) - toRemove[TooNearCandidates[i].second] = true; - else - toRemove[TooNearCandidates[i].first] = true; - } - - /// find these too near borders and remove them - // remove markers with corners too near the image limits - int borderDistThresX = static_cast(_params.borderDistThres * float(imgSize.width)); - int borderDistThresY = static_cast(_params.borderDistThres * float(imgSize.height)); - for (size_t i = 0; i < MarkerCanditates.size(); i++) - { - // delete if any of the corners is too near image border - for (size_t c = 0; c < MarkerCanditates[i].size(); c++) - { - if (MarkerCanditates[i][c].x < borderDistThresX || - MarkerCanditates[i][c].y < borderDistThresY || - MarkerCanditates[i][c].x > imgSize.width - borderDistThresX || - MarkerCanditates[i][c].y > imgSize.height - borderDistThresY) - { - toRemove[i] = true; - } - } - } - - // move to output only valid ones - vector finalCandidates; - finalCandidates.reserve(MarkerCanditates.size()); - for (size_t i = 0; i < MarkerCanditates.size(); i++) - if (!toRemove[i]) - finalCandidates.push_back(MarkerCanditates[i]); - return finalCandidates; - } - else - return MarkerCanditates; -} - - -void MarkerDetector_Impl::addToImageHist(cv::Mat &im, std::vector &hist) -{ - for (int y = 0; y < im.rows; y++) - { - uchar *ptr = im.ptr(y); - for (int x = 0; x < im.cols; x++) - hist[ptr[x]]++; - } -} - -int MarkerDetector_Impl::Otsu(std::vector &hist) -{ - float sum = 0, invsum; - for (auto c : hist) - sum += c; - invsum = 1. / sum; - for (auto &c : hist) - c *= invsum; - - float maxVar = 0; - int bestT = -1; - for (int t = 1; t < 256; t++) - { - float w0 = 0, w1 = 0, mean0 = 0, mean1 = 0; - for (int v = 0; v < t; v++) - { - w0 += hist[v]; - mean0 += float(v) * hist[v]; - } - for (int v = t; v < 256; v++) - { - w1 += hist[v]; - mean1 += hist[v] * float(v); - } - if (w0 > 1e-4 && w1 > 1e-4) - { - mean0 /= w0; - mean1 /= w1; - float var = w0 * w1 * (mean0 - mean1) * (mean0 - mean1); - // cout< maxVar) - { - maxVar = var; - bestT = t; - } - } - } - return bestT; -} -/************************************ - * Main detection function. Performs all steps - ************************************/ -void MarkerDetector_Impl::detect(const cv::Mat &input, std::vector &detectedMarkers, - cv::Mat camMatrix, cv::Mat distCoeff, cv::Mat extrinsics, - float markerSizeMeters, bool setYPerpendicular, - bool correctFisheye) -{ - // clear input data - detectedMarkers.clear(); - _vcandidates.clear(); - _candidates_wcontour.clear(); - __ARUCO_ADDTIMER__; - - - // it must be a 3 channel image - if (input.type() == CV_8UC3) - cv::cvtColor(input, grey, CV_BGR2GRAY); - // convertToGray(input, grey); - else - grey = input; - __ARUCO_TIMER_EVENT__("ConvertGrey"); - - ////////////////////////////////////////////////////////////////////// - /// CREATE LOW RESOLUTION IMAGE IN WHICH MARKERS WILL BE DETECTED - ////////////////////////////////////////////////////////////////////// - float ResizeFactor = 1; - // use the minimum and markerWarpSize to determine the optimal image size on which to do rectangle detection - cv::Mat imgToBeThresHolded; - cv::Size maxImageSize = grey.size(); - auto minpixsize = - getMinMarkerSizePix(input.size()); // min pixel size of the marker in the original image - if (_params.lowResMarkerSize < minpixsize) - { - ResizeFactor = float(_params.lowResMarkerSize) / float(minpixsize); - if (ResizeFactor < 0.9) - { // do not waste time if smaller than this - _debug_msg("Scale factor=" << ResizeFactor, 1); - maxImageSize.width = float(grey.cols) * ResizeFactor + 0.5; - maxImageSize.height = float(grey.rows) * ResizeFactor + 0.5; - if (maxImageSize.width % 2 != 0) - maxImageSize.width++; - if (maxImageSize.height % 2 != 0) - maxImageSize.height++; - cv::resize(grey, imgToBeThresHolded, maxImageSize, 0, 0, cv::INTER_NEAREST); - // cv::resize(grey,imgToBeThresHolded,maxImageSize,0,0,cv::INTER_LINEAR); - } - } - - if (imgToBeThresHolded.empty()) // if not set in previous step, add original now - imgToBeThresHolded = grey; - - __ARUCO_TIMER_EVENT__("CreateImageToTheshold"); - bool needPyramid = - true; // ResizeFactor< 1/_params.pyrfactor;//only use pyramid if working on a big image. - std::thread buildPyramidThread; - if (needPyramid) - { - if (_params.maxThreads > 1) - buildPyramidThread = - std::thread([&] { buildPyramid(imagePyramid, grey, 2 * getMarkerWarpSize()); }); - else - buildPyramid(imagePyramid, grey, 2 * getMarkerWarpSize()); - __ARUCO_TIMER_EVENT__("BuildPyramid"); - } - else - { - imagePyramid.resize(1); - imagePyramid[0] = grey; - } - - - int nAttemptsAutoFix = 0; - bool keepLookingFor = false; - std::vector hist(256, 0); - do - { - /////////////////////////////////////////////////////////////////////////// - /// THRESHOLD IMAGES AND DETECT INITIAL RECTANGLES - /////////////////////////////////////////////////////////////////////////// - vector MarkerCanditates; - MarkerCanditates = thresholdAndDetectRectangles(imgToBeThresHolded); - thres = _thres_Images[0]; - - // _debug_exec(10, - // {//only executes when compiled in DEBUG mode if debug level is at least 10 - // //show the thresholded images - // for (size_t i = 0; i < _thres_Images.size(); i++) { - // stringstream sstr; sstr << "thres-" << i; - // cv::namedWindow(sstr.str(),cv::WINDOW_NORMAL); - // cv::imshow(sstr.str(),_thres_Images[i]); - // }}); - - - __ARUCO_TIMER_EVENT__("Threshold and Detect rectangles"); - // prefilter candidates - // _debug_exec(10,//only executes when compiled in DEBUG mode if debug level is at least 10 - // //show the thresholded images - // cv::Mat imrect; - // cv::cvtColor(imgToBeThresHolded,imrect,CV_GRAY2BGR); - // for(auto m: MarkerCanditates ) - // m.draw(imrect,cv::Scalar(0,245,0)); - // cv::imshow("rect-nofiltered",imrect); - // ); - - MarkerCanditates = prefilterCandidates(MarkerCanditates, imgToBeThresHolded.size()); - - __ARUCO_TIMER_EVENT__("prefilterCandidates"); - - // _debug_exec(10,//only executes when compiled in DEBUG mode if debug level is at least 10 - // //show the thresholded images - // cv::Mat imrect; - // cv::cvtColor(imgToBeThresHolded,imrect,CV_GRAY2BGR); - // for(auto m: MarkerCanditates) - // m.draw(imrect,cv::Scalar(0,245,0)); - // cv::imshow("rect-filtered",imrect); - // ); - // before going on, make sure the piramid is built - if (buildPyramidThread.joinable()) - buildPyramidThread.join(); - - - /////////////////////////////////////////////////////////////////////////// - /// CANDIDATE CLASSIFICATION: Decide which candidates are really markers - /////////////////////////////////////////////////////////////////////////// - - // Debug::setLevel(10); - auto markerWarpSize = getMarkerWarpSize(); - - detectedMarkers.clear(); - _candidates_wcontour.clear(); - for (auto &b : hist) - b = 0; - float desiredarea = std::pow(static_cast(markerWarpSize), 2.f); - for (size_t i = 0; i < MarkerCanditates.size(); i++) - { - // Find proyective homography - cv::Mat canonicalMarker, canonicalMarkerAux; - - cv::Mat inToWarp = imgToBeThresHolded; - MarkerCandidate points2d_pyr = MarkerCanditates[i]; - if (needPyramid) - { - // warping is one of the most time consuming operations, especially when the - // region is large. To reduce computing time, let us find in the image pyramid, - // the best configuration to save time indicates how much bigger observation is - // wrt to desired patch - size_t imgPyrIdx = 0; - for (size_t p = 1; p < imagePyramid.size(); p++) - { - if (MarkerCanditates[i].getArea() / pow(4, p) >= desiredarea) - imgPyrIdx = p; - else - break; - } - inToWarp = imagePyramid[imgPyrIdx]; - // move points to the image level p - float ratio = float(inToWarp.cols) / float(imgToBeThresHolded.cols); - for (auto &p : points2d_pyr) - p *= ratio; // 1. / pow(2, imgPyrIdx); - } - warp(inToWarp, canonicalMarker, Size(markerWarpSize, markerWarpSize), points2d_pyr); - int id, nRotations; - double min, Max; - cv::minMaxIdx(canonicalMarker, &min, &Max); - canonicalMarker.copyTo(canonicalMarkerAux); - string additionalInfo; - // _debug_exec(10,//only executes when compiled in DEBUG mode if debug - // level is at least 10 - // //show the thresholded images - // stringstream sstr;sstr<<"test-"<detect(canonicalMarkerAux, id, nRotations, additionalInfo)) - { - detectedMarkers.push_back(MarkerCanditates[i]); - detectedMarkers.back().id = id; - detectedMarkers.back().dict_info = additionalInfo; - detectedMarkers.back().contourPoints = MarkerCanditates[i].contourPoints; - // sort the points so that they are always in the same order no matter the camera orientation - std::rotate(detectedMarkers.back().begin(), detectedMarkers.back().begin() + 4 - nRotations, - detectedMarkers.back().end()); - // _debug_exec(10,//only executes when compiled in DEBUG mode if - // debug level is at least 10 - // //show the thresholded images - // stringstream - // sstr;sstr<<"can-"< 0) - _params.ThresHold = float(newThres); - } - -#ifdef debug_lines - cv::imshow("image-lines", image); - cv::waitKey(10); -#endif - // now, move the points to the original image (upsample corners) - if (input.cols != imgToBeThresHolded.cols) - { - cornerUpsample(detectedMarkers, imgToBeThresHolded.size()); - __ARUCO_TIMER_EVENT__("Corner Upsample"); - } - - - - ////////////////////////////////////////////////////////////////////// - /// MARKER Tracking - ////////////////////////////////////////////////////////////////////// - - - if (_params.trackingMinDetections > 0) - { - // update the marker_ndetections - // decrement unseen ones - for (auto &md : marker_ndetections) - { - if (std::find(detectedMarkers.begin(), detectedMarkers.end(), Marker(md.first)) == - detectedMarkers.end()) - md.second = std::max(md.second - 1, 0); - } - - // Identify the markers in the prev frame not yet tracked - std::vector needsTrack; - for (auto m : _prevMarkers) - { - if (std::find(detectedMarkers.begin(), detectedMarkers.end(), Marker(m.id)) == - detectedMarkers.end()) - { - if (marker_ndetections.count(m.id) != 0) - { - if (marker_ndetections.at(m.id) >= _params.trackingMinDetections) - needsTrack.push_back(m); - } - } - } - - // look for them in the candidates - if (needsTrack.size() > 0) - { - struct trackInfo - { - trackInfo(const Marker &m) - { - ma.setParams(m); - } - marker_analyzer ma; - int candidate = -1; - double dist = std::numeric_limits::max(); - }; - std::map marker_trackMatches; - for (auto &mnt : needsTrack) - marker_trackMatches.insert({ mnt.id, trackInfo(mnt) }); - - for (size_t cand = 0; cand < _candidates_wcontour.size(); cand++) - { - auto &mcnd = _candidates_wcontour[cand]; - marker_analyzer can_ma; - can_ma.setParams(mcnd); - for (auto &mtm : marker_trackMatches) - { - if (mtm.second.ma.isInto(can_ma.getCenter())) - { - auto dist = cv::norm(mtm.second.ma.getCenter() - can_ma.getCenter()); - auto sizedif = - fabs(mtm.second.ma.getArea() - can_ma.getArea()) / mtm.second.ma.getArea(); - if (sizedif < 0.3f && dist < mtm.second.dist) - { - mtm.second.candidate = static_cast(cand); - mtm.second.dist = dist; - } - } - } - } - - for (auto &mtm : marker_trackMatches) - { - if (mtm.second.candidate == -1) - continue; - auto it = find(_prevMarkers.begin(), _prevMarkers.end(), Marker(mtm.first)); - assert(it != _prevMarkers.end()); - detectedMarkers.push_back(_candidates_wcontour[mtm.second.candidate]); - detectedMarkers.back().id = mtm.first; - detectedMarkers.back().dict_info = it->dict_info; - detectedMarkers.back().contourPoints = - _candidates_wcontour[mtm.second.candidate].contourPoints; - // find best rotatation - - auto rotError = [](const vector &c1, const vector &c2) - { - cv::Point2f direction1 = c1[1] - c1[0]; - direction1 *= 1. / cv::norm(direction1); - cv::Point2f direction2 = c2[1] - c2[0]; - direction2 *= 1. / cv::norm(direction2); - return direction1.dot(direction2); - }; - auto prev = find(_prevMarkers.begin(), _prevMarkers.end(), Marker(mtm.first)); - pair rot_error(-1, -1); - for (int r = 0; r < 4; r++) - { - vector aux = detectedMarkers.back(); - std::rotate(aux.begin(), aux.begin() + r, aux.end()); - auto err = rotError(*prev, aux); - if (err > rot_error.second) - { - rot_error = { r, err }; - } - } - std::rotate(detectedMarkers.back().begin(), - detectedMarkers.back().begin() + rot_error.first, - detectedMarkers.back().end()); - // mark for removal - _candidates_wcontour[mtm.second.candidate].clear(); - } - // remove the used candidates - _candidates_wcontour.erase( - std::remove_if(_candidates_wcontour.begin(), _candidates_wcontour.end(), - [](const vector &m) { return m.size() == 0; }), - _candidates_wcontour.end()); - } - // update for next - for (auto m : detectedMarkers) - { - if (marker_ndetections.count(m.id) == 0) - marker_ndetections[m.id] = 1; - else - marker_ndetections[m.id]++; - } - } - - - ////////////////////////////////////////////////////////////////////// - /// REMOVAL OF DUPLICATED - ////////////////////////////////////////////////////////////////////// - - if (1) - { - // sort by id - std::sort(detectedMarkers.begin(), detectedMarkers.end()); - - // there might be still the case that a marker is detected twice because of the double - // border indicated earlier, detect and remove these cases - vector toRemove(detectedMarkers.size(), false); - - for (int i = 0; i < int(detectedMarkers.size()) - 1; i++) - { - for (int j = i + 1; j < int(detectedMarkers.size()) && !toRemove[i]; j++) - { - if (detectedMarkers[i].id == detectedMarkers[j].id && - detectedMarkers[i].dict_info == detectedMarkers[j].dict_info) - { - // deletes the one with smaller perimeter - if (perimeter(detectedMarkers[i]) < perimeter(detectedMarkers[j])) - toRemove[i] = true; - else - toRemove[j] = true; - } - } - } - - removeElements(detectedMarkers, toRemove); - } - - - ////////////////////////////////////////////////////////////////////// - /// CORNER REFINEMENT IF REQUIRED - ////////////////////////////////////////////////////////////////////// - /// refine the corner location if enclosed markers and we did not do it via upsampling - if (detectedMarkers.size() > 0 && input.size() == imgToBeThresHolded.size()) - { - if (_params.cornerRefinementM == CORNER_SUBPIX) - { - int halfwsize = 4 * float(input.cols) / float(imgToBeThresHolded.cols) + 0.5; - - vector Corners; - for (unsigned int i = 0; i < detectedMarkers.size(); i++) - for (int c = 0; c < 4; c++) - Corners.push_back(detectedMarkers[i][c]); - cornerSubPix(grey, Corners, cv::Size(halfwsize, halfwsize), cv::Size(-1, -1), - cv::TermCriteria(cv::TermCriteria::MAX_ITER | cv::TermCriteria::EPS, 12, 0.005)); - // copy back - for (unsigned int i = 0; i < detectedMarkers.size(); i++) - for (int c = 0; c < 4; c++) - detectedMarkers[i][c] = Corners[i * 4 + c]; - } - else if (_params.cornerRefinementM == CORNER_LINES) - { - // use the lines method for estimation of the corners - for (unsigned int i = 0; i < detectedMarkers.size(); i++) - refineCornerWithContourLines(detectedMarkers[i]); - } - } - __ARUCO_TIMER_EVENT__("Corner Refinement"); - /// - - - - ////////////////////////////////////////////////////////////////////// - /// MARKER POSE ESTIMATION - ////////////////////////////////////////////////////////////////////// - - /// detect the position of detected markers if desired - if (camMatrix.rows != 0 && markerSizeMeters > 0) - { - for (unsigned int i = 0; i < detectedMarkers.size(); i++) - detectedMarkers[i].calculateExtrinsics(markerSizeMeters, camMatrix, distCoeff, - extrinsics, setYPerpendicular, correctFisheye); - __ARUCO_TIMER_EVENT__("Pose Estimation"); - } - - // compute _markerMinSize - float mlength = std::numeric_limits::max(); - for (const auto &marker : detectedMarkers) - { - float l = 0; - for (int c = 0; c < 4; c++) - l += cv::norm(marker[c] - marker[(c + 1) % 4]); - if (mlength > l) - mlength = l; - } - float markerMinSize; - if (mlength != std::numeric_limits::max()) - markerMinSize = mlength / (4 * std::max(input.cols, input.rows)); - else - markerMinSize = 0; - if (_params.autoSize) - { - _params.minSize = markerMinSize * (1 - _params.ts); - } - - - /// save for tracking - _prevMarkers = detectedMarkers; -} -void MarkerDetector_Impl::refineCornerWithContourLines(aruco::Marker &marker, - cv::Mat camMatrix, cv::Mat distCoeff) -{ - // search corners on the contour vector - - std::vector &contour = marker.contourPoints; - vector cornerIndex(4, -1); - vector dist(4, std::numeric_limits::max()); - for (unsigned int j = 0; j < contour.size(); j++) - { - for (unsigned int k = 0; k < 4; k++) - { - float d = (contour[j].x - marker[k].x) * (contour[j].x - marker[k].x) + - (contour[j].y - marker[k].y) * (contour[j].y - marker[k].y); - if (d < dist[k]) - { - cornerIndex[k] = j; - dist[k] = d; - } - } - } - - // if any cornerIndex - - - // contour pixel in inverse order or not? - bool inverse; - if ((cornerIndex[1] > cornerIndex[0]) && - (cornerIndex[2] > cornerIndex[1] || cornerIndex[2] < cornerIndex[0])) - inverse = false; - else if (cornerIndex[2] > cornerIndex[1] && cornerIndex[2] < cornerIndex[0]) - inverse = false; - else - inverse = true; - - - // get pixel vector for each line of the marker - int inc = 1; - if (inverse) - inc = -1; - - // undistort contour - vector contour2f; - if (!camMatrix.empty() && !distCoeff.empty()) - { - for (unsigned int i = 0; i < contour.size(); i++) - contour2f.push_back(cv::Point2f(contour[i].x, contour[i].y)); - if (!camMatrix.empty() && !distCoeff.empty()) - cv::undistortPoints(contour2f, contour2f, camMatrix, distCoeff, cv::Mat(), camMatrix); - } - else - { - contour2f.reserve(contour.size()); - for (auto p : contour) - contour2f.push_back(cv::Point2f(p.x, p.y)); - } - - vector> contourLines; - contourLines.resize(4); - for (unsigned int l = 0; l < 4; l++) - { - for (int j = (int)cornerIndex[l]; j != (int)cornerIndex[(l + 1) % 4]; j += inc) - { - if (j == (int)contour.size() && !inverse) - j = 0; - else if (j == 0 && inverse) - j = contour.size() - 1; - contourLines[l].push_back(contour2f[j]); - if (j == (int)cornerIndex[(l + 1) % 4]) - break; // this has to be added because of the previous ifs - } - } - - // interpolate marker lines - vector lines; - lines.resize(4); - for (unsigned int j = 0; j < lines.size(); j++) - interpolate2Dline(contourLines[j], lines[j]); - - // get cross points of lines - vector crossPoints; - crossPoints.resize(4); - for (unsigned int i = 0; i < 4; i++) - crossPoints[i] = getCrossPoint(lines[(i - 1) % 4], lines[i]); - - // distort corners again if undistortion was performed - if (!camMatrix.empty() && !distCoeff.empty()) - distortPoints(crossPoints, crossPoints, camMatrix, distCoeff); - - // reassing points - for (unsigned int j = 0; j < 4; j++) - { - // cout< cand[endp].x) - { - swap(startp, endp); - } - const float _180 = 3.14159f; - - const float _22 = 3.14159 / 8.f; - const float _3_22 = 3. * 3.14159f / 8.f; - const float _5_22 = 5.f * 3.14159f / 8.f; - const float _7_22 = 7.f * 3.14159f / 8.f; - - int incx = 0, incy = 0; - // compute the angle - auto v1 = cand[endp] - cand[startp]; - float angle = atan2(v1.y, v1.x); - if (_22 < angle && angle < 3 * _22) - { // a - incx = incy = fact; - } - else if (-_22 < angle && angle < _22) - { // b - incx = fact; - incy = 0; - } - else if (-_3_22 < angle && angle < -_22) - { // c - incx = fact; - incy = -fact; - } - else if (-_5_22 < angle && angle < -_3_22) - { // D - incx = 0; - incy = -fact; - } - else if (-_7_22 < angle && angle < -_5_22) - { // E - incx = -fact; - incy = -fact; - } - else if ((-_180 < angle && angle < -_7_22) || (_7_22 < angle && angle < _180)) - { // f - incx = -fact; - incy = 0; - } - else if ((_5_22 < angle && angle < _7_22)) - { // g - incx = -fact; - incy = fact; - } - else if ((_3_22 < angle && angle < _5_22)) - { // h - incx = fact; - incy = fact; - } - cand[endp].x += incx; - cand[endp].y += incy; - cand[startp].x -= incx; - cand[startp].y -= incy; - } -} - - - -int MarkerDetector_Impl::getMinMarkerSizePix(cv::Size orginput_imageSize) const -{ - if (_params.minSize == -1 && _params.minSize_pix == -1) - return 0; - // calcualte the min_max contour sizes - int maxDim = std::max(orginput_imageSize.width, orginput_imageSize.height); - int minSize = 0; - if (_params.minSize != -1) - minSize = static_cast(_params.minSize) * static_cast(maxDim); - if (_params.minSize_pix != -1) - minSize = std::min(_params.minSize_pix, minSize); - return minSize; -} -/************************************ - * - * - * - * - ************************************/ -bool MarkerDetector_Impl::warp(Mat &in, Mat &out, Size size, vector points) -{ - if (points.size() != 4) - throw cv::Exception(9001, "point.size()!=4", "MarkerDetector_Impl::warp", __FILE__, __LINE__); - // obtain the perspective transform - Point2f pointsRes[4], pointsIn[4]; - for (int i = 0; i < 4; i++) - pointsIn[i] = points[i]; - pointsRes[0] = (Point2f(0, 0)); - pointsRes[1] = Point2f(static_cast(size.width - 1), 0.f); - pointsRes[2] = - Point2f(static_cast(size.width - 1), static_cast(size.height - 1)); - pointsRes[3] = Point2f(0.f, static_cast(size.height - 1)); - Mat M = getPerspectiveTransform(pointsIn, pointsRes); - cv::warpPerspective(in, out, M, size, cv::INTER_LINEAR); - // cv::warpPerspective(in, out, M, size, cv::INTER_NEAREST); - return true; -} - - -/************************************ - * - * - * - * - ************************************/ -int MarkerDetector_Impl::perimeter(const vector &a) -{ - int sum = 0; - for (unsigned int i = 0; i < a.size(); i++) - { - int i2 = (i + 1) % a.size(); - sum += static_cast(sqrt((a[i].x - a[i2].x) * (a[i].x - a[i2].x) + - (a[i].y - a[i2].y) * (a[i].y - a[i2].y))); - } - return sum; -} - - -/** - */ -void MarkerDetector_Impl::interpolate2Dline(const std::vector &inPoints, - cv::Point3f &outLine) -{ - float minX, maxX, minY, maxY; - minX = maxX = inPoints[0].x; - minY = maxY = inPoints[0].y; - for (unsigned int i = 1; i < inPoints.size(); i++) - { - if (inPoints[i].x < minX) - minX = inPoints[i].x; - if (inPoints[i].x > maxX) - maxX = inPoints[i].x; - if (inPoints[i].y < minY) - minY = inPoints[i].y; - if (inPoints[i].y > maxY) - maxY = inPoints[i].y; - } - - // create matrices of equation system - const int pointsCount = static_cast(inPoints.size()); - Mat A(pointsCount, 2, CV_32FC1, Scalar(0)); - Mat B(pointsCount, 1, CV_32FC1, Scalar(0)); - Mat X; - - if (maxX - minX > maxY - minY) - { - // Ax + C = y - for (int i = 0; i < pointsCount; i++) - { - A.at(i, 0) = inPoints[i].x; - A.at(i, 1) = 1.; - B.at(i, 0) = inPoints[i].y; - } - - // solve system - solve(A, B, X, DECOMP_SVD); - // return Ax + By + C - outLine = Point3f(X.at(0, 0), -1., X.at(1, 0)); - } - else - { - // By + C = x - for (int i = 0; i < pointsCount; i++) - { - A.at(i, 0) = inPoints[i].y; - A.at(i, 1) = 1.; - B.at(i, 0) = inPoints[i].x; - } - - // solve system - solve(A, B, X, DECOMP_SVD); - // return Ax + By + C - outLine = Point3f(-1., X.at(0, 0), X.at(1, 0)); - } -} - -/** - */ -Point2f MarkerDetector_Impl::getCrossPoint(const cv::Point3f &line1, const cv::Point3f &line2) -{ - // create matrices of equation system - Mat A(2, 2, CV_32FC1, Scalar(0)); - Mat B(2, 1, CV_32FC1, Scalar(0)); - Mat X; - - A.at(0, 0) = line1.x; - A.at(0, 1) = line1.y; - B.at(0, 0) = -line1.z; - - A.at(1, 0) = line2.x; - A.at(1, 1) = line2.y; - B.at(1, 0) = -line2.z; - - // solve system - solve(A, B, X, DECOMP_SVD); - return Point2f(X.at(0, 0), X.at(1, 0)); -} - -// template -// void MarkerDetector_Impl::cornerUpsample(vector& MarkerCanditates, cv::Size -// lowResImageSize ){ -// cornerUpsample_SUBP(MarkerCanditates,lowResImageSize); -// } - -// template -// void MarkerDetector_Impl::cornerUpsample_SUBP(vector& MarkerCanditates, cv::Size -// lowResImageSize ){ -// if (MarkerCanditates.size()==0)return; -// //first, determine the image in the pyramid nearest to this one -// int startPyrImg=0; - -// for(size_t i=0;i=0;curpyr--){ -// float factor= float(imagePyramid[curpyr].cols)/float(prevLowResSize.width) ; -// //upsample corner locations -// for(auto &m:MarkerCanditates) -// for(auto &point:m) {point*=factor;} -// int halfwsize= 0.5+2.5*factor; -// vector p2d;//p2d.reserve(MarkerCanditates.size()*4); -// for(auto &m:MarkerCanditates) -// for(auto &point:m) { p2d.push_back(point);} -// cv::cornerSubPix( -// imagePyramid[curpyr],p2d,cv::Size(halfwsize,halfwsize),cv::Size(-1,-1),cv::TermCriteria(cv::TermCriteria::MAX_ITER -// , 4,0.5)); -// int cidx=0; -// for(auto &m:MarkerCanditates) -// for(auto &point:m) {point =p2d[cidx++];} - -// prevLowResSize=imagePyramid[curpyr].size(); -// } -//} - - -/************************************ - * - * - * - * - ************************************/ -void MarkerDetector_Impl::drawAllContours(Mat input, std::vector> &contours) -{ - drawContours(input, contours, -1, Scalar(255, 0, 255)); -} - -/************************************ - * - * - * - * - ************************************/ -void MarkerDetector_Impl::drawContour(Mat &in, vector &contour, Scalar color) -{ - for (unsigned int i = 0; i < contour.size(); i++) - { - cv::rectangle(in, contour[i], contour[i], color); - } -} - -void MarkerDetector_Impl::drawApproxCurve(Mat &in, vector &contour, Scalar color, int thickness) -{ - for (unsigned int i = 0; i < contour.size(); i++) - { - cv::line(in, contour[i], contour[(i + 1) % contour.size()], color, thickness); - } -} -/************************************ - * - * - * - * - ************************************/ - -void MarkerDetector_Impl::draw(Mat out, const vector &markers) -{ - for (unsigned int i = 0; i < markers.size(); i++) - { - cv::line(out, markers[i][0], markers[i][1], cv::Scalar(255, 0, 0), 2); - cv::line(out, markers[i][1], markers[i][2], cv::Scalar(255, 0, 0), 2); - cv::line(out, markers[i][2], markers[i][3], cv::Scalar(255, 0, 0), 2); - cv::line(out, markers[i][3], markers[i][0], cv::Scalar(255, 0, 0), 2); - } -} - - -void MarkerDetector_Impl::setMarkerLabeler(cv::Ptr detector) -{ - markerIdDetector = detector; -} - -void MarkerDetector_Impl::setDictionary(int dict_type, float error_correction_rate) -{ - markerIdDetector = - MarkerLabeler::create((Dictionary::DICT_TYPES)dict_type, error_correction_rate); - _params.error_correction_rate = error_correction_rate; - _params.dictionary = aruco::Dictionary::getTypeString((Dictionary::DICT_TYPES)dict_type); -} - - - -void MarkerDetector_Impl::setDictionary(string dict_type, float error_correction_rate) -{ - auto _to_string = [](float i) - { - std::stringstream str; - str << i; - return str.str(); - }; - _params.dictionary = dict_type; - markerIdDetector = MarkerLabeler::create(dict_type, _to_string(error_correction_rate)); - _params.error_correction_rate = error_correction_rate; -} - - -cv::Mat MarkerDetector_Impl::getThresholdedImage(uint32_t idx) -{ - if (_thres_Images.size() == 0) - return cv::Mat(); - if (idx >= _thres_Images.size()) - idx = _thres_Images.size() - 1; // last one is the original image - return _thres_Images[idx]; -} - - - -/** - */ -void MarkerDetector_Impl::distortPoints(vector in, vector &out, - const Mat &camMatrix, const Mat &distCoeff) -{ - // trivial extrinsics - cv::Mat Rvec = cv::Mat(3, 1, CV_32FC1, cv::Scalar::all(0)); - cv::Mat Tvec = Rvec.clone(); - // calculate 3d points and then reproject, so opencv makes the distortion internally - vector cornersPoints3d; - for (unsigned int i = 0; i < in.size(); i++) - cornersPoints3d.push_back( - cv::Point3f((in[i].x - camMatrix.at(0, 2)) / camMatrix.at(0, 0), // x - (in[i].y - camMatrix.at(1, 2)) / camMatrix.at(1, 1), // y - 1)); // z - cv::projectPoints(cornersPoints3d, Rvec, Tvec, camMatrix, distCoeff, out); -} - - -/**Saves the configuration of the detector to a file - */ -void MarkerDetector_Impl::saveParamsToFile(const std::string &path) const -{ - cv::FileStorage fs(path, cv::FileStorage::WRITE); - if (!fs.isOpened()) - throw std::runtime_error("Could not open " + path); - _params.save(fs); -} - -/**Loads the configuration from a file - */ -void MarkerDetector_Impl::loadParamsFromFile(const std::string &path) -{ - cv::FileStorage fs(path, cv::FileStorage::READ); - if (!fs.isOpened()) - throw std::runtime_error("Could not open " + path); - _params.load(fs); - setDictionary(_params.dictionary, _params.error_correction_rate); -} - -void MarkerDetector_Impl::toStream(std::ostream &str) const -{ - uint64_t sig = 13213; - str.write((char *)&sig, sizeof(sig)); - _params.toStream(str); -} - -void MarkerDetector_Impl::fromStream(std::istream &str) -{ - uint64_t sig = 13213; - str.read((char *)&sig, sizeof(sig)); - if (sig != 13213) - throw std::runtime_error("MarkerDetector_Impl::fromStream invalid signature"); - _params.fromStream(str); - setDictionary(_params.dictionary, _params.error_correction_rate); -} - - - -void MarkerDetector_Impl::filter_ambiguous_query(std::vector &matches) -{ - if (matches.size() == 0) - return; - // determine maximum values of queryIdx - int maxT = -1; - for (auto m : matches) - maxT = std::max(maxT, m.queryIdx); - - // now, create the vector with the elements - vector used(maxT + 1, -1); - vector best_matches(maxT); - int idx = 0; - bool needRemove = false; - - for (auto &match : matches) - { - if (used[match.queryIdx] == -1) - { - used[match.queryIdx] = idx; - } - else - { - if (matches[used[match.queryIdx]].distance > match.distance) - { - matches[used[match.queryIdx]].queryIdx = -1; // annulate the other match - used[match.queryIdx] = idx; - needRemove = true; - } - else - { - match.queryIdx = -1; // annulate this match - needRemove = true; - } - } - idx++; - } - - - if (needRemove) - matches.erase(std::remove_if(matches.begin(), matches.end(), - [](const cv::DMatch &m) - { return m.trainIdx == -1 || m.queryIdx == -1; }), - matches.end()); -} - -void MarkerDetector_Impl::cornerUpsample(std::vector &MarkerCanditates, - cv::Size lowResImageSize) -{ - if (MarkerCanditates.size() == 0) - return; - // first, determine the image in the pyramid nearest to this one - int startPyrImg = 0; - - for (size_t i = 0; i < imagePyramid.size(); i++) - { - if (lowResImageSize.width < imagePyramid[i].cols) - startPyrImg = i; - else - break; - } - //#define _aruco_marker_detector_fast - - cv::Size prevLowResSize = lowResImageSize; - for (int curpyr = startPyrImg; curpyr >= 0; curpyr--) - { - float factor = float(imagePyramid[curpyr].cols) / float(prevLowResSize.width); - // upsample corner locations - for (auto &m : MarkerCanditates) - for (auto &point : m) - { - point *= factor; - } - int halfwsize = 0.5 + 2.5 * factor; - std::vector p2d; // p2d.reserve(MarkerCanditates.size()*4); - for (auto &m : MarkerCanditates) - for (auto &point : m) - { - p2d.push_back(point); - } - cv::cornerSubPix(imagePyramid[curpyr], p2d, cv::Size(halfwsize, halfwsize), - cv::Size(-1, -1), cv::TermCriteria(cv::TermCriteria::MAX_ITER, 4, 0.5)); - int cidx = 0; - for (auto &m : MarkerCanditates) - for (auto &point : m) - { - point = p2d[cidx++]; - } - - prevLowResSize = imagePyramid[curpyr].size(); - } -} - - -void MarkerDetector_Impl::cornerUpsample(std::vector> &MarkerCanditates, - cv::Size lowResImageSize) -{ - std::vector markers; - markers.reserve(MarkerCanditates.size()); - std::copy(MarkerCanditates.begin(), MarkerCanditates.end(), std::back_inserter(markers)); - - cornerUpsample(markers, lowResImageSize); - - for (std::size_t i = 0; i < markers.size(); i++) - { - MarkerCanditates[i] = markers[i]; - } -} -}; // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/markerlabeler.cpp b/legacy/aruco_ros/aruco/src/aruco/markerlabeler.cpp deleted file mode 100755 index e30ae1752..000000000 --- a/legacy/aruco_ros/aruco/src/aruco/markerlabeler.cpp +++ /dev/null @@ -1,43 +0,0 @@ -/** -Copyright 2020 Rafael Muñoz Salinas. All rights reserved. - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation version 3 of the License. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . -*/ -#include "markerlabeler.h" -#include "dictionary_based.h" -namespace aruco -{ -cv::Ptr MarkerLabeler::create(Dictionary::DICT_TYPES dict_type, - float error_correction_rate) -{ - Dictionary dict = Dictionary::loadPredefined(dict_type); - DictionaryBased* db = new DictionaryBased(); - db->setParams(dict, error_correction_rate); - return db; -} -cv::Ptr MarkerLabeler::create(std::string detector, std::string params) -{ - auto _stof = [](std::string str) - { - float f; - sscanf(str.c_str(), "%f", &f); - return f; - }; - (void)params; - Dictionary dict = Dictionary::load(detector); - // try with one from file - DictionaryBased* db = new DictionaryBased(); - db->setParams(dict, _stof(params)); - return db; -} -} // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/markermap.cpp b/legacy/aruco_ros/aruco/src/aruco/markermap.cpp deleted file mode 100755 index 5afc105f6..000000000 --- a/legacy/aruco_ros/aruco/src/aruco/markermap.cpp +++ /dev/null @@ -1,467 +0,0 @@ -/** -Copyright 2020 Rafael Muñoz Salinas. All rights reserved. - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation version 3 of the License. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . -*/ - -#include "markermap.h" -#include "dictionary.h" - -#include -#include - -#include - -using namespace std; -using namespace cv; - -namespace aruco -{ -Marker3DInfo::Marker3DInfo() -{ -} -Marker3DInfo::Marker3DInfo(int _id) : id(_id) -{ -} -/** - * - * - */ -MarkerMap::MarkerMap() -{ - mInfoType = NONE; -} -/** - * - * - */ -MarkerMap::MarkerMap(string filePath) -{ - mInfoType = NONE; - readFromFile(filePath); -} - -/** - * - * - */ -void MarkerMap::saveToFile(string sfile) -{ - cv::FileStorage fs(sfile, cv::FileStorage::WRITE); - saveToFile(fs); -} -/**Saves the board info to a file - */ -void MarkerMap::saveToFile(cv::FileStorage& fs) -{ - fs << "aruco_bc_dict" << dictionary; - fs << "aruco_bc_nmarkers" << (int)size(); - fs << "aruco_bc_mInfoType" << (int)mInfoType; - fs << "aruco_bc_markers" - << "["; - for (size_t i = 0; i < size(); i++) - { - fs << "{:" - << "id" << at(i).id; - - fs << "corners" - << "[:"; - for (size_t c = 0; c < at(i).size(); c++) - fs << at(i)[c]; - fs << "]"; - fs << "}"; - } - fs << "]"; -} - -/** - * - * - */ -void MarkerMap::readFromFile(string sfile) -{ - try - { - cv::FileStorage fs(sfile, cv::FileStorage::READ); - if (!fs.isOpened()) - throw cv::Exception(81818, "MarkerMap::readFromFile", - string(" file not opened ") + sfile, __FILE__, __LINE__); - readFromFile(fs); - } - catch (std::exception& ex) - { - throw cv::Exception(81818, "MarkerMap::readFromFile", - ex.what() + string(" file=)") + sfile, __FILE__, __LINE__); - } -} - -/**Reads board info from a file - */ -void MarkerMap::readFromFile(cv::FileStorage& fs) -{ - int aux = 0; - // look for the nmarkers - if (fs["aruco_bc_nmarkers"].name() != "aruco_bc_nmarkers") - throw cv::Exception(81818, "MarkerMap::readFromFile", "invalid file type", __FILE__, __LINE__); - fs["aruco_bc_nmarkers"] >> aux; - resize(aux); - fs["aruco_bc_mInfoType"] >> mInfoType; - cv::FileNode markers = fs["aruco_bc_markers"]; - int i = 0; - for (FileNodeIterator it = markers.begin(); it != markers.end(); ++it, i++) - { - at(i).id = (*it)["id"]; - FileNode FnCorners = (*it)["corners"]; - for (FileNodeIterator itc = FnCorners.begin(); itc != FnCorners.end(); ++itc) - { - vector coordinates3d; - (*itc) >> coordinates3d; - if (coordinates3d.size() != 3) - throw cv::Exception(81818, "MarkerMap::readFromFile", "invalid file type 3", - __FILE__, __LINE__); - cv::Point3f point(coordinates3d[0], coordinates3d[1], coordinates3d[2]); - at(i).push_back(point); - } - } - - if (fs["aruco_bc_dict"].name() == "aruco_bc_dict") - fs["aruco_bc_dict"] >> dictionary; -} - -/** - */ -int MarkerMap::getIndexOfMarkerId(int id) const -{ - for (size_t i = 0; i < size(); i++) - if (at(i).id == id) - return static_cast(i); - return -1; -} - -/** - */ -const Marker3DInfo& MarkerMap::getMarker3DInfo(int id) const -{ - for (size_t i = 0; i < size(); i++) - if (at(i).id == id) - return at(i); - throw cv::Exception(111, "MarkerMap::getMarker3DInfo", - "Marker with the id given is not found", __FILE__, __LINE__); -} - -void __glGetModelViewMatrix(double modelview_matrix[16], const cv::Mat& Rvec, const cv::Mat& Tvec) -{ - // check if paremeters are valid - bool invalid = false; - for (int i = 0; i < 3 && !invalid; i++) - { - if (Tvec.at(i, 0) != -999999) - invalid |= false; - if (Rvec.at(i, 0) != -999999) - invalid |= false; - } - if (invalid) - throw cv::Exception(9002, "extrinsic parameters are not set", - "Marker::getModelViewMatrix", __FILE__, __LINE__); - Mat Rot(3, 3, CV_32FC1), Jacob; - Rodrigues(Rvec, Rot, Jacob); - - double para[3][4]; - for (int i = 0; i < 3; i++) - for (int j = 0; j < 3; j++) - para[i][j] = Rot.at(i, j); - // now, add the translation - para[0][3] = Tvec.at(0, 0); - para[1][3] = Tvec.at(1, 0); - para[2][3] = Tvec.at(2, 0); - double scale = 1; - - modelview_matrix[0 + 0 * 4] = para[0][0]; - // R1C2 - modelview_matrix[0 + 1 * 4] = para[0][1]; - modelview_matrix[0 + 2 * 4] = para[0][2]; - modelview_matrix[0 + 3 * 4] = para[0][3]; - // R2 - modelview_matrix[1 + 0 * 4] = para[1][0]; - modelview_matrix[1 + 1 * 4] = para[1][1]; - modelview_matrix[1 + 2 * 4] = para[1][2]; - modelview_matrix[1 + 3 * 4] = para[1][3]; - // R3 - modelview_matrix[2 + 0 * 4] = -para[2][0]; - modelview_matrix[2 + 1 * 4] = -para[2][1]; - modelview_matrix[2 + 2 * 4] = -para[2][2]; - modelview_matrix[2 + 3 * 4] = -para[2][3]; - modelview_matrix[3 + 0 * 4] = 0.0; - modelview_matrix[3 + 1 * 4] = 0.0; - modelview_matrix[3 + 2 * 4] = 0.0; - modelview_matrix[3 + 3 * 4] = 1.0; - if (scale != 0.0) - { - modelview_matrix[12] *= scale; - modelview_matrix[13] *= scale; - modelview_matrix[14] *= scale; - } -} - -/**** - * - */ -void __OgreGetPoseParameters(double position[3], double orientation[4], - const cv::Mat& Rvec, const cv::Mat& Tvec) -{ - // check if paremeters are valid - bool invalid = false; - for (int i = 0; i < 3 && !invalid; i++) - { - if (Tvec.at(i, 0) != -999999) - invalid |= false; - if (Rvec.at(i, 0) != -999999) - invalid |= false; - } - if (invalid) - throw cv::Exception(9003, "extrinsic parameters are not set", - "Marker::getModelViewMatrix", __FILE__, __LINE__); - - // calculate position vector - position[0] = -Tvec.ptr(0)[0]; - position[1] = -Tvec.ptr(0)[1]; - position[2] = +Tvec.ptr(0)[2]; - - // now calculare orientation quaternion - cv::Mat Rot(3, 3, CV_32FC1); - cv::Rodrigues(Rvec, Rot); - - // calculate axes for quaternion - double stAxes[3][3]; - // x axis - stAxes[0][0] = -Rot.at(0, 0); - stAxes[0][1] = -Rot.at(1, 0); - stAxes[0][2] = +Rot.at(2, 0); - // y axis - stAxes[1][0] = -Rot.at(0, 1); - stAxes[1][1] = -Rot.at(1, 1); - stAxes[1][2] = +Rot.at(2, 1); - // for z axis, we use cross product - stAxes[2][0] = stAxes[0][1] * stAxes[1][2] - stAxes[0][2] * stAxes[1][1]; - stAxes[2][1] = -stAxes[0][0] * stAxes[1][2] + stAxes[0][2] * stAxes[1][0]; - stAxes[2][2] = stAxes[0][0] * stAxes[1][1] - stAxes[0][1] * stAxes[1][0]; - - // transposed matrix - double axes[3][3]; - axes[0][0] = stAxes[0][0]; - axes[1][0] = stAxes[0][1]; - axes[2][0] = stAxes[0][2]; - - axes[0][1] = stAxes[1][0]; - axes[1][1] = stAxes[1][1]; - axes[2][1] = stAxes[1][2]; - - axes[0][2] = stAxes[2][0]; - axes[1][2] = stAxes[2][1]; - axes[2][2] = stAxes[2][2]; - - // Algorithm in Ken Shoemake's article in 1987 SIGGRAPH course notes - // article "Quaternion Calculus and Fast Animation". - double fTrace = axes[0][0] + axes[1][1] + axes[2][2]; - double fRoot; - - if (fTrace > 0.0) - { - // |w| > 1/2, may as well choose w > 1/2 - fRoot = sqrt(fTrace + 1.0); // 2w - orientation[0] = 0.5 * fRoot; - fRoot = 0.5 / fRoot; // 1/(4w) - orientation[1] = (axes[2][1] - axes[1][2]) * fRoot; - orientation[2] = (axes[0][2] - axes[2][0]) * fRoot; - orientation[3] = (axes[1][0] - axes[0][1]) * fRoot; - } - else - { - // |w| <= 1/2 - static unsigned int s_iNext[3] = { 1, 2, 0 }; - unsigned int i = 0; - if (axes[1][1] > axes[0][0]) - i = 1; - if (axes[2][2] > axes[i][i]) - i = 2; - unsigned int j = s_iNext[i]; - unsigned int k = s_iNext[j]; - - fRoot = sqrt(axes[i][i] - axes[j][j] - axes[k][k] + 1.0); - double* apkQuat[3] = { &orientation[1], &orientation[2], &orientation[3] }; - *apkQuat[i] = 0.5 * fRoot; - fRoot = 0.5 / fRoot; - orientation[0] = (axes[k][j] - axes[j][k]) * fRoot; - *apkQuat[j] = (axes[j][i] + axes[i][j]) * fRoot; - *apkQuat[k] = (axes[k][i] + axes[i][k]) * fRoot; - } -} - -/** - */ -void MarkerMap::getIdList(std::vector& ids, bool append) const -{ - if (!append) - ids.clear(); - for (size_t i = 0; i < size(); i++) - ids.push_back(at(i).id); -} - -MarkerMap MarkerMap::convertToMeters(float markerSize_meters) const -{ - if (!isExpressedInPixels()) - throw cv::Exception(-1, "The board is not expressed in pixels", - "MarkerMap::convertToMeters", __FILE__, __LINE__); - // first, we are assuming all markers are equally sized. So, lets get the size in pixels - int markerSizePix = static_cast(cv::norm(at(0)[0] - at(0)[1])); - MarkerMap BInfo(*this); - BInfo.mInfoType = MarkerMap::METERS; - // now, get the size of a pixel, and change scale - float pixSize = markerSize_meters / float(markerSizePix); - // cout << markerSize_meters << " " << float(markerSizePix) << " " << pixSize << - // endl; - for (size_t i = 0; i < BInfo.size(); i++) - for (int c = 0; c < 4; c++) - { - BInfo[i][c] *= pixSize; - } - return BInfo; -} -cv::Mat MarkerMap::getImage(float METER2PIX) const -{ - if (mInfoType == NONE) - throw cv::Exception(-1, "The board is not valid mInfoType==NONE ", - "MarkerMap::getImage", __FILE__, __LINE__); - if (METER2PIX <= 0 && mInfoType != PIX) - throw cv::Exception(-1, "The board is not expressed in pixels and not METER2PIX indicated", - "MarkerMap::getImage", __FILE__, __LINE__); - - auto Dict = Dictionary::loadPredefined(dictionary); - - // get image limits - cv::Point pmin(std::numeric_limits::max(), std::numeric_limits::max()), - pmax(std::numeric_limits::lowest(), std::numeric_limits::lowest()); - for (auto b : *this) - { - for (auto p : b.points) - { - pmin.x = min(int(p.x), pmin.x); - pmin.y = min(int(p.y), pmin.y); - pmax.x = max(int(p.x + 0.5), pmax.x); - pmax.y = max(int(p.y + 0.5), pmax.y); - assert(p.z == 0); - } - } - - cv::Point psize = pmax - pmin; - cv::Mat image(cv::Size(psize.x, psize.y), CV_8UC1); - image.setTo(cv::Scalar::all(255)); - - vector p3d = *this; - // the points must be moved from a real reference system to image reference sysmte (y - // positive is inverse) - for (auto& m : p3d) - for (auto& p : m.points) - { - p -= cv::Point3f(static_cast(pmin.x), static_cast(pmax.y), 0.f); - // now, use inverse y - p.y = -p.y; - } - for (auto m : p3d) - { - // get size and find size of this - const float size = static_cast(cv::norm(m[0] - m[1])); - auto im1 = Dict.getMarkerImage_id(m.id, int(size / 8)); - cv::Mat im2; - // now resize to fit - cv::resize(im1, im2, cv::Size(static_cast(size), static_cast(size))); - // copy in correct position - auto ry = cv::Range(int(m[0].y), int(m[2].y)); - auto rx = cv::Range(int(m[0].x), int(m[2].x)); - cv::Mat sub = image(ry, rx); - im2.copyTo(sub); - } - return image; -} - -std::vector MarkerMap::getIndices(const vector& markers) const -{ - std::vector indices; - for (size_t i = 0; i < markers.size(); i++) - { - bool found = false; - for (size_t j = 0; j < size() && !found; j++) - { - if (markers[i].id == at(j).id) - { - found = true; - indices.push_back(static_cast(i)); - } - } - } - return indices; -} -void MarkerMap::toStream(std::ostream& str) -{ - str << mInfoType << " " << size() << " "; - for (size_t i = 0; i < size(); i++) - { - at(i).toStream(str); - } - // write dic string info - str << dictionary; -} -void MarkerMap::fromStream(std::istream& str) -{ - int s; - str >> mInfoType >> s; - resize(s); - for (size_t i = 0; i < size(); i++) - at(i).fromStream(str); - str >> dictionary; -} -pair MarkerMap::calculateExtrinsics(const std::vector& markers, - float markerSize, cv::Mat CameraMatrix, - cv::Mat Distorsion) -{ - vector p2d; - MarkerMap m_meters; - if (isExpressedInPixels()) - m_meters = convertToMeters(markerSize); - else - m_meters = *this; - vector p3d; - for (auto marker : markers) - { - auto it = find(m_meters.begin(), m_meters.end(), marker.id); - if (it != m_meters.end()) - { // is the marker part of the map? - for (auto p : marker) - p2d.push_back(p); - for (auto p : it->points) - p3d.push_back(p); - } - } - - cv::Mat rvec, tvec; - if (p2d.size() != 0) - { // no points in the vector - cv::solvePnPRansac(p3d, p2d, CameraMatrix, Distorsion, rvec, tvec); - } - if (rvec.type() == CV_64F) - rvec.convertTo(rvec, CV_64F); - if (tvec.type() == CV_64F) - tvec.convertTo(tvec, CV_64F); - return make_pair(rvec, tvec); -} -}; // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/posetracker.cpp b/legacy/aruco_ros/aruco/src/aruco/posetracker.cpp deleted file mode 100755 index 4cb14f45b..000000000 --- a/legacy/aruco_ros/aruco/src/aruco/posetracker.cpp +++ /dev/null @@ -1,595 +0,0 @@ -/** - Copyright 2017 Rafael Muñoz Salinas. All rights reserved. - - Redistribution and use in source and binary forms, with or without modification, are - permitted provided that the following conditions are met: - - 1. Redistributions of source code must retain the above copyright notice, this list of - conditions and the following disclaimer. - - 2. Redistributions in binary form must reproduce the above copyright notice, this list - of conditions and the following disclaimer in the documentation and/or other materials - provided with the distribution. - - THIS SOFTWARE IS PROVIDED BY Rafael Muñoz Salinas ''AS IS'' AND ANY EXPRESS OR IMPLIED - WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND - FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Rafael Muñoz Salinas - OR - CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON - ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING - NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF - ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - - The views and conclusions contained in the software and documentation are those of the - authors and should not be interpreted as representing official policies, either expressed - or implied, of Rafael Muñoz Salinas. - */ - -#include "posetracker.h" -#include "ippe.h" -#include -#include "levmarq.h" -#include - -namespace aruco -{ -namespace aruco_private -{ -cv::Mat impl__aruco_getRTMatrix(const cv::Mat& _rvec, const cv::Mat& _tvec) -{ - assert(_rvec.type() == CV_32F && _rvec.total() == 3); - assert(_tvec.type() == CV_32F && _tvec.total() == 3); - - cv::Mat Matrix(4, 4, CV_32F); - float* rt_44 = Matrix.ptr(0); - - // makes a fast conversion to the 4x4 array passed - float rx = _rvec.ptr(0)[0]; - float ry = _rvec.ptr(0)[1]; - float rz = _rvec.ptr(0)[2]; - float tx = _tvec.ptr(0)[0]; - float ty = _tvec.ptr(0)[1]; - float tz = _tvec.ptr(0)[2]; - float nsqa = rx * rx + ry * ry + rz * rz; - float a = std::sqrt(nsqa); - float i_a = a ? 1. / a : 0; - float rnx = rx * i_a; - float rny = ry * i_a; - float rnz = rz * i_a; - float cos_a = cos(a); - float sin_a = sin(a); - float _1_cos_a = 1. - cos_a; - rt_44[0] = cos_a + rnx * rnx * _1_cos_a; - rt_44[1] = rnx * rny * _1_cos_a - rnz * sin_a; - rt_44[2] = rny * sin_a + rnx * rnz * _1_cos_a; - rt_44[3] = tx; - rt_44[4] = rnz * sin_a + rnx * rny * _1_cos_a; - rt_44[5] = cos_a + rny * rny * _1_cos_a; - rt_44[6] = -rnx * sin_a + rny * rnz * _1_cos_a; - rt_44[7] = ty; - rt_44[8] = -rny * sin_a + rnx * rnz * _1_cos_a; - rt_44[9] = rnx * sin_a + rny * rnz * _1_cos_a; - rt_44[10] = cos_a + rnz * rnz * _1_cos_a; - rt_44[11] = tz; - rt_44[12] = rt_44[13] = rt_44[14] = 0; - rt_44[15] = 1; - return Matrix; -} - -void impl__aruco_getRTfromMatrix44(const cv::Mat& M, cv::Mat& R, cv::Mat& T) -{ - assert(M.cols == M.rows && M.cols == 4); - assert(M.type() == CV_32F || M.type() == CV_64F); - - // extract the rotation part - cv::Mat r33 = cv::Mat(M, cv::Rect(0, 0, 3, 3)); - cv::SVD svd(r33); - cv::Mat Rpure = svd.u * svd.vt; - cv::Rodrigues(Rpure, R); - T.create(1, 3, M.type()); - if (M.type() == CV_32F) - for (int i = 0; i < 3; i++) - T.ptr(0)[i] = M.at(i, 3); - else - for (int i = 0; i < 3; i++) - T.ptr(0)[i] = M.at(i, 3); -} - -double reprj_error(const std::vector& objPoints, - const std::vector points2d, const CameraParameters& imp, - const cv::Mat& rt44) -{ - std::vector prepj; - cv::Mat rv, tv; - impl__aruco_getRTfromMatrix44(rt44, rv, tv); - cv::projectPoints(objPoints, rv, tv, imp.CameraMatrix, imp.Distorsion, prepj); - double sum = 0; - int nvalid = 0; - for (size_t i = 0; i < prepj.size(); i++) - { - if (!std::isnan(objPoints[i].x)) - { - sum += cv::norm(points2d[i] - prepj[i]); - nvalid++; - } - } - return sum / double(nvalid); -} - -/** - * - * - */ -float rigidBodyTransformation_Horn1987(const std::vector& POrg, - const std::vector& PDst, cv::Mat& RT_4x4) -{ - struct Quaternion - { - Quaternion(float q0, float q1, float q2, float q3) - { - q[0] = q0; - q[1] = q1; - q[2] = q2; - q[3] = q3; - } - cv::Mat getRotation() const - { - cv::Mat R(3, 3, CV_32F); - R.at(0, 0) = q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]; - R.at(0, 1) = 2.f * (q[1] * q[2] - q[0] * q[3]); - R.at(0, 2) = 2.f * (q[1] * q[3] + q[0] * q[2]); - - R.at(1, 0) = 2.f * (q[1] * q[2] + q[0] * q[3]); - R.at(1, 1) = q[0] * q[0] + q[2] * q[2] - q[1] * q[1] - q[3] * q[3]; - R.at(1, 2) = 2.f * (q[2] * q[3] - q[0] * q[1]); - - R.at(2, 0) = 2.f * (q[1] * q[3] - q[0] * q[2]); - R.at(2, 1) = 2.f * (q[2] * q[3] + q[0] * q[1]); - R.at(2, 2) = q[0] * q[0] + q[3] * q[3] - q[1] * q[1] - q[2] * q[2]; - return R; - } - float q[4]; - }; - - assert(POrg.size() == PDst.size()); - - cv::Mat _org(POrg.size(), 3, CV_32F, (float*)&POrg[0]); - cv::Mat _dst(PDst.size(), 3, CV_32F, (float*)&PDst[0]); - - // _org = _org.reshape(1); - // _dst = _dst.reshape(1); - cv::Mat Mu_s = cv::Mat::zeros(1, 3, CV_32F); - cv::Mat Mu_m = cv::Mat::zeros(1, 3, CV_32F); - // cout << _s << endl << _m << endl; - - // calculate means - for (int i = 0; i < _org.rows; i++) - { - Mu_s += _org(cv::Range(i, i + 1), cv::Range(0, 3)); - Mu_m += _dst(cv::Range(i, i + 1), cv::Range(0, 3)); - } - - // now, divide - for (int i = 0; i < 3; i++) - { - Mu_s.ptr(0)[i] /= float(_org.rows); - Mu_m.ptr(0)[i] /= float(_dst.rows); - } - - // cout << "Mu_s = " << Mu_s << endl; - // cout << "Mu_m = " << Mu_m << endl; - - cv::Mat Mu_st = Mu_s.t() * Mu_m; - // cout << "Mu_st = " << Mu_st << endl; - cv::Mat Var_sm = cv::Mat::zeros(3, 3, CV_32F); - for (int i = 0; i < _org.rows; i++) - Var_sm += (_org(cv::Range(i, i + 1), cv::Range(0, 3)).t() * - _dst(cv::Range(i, i + 1), cv::Range(0, 3))) - - Mu_st; - // cout << "Var_sm=" << Var_sm << endl; - for (int i = 0; i < 3; i++) - for (int j = 0; j < 3; j++) - Var_sm.at(i, j) /= float(_org.rows); - // cout << "Var_sm = " << Var_sm << endl; - - cv::Mat AA = Var_sm - Var_sm.t(); - // cout << "AA = " << AA << endl; - cv::Mat A(3, 1, CV_32F); - A.at(0, 0) = AA.at(1, 2); - A.at(1, 0) = AA.at(2, 0); - A.at(2, 0) = AA.at(0, 1); - // cout << "A =" << A << endl; - cv::Mat Q_Var_sm(4, 4, CV_32F); - Q_Var_sm.at(0, 0) = static_cast(trace(Var_sm)[0]); - for (int i = 1; i < 4; i++) - { - Q_Var_sm.at(0, i) = A.ptr(0)[i - 1]; - Q_Var_sm.at(i, 0) = A.ptr(0)[i - 1]; - } - cv::Mat q33 = Var_sm + Var_sm.t() - (trace(Var_sm)[0] * cv::Mat::eye(3, 3, CV_32F)); - - cv::Mat Q33 = Q_Var_sm(cv::Range(1, 4), cv::Range(1, 4)); - q33.copyTo(Q33); - // cout << "Q_Var_sm" << endl << Q_Var_sm << endl; - cv::Mat eigenvalues, eigenvectors; - eigen(Q_Var_sm, eigenvalues, eigenvectors); - // cout << "EEI = " << eigenvalues << endl; - // cout << "V = " << (eigenvectors.type() == CV_32F) << " " << eigenvectors << endl; - - Quaternion rot(eigenvectors.at(0, 0), eigenvectors.at(0, 1), - eigenvectors.at(0, 2), eigenvectors.at(0, 3)); - cv::Mat RR = rot.getRotation(); - // cout << "RESULT = " << endl << RR << endl; - cv::Mat T = Mu_m.t() - RR * Mu_s.t(); - // cout << "T = " << T << endl; - - RT_4x4 = cv::Mat::eye(4, 4, CV_32F); - cv::Mat r33 = RT_4x4(cv::Range(0, 3), cv::Range(0, 3)); - RR.copyTo(r33); - for (int i = 0; i < 3; i++) - RT_4x4.at(i, 3) = T.ptr(0)[i]; - // cout << "RESS = " << RT << endl; - - // compute the average transform error - float err = 0; - float* matrix = RT_4x4.ptr(0); - for (size_t i = 0; i < POrg.size(); i++) - { - cv::Point3f org = POrg[i]; - cv::Point3f dest_est; - dest_est.x = matrix[0] * org.x + matrix[1] * org.y + matrix[2] * org.z + matrix[3]; - dest_est.y = matrix[4] * org.x + matrix[5] * org.y + matrix[6] * org.z + matrix[7]; - dest_est.z = matrix[8] * org.x + matrix[9] * org.y + matrix[10] * org.z + matrix[11]; - cv::Point3f dest_real = PDst[i]; - err += static_cast(cv::norm(dest_est - dest_real)); - } - - return err / float(POrg.size()); - ; -} - -} // namespace aruco_private - -inline double hubber(double e, double _delta) -{ - double dsqr = _delta * _delta; - if (e <= dsqr) - { - // inlier - return e; - } - else - { - // outlier - double sqrte = sqrt(e); // absolute value of the error - return 2 * sqrte * _delta - dsqr; // rho(e) = 2 * delta * e^(1/2) - delta^2 - } -} - -inline double hubberMono(double e) -{ - if (e <= 5.991) - { - // inlier - return e; - } - else - // outlier - return 4.895303872 * sqrt(e) - 5.991; // rho(e) = 2 * delta * e^(1/2) - delta^2 -} - -inline double getHubberMonoWeight(double SqErr, double Information) -{ - return sqrt(hubberMono(Information * SqErr) / SqErr); -} -template -double __aruco_solve_pnp(const std::vector& p3d, - const std::vector& p2d, const cv::Mat& cam_matrix, - const cv::Mat& dist, cv::Mat& r_io, cv::Mat& t_io) -{ - assert(r_io.type() == CV_32F); - assert(t_io.type() == CV_32F); - assert(t_io.total() == r_io.total()); - assert(t_io.total() == 3); - auto toSol = [](const cv::Mat& r, const cv::Mat& t) - { - typename LevMarq::eVector sol(6); - for (int i = 0; i < 3; i++) - { - sol(i) = r.ptr(0)[i]; - sol(i + 3) = t.ptr(0)[i]; - } - return sol; - }; - auto fromSol = [](const typename LevMarq::eVector& sol, cv::Mat& r, cv::Mat& t) - { - r.create(1, 3, CV_32F); - t.create(1, 3, CV_32F); - for (int i = 0; i < 3; i++) - { - r.ptr(0)[i] = sol(i); - t.ptr(0)[i] = sol(i + 3); - } - }; - - cv::Mat Jacb; - auto err_f = [&](const typename LevMarq::eVector& sol, typename LevMarq::eVector& err) - { - std::vector p2d_rej; - cv::Mat r, t; - fromSol(sol, r, t); - cv::projectPoints(p3d, r, t, cam_matrix, dist, p2d_rej, Jacb); - err.resize(p3d.size() * 2); - int err_idx = 0; - for (size_t i = 0; i < p3d.size(); i++) - { - cv::Point2f errP = p2d_rej[i] - p2d[i]; - - double SqErr = (errP.x * errP.x + errP.y * errP.y); - - float robuse_weight = getHubberMonoWeight(SqErr, 1); - err(err_idx++) = robuse_weight * errP.x; // p2d_rej[i].x - p2d[i].x; - err(err_idx++) = robuse_weight * errP.y; // p2d_rej[i].y - p2d[i].y; - } - }; - auto jac_f = [&](const typename LevMarq::eVector& sol, - Eigen::Matrix& J) - { - (void)(sol); - J.resize(p3d.size() * 2, 6); - for (size_t i = 0; i < p3d.size() * 2; i++) - { - double* jacb = Jacb.ptr(i); - for (int j = 0; j < 6; j++) - J(i, j) = jacb[j]; - } - }; - - LevMarq solver; - solver.setParams(100, 0.01, 0.01); - - // solver.verbose() = true; - typename LevMarq::eVector sol = toSol(r_io, t_io); - auto err = solver.solve(sol, err_f, jac_f); - - fromSol(sol, r_io, t_io); - return err; -} - -double __aruco_solve_pnp(const std::vector& p3d, - const std::vector& p2d, const cv::Mat& cam_matrix, - const cv::Mat& dist, cv::Mat& r_io, cv::Mat& t_io) -{ -#ifdef DOUBLE_PRECISION_PNP - return __aruco_solve_pnp(p3d, p2d, cam_matrix, dist, r_io, t_io); -#else - return __aruco_solve_pnp(p3d, p2d, cam_matrix, dist, r_io, t_io); -#endif -} - -bool MarkerPoseTracker::estimatePose(Marker& m, const CameraParameters& _cam_params, - float _msize, float minerrorRatio) -{ - if (_rvec.empty()) - { - // if no previous data, use from scratch - cv::Mat rv, tv; - auto solutions = solvePnP_(Marker::get3DPoints(_msize), m, _cam_params.CameraMatrix, - _cam_params.Distorsion); - double errorRatio = solutions[1].second / solutions[0].second; - if (errorRatio < minerrorRatio) - return false; - - // // is the error ratio big enough - // cv::solvePnP(Marker::get3DPoints(_msize), m, _cam_params.CameraMatrix, - // _cam_params.Distorsion, rv, tv); - // __aruco_solve_pnp(Marker::get3DPoints(_msize), m, _cam_params.CameraMatrix, - // _cam_params.Distorsion, _rvec, _tvec); - // rv.convertTo(_rvec, CV_32F); - // tv.convertTo(_tvec, CV_32F); - // aruco_private::impl__aruco_getRTfromMatrix44(solutions[0].first, _rvec, _tvec); - } - else - { - __aruco_solve_pnp(Marker::get3DPoints(_msize), m, _cam_params.CameraMatrix, - _cam_params.Distorsion, _rvec, _tvec); - } - - _rvec.convertTo(m.Rvec, CV_32F); - _tvec.convertTo(m.Tvec, CV_32F); - m.ssize = _msize; - return true; -} - -MarkerMapPoseTracker::MarkerMapPoseTracker() -{ - _isValid = false; - _initial_err = -1; - aruco_minerrratio_valid = 3; -} - -void MarkerMapPoseTracker::setParams(const CameraParameters& cam_params, - const MarkerMap& msconf, float markerSize) -{ - _msconf = msconf; - _cam_params = cam_params; - if (!cam_params.isValid()) - throw cv::Exception(9001, "Invalid camera parameters", - "MarkerMapPoseTracker::setParams", __FILE__, __LINE__); - if (_msconf.mInfoType == MarkerMap::PIX && markerSize <= 0) - throw cv::Exception(9001, "You should indicate the markersize since the MarkerMap is in pixels", - "MarkerMapPoseTracker::setParams", __FILE__, __LINE__); - if (_msconf.mInfoType == MarkerMap::NONE) - throw cv::Exception(9001, "Invalid MarkerMap", "MarkerMapPoseTracker::setParams", - __FILE__, __LINE__); - if (_msconf.mInfoType == MarkerMap::PIX) - _msconf = _msconf.convertToMeters(markerSize); - - _isValid = true; - - // create a map for fast access to elements - _map_mm.clear(); - for (auto m : msconf) - _map_mm.insert(std::make_pair(m.id, m)); - - // now, compute the marker_m2g map - for (auto m : _map_mm) - { - const Marker3DInfo& m3dinfo = m.second; - auto p3d_marker = Marker::get3DPoints(m3dinfo.getMarkerSize()); - - // compute the transform going from global to marker to using Horn - cv::Mat RT; - aruco_private::rigidBodyTransformation_Horn1987(m3dinfo.points, p3d_marker, RT); - marker_m2g[m.first] = RT; - } -} - -cv::Mat MarkerMapPoseTracker::relocalization(const std::vector& v_m) -{ - // get the markers in v_m that are in the map - std::vector mapMarkers; - for (auto marker : v_m) - { - if (_map_mm.find(marker.id) != _map_mm.end()) - mapMarkers.push_back(marker); - } - - if (mapMarkers.size() == 0) - return cv::Mat(); - struct minfo - { - int id; - cv::Mat rt_f2m; - double err; - }; - struct se3 - { - float rt[6]; - }; - - cv::Mat pose_f2g_out; // result - - // estimate the markers locations and see if there is at least one good enough - std::vector good_marker_locations; - std::vector all_marker_locations; - - for (const Marker& marker : mapMarkers) - { - // for each visible marker - auto mpi = solvePnP_(_map_mm[marker.id].getMarkerSize(), marker, - _cam_params.CameraMatrix, _cam_params.Distorsion); - minfo mi; - mi.id = marker.id; - mi.err = mpi[0].second; - mi.rt_f2m = mpi[0].first; - all_marker_locations.push_back(mi); - if (mpi[1].second / mpi[0].second > aruco_minerrratio_valid) - good_marker_locations.push_back(mi); - mi.rt_f2m = mpi[1].first; - mi.err = mpi[1].second; - all_marker_locations.push_back(mi); - } - - // try using more than one marker approach - if (mapMarkers.size() >= 2) - { - // collect all the markers 3D locations - std::vector markerPoints2d; - std::vector markerPoints3d; - for (const Marker& marker : mapMarkers) - { - markerPoints2d.insert(markerPoints2d.end(), marker.begin(), marker.end()); - auto p3d = _map_mm[marker.id].points; - markerPoints3d.insert(markerPoints3d.end(), p3d.begin(), p3d.end()); - } - - // take the all poses and select the one that minimizes the global reproj error - for (auto& ml : all_marker_locations) - { - auto pose = ml.rt_f2m * marker_m2g[ml.id]; - // now, compute the repj error of all markers using this info - ml.err = aruco_private::reprj_error(markerPoints3d, markerPoints2d, _cam_params, pose); - } - // sort and get the best - std::sort(all_marker_locations.begin(), all_marker_locations.end(), - [](const minfo& a, const minfo& b) { return a.err < b.err; }); - _initial_err = all_marker_locations.front().err; - auto& best = all_marker_locations.front(); - pose_f2g_out = best.rt_f2m * marker_m2g[best.id]; - } - - if (pose_f2g_out.empty() && good_marker_locations.size() > 0) - { - std::sort(good_marker_locations.begin(), good_marker_locations.end(), - [](const minfo& a, const minfo& b) { return a.err < b.err; }); - auto best = good_marker_locations[0]; - - // estimate current location - pose_f2g_out = best.rt_f2m * marker_m2g[best.id]; - } - return pose_f2g_out; -} - -bool MarkerMapPoseTracker::estimatePose(const std::vector& v_m) -{ - std::vector p2d; - std::vector p3d; - for (auto marker : v_m) - { - if (_map_mm.find(marker.id) != _map_mm.end()) - { - // is the marker part of the map? - for (auto p : marker) - p2d.push_back(p); - for (auto p : _map_mm[marker.id].points) - p3d.push_back(p); - } - } - - if (p2d.size() == 0) - { - // no points in the vector - _rvec = cv::Mat(); - _tvec = cv::Mat(); - return false; - } - else - { - if (_rvec.empty()) - { - // requires relocalization since past pose is ALL_DICTS - // relocalization provides an initial position that will be further refined - auto InitialPose = relocalization(v_m); - if (InitialPose.empty()) - { - return false; - } - - aruco_private::impl__aruco_getRTfromMatrix44(InitialPose, _rvec, _tvec); - } - - // refine - __aruco_solve_pnp(p3d, p2d, _cam_params.CameraMatrix, _cam_params.Distorsion, _rvec, _tvec); - - return true; - } -} - -cv::Mat MarkerMapPoseTracker::getRTMatrix() const -{ - if (_rvec.empty() || _tvec.empty()) - return cv::Mat(); - return aruco_private::impl__aruco_getRTMatrix(_rvec, _tvec); -} - -cv::Mat MarkerPoseTracker::getRTMatrix() const -{ - if (_rvec.empty() || _tvec.empty()) - return cv::Mat(); - return aruco_private::impl__aruco_getRTMatrix(_rvec, _tvec); -} - -} // namespace aruco diff --git a/legacy/aruco_ros/aruco_msgs/CHANGELOG.rst b/legacy/aruco_ros/aruco_msgs/CHANGELOG.rst deleted file mode 100644 index 30abf5109..000000000 --- a/legacy/aruco_ros/aruco_msgs/CHANGELOG.rst +++ /dev/null @@ -1,60 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package aruco_msgs -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.0.0 (2019-09-27) ------------------- -* Merge branch 'indigo-devel' into kinetic-devel -* Contributors: Victor Lopez - -2.2.2 (2022-11-23) ------------------- - -2.2.1 (2022-11-10) ------------------- - -2.2.0 (2022-11-07) ------------------- - -2.1.4 (2022-05-16) ------------------- - -2.1.3 (2022-04-05) ------------------- -* Make Sai maintainer of all -* Update license tags in the package.xml -* Contributors: Bence Magyar, Sai Kishor Kothakota - -2.1.2 (2022-02-10) ------------------- - -2.1.1 (2020-09-17) ------------------- - -2.1.0 (2020-01-21) ------------------- - -2.0.2 (2019-11-09) ------------------- - -2.0.1 (2019-09-27) ------------------- - -0.2.2 (2017-07-25) ------------------- - -0.2.1 (2017-07-21) ------------------- - -0.2.0 (2016-10-19) ------------------- - -0.1.0 (2015-08-10) ------------------- -* Update changelogs and maintainer email -* Contributors: Bence Magyar - -0.0.1 (2015-05-20) ------------------- -* Reorganize aruco_ros into 3 packages -* Contributors: Bence Magyar diff --git a/legacy/aruco_ros/aruco_msgs/CMakeLists.txt b/legacy/aruco_ros/aruco_msgs/CMakeLists.txt deleted file mode 100644 index f7ca91a94..000000000 --- a/legacy/aruco_ros/aruco_msgs/CMakeLists.txt +++ /dev/null @@ -1,17 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(aruco_msgs) - -find_package(catkin REQUIRED COMPONENTS - message_generation - geometry_msgs - std_msgs) - -add_message_files( FILES Marker.msg MarkerArray.msg ) -generate_messages( DEPENDENCIES std_msgs geometry_msgs ) - -catkin_package( - CATKIN_DEPENDS - message_runtime - geometry_msgs - std_msgs -) diff --git a/legacy/aruco_ros/aruco_msgs/msg/Marker.msg b/legacy/aruco_ros/aruco_msgs/msg/Marker.msg deleted file mode 100644 index e4e77c274..000000000 --- a/legacy/aruco_ros/aruco_msgs/msg/Marker.msg +++ /dev/null @@ -1,4 +0,0 @@ -Header header -uint32 id -geometry_msgs/PoseWithCovariance pose -float64 confidence diff --git a/legacy/aruco_ros/aruco_msgs/msg/MarkerArray.msg b/legacy/aruco_ros/aruco_msgs/msg/MarkerArray.msg deleted file mode 100644 index f3c2e06ae..000000000 --- a/legacy/aruco_ros/aruco_msgs/msg/MarkerArray.msg +++ /dev/null @@ -1,2 +0,0 @@ -Header header -aruco_msgs/Marker[] markers diff --git a/legacy/aruco_ros/aruco_msgs/package.xml b/legacy/aruco_ros/aruco_msgs/package.xml deleted file mode 100644 index 197db7d9f..000000000 --- a/legacy/aruco_ros/aruco_msgs/package.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - aruco_msgs - 2.2.2 - The aruco_msgs package - Sai Kishor Kothakota - Bence Magyar - MIT - - catkin - - geometry_msgs - std_msgs - - message_generation - message_runtime - - diff --git a/legacy/aruco_ros/aruco_ros/CHANGELOG.rst b/legacy/aruco_ros/aruco_ros/CHANGELOG.rst deleted file mode 100644 index eec4ae7ab..000000000 --- a/legacy/aruco_ros/aruco_ros/CHANGELOG.rst +++ /dev/null @@ -1,129 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package aruco_ros -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.0.0 (2019-09-27) ------------------- -* Merge pull request `#68 `_ from aPonza/ros_format - Autoformatting as per CppStyleGuide -* removed using namespace declarations -* autoformatting as per CppStyleGuide -* Merge pull request `#58 `_ from jrgnicho/aruco-3.0.4 - Sets the 'useRectifiedImages' member from a parameter before it uses it -* sets the 'useRectifiedImages' member from a parameter before it uses it -* Update readme for new coordinates -* Fix orientation changes in aruco 3.0.0 -* Migration to aruco 3.0.4 -* Merge branch 'indigo-devel' into kinetic-devel -* Merge pull request `#41 `_ from Voidminded/kinetic-devel - Fixed OpenCV Calib3D link error on ROS Kinetic -* Fixed OpenCV Calib3D link error on ROS Kinetic -* Merge pull request `#36 `_ from pal-robotics/add-aruco-ros-utils - Add aruco_ros_utils lib and fix some missing dependencies -* Add aruco_ros_utils lib and fix some missing dependencies -* Merge pull request `#35 `_ from ugnelis/kinetic-devel - Removed duplicated line. -* Removed duplicated line. -* Merge pull request `#27 `_ from cehberlin/assert_fix - Replace assert by error message to keep library functional -* Improved camera_frame\_ assert and removed unecessary opencv includes -* Replace assert by error message to keep library functional -* Contributors: Andrea Ponza, Bence Magyar, Christopher Hrabia, Jordi Pages, Jorge Nicho, Ugnius MalÅ«kas, Victor Lopez, Voidminded - -2.2.2 (2022-11-23) ------------------- - -2.2.1 (2022-11-10) ------------------- - -2.2.0 (2022-11-07) ------------------- -* Merge branch 'feat/aruco-3.1.5-migration' into 'ferrum-devel' - ArUCO 3.1.5 migration - See merge request ros-overlays/aruco_ros!4 -* Add correct fisheye distortion functionality -* migrate to 3.1.5 -* Contributors: josegarcia, saikishor - -2.1.4 (2022-05-16) ------------------- -* added the missing catkin_EXPORTED_TARGETS dependency -* Contributors: Sai Kishor Kothakota - -2.1.3 (2022-04-05) ------------------- -* Make Sai maintainer of all -* Update license tags in the package.xml -* Contributors: Bence Magyar, Sai Kishor Kothakota - -2.1.2 (2022-02-10) ------------------- -* Merge branch 'fix_camera_matrix' into 'ferrum-devel' - fix the issue with the improper camera matrix with non rectified images - See merge request ros-overlays/aruco_ros!1 -* fix the issue with the improper camera matrix with non rectified images -* Contributors: Sai Kishor Kothakota, saikishor - -2.1.1 (2020-09-17) ------------------- -* Use time stamps from image messages -* Contributors: Markus Vieth - -2.1.0 (2020-01-21) ------------------- -* Migrate to tf2 and add utilities -* Add support for camera extrinsics when dealing with stereo cameras -* Contributors: Victor Lopez - -2.0.2 (2019-11-09) ------------------- -* Add SYSTEM to external include dirs -* Contributors: Victor Lopez - -2.0.1 (2019-09-27) ------------------- - -0.2.2 (2017-07-25) ------------------- -* only look for aruco if someone is looking for them -* Contributors: Victor Lopez - -0.2.1 (2017-07-21) ------------------- -* Change default threshold to match defaults of aruco marker detector -* Add dynamic reconfigure to simple_single -* Contributors: Victor Lopez - -0.2.0 (2016-10-19) ------------------- -* only proccesses images if there are subscribers -* add rviz marker and add corner param -* use double precision to improve accuracy -* Contributors: Jordi Pages, ProcĂ³pio Stein - -0.1.0 (2015-08-10) ------------------- -* Update changelogs and maintainer email -* Frame parameters only checked when using camera info -* Add marker list publisher -* Remove unused broadcaster -* Only do 3d when there is camera info -* Use waitForMessage for camerainfo -* Remove nonsense assert -* Reorganize and allow no camera_info -* Fix crash when distortion vector is 0 long (usb_cam) -* Contributors: Bence Magyar - -0.0.1 (2015-05-20) ------------------- -* More accurate ROS timestamps (callback triggering time) - This commit ensures that: - - all published msgs in a callback have the same timestamp - - the time is as close as possible to the frame grabbing time (as fast as the marker detection may be, the delay might affect TF interpolation in an unacceptable way for applications like visual servoing) -* Install marker_publisher executable - This target was missing in the installation rule -* Finished some renaming -* changes to finish branch merge -* aruco_ros: Fixing superfluous (and broken) linker arg to -laruco -* Reorganize aruco_ros into 3 packages -* Contributors: Bence Magyar, Jordi Pages, Josh Langsfeld, ObiWan, Steve Vozar diff --git a/legacy/aruco_ros/aruco_ros/CMakeLists.txt b/legacy/aruco_ros/aruco_ros/CMakeLists.txt deleted file mode 100644 index 98c260978..000000000 --- a/legacy/aruco_ros/aruco_ros/CMakeLists.txt +++ /dev/null @@ -1,76 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(aruco_ros) - -find_package(OpenCV REQUIRED) - -find_package(catkin REQUIRED COMPONENTS - cv_bridge - dynamic_reconfigure - geometry_msgs - image_transport - roscpp - rospy - tf - aruco - aruco_msgs - sensor_msgs - visualization_msgs -) - -generate_dynamic_reconfigure_options( - cfg/ArucoThreshold.cfg -) - -add_compile_options(-std=c++11) - -catkin_package( - INCLUDE_DIRS include - LIBRARIES aruco_ros_utils - CATKIN_DEPENDS aruco sensor_msgs tf -) - -include_directories( - include) -include_directories( - SYSTEM - ${catkin_INCLUDE_DIRS} - ${OpenCV_INCLUDE_DIRS} -) - add_library(aruco_ros_utils src/aruco_ros_utils.cpp) - target_link_libraries(aruco_ros_utils ${catkin_LIBRARIES}) - - add_executable(single src/simple_single.cpp - src/aruco_ros_utils.cpp) - add_dependencies(single ${PROJECT_NAME}_gencfg) - target_link_libraries(single ${catkin_LIBRARIES} ${OpenCV_LIBRARIES}) - - add_executable(double src/simple_double.cpp - src/aruco_ros_utils.cpp) - add_dependencies(double ${PROJECT_NAME}_gencfg) - target_link_libraries(double ${catkin_LIBRARIES} ${OpenCV_LIBRARIES}) - - add_executable(marker_publisher src/marker_publish.cpp - src/aruco_ros_utils.cpp) - add_dependencies(marker_publisher ${PROJECT_NAME}_gencfg ${catkin_EXPORTED_TARGETS}) - target_link_libraries(marker_publisher ${catkin_LIBRARIES} ${OpenCV_LIBRARIES}) - -############# -## Install ## -############# - - install(TARGETS single double marker_publisher aruco_ros_utils - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} - ) - -install(DIRECTORY include/ - DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION} - FILES_MATCHING PATTERN "*.h" -) - -foreach(dir etc launch) - install(DIRECTORY ${dir}/ - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir}) -endforeach(dir) - diff --git a/legacy/aruco_ros/aruco_ros/cfg/ArucoThreshold.cfg b/legacy/aruco_ros/aruco_ros/cfg/ArucoThreshold.cfg deleted file mode 100755 index c625589e5..000000000 --- a/legacy/aruco_ros/aruco_ros/cfg/ArucoThreshold.cfg +++ /dev/null @@ -1,18 +0,0 @@ -#!/usr/bin/env python -PACKAGE = "aruco_ros" - -from dynamic_reconfigure.parameter_generator_catkin import * - -gen = ParameterGenerator() - -gen.add("min_image_size", double_t, 0, "minimum size of marker as a % of image area", 0.02, 0.0, 1.0) -gen.add("normalizeImage", bool_t, 0, "normalizeImage", True) -gen.add("dctComponentsToRemove", int_t, 0, "DCT components to remove", 2, 1, 4) -gen.add("degree", int_t, 0, "Degree to rotate", 0, 0, 360) -detection_mode_enum = gen.enum([ gen.const("Normal", int_t, 0, ""), - gen.const("Fast", int_t, 1, ""), - gen.const("Video_Fast", int_t, 2, "")], - "detection_mode enum") - -gen.add("detection_mode", int_t, 0, "The detection mode , affects speed and reliability", 1, 0, 2, edit_method=detection_mode_enum) -exit(gen.generate(PACKAGE, "double", "ArucoThreshold")) diff --git a/legacy/aruco_ros/aruco_ros/etc/marker26_5cm.jpg b/legacy/aruco_ros/aruco_ros/etc/marker26_5cm.jpg deleted file mode 100644 index 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zfGLhVi3;wo;PV=ac!u#xWAo1iA;BIOqsGUYlyJ4&oBJ<-ZSBrK`0c6cV;CzR>V}Yd R -#include -#include -#include -#include -#include -#include - -namespace aruco_ros -{ -/** - * @brief rosCameraInfo2ArucoCamParams gets the camera intrinsics from a CameraInfo message and copies them - * to aruco_ros own data structure - * @param cam_info - * @param useRectifiedParameters if true, the intrinsics are taken from cam_info.P and the distortion parameters - * are set to 0. Otherwise, cam_info.K and cam_info.D are taken. - * @return - */ -aruco::CameraParameters rosCameraInfo2ArucoCamParams(const sensor_msgs::CameraInfo& cam_info, - bool useRectifiedParameters); - -tf::Transform arucoMarker2Tf(const aruco::Marker& marker); -tf2::Transform arucoMarker2Tf2(const aruco::Marker& marker); - -std::vector detectMarkers(const cv::Mat& img, - const aruco::CameraParameters& cam_params, - float marker_size, - aruco::MarkerDetector* detector = nullptr, - bool normalize_ilumination = false, bool correct_fisheye = false); - -visualization_msgs::Marker visMarkerFromPose(const geometry_msgs::PoseStamped& pose, - double marker_size, int marker_id = 1); - -} -#endif // ARUCO_ROS_UTILS_H diff --git a/legacy/aruco_ros/aruco_ros/launch/double.launch b/legacy/aruco_ros/aruco_ros/launch/double.launch deleted file mode 100644 index 5bccf6def..000000000 --- a/legacy/aruco_ros/aruco_ros/launch/double.launch +++ /dev/null @@ -1,28 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/legacy/aruco_ros/aruco_ros/launch/marker_publisher.launch b/legacy/aruco_ros/aruco_ros/launch/marker_publisher.launch deleted file mode 100644 index 383561baa..000000000 --- a/legacy/aruco_ros/aruco_ros/launch/marker_publisher.launch +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/legacy/aruco_ros/aruco_ros/launch/single.launch b/legacy/aruco_ros/aruco_ros/launch/single.launch deleted file mode 100644 index 373e44d3e..000000000 --- a/legacy/aruco_ros/aruco_ros/launch/single.launch +++ /dev/null @@ -1,24 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/legacy/aruco_ros/aruco_ros/launch/singleTiago.launch b/legacy/aruco_ros/aruco_ros/launch/singleTiago.launch deleted file mode 100644 index 580939ed2..000000000 --- a/legacy/aruco_ros/aruco_ros/launch/singleTiago.launch +++ /dev/null @@ -1,24 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/legacy/aruco_ros/aruco_ros/package.xml b/legacy/aruco_ros/aruco_ros/package.xml deleted file mode 100644 index d1848bd40..000000000 --- a/legacy/aruco_ros/aruco_ros/package.xml +++ /dev/null @@ -1,27 +0,0 @@ - - - aruco_ros - 2.2.2 - - The ARUCO Library has been developed by the Ava group of the Univeristy of Cordoba(Spain). - It provides real-time marker based 3D pose estimation using AR markers. - - Sai Kishor Kothakota - MIT - http://www.uco.es/investiga/grupos/ava/node/26 - Rafael Muñoz Salinas - Bence Magyar - - catkin - - cv_bridge - dynamic_reconfigure - geometry_msgs - image_transport - roscpp - tf - aruco - aruco_msgs - sensor_msgs - visualization_msgs - diff --git a/legacy/aruco_ros/aruco_ros/src/aruco_ros_utils.cpp b/legacy/aruco_ros/aruco_ros/src/aruco_ros_utils.cpp deleted file mode 100644 index 60e6e9fb8..000000000 --- a/legacy/aruco_ros/aruco_ros/src/aruco_ros_utils.cpp +++ /dev/null @@ -1,142 +0,0 @@ -#include -#include -#include -#include -#include -#include -#include - -aruco::CameraParameters aruco_ros::rosCameraInfo2ArucoCamParams(const sensor_msgs::CameraInfo& cam_info, - bool useRectifiedParameters) -{ - cv::Mat cameraMatrix(3, 4, CV_64FC1, 0.0); - cv::Mat distorsionCoeff(4, 1, CV_64FC1); - cv::Size size(cam_info.width, cam_info.height); - - if (useRectifiedParameters) - { - cameraMatrix.setTo(0); - cameraMatrix.at(0, 0) = cam_info.P[0]; - cameraMatrix.at(0, 1) = cam_info.P[1]; - cameraMatrix.at(0, 2) = cam_info.P[2]; - cameraMatrix.at(0, 3) = cam_info.P[3]; - cameraMatrix.at(1, 0) = cam_info.P[4]; - cameraMatrix.at(1, 1) = cam_info.P[5]; - cameraMatrix.at(1, 2) = cam_info.P[6]; - cameraMatrix.at(1, 3) = cam_info.P[7]; - cameraMatrix.at(2, 0) = cam_info.P[8]; - cameraMatrix.at(2, 1) = cam_info.P[9]; - cameraMatrix.at(2, 2) = cam_info.P[10]; - cameraMatrix.at(2, 3) = cam_info.P[11]; - - for (int i = 0; i < 4; ++i) - distorsionCoeff.at(i, 0) = 0; - } - else - { - cv::Mat cameraMatrixFromK(3, 3, CV_64FC1, 0.0); - for (int i = 0; i < 9; ++i) - cameraMatrixFromK.at(i % 3, i - (i % 3) * 3) = cam_info.K[i]; - cameraMatrixFromK.copyTo(cameraMatrix(cv::Rect(0, 0, 3, 3))); - - - if (cam_info.D.size() == 4) - { - for (int i = 0; i < 4; ++i) - distorsionCoeff.at(i, 0) = cam_info.D[i]; - } - else - { - ROS_WARN("length of camera_info D vector is not 4, assuming zero distortion..."); - for (int i = 0; i < 4; ++i) - distorsionCoeff.at(i, 0) = 0; - } - } - - return aruco::CameraParameters(cameraMatrix, distorsionCoeff, size); -} - -tf::Transform aruco_ros::arucoMarker2Tf(const aruco::Marker &marker) -{ - tf2::Transform tf2_tf = arucoMarker2Tf2(marker); - return tf::Transform( - tf::Matrix3x3(tf::Quaternion(tf2_tf.getRotation().x(), - tf2_tf.getRotation().y(), - tf2_tf.getRotation().z(), - tf2_tf.getRotation().w())), - tf::Vector3(tf2_tf.getOrigin().x(), - tf2_tf.getOrigin().y(), - tf2_tf.getOrigin().z())); -} -tf2::Transform aruco_ros::arucoMarker2Tf2(const aruco::Marker &marker) -{ - cv::Mat rot(3, 3, CV_64FC1); - cv::Mat Rvec64; - marker.Rvec.convertTo(Rvec64, CV_64FC1); - cv::Rodrigues(Rvec64, rot); - cv::Mat tran64; - marker.Tvec.convertTo(tran64, CV_64FC1); - - tf2::Matrix3x3 tf_rot(rot.at(0, 0), rot.at(0, 1), rot.at(0, 2), rot.at(1, 0), - rot.at(1, 1), rot.at(1, 2), rot.at(2, 0), rot.at(2, 1), - rot.at(2, 2)); - - tf2::Vector3 tf_orig(tran64.at(0, 0), tran64.at(1, 0), tran64.at(2, 0)); - - return tf2::Transform(tf_rot, tf_orig); -} - - -std::vector aruco_ros::detectMarkers(const cv::Mat &img, const aruco::CameraParameters &cam_params, float marker_size, aruco::MarkerDetector *detector, bool normalize_ilumination, bool correct_fisheye) -{ - std::vector markers; - try - { - if (normalize_ilumination) - { - ROS_WARN("normalizeImageIllumination is unimplemented!"); - // cv::Mat inImageNorm; - // pal_vision_util::dctNormalization(inImage, inImageNorm, - // dctComponentsToRemove); inImage = inImageNorm; - } - - // detection results will go into "markers" - markers.clear(); - // ok, let's detect - if (detector) - { - detector->detect(img, markers, cam_params, marker_size, false, correct_fisheye); - } - else - { - aruco::MarkerDetector default_detector; - default_detector.detect(img, markers, cam_params, marker_size, false, correct_fisheye); - } - return markers; - } - catch (cv_bridge::Exception& e) - { - ROS_ERROR("cv_bridge exception: %s", e.what()); - return markers; - } -} - - -visualization_msgs::Marker aruco_ros::visMarkerFromPose(const geometry_msgs::PoseStamped &pose, double marker_size, int marker_id) -{ - visualization_msgs::Marker visMarker; - visMarker.header = pose.header; - visMarker.id = marker_id; - visMarker.type = visualization_msgs::Marker::CUBE; - visMarker.action = visualization_msgs::Marker::ADD; - visMarker.pose = pose.pose; - visMarker.scale.x = marker_size; - visMarker.scale.y = marker_size; - visMarker.scale.z = 0.001; - visMarker.color.r = 1.0; - visMarker.color.g = 0; - visMarker.color.b = 0; - visMarker.color.a = 1.0; - visMarker.lifetime = ros::Duration(3.0); - return visMarker; -} diff --git a/legacy/aruco_ros/aruco_ros/src/marker_publish.cpp b/legacy/aruco_ros/aruco_ros/src/marker_publish.cpp deleted file mode 100644 index ad0f0b698..000000000 --- a/legacy/aruco_ros/aruco_ros/src/marker_publish.cpp +++ /dev/null @@ -1,269 +0,0 @@ -/***************************** - Copyright 2011 Rafael Muñoz Salinas. All rights reserved. - - Redistribution and use in source and binary forms, with or without modification, are - permitted provided that the following conditions are met: - - 1. Redistributions of source code must retain the above copyright notice, this list of - conditions and the following disclaimer. - - 2. Redistributions in binary form must reproduce the above copyright notice, this list - of conditions and the following disclaimer in the documentation and/or other materials - provided with the distribution. - - THIS SOFTWARE IS PROVIDED BY Rafael Muñoz Salinas ''AS IS'' AND ANY EXPRESS OR IMPLIED - WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND - FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Rafael Muñoz Salinas OR - CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON - ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING - NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF - ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - - The views and conclusions contained in the software and documentation are those of the - authors and should not be interpreted as representing official policies, either expressed - or implied, of Rafael Muñoz Salinas. - ********************************/ -/** - * @file marker_publish.cpp - * @author Bence Magyar - * @date June 2014 - * @brief Modified copy of simple_single.cpp to publish all markers visible - * (modified by Josh Langsfeld, 2014) - */ - -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include - -class ArucoMarkerPublisher -{ -private: - // ArUco stuff - aruco::MarkerDetector mDetector_; - aruco::CameraParameters camParam_; - std::vector markers_; - - // node params - bool useRectifiedImages_; - std::string marker_frame_; - std::string camera_frame_; - std::string reference_frame_; - double marker_size_; - - // ROS pub-sub - ros::NodeHandle nh_; - image_transport::ImageTransport it_; - image_transport::Subscriber image_sub_; - - image_transport::Publisher image_pub_; - image_transport::Publisher debug_pub_; - ros::Publisher marker_pub_; - ros::Publisher marker_list_pub_; - tf::TransformListener tfListener_; - - ros::Subscriber cam_info_sub_; - aruco_msgs::MarkerArray::Ptr marker_msg_; - cv::Mat inImage_; - bool useCamInfo_; - std_msgs::UInt32MultiArray marker_list_msg_; - -public: - ArucoMarkerPublisher() : - nh_("~"), it_(nh_), useCamInfo_(true) - { - image_sub_ = it_.subscribe("/image", 1, &ArucoMarkerPublisher::image_callback, this); - - nh_.param("use_camera_info", useCamInfo_, true); - if (useCamInfo_) - { - sensor_msgs::CameraInfoConstPtr msg = ros::topic::waitForMessage("/camera_info", nh_); //, 10.0); - - nh_.param("marker_size", marker_size_, 0.05); - nh_.param("image_is_rectified", useRectifiedImages_, true); - nh_.param("reference_frame", reference_frame_, ""); - nh_.param("camera_frame", camera_frame_, ""); - camParam_ = aruco_ros::rosCameraInfo2ArucoCamParams(*msg, useRectifiedImages_); - ROS_ASSERT(not (camera_frame_.empty() and not reference_frame_.empty())); - if (reference_frame_.empty()) - reference_frame_ = camera_frame_; - } - else - { - camParam_ = aruco::CameraParameters(); - } - - image_pub_ = it_.advertise("result", 1); - debug_pub_ = it_.advertise("debug", 1); - marker_pub_ = nh_.advertise("markers", 100); - marker_list_pub_ = nh_.advertise("markers_list", 10); - - marker_msg_ = aruco_msgs::MarkerArray::Ptr(new aruco_msgs::MarkerArray()); - marker_msg_->header.frame_id = reference_frame_; - marker_msg_->header.seq = 0; - } - - bool getTransform(const std::string& refFrame, const std::string& childFrame, tf::StampedTransform& transform) - { - std::string errMsg; - - if (!tfListener_.waitForTransform(refFrame, childFrame, ros::Time(0), ros::Duration(0.5), ros::Duration(0.01), - &errMsg)) - { - ROS_ERROR_STREAM("Unable to get pose from TF: " << errMsg); - return false; - } - else - { - try - { - tfListener_.lookupTransform(refFrame, childFrame, ros::Time(0), // get latest available - transform); - } - catch (const tf::TransformException& e) - { - ROS_ERROR_STREAM("Error in lookupTransform of " << childFrame << " in " << refFrame); - return false; - } - - } - return true; - } - - void image_callback(const sensor_msgs::ImageConstPtr& msg) - { - bool publishMarkers = marker_pub_.getNumSubscribers() > 0; - bool publishMarkersList = marker_list_pub_.getNumSubscribers() > 0; - bool publishImage = image_pub_.getNumSubscribers() > 0; - bool publishDebug = debug_pub_.getNumSubscribers() > 0; - - if (!publishMarkers && !publishMarkersList && !publishImage && !publishDebug) - return; - - ros::Time curr_stamp = msg->header.stamp; - cv_bridge::CvImagePtr cv_ptr; - try - { - cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::RGB8); - inImage_ = cv_ptr->image; - - // clear out previous detection results - markers_.clear(); - - // ok, let's detect - mDetector_.detect(inImage_, markers_, camParam_, marker_size_, false); - - // marker array publish - if (publishMarkers) - { - marker_msg_->markers.clear(); - marker_msg_->markers.resize(markers_.size()); - marker_msg_->header.stamp = curr_stamp; - marker_msg_->header.seq++; - - for (std::size_t i = 0; i < markers_.size(); ++i) - { - aruco_msgs::Marker & marker_i = marker_msg_->markers.at(i); - marker_i.header.stamp = curr_stamp; - marker_i.id = markers_.at(i).id; - marker_i.confidence = 1.0; - } - - // if there is camera info let's do 3D stuff - if (useCamInfo_) - { - // get the current transform from the camera frame to output ref frame - tf::StampedTransform cameraToReference; - cameraToReference.setIdentity(); - - if (reference_frame_ != camera_frame_) - { - getTransform(reference_frame_, camera_frame_, cameraToReference); - } - - // now find the transform for each detected marker - for (std::size_t i = 0; i < markers_.size(); ++i) - { - aruco_msgs::Marker & marker_i = marker_msg_->markers.at(i); - tf::Transform transform = aruco_ros::arucoMarker2Tf(markers_[i]); - transform = static_cast(cameraToReference) * transform; - tf::poseTFToMsg(transform, marker_i.pose.pose); - marker_i.header.frame_id = reference_frame_; - } - } - - // publish marker array - if (marker_msg_->markers.size() > 0) - marker_pub_.publish(marker_msg_); - } - - if (publishMarkersList) - { - marker_list_msg_.data.resize(markers_.size()); - for (std::size_t i = 0; i < markers_.size(); ++i) - marker_list_msg_.data[i] = markers_[i].id; - - marker_list_pub_.publish(marker_list_msg_); - } - - // draw detected markers on the image for visualization - for (std::size_t i = 0; i < markers_.size(); ++i) - { - markers_[i].draw(inImage_, cv::Scalar(0, 0, 255), 2); - } - - // draw a 3D cube in each marker if there is 3D info - if (camParam_.isValid() && marker_size_ != -1) - { - for (std::size_t i = 0; i < markers_.size(); ++i) - aruco::CvDrawingUtils::draw3dAxis(inImage_, markers_[i], camParam_); - } - - // publish input image with markers drawn on it - if (publishImage) - { - // show input with augmented information - cv_bridge::CvImage out_msg; - out_msg.header.stamp = curr_stamp; - out_msg.encoding = sensor_msgs::image_encodings::RGB8; - out_msg.image = inImage_; - image_pub_.publish(out_msg.toImageMsg()); - } - - // publish image after internal image processing - if (publishDebug) - { - // show also the internal image resulting from the threshold operation - cv_bridge::CvImage debug_msg; - debug_msg.header.stamp = curr_stamp; - debug_msg.encoding = sensor_msgs::image_encodings::MONO8; - debug_msg.image = mDetector_.getThresholdedImage(); - debug_pub_.publish(debug_msg.toImageMsg()); - } - - } - catch (cv_bridge::Exception& e) - { - ROS_ERROR("cv_bridge exception: %s", e.what()); - } - } -}; - -int main(int argc, char **argv) -{ - ros::init(argc, argv, "aruco_marker_publisher"); - - ArucoMarkerPublisher node; - - ros::spin(); -} diff --git a/legacy/aruco_ros/aruco_ros/src/simple_double.cpp b/legacy/aruco_ros/aruco_ros/src/simple_double.cpp deleted file mode 100644 index bb2d6c604..000000000 --- a/legacy/aruco_ros/aruco_ros/src/simple_double.cpp +++ /dev/null @@ -1,269 +0,0 @@ -/***************************** - Copyright 2011 Rafael Muñoz Salinas. All rights reserved. - - Redistribution and use in source and binary forms, with or without modification, are - permitted provided that the following conditions are met: - - 1. Redistributions of source code must retain the above copyright notice, this list of - conditions and the following disclaimer. - - 2. Redistributions in binary form must reproduce the above copyright notice, this list - of conditions and the following disclaimer in the documentation and/or other materials - provided with the distribution. - - THIS SOFTWARE IS PROVIDED BY Rafael Muñoz Salinas ''AS IS'' AND ANY EXPRESS OR IMPLIED - WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND - FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Rafael Muñoz Salinas OR - CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON - ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING - NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF - ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - - The views and conclusions contained in the software and documentation are those of the - authors and should not be interpreted as representing official policies, either expressed - or implied, of Rafael Muñoz Salinas. - ********************************/ - -/** - * @file simple_double.cpp - * @author Bence Magyar - * @date June 2012 - * @version 0.1 - * @brief ROS version of the example named "simple" in the ArUco software package. - */ - -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include - -#include -#include - -cv::Mat inImage; -aruco::CameraParameters camParam; -bool useRectifiedImages, normalizeImageIllumination; -int dctComponentsToRemove; -aruco::MarkerDetector mDetector; -std::vector markers; -ros::Subscriber cam_info_sub; -bool cam_info_received; -image_transport::Publisher image_pub; -image_transport::Publisher debug_pub; -ros::Publisher pose_pub1; -ros::Publisher pose_pub2; -std::string child_name1; -std::string parent_name; -std::string child_name2; - -double marker_size; -int marker_id1; -int marker_id2; - -void image_callback(const sensor_msgs::ImageConstPtr& msg) -{ - double ticksBefore = cv::getTickCount(); - static tf::TransformBroadcaster br; - if (cam_info_received) - { - ros::Time curr_stamp = msg->header.stamp; - cv_bridge::CvImagePtr cv_ptr; - try - { - cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::RGB8); - inImage = cv_ptr->image; - - if (normalizeImageIllumination) - { - ROS_WARN("normalizeImageIllumination is unimplemented!"); -// cv::Mat inImageNorm; -// pal_vision_util::dctNormalization(inImage, inImageNorm, dctComponentsToRemove); -// inImage = inImageNorm; - } - - // detection results will go into "markers" - markers.clear(); - // ok, let's detect - mDetector.detect(inImage, markers, camParam, marker_size, false); - // for each marker, draw info and its boundaries in the image - for (unsigned int i = 0; i < markers.size(); ++i) - { - // only publishing the selected marker - if (markers[i].id == marker_id1) - { - tf::Transform transform = aruco_ros::arucoMarker2Tf(markers[i]); - br.sendTransform(tf::StampedTransform(transform, curr_stamp, parent_name, child_name1)); - geometry_msgs::Pose poseMsg; - tf::poseTFToMsg(transform, poseMsg); - pose_pub1.publish(poseMsg); - } - else if (markers[i].id == marker_id2) - { - tf::Transform transform = aruco_ros::arucoMarker2Tf(markers[i]); - br.sendTransform(tf::StampedTransform(transform, curr_stamp, parent_name, child_name2)); - geometry_msgs::Pose poseMsg; - tf::poseTFToMsg(transform, poseMsg); - pose_pub2.publish(poseMsg); - } - - // but drawing all the detected markers - markers[i].draw(inImage, cv::Scalar(0, 0, 255), 2); - } - - // paint a circle in the center of the image - cv::circle(inImage, cv::Point(inImage.cols / 2, inImage.rows / 2), 4, cv::Scalar(0, 255, 0), 1); - - if (markers.size() == 2) - { - float x[2], y[2], u[2], v[2]; - for (unsigned int i = 0; i < 2; ++i) - { - ROS_DEBUG_STREAM( - "Marker(" << i << ") at camera coordinates = (" << markers[i].Tvec.at(0,0) << ", " << markers[i].Tvec.at(1,0) << ", " << markers[i].Tvec.at(2,0)); - // normalized coordinates of the marker - x[i] = markers[i].Tvec.at(0, 0) / markers[i].Tvec.at(2, 0); - y[i] = markers[i].Tvec.at(1, 0) / markers[i].Tvec.at(2, 0); - // undistorted pixel - u[i] = x[i] * camParam.CameraMatrix.at(0, 0) + camParam.CameraMatrix.at(0, 2); - v[i] = y[i] * camParam.CameraMatrix.at(1, 1) + camParam.CameraMatrix.at(1, 2); - } - - ROS_DEBUG_STREAM( - "Mid point between the two markers in the image = (" << (x[0]+x[1])/2 << ", " << (y[0]+y[1])/2 << ")"); - -// // paint a circle in the mid point of the normalized coordinates of both markers -// cv::circle(inImage, cv::Point((u[0] + u[1]) / 2, (v[0] + v[1]) / 2), 3, cv::Scalar(0, 0, 255), CV_FILLED); - - // compute the midpoint in 3D: - float midPoint3D[3]; // 3D point - for (unsigned int i = 0; i < 3; ++i) - midPoint3D[i] = (markers[0].Tvec.at(i, 0) + markers[1].Tvec.at(i, 0)) / 2; - // now project the 3D mid point to normalized coordinates - float midPointNormalized[2]; - midPointNormalized[0] = midPoint3D[0] / midPoint3D[2]; //x - midPointNormalized[1] = midPoint3D[1] / midPoint3D[2]; //y - u[0] = midPointNormalized[0] * camParam.CameraMatrix.at(0, 0) + camParam.CameraMatrix.at(0, 2); - v[0] = midPointNormalized[1] * camParam.CameraMatrix.at(1, 1) + camParam.CameraMatrix.at(1, 2); - - ROS_DEBUG_STREAM( - "3D Mid point between the two markers in undistorted pixel coordinates = (" << u[0] << ", " << v[0] << ")"); - - // paint a circle in the mid point of the normalized coordinates of both markers - - ROS_WARN("Skipping circle fill, see https://github.com/LASR-at-Home/Base/pull/24"); - // cv::circle(inImage, cv::Point(u[0], v[0]), 3, cv::Scalar(0, 0, 255), CV_FILLED); - - } - - // draw a 3D cube in each marker if there is 3D info - if (camParam.isValid() && marker_size != -1) - { - for (unsigned int i = 0; i < markers.size(); ++i) - { - aruco::CvDrawingUtils::draw3dCube(inImage, markers[i], camParam); - } - } - - if (image_pub.getNumSubscribers() > 0) - { - // show input with augmented information - cv_bridge::CvImage out_msg; - out_msg.header.stamp = curr_stamp; - out_msg.encoding = sensor_msgs::image_encodings::RGB8; - out_msg.image = inImage; - image_pub.publish(out_msg.toImageMsg()); - } - - if (debug_pub.getNumSubscribers() > 0) - { - // show also the internal image resulting from the threshold operation - cv_bridge::CvImage debug_msg; - debug_msg.header.stamp = curr_stamp; - debug_msg.encoding = sensor_msgs::image_encodings::MONO8; - debug_msg.image = mDetector.getThresholdedImage(); - debug_pub.publish(debug_msg.toImageMsg()); - } - - ROS_DEBUG("runtime: %f ms", 1000 * (cv::getTickCount() - ticksBefore) / cv::getTickFrequency()); - } - catch (cv_bridge::Exception& e) - { - ROS_ERROR("cv_bridge exception: %s", e.what()); - return; - } - } -} - -// wait for one camerainfo, then shut down that subscriber -void cam_info_callback(const sensor_msgs::CameraInfo &msg) -{ - camParam = aruco_ros::rosCameraInfo2ArucoCamParams(msg, useRectifiedImages); - cam_info_received = true; - cam_info_sub.shutdown(); -} - -void reconf_callback(aruco_ros::ArucoThresholdConfig &config, std::uint32_t level) -{ - mDetector.setDetectionMode(aruco::DetectionMode(config.detection_mode), config.min_image_size); - normalizeImageIllumination = config.normalizeImage; - dctComponentsToRemove = config.dctComponentsToRemove; -} - -int main(int argc, char **argv) -{ - ros::init(argc, argv, "aruco_simple"); - ros::NodeHandle nh("~"); - image_transport::ImageTransport it(nh); - - dynamic_reconfigure::Server server; - dynamic_reconfigure::Server::CallbackType f_; - f_ = boost::bind(&reconf_callback, _1, _2); - server.setCallback(f_); - - normalizeImageIllumination = false; - - nh.param("image_is_rectified", useRectifiedImages, true); - ROS_INFO_STREAM("Image is rectified: " << useRectifiedImages); - - image_transport::Subscriber image_sub = it.subscribe("/image", 1, &image_callback); - cam_info_sub = nh.subscribe("/camera_info", 1, &cam_info_callback); - - cam_info_received = false; - image_pub = it.advertise("result", 1); - debug_pub = it.advertise("debug", 1); - pose_pub1 = nh.advertise("pose", 100); - pose_pub2 = nh.advertise("pose2", 100); - - nh.param("marker_size", marker_size, 0.05); - nh.param("marker_id1", marker_id1, 582); - nh.param("marker_id2", marker_id2, 26); - nh.param("normalizeImage", normalizeImageIllumination, true); - nh.param("dct_components_to_remove", dctComponentsToRemove, 2); - if (dctComponentsToRemove == 0) - normalizeImageIllumination = false; - nh.param("parent_name", parent_name, ""); - nh.param("child_name1", child_name1, ""); - nh.param("child_name2", child_name2, ""); - - if (parent_name == "" || child_name1 == "" || child_name2 == "") - { - ROS_ERROR("parent_name and/or child_name was not set!"); - return -1; - } - - ROS_INFO("ArUco node started with marker size of %f meters and marker ids to track: %d, %d", marker_size, marker_id1, - marker_id2); - ROS_INFO("ArUco node will publish pose to TF with (%s, %s) and (%s, %s) as (parent,child).", parent_name.c_str(), - child_name1.c_str(), parent_name.c_str(), child_name2.c_str()); - - ros::spin(); -} diff --git a/legacy/aruco_ros/aruco_ros/src/simple_single.cpp b/legacy/aruco_ros/aruco_ros/src/simple_single.cpp deleted file mode 100644 index 4453d5581..000000000 --- a/legacy/aruco_ros/aruco_ros/src/simple_single.cpp +++ /dev/null @@ -1,342 +0,0 @@ -/***************************** - Copyright 2011 Rafael Muñoz Salinas. All rights reserved. - - Redistribution and use in source and binary forms, with or without modification, are - permitted provided that the following conditions are met: - - 1. Redistributions of source code must retain the above copyright notice, this list of - conditions and the following disclaimer. - - 2. Redistributions in binary form must reproduce the above copyright notice, this list - of conditions and the following disclaimer in the documentation and/or other materials - provided with the distribution. - - THIS SOFTWARE IS PROVIDED BY Rafael Muñoz Salinas ''AS IS'' AND ANY EXPRESS OR IMPLIED - WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND - FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Rafael Muñoz Salinas OR - CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON - ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING - NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF - ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - - The views and conclusions contained in the software and documentation are those of the - authors and should not be interpreted as representing official policies, either expressed - or implied, of Rafael Muñoz Salinas. - ********************************/ -/** - * @file simple_single.cpp - * @author Bence Magyar - * @date June 2012 - * @version 0.1 - * @brief ROS version of the example named "simple" in the ArUco software package. - */ - -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include - -class ArucoSimple -{ -private: - cv::Mat inImage; - aruco::CameraParameters camParam; - tf::StampedTransform rightToLeft; - bool useRectifiedImages; - aruco::MarkerDetector mDetector; - std::vector markers; - ros::Subscriber cam_info_sub; - bool cam_info_received; - image_transport::Publisher image_pub; - image_transport::Publisher debug_pub; - ros::Publisher pose_pub; - ros::Publisher transform_pub; - ros::Publisher position_pub; - ros::Publisher marker_pub; // rviz visualization marker - ros::Publisher pixel_pub; - std::string marker_frame; - std::string camera_frame; - std::string reference_frame; - - double marker_size; - int marker_id; - - ros::NodeHandle nh; - image_transport::ImageTransport it; - image_transport::Subscriber image_sub; - - tf::TransformListener _tfListener; - - dynamic_reconfigure::Server dyn_rec_server; - -public: - ArucoSimple() : - cam_info_received(false), nh("~"), it(nh) - { - - if (nh.hasParam("corner_refinement")) - ROS_WARN( - "Corner refinement options have been removed in ArUco 3.0.0, corner_refinement ROS parameter is deprecated"); - - aruco::MarkerDetector::Params params = mDetector.getParameters(); - std::string thresh_method; - switch (params.thresMethod) - { - case aruco::MarkerDetector::ThresMethod::THRES_ADAPTIVE: - thresh_method = "THRESH_ADAPTIVE"; - break; - case aruco::MarkerDetector::ThresMethod::THRES_AUTO_FIXED: - thresh_method = "THRESH_AUTO_FIXED"; - break; - default: - thresh_method = "UNKNOWN"; - break; - } - - // Print parameters of ArUco marker detector: - ROS_INFO_STREAM("Threshold method: " << thresh_method); - - float min_marker_size; // percentage of image area - nh.param("min_marker_size", min_marker_size, 0.02); - - std::string detection_mode; - nh.param("detection_mode", detection_mode, "DM_FAST"); - if (detection_mode == "DM_FAST") - mDetector.setDetectionMode(aruco::DM_FAST, min_marker_size); - else if (detection_mode == "DM_VIDEO_FAST") - mDetector.setDetectionMode(aruco::DM_VIDEO_FAST, min_marker_size); - else - // Aruco version 2 mode - mDetector.setDetectionMode(aruco::DM_NORMAL, min_marker_size); - - ROS_INFO_STREAM("Marker size min: " << min_marker_size << "% of image area"); - ROS_INFO_STREAM("Detection mode: " << detection_mode); - - image_sub = it.subscribe("/image", 1, &ArucoSimple::image_callback, this); - cam_info_sub = nh.subscribe("/camera_info", 1, &ArucoSimple::cam_info_callback, this); - - image_pub = it.advertise("result", 1); - debug_pub = it.advertise("debug", 1); - pose_pub = nh.advertise("pose", 100); - transform_pub = nh.advertise("transform", 100); - position_pub = nh.advertise("position", 100); - marker_pub = nh.advertise("marker", 10); - pixel_pub = nh.advertise("pixel", 10); - - nh.param("marker_size", marker_size, 0.05); - nh.param("marker_id", marker_id, 300); - nh.param("reference_frame", reference_frame, ""); - nh.param("camera_frame", camera_frame, ""); - nh.param("marker_frame", marker_frame, ""); - nh.param("image_is_rectified", useRectifiedImages, true); - - ROS_ASSERT(camera_frame != "" && marker_frame != ""); - - if (reference_frame.empty()) - reference_frame = camera_frame; - - ROS_INFO("ArUco node started with marker size of %f m and marker id to track: %d", marker_size, marker_id); - ROS_INFO("ArUco node will publish pose to TF with %s as parent and %s as child.", reference_frame.c_str(), - marker_frame.c_str()); - - dyn_rec_server.setCallback(boost::bind(&ArucoSimple::reconf_callback, this, _1, _2)); - } - - bool getTransform(const std::string& refFrame, const std::string& childFrame, tf::StampedTransform& transform) - { - std::string errMsg; - - if (!_tfListener.waitForTransform(refFrame, childFrame, ros::Time(0), ros::Duration(0.5), ros::Duration(0.01), - &errMsg)) - { - ROS_ERROR_STREAM("Unable to get pose from TF: " << errMsg); - return false; - } - else - { - try - { - _tfListener.lookupTransform(refFrame, childFrame, ros::Time(0), // get latest available - transform); - } - catch (const tf::TransformException& e) - { - ROS_ERROR_STREAM("Error in lookupTransform of " << childFrame << " in " << refFrame); - return false; - } - - } - return true; - } - - void image_callback(const sensor_msgs::ImageConstPtr& msg) - { - if ((image_pub.getNumSubscribers() == 0) && (debug_pub.getNumSubscribers() == 0) - && (pose_pub.getNumSubscribers() == 0) && (transform_pub.getNumSubscribers() == 0) - && (position_pub.getNumSubscribers() == 0) && (marker_pub.getNumSubscribers() == 0) - && (pixel_pub.getNumSubscribers() == 0)) - { - ROS_DEBUG("No subscribers, not looking for ArUco markers"); - return; - } - - static tf::TransformBroadcaster br; - if (cam_info_received) - { - ros::Time curr_stamp = msg->header.stamp; - cv_bridge::CvImagePtr cv_ptr; - try - { - cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::RGB8); - inImage = cv_ptr->image; - - // detection results will go into "markers" - markers.clear(); - // ok, let's detect - mDetector.detect(inImage, markers, camParam, marker_size, false); - // for each marker, draw info and its boundaries in the image - for (std::size_t i = 0; i < markers.size(); ++i) - { - // only publishing the selected marker - if (markers[i].id == marker_id) - { - tf::Transform transform = aruco_ros::arucoMarker2Tf(markers[i]); - tf::StampedTransform cameraToReference; - cameraToReference.setIdentity(); - - if (reference_frame != camera_frame) - { - getTransform(reference_frame, camera_frame, cameraToReference); - } - - transform = static_cast(cameraToReference) * static_cast(rightToLeft) - * transform; - - tf::StampedTransform stampedTransform(transform, curr_stamp, reference_frame, marker_frame); - br.sendTransform(stampedTransform); - geometry_msgs::PoseStamped poseMsg; - tf::poseTFToMsg(transform, poseMsg.pose); - poseMsg.header.frame_id = reference_frame; - poseMsg.header.stamp = curr_stamp; - pose_pub.publish(poseMsg); - - geometry_msgs::TransformStamped transformMsg; - tf::transformStampedTFToMsg(stampedTransform, transformMsg); - transform_pub.publish(transformMsg); - - geometry_msgs::Vector3Stamped positionMsg; - positionMsg.header = transformMsg.header; - positionMsg.vector = transformMsg.transform.translation; - position_pub.publish(positionMsg); - - geometry_msgs::PointStamped pixelMsg; - pixelMsg.header = transformMsg.header; - pixelMsg.point.x = markers[i].getCenter().x; - pixelMsg.point.y = markers[i].getCenter().y; - pixelMsg.point.z = 0; - pixel_pub.publish(pixelMsg); - - // publish rviz marker representing the ArUco marker patch - visualization_msgs::Marker visMarker; - visMarker.header = transformMsg.header; - visMarker.id = 1; - visMarker.type = visualization_msgs::Marker::CUBE; - visMarker.action = visualization_msgs::Marker::ADD; - visMarker.pose = poseMsg.pose; - visMarker.scale.x = marker_size; - visMarker.scale.y = marker_size; - visMarker.scale.z = 0.001; - visMarker.color.r = 1.0; - visMarker.color.g = 0; - visMarker.color.b = 0; - visMarker.color.a = 1.0; - visMarker.lifetime = ros::Duration(3.0); - marker_pub.publish(visMarker); - - } - // but drawing all the detected markers - markers[i].draw(inImage, cv::Scalar(0, 0, 255), 2); - } - - // draw a 3d cube in each marker if there is 3d info - if (camParam.isValid() && marker_size != -1) - { - for (std::size_t i = 0; i < markers.size(); ++i) - { - aruco::CvDrawingUtils::draw3dAxis(inImage, markers[i], camParam); - } - } - - if (image_pub.getNumSubscribers() > 0) - { - // show input with augmented information - cv_bridge::CvImage out_msg; - out_msg.header.stamp = curr_stamp; - out_msg.encoding = sensor_msgs::image_encodings::RGB8; - out_msg.image = inImage; - image_pub.publish(out_msg.toImageMsg()); - } - - if (debug_pub.getNumSubscribers() > 0) - { - // show also the internal image resulting from the threshold operation - cv_bridge::CvImage debug_msg; - debug_msg.header.stamp = curr_stamp; - debug_msg.encoding = sensor_msgs::image_encodings::MONO8; - debug_msg.image = mDetector.getThresholdedImage(); - debug_pub.publish(debug_msg.toImageMsg()); - } - } - catch (cv_bridge::Exception& e) - { - ROS_ERROR("cv_bridge exception: %s", e.what()); - return; - } - } - } - - // wait for one camerainfo, then shut down that subscriber - void cam_info_callback(const sensor_msgs::CameraInfo &msg) - { - camParam = aruco_ros::rosCameraInfo2ArucoCamParams(msg, useRectifiedImages); - - // handle cartesian offset between stereo pairs - // see the sensor_msgs/CameraInfo documentation for details - rightToLeft.setIdentity(); - rightToLeft.setOrigin(tf::Vector3(-msg.P[3] / msg.P[0], -msg.P[7] / msg.P[5], 0.0)); - - cam_info_received = true; - cam_info_sub.shutdown(); - } - - void reconf_callback(aruco_ros::ArucoThresholdConfig &config, uint32_t level) - { - mDetector.setDetectionMode(aruco::DetectionMode(config.detection_mode), config.min_image_size); - if (config.normalizeImage) - { - ROS_WARN("normalizeImageIllumination is unimplemented!"); - } - } -}; - -int main(int argc, char **argv) -{ - ros::init(argc, argv, "aruco_simple"); - - ArucoSimple node; - - ros::spin(); -} From 400179e43175bf47648eb07d52588ba89ae7239b Mon Sep 17 00:00:00 2001 From: Zoe Date: Thu, 26 Oct 2023 13:17:43 +0100 Subject: [PATCH 06/80] tidying up --- legacy/aruco_ros/LICENSE | 7 + legacy/aruco_ros/README.md | 86 + legacy/aruco_ros/aruco/CHANGELOG.rst | 106 + legacy/aruco_ros/aruco/CMakeLists.txt | 63 + legacy/aruco_ros/aruco/cfg/ArucoThreshold.cfg | 14 + legacy/aruco_ros/aruco/include/aruco/aruco.h | 25 + .../aruco/include/aruco/aruco_cvversioning.h | 33 + .../aruco/include/aruco/aruco_export.h | 34 + .../aruco/include/aruco/cameraparameters.h | 142 + .../aruco/include/aruco/cvdrawingutils.h | 43 + legacy/aruco_ros/aruco/include/aruco/debug.h | 127 + .../aruco/include/aruco/dictionary.h | 191 + .../aruco/include/aruco/dictionary_based.h | 68 + .../aruco/include/aruco/fractaldetector.h | 133 + .../aruco/fractallabelers/fractallabeler.h | 52 + .../aruco/fractallabelers/fractalmarker.h | 65 + .../aruco/fractallabelers/fractalmarkerset.h | 142 + .../fractallabelers/fractalposetracker.h | 147 + legacy/aruco_ros/aruco/include/aruco/ippe.h | 360 ++ .../aruco_ros/aruco/include/aruco/levmarq.h | 386 ++ legacy/aruco_ros/aruco/include/aruco/marker.h | 191 + .../aruco/include/aruco/markerdetector.h | 463 ++ .../aruco/include/aruco/markerdetector_impl.h | 499 +++ .../aruco/include/aruco/markerlabeler.h | 98 + .../aruco_ros/aruco/include/aruco/markermap.h | 215 + .../aruco_ros/aruco/include/aruco/picoflann.h | 792 ++++ .../aruco/include/aruco/posetracker.h | 189 + legacy/aruco_ros/aruco/include/aruco/timers.h | 289 ++ legacy/aruco_ros/aruco/package.xml | 18 + .../aruco_ros/aruco/src/aruco/CMakeLists.txt | 77 + .../aruco/src/aruco/cameraparameters.cpp | 558 +++ .../aruco/src/aruco/cvdrawingutils.cpp | 164 + legacy/aruco_ros/aruco/src/aruco/debug.cpp | 63 + 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legacy/aruco_ros/aruco_ros/CHANGELOG.rst | 129 + legacy/aruco_ros/aruco_ros/CMakeLists.txt | 76 + .../aruco_ros/cfg/ArucoThreshold.cfg | 18 + .../aruco_ros/aruco_ros/etc/marker26_5cm.jpg | Bin 0 -> 8333 bytes .../aruco_ros/etc/marker26_5cm_margin_1cm.jpg | Bin 0 -> 6397 bytes .../aruco_ros/etc/marker26_5cm_margin_2cm.jpg | Bin 0 -> 9281 bytes .../aruco_ros/aruco_ros/etc/marker582_5cm.jpg | Bin 0 -> 10538 bytes .../etc/marker582_5cm_margin_2cm.jpg | Bin 0 -> 7094 bytes .../aruco_ros/etc/marker_in_hand.jpg | Bin 0 -> 12203 bytes .../aruco_ros/etc/marker_in_object.jpg | Bin 0 -> 4952 bytes .../aruco_ros/etc/new_coordinates.png | Bin 0 -> 24047 bytes .../etc/reem_gazebo_floating_marker.png | Bin 0 -> 9433 bytes .../etc/reem_gazebo_floating_marker_world.png | Bin 0 -> 62994 bytes .../include/aruco_ros/aruco_ros_utils.h | 38 + .../aruco_ros/aruco_ros/launch/double.launch | 28 + .../aruco_ros/launch/marker_publisher.launch | 18 + .../aruco_ros/aruco_ros/launch/single.launch | 24 + 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tasks/lift/debug_lift/warped_in_extract885.jpg create mode 100644 tasks/lift/debug_lift/zoe_predict_pos_test292.jpg delete mode 100644 tasks/lift/debug_lift/zoe_predict_pos_test885.jpg diff --git a/legacy/aruco_ros/LICENSE b/legacy/aruco_ros/LICENSE new file mode 100644 index 000000000..43f1215e3 --- /dev/null +++ b/legacy/aruco_ros/LICENSE @@ -0,0 +1,7 @@ +Copyright 2020 PAL Robotics S.L. + +Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. diff --git a/legacy/aruco_ros/README.md b/legacy/aruco_ros/README.md new file mode 100644 index 000000000..0d7f7b92b --- /dev/null +++ b/legacy/aruco_ros/README.md @@ -0,0 +1,86 @@ +aruco_ros +========= + +Software package and ROS wrappers of the [Aruco][1] Augmented Reality marker detector library. + + +### Features + + + * High-framerate tracking of AR markers + + * Generate AR markers with given size and optimized for minimal perceptive ambiguity (when there are more markers to track) + + * Enhanced precision tracking by using boards of markers + + * ROS wrappers + + +### Applications + + * Object pose estimation + * Visual servoing: track object and hand at the same time + + + + +### ROS API + +#### Messages + + * aruco_ros/Marker.msg + + Header header + uint32 id + geometry_msgs/PoseWithCovariance pose + float64 confidence + + * aruco_ros/MarkerArray.msg + + Header header + aruco_ros/Marker[] markers + +### Kinetic changes + +* Updated the [Aruco][1] library to version 3.0.4 + +* Changed the coordinate system to match the library's, the convention is shown + in the image below, following rviz conventions, X is red, Y is green and Z is + blue. + + +### Test it with REEM + + * Open a REEM in simulation with a marker floating in front of the robot. This will start the stereo cameras of the robot too. Since this is only a vision test, there is nothing else in this world apart from the robot and a marker floating in front of it. An extra light source had to be added to compensate for the default darkness. + + ``` + roslaunch reem_gazebo reem_gazebo.launch world:=floating_marker + ``` + * Launch the `image_proc` node to get undistorted images from the cameras of the robot. + + ``` + ROS_NAMESPACE=/stereo/right rosrun image_proc image_proc image_raw:=image + ``` + * Start the `single` node which will start tracking the specified marker and will publish its pose in the camera frame + + ``` + roslaunch aruco_ros single.launch markerId:=26 markerSize:=0.08 eye:="right" + ``` + + the frame in which the pose is refered to can be chosen with the 'ref_frame' argument. The next example forces the marker pose to + be published with respect to the robot base_link frame: + + ``` + roslaunch aruco_ros single.launch markerId:=26 markerSize:=0.08 eye:="right" ref_frame:=/base_link + ``` + + * Visualize the result + + ``` + rosrun image_view image_view image:=/aruco_single/result + ``` + + + + +[1]: http://www.sciencedirect.com/science/article/pii/S0031320314000235 "Automatic generation and detection of highly reliable fiducial markers under occlusion by S. Garrido-Jurado and R. Muñoz-Salinas and F.J. Madrid-Cuevas and M.J. MarĂ­n-JimĂ©nez 2014" diff --git a/legacy/aruco_ros/aruco/CHANGELOG.rst b/legacy/aruco_ros/aruco/CHANGELOG.rst new file mode 100644 index 000000000..acd283216 --- /dev/null +++ b/legacy/aruco_ros/aruco/CHANGELOG.rst @@ -0,0 +1,106 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package aruco +^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.0.0 (2019-09-27) +------------------ +* Fix shadowed variables +* Add SYSTEN to include dirs +* Merge pull request `#68 `_ from aPonza/ros_format + Autoformatting as per CppStyleGuide +* removed using namespace declarations +* autoformatting as per CppStyleGuide +* Migration to aruco 3.0.4 +* Merge branch 'indigo-devel' into kinetic-devel +* Completely remove debug print +* Merge pull request `#37 `_ from pal-robotics/remove-debug-print + Remove debug log msg +* Remove debug log msg +* Merge pull request `#29 `_ from cehberlin/kinetic-devel + forcing opencv3 build for kinetic +* forcing opencv3 build for kinetic +* Contributors: Andrea Ponza, Bence Magyar, Christopher Hrabia, Jordi Pages, Victor Lopez + +2.2.2 (2022-11-23) +------------------ +* Merge branch 'fix/109/ferrum/cornerupsample' into 'ferrum-devel' + Fix/109/ferrum/cornerupsample + See merge request ros-overlays/aruco_ros!9 +* Fix/109/ferrum/cornerupsample +* Contributors: josegarcia, saikishor + +2.2.1 (2022-11-10) +------------------ +* Merge branch 'fix_disable_pal_flags' into 'ferrum-devel' + disable the shadow compilation flag + See merge request ros-overlays/aruco_ros!7 +* disable the shadow compilation flag +* Contributors: Sai Kishor Kothakota, saikishor + +2.2.0 (2022-11-07) +------------------ +* Merge branch 'feat/aruco-3.1.5-migration' into 'ferrum-devel' + ArUCO 3.1.5 migration + See merge request ros-overlays/aruco_ros!4 +* replace disable_pal_flags() with set DISABLE_PAL_FLAGS +* clang formatting +* add support for extrinsics with stereo cameras +* Add correct fisheye distortion functionality +* migrate to 3.1.5 +* Contributors: josecarlos, josegarcia, saikishor + +2.1.4 (2022-05-16) +------------------ + +2.1.3 (2022-04-05) +------------------ +* Make Sai maintainer of all +* Update license tags in the package.xml +* Contributors: Bence Magyar, Sai Kishor Kothakota + +2.1.2 (2022-02-10) +------------------ + +2.1.1 (2020-09-17) +------------------ + +2.1.0 (2020-01-21) +------------------ +* Add param to correct fisheye distortion with special CV functions +* Add support for camera extrinsics when dealing with stereo cameras +* Contributors: Victor Lopez + +2.0.2 (2019-11-09) +------------------ + +2.0.1 (2019-09-27) +------------------ +* Fix dependency +* Contributors: Victor Lopez + +0.2.2 (2017-07-25) +------------------ + +0.2.1 (2017-07-21) +------------------ + +0.2.0 (2016-10-19) +------------------ +* Fix compilation error in Ubuntu 16.04 + With this change, aruco_ros compiles properly in Ubuntu 16.04, ROS kinetic. +* Contributors: Francisco + +0.1.0 (2015-08-10) +------------------ +* Depend on libopencv-dev directly +* Replace opencv2 dependency with cv_bridge +* Update changelogs and maintainer email +* Add aruco marker generator and opencv dependency +* Remove duplicated images +* Remove old launch files +* Contributors: Bence Magyar + +0.0.1 (2015-05-20) +------------------ +* Initial release +* Contributors: Bence Magyar diff --git a/legacy/aruco_ros/aruco/CMakeLists.txt b/legacy/aruco_ros/aruco/CMakeLists.txt new file mode 100644 index 000000000..c98a6bf78 --- /dev/null +++ b/legacy/aruco_ros/aruco/CMakeLists.txt @@ -0,0 +1,63 @@ +cmake_minimum_required(VERSION 2.8.3) +project(aruco) + +find_package(catkin) +find_package(Eigen3 REQUIRED) +find_package(OpenCV 3 REQUIRED) +set(CMAKE_CXX_STANDARD 11) # C++11... +set(CMAKE_CXX_STANDARD_REQUIRED ON) #...is required... +set(CMAKE_CXX_EXTENSIONS ON) #...with compiler extensions like gnu++11 +string(REPLACE "-Werror=shadow" "" NEW_CXX_FLAGS "${CMAKE_CXX_FLAGS}") +set(CMAKE_CXX_FLAGS "${NEW_CXX_FLAGS}") + +catkin_package( + INCLUDE_DIRS include + LIBRARIES aruco +) +include_directories( + include/aruco/) + +include_directories( + SYSTEM + ${catkin_INCLUDE_DIRS} + ${OpenCV_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIRS} +) + +add_library(aruco + src/aruco/cameraparameters.cpp + src/aruco/cvdrawingutils.cpp + src/aruco/debug.cpp + src/aruco/dictionary_based.cpp + src/aruco/dictionary.cpp + src/aruco/fractaldetector.cpp + src/aruco/ippe.cpp + src/aruco/marker.cpp + src/aruco/markerdetector_impl.cpp + src/aruco/markerdetector.cpp + src/aruco/markerlabeler.cpp + src/aruco/markermap.cpp + src/aruco/posetracker.cpp + src/aruco/fractallabelers/fractallabeler.cpp + src/aruco/fractallabelers/fractalmarker.cpp + src/aruco/fractallabelers/fractalmarkerset.cpp + src/aruco/fractallabelers/fractalposetracker.cpp +) +target_link_libraries(aruco + ${catkin_LIBRARIES} ${OpenCV_LIBRARIES}) + + +############# +## Install ## +############# + +install(TARGETS aruco + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) +install(DIRECTORY include/ + DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" +) + diff --git a/legacy/aruco_ros/aruco/cfg/ArucoThreshold.cfg b/legacy/aruco_ros/aruco/cfg/ArucoThreshold.cfg new file mode 100755 index 000000000..5d467de16 --- /dev/null +++ b/legacy/aruco_ros/aruco/cfg/ArucoThreshold.cfg @@ -0,0 +1,14 @@ +#!/usr/bin/env python +PACKAGE = "aruco_ros" + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() + +gen.add("param1", int_t, 0, "blockSize parameter of cv::adaptiveThreshold", 4, 1, 15) +gen.add("param2", int_t, 0, "C parameter of cv::adaptiveThreshold", 8, 1, 15) +gen.add("normalizeImage", bool_t, 0, "normalizeImage", True) +gen.add("dctComponentsToRemove", int_t, 0, "DCT components to remove", 2, 1, 4) +gen.add("degree", int_t, 0, "Degree to rotate", 0, 0, 360) + +exit(gen.generate(PACKAGE, "double", "ArucoThreshold")) diff --git a/legacy/aruco_ros/aruco/include/aruco/aruco.h b/legacy/aruco_ros/aruco/include/aruco/aruco.h new file mode 100755 index 000000000..3c8a3a3ee --- /dev/null +++ b/legacy/aruco_ros/aruco/include/aruco/aruco.h @@ -0,0 +1,25 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + + +#include "fractaldetector.h" +#include "markerdetector.h" +#include "posetracker.h" +#include "cvdrawingutils.h" +#include "dictionary.h" + +#define ARUCO_VERSION_MAJOR 3 +#define ARUCO_VERSION_MINOR 0 diff --git a/legacy/aruco_ros/aruco/include/aruco/aruco_cvversioning.h b/legacy/aruco_ros/aruco/include/aruco/aruco_cvversioning.h new file mode 100755 index 000000000..5fb6deac7 --- /dev/null +++ b/legacy/aruco_ros/aruco/include/aruco/aruco_cvversioning.h @@ -0,0 +1,33 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef ARUCO_CV_VERSIONING +#define ARUCO_CV_VERSIONING +#include +#if CV_MAJOR_VERSION >= 4 +#include + +#define CV_CAP_PROP_FRAME_COUNT cv::CAP_PROP_FRAME_COUNT +#define CV_CAP_PROP_POS_FRAMES cv::CAP_PROP_POS_FRAMES +#define CV_BGR2GRAY cv::COLOR_BGR2GRAY +#define CV_GRAY2BGR cv::COLOR_GRAY2BGR +#define CV_FONT_HERSHEY_COMPLEX cv::FONT_HERSHEY_COMPLEX +#define CV_FILLED cv::FILLED +#define CV_RANSAC cv::RANSAC +#define CV_REDUCE_SUM cv::REDUCE_SUM +#endif + +#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/aruco_export.h b/legacy/aruco_ros/aruco/include/aruco/aruco_export.h new file mode 100755 index 000000000..1414e4b91 --- /dev/null +++ b/legacy/aruco_ros/aruco/include/aruco/aruco_export.h @@ -0,0 +1,34 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + + + +#ifndef __OPENARUCO_CORE_TYPES_H__ +#define __OPENARUCO_CORE_TYPES_H__ + +#if !defined _CRT_SECURE_NO_DEPRECATE && _MSC_VER > 1300 +#define _CRT_SECURE_NO_DEPRECATE /* to avoid multiple Visual Studio 2005 warnings */ +#endif + + +#if (defined WIN32 || defined _WIN32 || defined WINCE) && defined ARUCO_DSO_EXPORTS +#define ARUCO_EXPORT __declspec(dllexport) +#else +#define ARUCO_EXPORT +#endif + + +#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/cameraparameters.h b/legacy/aruco_ros/aruco/include/aruco/cameraparameters.h new file mode 100755 index 000000000..af0d78566 --- /dev/null +++ b/legacy/aruco_ros/aruco/include/aruco/cameraparameters.h @@ -0,0 +1,142 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ +#ifndef _Aruco_CameraParameters_H +#define _Aruco_CameraParameters_H + +#include "aruco_export.h" +#include +#include +#include + +namespace aruco +{ +/**\brief Parameters of the camera + */ + +class ARUCO_EXPORT CameraParameters +{ +public: + // 3x3 matrix (fx 0 cx, 0 fy cy, 0 0 1) + cv::Mat CameraMatrix; + // distortion matrix + cv::Mat Distorsion; + // size of the image + cv::Size CamSize; + + // 3x1 matrix (Tx, Ty, Tz), usually 0 for non-stereo cameras or stereo left cameras + cv::Mat ExtrinsicMatrix; + + /**Empty constructor + */ + CameraParameters(); + /**Creates the object from the info passed + * @param cameraMatrix 3x3 matrix (fx 0 cx, 0 fy cy, 0 0 1) + * @param distorsionCoeff 4x1 matrix (k1,k2,p1,p2) + * @param size image size + */ + CameraParameters(cv::Mat cameraMatrix, cv::Mat distorsionCoeff, cv::Size size); + /**Sets the parameters + * @param cameraMatrix 3x3 matrix (fx 0 cx, 0 fy cy, 0 0 1) + * @param distorsionCoeff 4x1 matrix (k1,k2,p1,p2) + * @param size image size + */ + void setParams(cv::Mat cameraMatrix, cv::Mat distorsionCoeff, cv::Size size); + /**Copy constructor + */ + CameraParameters(const CameraParameters &CI); + + /**Indicates whether this object is valid + */ + bool isValid() const + { + return CameraMatrix.rows != 0 && CameraMatrix.cols != 0 && Distorsion.rows != 0 && + Distorsion.cols != 0 && CamSize.width != -1 && CamSize.height != -1; + } + /**Assign operator + */ + CameraParameters &operator=(const CameraParameters &CI); + + /**Saves this to a file + */ + void saveToFile(std::string path, bool inXML = true); + + /**Reads from a YAML file generated with the opencv2.2 calibration utility + */ + void readFromXMLFile(std::string filePath); + + /**Adjust the parameters to the size of the image indicated + */ + void resize(cv::Size size); + + /**Returns the location of the camera in the reference system of the marker. + * + * Rvec and Tvec are the transform from the marker to the camera as calculated in other + * parts of the library NOT TESTED + */ + static cv::Point3f getCameraLocation(const cv::Mat &Rvec, const cv::Mat &Tvec); + + /**Given the intrinsic camera parameters returns the GL_PROJECTION matrix for opengl. + * PLease NOTE that when using OpenGL, it is assumed no camera distorsion! So, if it is + *not true, you should have undistor image + * + * @param orgImgSize size of the original image + * @param size of the image/window where to render (can be different from the real + *camera image). Please not that it must be related to CamMatrix + * @param proj_matrix output projection matrix to give to opengl + * @param gnear,gfar: visible rendering range + * @param invert: indicates if the output projection matrix has to yield a horizontally + *inverted image because image data has not been stored in the order of glDrawPixels: + *bottom-to-top. + */ + void glGetProjectionMatrix(cv::Size orgImgSize, cv::Size size, double proj_matrix[16], + double gnear, double gfar, bool invert = false); + + /** + * setup camera for an Ogre project. + * Use: + * ... + * Ogre::Matrix4 PM(proj_matrix[0], proj_matrix[1], ... , proj_matrix[15]); + * yourCamera->setCustomProjectionMatrix(true, PM); + * yourCamera->setCustomViewMatrix(true, Ogre::Matrix4::IDENTITY); + * ... + * As in OpenGL, it assumes no camera distorsion + */ + void OgreGetProjectionMatrix(cv::Size orgImgSize, cv::Size size, double proj_matrix[16], + double gnear, double gfar, bool invert = false); + + /**Returns the 4x4 homogeneous transform matrix from the R and T vectors computed + */ + static cv::Mat getRTMatrix(const cv::Mat &R_, const cv::Mat &T_, int forceType); + + + /**Makes this invalid + */ + void clear(); + + ARUCO_EXPORT friend std::ostream &operator<<(std::ostream &str, const CameraParameters &cp); + ARUCO_EXPORT friend std::istream &operator>>(std::istream &str, CameraParameters &cp); + +private: + // GL routines + + static void argConvGLcpara2(double cparam[3][4], int width, int height, double gnear, + double gfar, double m[16], bool invert); + static int arParamDecompMat(double source[3][4], double cpara[3][4], double trans[3][4]); + static double norm(double a, double b, double c); + static double dot(double a1, double a2, double a3, double b1, double b2, double b3); +}; +} // namespace aruco +#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/cvdrawingutils.h b/legacy/aruco_ros/aruco/include/aruco/cvdrawingutils.h new file mode 100755 index 000000000..b52e75b2c --- /dev/null +++ b/legacy/aruco_ros/aruco/include/aruco/cvdrawingutils.h @@ -0,0 +1,43 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef _ArUco_DrawUtils_H_ +#define _ArUco_DrawUtils_H_ + +#include "aruco.h" +#include "aruco_export.h" + +namespace aruco +{ +/**\brief A set of functions to draw in opencv images + */ +class ARUCO_EXPORT CvDrawingUtils +{ +public: + static void draw3dAxis(cv::Mat& Image, const CameraParameters& CP, const cv::Mat& Rvec, + const cv::Mat& Tvec, float axis_size); + static void draw3dAxis(cv::Mat& Image, Marker& m, const CameraParameters& CP, int lineSize = 1); + + static void draw3dCube(cv::Mat& Image, Marker& m, const CameraParameters& CP, + int lineSize = 1, bool setYperpendicular = false); + + // static void draw3dAxis(cv::Mat &Image, MarkerMap &m, const CameraParameters &CP); + // static void draw3dCube(cv::Mat &Image, MarkerMap &m, const CameraParameters &CP, + // bool setYperpendicular = false); +}; +} // namespace aruco + +#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/debug.h b/legacy/aruco_ros/aruco/include/aruco/debug.h new file mode 100755 index 000000000..f07f5481e --- /dev/null +++ b/legacy/aruco_ros/aruco/include/aruco/debug.h @@ -0,0 +1,127 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef __Debug_H +#define __Debug_H +#include +#include +#include +#include "aruco_export.h" +#include +#include +namespace aruco +{ + +class ARUCO_EXPORT Debug +{ +private: + static int level; // 0(no debug), 1 medium, 2 high + static bool isInited; + + static std::map strings; + +public: + static void init(); + static void setLevel(int l); + static int getLevel(); + + + + static void addString(std::string &label, std::string &data); + static std::string getString(std::string &str); + + + static std::string getFileName(std::string filepath) + { + // go backwards until finding a separator or start + size_t i; + for (i = filepath.size() - 1; i != 0; i--) + { + if (filepath[i] == '\\' || filepath[i] == '/') + break; + } + std::string fn; + fn.reserve(filepath.size() - i); + for (size_t s = i; s < filepath.size(); s++) + fn.push_back(filepath[s]); + return fn; + } + +#ifdef WIN32 +#define __func__ __FUNCTION__ +#endif +}; + + +// message print +#if (defined DEBUG || defined _DEBUG) +#define _debug_exec(level, x) \ + { \ + if (Debug::getLevel() >= level) \ + { \ + x \ + } \ + } +#define _debug_exec_(x) x +#ifndef WIN32 +#define _debug_msg(x, level) \ + { \ + Debug::init(); \ + if (Debug::getLevel() >= level) \ + std::cout << "#" << Debug::getFileName(__FILE__) << ":" << __LINE__ << ":" \ + << __func__ << "#" << x << std::endl; \ + } + +#define _debug_msg_(x) \ + { \ + Debug::init(); \ + if (Debug::getLevel() >= 5) \ + std::cout << "#" << Debug::getFileName(__FILE__) << ":" << __LINE__ << ":" \ + << __func__ << "#" << x << std::endl; \ + } + +#else +#define _debug_msg(x, level) \ + { \ + Debug::init(); \ + if (Debug::getLevel() >= level) \ + std::cout << __func__ << ":" << Debug::getFileName(__FILE__) << ":" << __LINE__ \ + << ": " << x << std::endl; \ + } + +#define _debug_msg_(x) \ + { \ + Debug::init(); \ + if (Debug::getLevel() >= 5) \ + std::cout << __func__ << ":" << Debug::getFileName(__FILE__) << ":" << __LINE__ \ + << ": " << x << std::endl; \ + } + +#endif + +#else +#define _debug_msg(x, level) +#define _debug_msg_(x) +#define _debug_exec(level, x) ; +#define _debug_exec_(x) ; + +#endif + + + +} // namespace aruco + +#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/dictionary.h b/legacy/aruco_ros/aruco/include/aruco/dictionary.h new file mode 100755 index 000000000..738bbfde8 --- /dev/null +++ b/legacy/aruco_ros/aruco/include/aruco/dictionary.h @@ -0,0 +1,191 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef ARUCO_DICTIONARY_ +#define ARUCO_DICTIONARY_ + +#include "aruco_export.h" + +#include + +#include +#include +#include +#include +#include + +namespace aruco +{ +class MarkerMap; +/**Represents a set of valid marker ids with a maximum size of 8x8 = 64 bits. + * In our approach, markers are seen as a pair code-id. The code is the internal binary + * code printed on the marker. Maximum size is 8x8 bits. The id is a smaller number you + * can use to identify it. You will use only the id + * + * See enum DICT_TYPES for the set of dicitionaries availables + */ + +class ARUCO_EXPORT Dictionary +{ +public: + // loads from a set of predefined ones + enum DICT_TYPES : uint64_t + { + ALL_DICTS = 0, + ARUCO_MIP_36h12 = 1, //*** recommended + ARUCO = 2, // original aruco dictionary. By default + ARUCO_MIP_25h7 = 3, + ARUCO_MIP_16h3 = 4, + ARTAG = 5, // + ARTOOLKITPLUS = 6, + ARTOOLKITPLUSBCH = 7, // + TAG16h5 = 8, + TAG25h7 = 9, + TAG25h9 = 10, + TAG36h11 = 11, + TAG36h10 = 12, // april tags + CHILITAGS = 13, // chili tags dictionary . NOT RECOMMENDED. It has distance 0. + // Markers 806 and 682 should not be used!!! + CUSTOM = 14, // for used defined dictionaries (using loadFromfile). + }; + // indicates if a code is in the dictionary + bool is(uint64_t code) const + { + return _code_id.find(code) != _code_id.end(); + } + + DICT_TYPES getType() const + { + return _type; + } + + // reutnr the numerber of ids + uint64_t size() const + { + return _code_id.size(); + } + // returns the total number of bits of the binary code + uint32_t nbits() const + { + return _nbits; + } + // returns the dictionary distance + uint32_t tau() const + { + return _tau; + } + // returns the name + std::string getName() const + { + return _name; + } + // return the set of ids + const std::map& getMapCode() const + { + return _code_id; + } + + // returns the id of a given code. + int operator[](uint64_t code) + { + return _code_id[code]; + } // returns the id of a given code. + int at(uint64_t code) + { + return _code_id[code]; + } + + // returns the image of the marker indicated by its id. It the id is not, returns empty + // matrix + //@param id of the marker image to return + //@param bit_size of the image will be AxA, A=(nbits()+2)*bit_size + //@param enclosed_corners if true, extra rectagles are added touching the marker + //corners. it can be used to allow subpixel refinement + cv::Mat getMarkerImage_id(int id, int bit_size, bool addWaterMark = true, + bool enclosed_corners = false, + bool printExternalWhiteBorder = false, bool centralCircle = false); + + // cv::Mat getMarkerMatrix_id(int id); + + // used for boards + MarkerMap createMarkerMap(cv::Size gridSize, int MarkerSize, int MarkerDistance, + const std::vector& Ids, bool chess_board = false); + + static Dictionary loadPredefined(DICT_TYPES type); + static Dictionary loadPredefined(std::string type); + + /** loads a dictionary defined in a file + * Please note that the parsing is very basic and you must be very strict. + + * Here is an example of a 3x3 dictionary of 3 markers + * 010 111 000 + * 001 101 001 + * 001 010 100 + * + * + * File: myown.dict + *------------------------------------------- + * name MYOWN + * nbits 9 + * 010001001 + * 111101010 + * 000001100 + */ + static Dictionary loadFromFile(std::string path); + + /**Loads a dictioanary using the string passed. If it is a string of the predefined + * dictionaries, then returns it. Otherwise, tries to load from a file + */ + static Dictionary load(std::string info); + + // //io functions + // void saveToFile(std::string file); + // void readFromFile(std::string file); + // void saveToStream(std::ostream & str); + // void readFromStream(std::istream &str); + + // returns the dictionary distance + static uint64_t computeDictionaryDistance(const Dictionary& d); + + // given a string,returns the type + static DICT_TYPES getTypeFromString(std::string str); + static std::string getTypeString(DICT_TYPES t); + static bool isPredefinedDictinaryString(std::string str); + static std::vector getDicTypes(); + +private: + // obfuscate start + + void insert(uint64_t code, int id) + { + _code_id.insert(std::make_pair(code, id)); + } + static void fromVector(const std::vector& codes, + std::map& code_id_map); + + std::map _code_id; // marker have and code (internal binary code), + // which correspond to an id. + + uint32_t _nbits; // total number of bits . So, there are sqrt(nbits) in each axis + uint32_t _tau; // minimum distance between elements + + DICT_TYPES _type; + std::string _name; + // obfuscate end +}; +} // namespace aruco + +#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/dictionary_based.h b/legacy/aruco_ros/aruco/include/aruco/dictionary_based.h new file mode 100755 index 000000000..c0ed7c054 --- /dev/null +++ b/legacy/aruco_ros/aruco/include/aruco/dictionary_based.h @@ -0,0 +1,68 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef ArucoDictionaryBasedMarkerDetector_H +#define ArucoDictionaryBasedMarkerDetector_H + +#include "dictionary.h" +#include "markerlabeler.h" + +#include +namespace aruco +{ +/**Labeler using a dictionary + */ +class DictionaryBased : public MarkerLabeler +{ +public: + virtual ~DictionaryBased() + { + } + // first, dictionary, second the maximum correction rate [0,1]. If 0,no correction, if + // 1, maximum allowed correction + void setParams(const Dictionary& dic, float max_correction_rate); + + // main virtual class to o detection + virtual bool detect(const cv::Mat& in, int& marker_id, int& nRotations, + std::string& additionalInfo); + // returns the dictionary name + virtual std::string getName() const; + + virtual int getNSubdivisions() const + { + return _nsubdivisions; + } // + + std::vector getDictionaries() const + { + return vdic; + } + +private: + // obfuscate start + bool getInnerCode(const cv::Mat& thres_img, int total_nbits, std::vector& ids); + cv::Mat rotate(const cv::Mat& in); + uint64_t touulong(const cv::Mat& code); + std::vector vdic; + void toMat(uint64_t code, int nbits_sq, cv::Mat& out); + int _nsubdivisions = 0; + float _max_correction_rate; + std::string dicttypename; + std::map> nbits_dict; + // obfuscate end +}; +} // namespace aruco +#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/fractaldetector.h b/legacy/aruco_ros/aruco/include/aruco/fractaldetector.h new file mode 100755 index 000000000..cc8895301 --- /dev/null +++ b/legacy/aruco_ros/aruco/include/aruco/fractaldetector.h @@ -0,0 +1,133 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef _ARUCO_FractalDetector_H +#define _ARUCO_FractalDetector_H + +#include "markerdetector.h" +#include "fractallabelers/fractallabeler.h" +#include "aruco_export.h" +namespace aruco +{ +class ARUCO_EXPORT FractalDetector +{ + struct ARUCO_EXPORT Params + { + std::string configuration_type; + }; + +public: + FractalDetector(); + + /** + * @brief setConfiguration + * @param configuration fractal id + */ + void setConfiguration(int configuration); + + /** + * @brief setConfiguration + * @param configuration fractal file + */ + void setConfiguration(std::string configuration); + + /** + * @brief setParams + * @param cam_params camera parameters + * @param markerSize in meters + */ + void setParams(const CameraParameters &cam_params, float markerSize) + { + _cam_params = cam_params; + + Tracker.setParams(cam_params, _fractalLabeler->_fractalMarkerSet, markerSize); + } + + // return fractalmarkerset + FractalMarkerSet getConfiguration() + { + return Tracker.getFractal(); + } + + // return true if any marker is detected, false otherwise + bool detect(const cv::Mat &input) + { + Markers = _markerDetector->detect(input); + + if (Markers.size() > 0) + return true; + else + return false; + } + + // return true if the pose is estimated, false otherwise + bool poseEstimation() + { + if (_cam_params.isValid()) + { + return Tracker.fractalInnerPose(_markerDetector, Markers); + } + else + return false; + } + + // return the rotation vector. Returns an empty matrix if last call to estimatePose returned false + cv::Mat getRvec() + { + return Tracker.getRvec(); + } + // return the translation vector. Returns an empty matrix if last call to estimatePose returned false + cv::Mat getTvec() + { + return Tracker.getTvec(); + } + + void drawImage(cv::Mat &img, cv::Mat &img2); + + // draw borders of markers + void drawMarkers(cv::Mat &img); + + // draw inner corners of markers + void draw2d(cv::Mat &img); + + // draw pose estimation axes + void draw3d(cv::Mat &img, bool cube = true, bool axis = true); + + // draw marker as cube + void draw3dCube(cv::Mat &Image, FractalMarker m, const CameraParameters &CP, int lineSize); + + // return detected markers + std::vector getMarkers() + { + return Markers; + } + + // return image pyramid + std::vector getImagePyramid() + { + return _markerDetector->getImagePyramid(); + } + +private: + std::vector Markers; // detected markers + FractalPoseTracker Tracker; + Params _params; + CameraParameters _cam_params; // Camera parameters + cv::Ptr _fractalLabeler; + cv::Ptr _markerDetector; +}; +} // namespace aruco +#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/fractallabelers/fractallabeler.h b/legacy/aruco_ros/aruco/include/aruco/fractallabelers/fractallabeler.h new file mode 100755 index 000000000..d24e6749b --- /dev/null +++ b/legacy/aruco_ros/aruco/include/aruco/fractallabelers/fractallabeler.h @@ -0,0 +1,52 @@ +#include "../markerlabeler.h" +#include "fractalposetracker.h" + +namespace aruco +{ +class FractalMarkerLabeler : public MarkerLabeler +{ +public: + static cv::Ptr create(std::string params) + { + FractalMarkerSet fractalMarkerSet = FractalMarkerSet::load(params); + FractalMarkerLabeler* fml = new FractalMarkerLabeler(); + fml->setConfiguration(fractalMarkerSet); + return fml; + } + + static cv::Ptr create(FractalMarkerSet::CONF_TYPES conf) + { + FractalMarkerSet fractalMarkerSet = FractalMarkerSet::loadPredefined(conf); + FractalMarkerLabeler* fml = new FractalMarkerLabeler(); + fml->setConfiguration(fractalMarkerSet); + return fml; + } + + void setConfiguration(const FractalMarkerSet& fractMarkerSet); + + static bool isFractalDictionaryFile(const std::string& path); + + virtual ~FractalMarkerLabeler() + { + } + + bool load(const std::string& path); + + // returns the configuration name + std::string getName() const; + + // main virtual class to o detection + bool detect(const cv::Mat& in, int& marker_id, int& nRotations, std::string& additionalInfo); + + int getNSubdivisions() const + { + return (sqrt(_fractalMarkerSet.nBits()) + 2); + } + + FractalMarkerSet _fractalMarkerSet; + +private: + bool getInnerCode(const cv::Mat& thres_img, int total_nbits, std::vector& ids); + cv::Mat rotate(const cv::Mat& in); +}; +} // namespace aruco diff --git a/legacy/aruco_ros/aruco/include/aruco/fractallabelers/fractalmarker.h b/legacy/aruco_ros/aruco/include/aruco/fractallabelers/fractalmarker.h new file mode 100755 index 000000000..f6966dab1 --- /dev/null +++ b/legacy/aruco_ros/aruco/include/aruco/fractallabelers/fractalmarker.h @@ -0,0 +1,65 @@ +#ifndef FRACTALMARKER_H +#define FRACTALMARKER_H + +#include +#include +#include +#include "../markermap.h" + +namespace aruco +{ +class FractalMarker : public aruco::Marker3DInfo +{ +public: + FractalMarker(); + FractalMarker(int id, cv::Mat m, std::vector corners, + std::vector id_submarkers); + + // Add new submarker + void addSubFractalMarker(FractalMarker submarker); + + // Find inner corners + std::vector findInnerCorners(); + + // Marker MAT + const cv::Mat mat() const + { + return _M; + } + + // Marker mask (mask applied to submarkers) + const cv::Mat mask() const + { + return _mask; + } + + // Total number of bits + int nBits() + { + return _M.total(); + } + + // Submarkers ids + std::vector subMarkers() + { + return _submarkers; + } + + // Get inner corners + std::vector getInnerCorners() + { + if (innerCorners.empty()) + innerCorners = findInnerCorners(); + + return innerCorners; + } + +private: + cv::Mat _M; + cv::Mat _mask; + std::vector _submarkers; // id subfractalmarkers + std::vector innerCorners; +}; +} // namespace aruco + +#endif // FRACTALMARKER_H diff --git a/legacy/aruco_ros/aruco/include/aruco/fractallabelers/fractalmarkerset.h b/legacy/aruco_ros/aruco/include/aruco/fractallabelers/fractalmarkerset.h new file mode 100755 index 000000000..20ecd80d4 --- /dev/null +++ b/legacy/aruco_ros/aruco/include/aruco/fractallabelers/fractalmarkerset.h @@ -0,0 +1,142 @@ +#include "fractalmarker.h" + +#include +#include +#include +#include "../aruco_export.h" + +namespace aruco +{ +class ARUCO_EXPORT FractalMarkerSet +{ +public: + enum CONF_TYPES : uint64_t + { + FRACTAL_2L_6 = 0, + FRACTAL_3L_6 = 1, + FRACTAL_4L_6 = 2, + FRACTAL_5L_6 = 3, + CUSTOM = 4 // for used defined dictionaries (using load). + }; + + /** create set of markers + * @brief create + * @param regionsConfig {N(f1),K(f1)}{N(f2):K(f2)}...{N(fn):K(fn)} + * @param pixSize + */ + void create(std::vector> regionsConfig, float pixSize); + + /** configure bits of inner marker + * @brief configureMat + * @param nVal N region + * @param kVal K region + * @param maxIter Number of iteration + * @return Mat configurated marker + */ + cv::Mat configureMat(int nVal, int kVal, int maxIter = 10000); + // computes the distance of a marker to itself + int dstMarker(const cv::Mat m); + + // computes distance between marker to marker + int dstMarkerToMarker(const cv::Mat m1, const cv::Mat m2); + + // computes distance between marker to set of markers + int dstMarkerToFractalDict(cv::Mat m); + + // saves to a binary stream + static void _toStream(FractalMarkerSet &configuration, std::ostream &str); + + // load from a binary stream + static void _fromStream(FractalMarkerSet &configuration, std::istream &str); + + static bool isPredefinedConfigurationString(std::string str); + + static std::string getTypeString(FractalMarkerSet::CONF_TYPES t); + + static CONF_TYPES getTypeFromString(std::string str); + + static FractalMarkerSet load(std::string info); + + static FractalMarkerSet loadPredefined(std::string info); + + static FractalMarkerSet loadPredefined(CONF_TYPES info); + + static FractalMarkerSet readFromFile(std::string path); + + // saves configuration to a text file + void saveToFile(cv::FileStorage &fs); + + // Fractal configuration. id_marker + std::map fractalMarkerCollection; + // Nbits_idmarkers + std::map> nbits_fractalMarkerIDs; + + enum Fractal3DInfoType + { + NONE = -1, + PIX = 0, + METERS = 1, + NORM = 2 + }; // indicates if the data in Fractal is expressed in meters or in pixels + + /**Indicates if the corners are expressed in meters + */ + bool isExpressedInMeters() const + { + return mInfoType == METERS; + } + /**Indicates if the corners are expressed in meters + */ + bool isExpressedInPixels() const + { + return mInfoType == PIX; + } + /**Indicates if the corners are normalized. -1..1 external marker + */ + bool isNormalize() const + { + return mInfoType == NORM; + } + + // Normalize fractal marker. The corners will go on to take the values (-1,1)(1,1),(1,-1)(-1,-1) + FractalMarkerSet normalize(); + + // Convert marker to meters + FractalMarkerSet convertToMeters(float fractalSize_meters); + + static std::vector getConfigurations(); + + // Get fractal size (external marker) + float getFractalSize() const + { + FractalMarker externalMarker = fractalMarkerCollection.at(_idExternal); + return externalMarker.getMarkerSize(); + } + + // Get number of bits (external marker) + int nBits() const + { + FractalMarker externalMarker = fractalMarkerCollection.at(_idExternal); + return externalMarker.nBits(); + } + + // Check if m is a inner marker, and get its id. + bool isFractalMarker(cv::Mat &m, int nbits, int &id); + + // Get all inners corners + std::map> getInnerCorners(); + + cv::Mat getFractalMarkerImage(int pixSize, bool border = false); + + // variable indicates if the data is expressed in meters or in pixels or are normalized + int mInfoType; /* -1:NONE, 0:PIX, 1:METERS, 2:NORMALIZE*/ + +private: + // Number of levels + int _nmarkers; + // ID external marker + int _idExternal = 0; + // Configuration dictionary + std::string config; +}; +} // namespace aruco diff --git a/legacy/aruco_ros/aruco/include/aruco/fractallabelers/fractalposetracker.h b/legacy/aruco_ros/aruco/include/aruco/fractallabelers/fractalposetracker.h new file mode 100755 index 000000000..541bc2fb8 --- /dev/null +++ b/legacy/aruco_ros/aruco/include/aruco/fractallabelers/fractalposetracker.h @@ -0,0 +1,147 @@ +#include +#include "../picoflann.h" +#include "../cameraparameters.h" +#include "../markerdetector.h" +#include "fractalmarkerset.h" +#include "../aruco_export.h" +namespace aruco +{ + + +void kfilter(std::vector &kpoints); + +/** classification of the corners + * @brief assignClass + * @param im image used in the classification + * @param kpoints to classify + * @param sizeNorm. Is it necessary to transform keypoints? When keypoints have as + * reference the center of image(0,0), it is necessary to provide the fractal marker size + * @param wsize. Window size + */ +void assignClass(const cv::Mat &im, std::vector &kpoints, + float sizeNorm = 0.f, int wsize = 5); + +struct PicoFlann_KeyPointAdapter +{ + inline float operator()(const cv::KeyPoint &elem, int dim) const + { + return dim == 0 ? elem.pt.x : elem.pt.y; + } + inline float operator()(const cv::Point2f &elem, int dim) const + { + return dim == 0 ? elem.x : elem.y; + } +}; + +class ARUCO_EXPORT FractalPoseTracker +{ +public: + FractalPoseTracker(); + /** init fractlPoseTracker parameters + * @brief setParams + * @param cam_params camera paremeters + * @param msconf FractalMarkerSet configuration + * @param markerSize FractalMarker size + */ + void setParams(const CameraParameters &cam_params, const FractalMarkerSet &msconf, + const float markerSize = -1); + /** estimate the pose of the fractal marker. + * @brief fractalInnerPose + * @param markerDetector + * @param detected markers + * @param refinement, use or not pose refinement. True by default. + * @return true if the pose is estimated and false otherwise. If not estimated, the + * parameters m.Rvec and m.Tvec and not set. + */ + bool fractalInnerPose(const cv::Ptr markerDetector, + const std::vector &markers, bool refinement = true); + /** extraction of the region of the image where the marker is estimated to be based on the previous pose + * @brief ROI + * @param imagePyramid set images + * @param img original image. The image is scaled according to the selected pyramid image. + * @param innerPoints2d collection fractal inner points. The points are scaled according + * to the selected pyramid image. + * @param offset. Position of the upper inner corner of the marker. The offset is scaled + * according to the selected pyramid image. + * @param ratio selected scaling factor + */ + bool ROI(const std::vector imagePyramid, cv::Mat &img, + std::vector &innerPoints2d, cv::Point2f &offset, float &ratio); + + /** estimate the pose of the fractal marker. Method case 2, paper. + * @brief fractal_solve_ransac + * @param ninners (number of total inners points used) + * @param inner_kpnt matches (inner points - detected keypoints) + * @param kpnts keypoints + * @param maxIter maximum number of iterations + * @param _minInliers beta in paper + * @param _thresInliers alpha in paper + * @return Mat best model homography. + */ + cv::Mat fractal_solve_ransac(int ninners, + std::vector>> inner_kpnt, + std::vector kpnts, uint32_t maxIter = 500, + float _minInliers = 0.2f, float _thresInliers = 0.7f); + + /** Draw keypoints + * @brief image + * @param kpoints + * @param text + * @param transf. Is it necessary to transform keypoints? (-MarkerSize/2 .. + * MarkerSize/2) to (0 .. ImageSize) + */ + void drawKeyPoints(const cv::Mat image, std::vector kpoints, + bool text = false, bool transf = false); + + /** Refinement of the internal points of the marker and pose estimation with these. + * @brief fractalRefinement + * @param markerDetector + * @param markerWarpPix. Optimal markerwarpPix used to select the image of the pyramid. + * Default value 10. + * @return true if the pose is estimated and false otherwise. If not estimated, the + * parameters m.Rvec and m.Tvec and not set. + */ + bool fractalRefinement(const cv::Ptr markerDetector, int markerWarpPix = 10); + + // return the rotation vector. Returns an empty matrix if last call to estimatePose returned false + const cv::Mat getRvec() const + { + return _rvec; + } + + // return the translation vector. Returns an empty matrix if last call to estimatePose returned false + const cv::Mat getTvec() const + { + return _tvec; + } + + // return all corners from fractal marker + const std::vector getInner3d() + { + return _innerp3d; + } + + // is the pose valid? + bool isPoseValid() const + { + return !_rvec.empty() && !_tvec.empty(); + } + + FractalMarkerSet getFractal() + { + return _fractalMarker; + } + +private: + FractalMarkerSet _fractalMarker; // FractalMarkerSet configuration + aruco::CameraParameters _cam_params; // Camera parameters. + cv::Mat _rvec, _tvec; // current poses + std::map> _id_innerp3d; // Id_marker-Inners_corners + std::vector _innerp3d; // All inners corners + std::vector _innerkpoints; // All inners keypoints + picoflann::KdTreeIndex<2, PicoFlann_KeyPointAdapter> _kdtree; + std::map _id_radius; // Idmarker_Radius(Optimus) + std::map _id_area; // Idmarker_projectedArea(Optimus) + float _preRadius = 0; // radius used previous iteration +}; +} // namespace aruco diff --git a/legacy/aruco_ros/aruco/include/aruco/ippe.h b/legacy/aruco_ros/aruco/include/aruco/ippe.h new file mode 100755 index 000000000..8a26fdb64 --- /dev/null +++ b/legacy/aruco_ros/aruco/include/aruco/ippe.h @@ -0,0 +1,360 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + + +// This is the core header file for IPPE. Infinitesimal Plane-based Pose Estimation (IPPE) +// is a very fast and accurate way to compute a camera's pose from a single image of a +// planar object using point correspondences. This has uses in several applications, +// including augmented reality, 3D tracking and pose estimation with planar markers, and +// 3D scene understanding. This package is free and covered by the BSD licence without any +// warranty. We hope you find this code useful and if so please cite our paper in your +// work: + +//@article{ year={2014}, issn={0920-5691}, journal={International Journal of Computer +//Vision}, volume={109}, number={3}, doi={10.1007/s11263-014-0725-5}, title={Infinitesimal +// Plane-Based Pose Estimation}, url={http://dx.doi.org/10.1007/s11263-014-0725-5}, +// publisher={Springer US}, keywords={Plane; Pose; SfM; PnP; Homography}, author={Collins, +// Toby and Bartoli, Adrien}, pages={252-286}, language={English} } + +// Please contact Toby (toby.collins@gmail.com) if you have any questions about the code, paper and IPPE. + + +#ifndef _IPPE_H_ +#define _IPPE_H_ + +#include +#include +#include "aruco_export.h" +#include + +#define IPPE_SMALL 1e-7 // a small constant used to test 'small' values close to zero. + +namespace aruco +{ +// returns the two solutions +std::vector solvePnP(const std::vector& objPoints, + const std::vector& imgPoints, + cv::InputArray cameraMatrix, cv::InputArray distCoeffs); +void solvePnP(const std::vector& objPoints, + const std::vector& imgPoints, cv::InputArray cameraMatrix, + cv::InputArray distCoeffs, cv::Mat& rvec, cv::Mat& tvec); +ARUCO_EXPORT std::vector> solvePnP_( + float size, const std::vector& imgPoints, cv::InputArray cameraMatrix, + cv::InputArray distCoeffs); + +std::vector> solvePnP_(const std::vector& objPoints, + const std::vector& imgPoints, + cv::InputArray cameraMatrix, + cv::InputArray distCoeffs); + +} // namespace aruco +namespace IPPE +{ + +class PoseSolver +{ +public: + /** + * @brief PoseSolver constructor + */ + PoseSolver(); + + /** + * @brief PoseSolver destructor + */ + ~PoseSolver(); + + /** + * @brief Finds the two possible poses of a planar object given a set of + * correspondences and their respective reprojection errors. The poses are sorted with + * the first having the lowest reprojection error. + * @param _objectPoints Array of 4 or more coplanar object points defined in object coordinates. + * 1xN/Nx1 3-channel (float or double) where N is the number of points + * @param _imagePoints Array of corresponding image points, 1xN/Nx1 2-channel. This can + * either be in pixel coordinates or normalized pixel coordinates. + * @param _cameraMatrix Intrinsic camera matrix (same definition as OpenCV). If _imagePoints + * is in normalized pixel coordinates you must set _cameraMatrix = cv::noArray() + * @param _distCoeffs Intrinsic camera distortion vector (same definition as OpenCV). + * If _imagePoints is in normalized pixel coordinates you must set _cameraMatrix = cv::noArray() + * @param _rvec1 First rotation solution (3x1 rotation vector) + * @param _tvec1 First translation solution (3x1 vector) + * @param reprojErr1 Reprojection error of first solution + * @param _rvec2 Second rotation solution (3x1 rotation vector) + * @param _tvec2 Second translation solution (3x1 vector) + * @param reprojErr2 Reprojection error of second solution + */ + void solveGeneric(cv::InputArray _objectPoints, cv::InputArray _imagePoints, + cv::InputArray _cameraMatrix, cv::InputArray _distCoeffs, + cv::OutputArray _rvec1, cv::OutputArray _tvec1, float& reprojErr1, + cv::OutputArray _rvec2, cv::OutputArray _tvec2, float& reprojErr2); + + /** @brief Finds the two possible poses of a square planar object and their + * respective reprojection errors using IPPE. These poses are sorted so that the first + * one is the one with the lowest reprojection error. + * + * @param _squareLength The square's length (which is also it's width) in object coordinate + * units (e.g. millimeters, meters, etc.) + * @param _imagePoints Array of corresponding image points, 1xN/Nx1 2-channel. This + * can either be in pixel coordinates or normalized pixel coordinates. + * @param _cameraMatrix Intrinsic camera matrix (same definition as OpenCV). If _imagePoints + * is in normalized pixel coordinates you must set _cameraMatrix = cv::noArray() + * @param _distCoeffs Intrinsic camera distortion vector (same definition as OpenCV). + * If _imagePoints is in normalized pixel coordinates you must set _cameraMatrix = cv::noArray() + * @param _rvec1 First rotation solution (3x1 rotation vector) + * @param _tvec1 First translation solution (3x1 vector) + * @param reprojErr1 Reprojection error of first solution + * @param _rvec2 Second rotation solution (3x1 rotation vector) + * @param _tvec2 Second translation solution (3x1 vector) + * @param reprojErr2 Reprojection error of second solution + */ + void solveSquare(double squareLength, cv::InputArray _imagePoints, + cv::InputArray _cameraMatrix, cv::InputArray _distCoeffs, + cv::OutputArray _rvec1, cv::OutputArray _tvec1, float& reprojErr1, + cv::OutputArray _rvec2, cv::OutputArray _tvec2, float& reprojErr2); + + /** + * @brief Generates the 4 object points of a square planar object + * @param squareLength The square's length (which is also it's width) in object + * coordinate units (e.g. millimeters, meters, etc.) + * @param _objectPoints Set of 4 object points (1x4 3-channel double) + */ + void generateSquareObjectCorners3D(double squareLength, cv::OutputArray _objectPoints); + + /** + * @brief Generates the 4 object points of a square planar object, + * without including the z-component (which is z=0 for all points). + * @param squareLength The square's length (which is also it's width) in object + * coordinate units (e.g. millimeters, meters, etc.) + * @param _objectPoints Set of 4 object points (1x4 2-channel double) + */ + void generateSquareObjectCorners2D(double squareLength, cv::OutputArray _objectPoints); + + /** + * @brief Computes the average depth of an object given its pose in + * camera coordinates + * @param objectPoints: Object points defined in 3D object space + * @param rvec: Rotation component of pose + * @param tvec: Translation component of pose + * @return: average depth of the object + */ + double meanSceneDepth(cv::InputArray objectPoints, cv::InputArray rvec, cv::InputArray tvec); + +private: + /** + * @brief Finds the two possible poses of a planar object given a + * set of correspondences in normalized pixel coordinates. These poses are **NOT** + * sorted on reprojection error. Note that the returned poses are object-to-camera + * transforms, and not camera-to-object transforms. + * @param _objectPoints Array of 4 or more coplanar object points defined in + * object coordinates. 1xN/Nx1 3-channel (float or double). + * @param _normalizedImagePoints Array of corresponding image points in normalized + * pixel coordinates, 1xN/Nx1 2-channel (float or double). + * @param _Ma First pose solution (unsorted) + * @param _Mb Second pose solution (unsorted) + */ + void solveGeneric(cv::InputArray _objectPoints, cv::InputArray _normalizedImagePoints, + cv::OutputArray _Ma, cv::OutputArray _Mb); + + /** + * @brief Finds the two possible poses of a planar object in its canonical + * position, given a set of correspondences in normalized pixel coordinates. These poses + * are **NOT** sorted on reprojection error. Note that the returned poses are object-to-camera + * transforms, and not camera-to-object transforms. + * @param _canonicalObjPoints Array of 4 or more coplanar object points defined in + * object coordinates. 1xN/Nx1 3-channel (double) where N is the number of points + * @param _normalizedInputPoints Array of corresponding image points in normalized pixel + * coordinates, 1xN/Nx1 2-channel (double) where N is the number of points + * @param _H Homography mapping canonicalObjPoints to normalizedInputPoints. + * @param _Ma + * @param _Mb + */ + void solveCanonicalForm(cv::InputArray _canonicalObjPoints, cv::InputArray _normalizedInputPoints, + cv::InputArray _H, cv::OutputArray _Ma, cv::OutputArray _Mb); + + /** @brief Computes the translation solution for a given rotation solution + * @param _objectPoints Array of corresponding object points, 1xN/Nx1 3-channel + * where N is the number of points + * @param _normalizedImagePoints Array of corresponding image points (undistorted), + * 1xN/Nx1 2-channel where N is the number of points + * @param _R Rotation solution (3x1 rotation vector) + * @param _t Translation solution Translation solution (3x1 rotation vector) + */ + void computeTranslation(cv::InputArray _objectPoints, cv::InputArray _normalizedImgPoints, + cv::InputArray _R, cv::OutputArray _t); + + /** @brief Computes the two rotation solutions from the Jacobian + * of a homography matrix H at a point (ux,uy) on the object plane. For highest accuracy + * the Jacobian should be computed at the centroid of the point correspondences (see the + * IPPE paper for the explanation of this). For a point (ux,uy) on the object plane, suppose + * the homography H maps (ux,uy) to a point (p,q) in the image (in normalized pixel coordinates). + * The Jacobian matrix [J00, J01; J10,J11] is the Jacobian of the mapping evaluated at (ux,uy). + * @param j00 Homography jacobian coefficent at (ux,uy) + * @param j01 Homography jacobian coefficent at (ux,uy) + * @param j10 Homography jacobian coefficent at (ux,uy) + * @param j11 Homography jacobian coefficent at (ux,uy) + * @param p the x coordinate of point (ux,uy) mapped into the + * image (undistorted and normalized position) + * @param q the y coordinate of point (ux,uy) mapped into the + * image (undistorted and normalized position) + */ + void computeRotations(double j00, double j01, double j10, double j11, double p, + double q, cv::OutputArray _R1, cv::OutputArray _R2); + + /** @brief Closed-form solution for the homography mapping with + * four corner correspondences of a square (it maps source points to target points). The + * source points are the four corners of a zero-centred squared defined by: point 0: [-squareLength + * / 2.0, squareLength / 2.0] point 1: [squareLength / 2.0, squareLength / 2.0] point 2: + * [squareLength / 2.0, -squareLength / 2.0] point 3: [-squareLength / 2.0, -squareLength / 2.0] + * + * @param _targetPoints Array of four corresponding target points, 1x4/4x1 + * 2-channel. Note that the points should be ordered to correspond with points 0, 1, 2 and 3. + * @param halfLength the square's half length (i.e. squareLength/2.0) + * @param _H Homograhy mapping the source points to the target points, 3x3 single channel + */ + void homographyFromSquarePoints(cv::InputArray _targetPoints, double halfLength, + cv::OutputArray _H); + + /** @brief Fast conversion from a rotation matrix to a rotation vector + * using Rodrigues' formula + * @param _R Input rotation matrix, 3x3 1-channel (double) + * @param _r Output rotation vector, 3x1/1x3 1-channel (double) + */ + void rot2vec(cv::InputArray _R, cv::OutputArray _r); + + /** + * @brief Takes a set of planar object points and transforms them + * to 'canonical' object coordinates This is when they have zero mean and are on the plane z=0 + * @param _objectPoints Array of 4 or more coplanar object points defined in + * object coordinates. 1xN/Nx1 3-channel (float or double) where N is the number of points + * @param _canonicalObjectPoints Object points in canonical coordinates 1xN/Nx1 2-channel (double) + * @param _MobjectPoints2Canonical Transform matrix mapping _objectPoints to _canonicalObjectPoints: + * 4x4 1-channel (double) + */ + void makeCanonicalObjectPoints(cv::InputArray _objectPoints, + cv::OutputArray _canonicalObjectPoints, + cv::OutputArray _MobjectPoints2Canonical); + + /** + * @brief Evaluates the Root Mean Squared (RMS) reprojection + * error of a pose solution. + * @param _objectPoints Array of 4 or more coplanar object points defined in + * object coordinates. 1xN/Nx1 3-channel (float or double) where N is the number of + * points + * @param _imagePoints Array of corresponding image points, 1xN/Nx1 + * 2-channel. This can either be in pixel coordinates or normalized pixel coordinates. + * @param _cameraMatrix Intrinsic camera matrix (same definition as OpenCV). + * If _imagePoints is in normalized pixel coordinates you must set _cameraMatrix = + * cv::noArray(). + * @param _distCoeffs Intrinsic camera distortion vector (same definition + * as OpenCV). If _imagePoints is in normalized pixel coordinates you must set + * _cameraMatrix = cv::noArray(). + * @param _M Pose matrix from 3D object to camera coordinates: + * 4x4 1-channel (double) + * @param err RMS reprojection error + */ + void evalReprojError(cv::InputArray _objectPoints, cv::InputArray _imagePoints, + cv::InputArray _cameraMatrix, cv::InputArray _distCoeffs, + cv::InputArray _M, float& err); + + /** + * @brief Sorts two pose solutions according to their RMS + * reprojection error (lowest first). + * @param _objectPoints Array of 4 or more coplanar object points defined in + * object coordinates. 1xN/Nx1 3-channel (float or double) where N is the number of + * points + * @param _imagePoints Array of corresponding image points, 1xN/Nx1 + * 2-channel. This can either be in pixel coordinates or normalized pixel coordinates. + * @param _cameraMatrix Intrinsic camera matrix (same definition as OpenCV). + * If _imagePoints is in normalized pixel coordinates you must set _cameraMatrix = + * cv::noArray(). + * @param _distCoeffs Intrinsic camera distortion vector (same definition + * as OpenCV). If _imagePoints is in normalized pixel coordinates you must set + * _cameraMatrix = cv::noArray(). + * @param _Ma Pose matrix 1: 4x4 1-channel + * @param _Mb Pose matrix 2: 4x4 1-channel + * @param _M1 Member of (Ma,Mb} with lowest RMS reprojection + * error. Performs deep copy. + * @param _M2 Member of (Ma,Mb} with highest RMS reprojection + * error. Performs deep copy. + * @param err1 RMS reprojection error of _M1 + * @param err2 RMS reprojection error of _M2 + */ + void sortPosesByReprojError(cv::InputArray _objectPoints, cv::InputArray _imagePoints, + cv::InputArray _cameraMatrix, cv::InputArray _distCoeffs, + cv::InputArray _Ma, cv::InputArray _Mb, cv::OutputArray _M1, + cv::OutputArray _M2, float& err1, float& err2); + + /** + * @brief Finds the rotation _Ra that rotates a vector _a to + * the z axis (0,0,1) + * @param _a vector: 3x1 mat (double) + * @param _Ra Rotation: 3x3 mat (double) + */ + void rotateVec2ZAxis(cv::InputArray _a, cv::OutputArray _Ra); + + + /** + * @brief Computes the rotation _R that rotates the object points + * to the plane z=0. This uses the cross-product method with the first three object points. + * @param _objectPoints Array of N>=3 coplanar object points defined in object + * coordinates. 1xN/Nx1 3-channel (float or double) where N is the number of points + * @param _R Rotation Mat: 3x3 (double) + * @return success (true) or failure (false) + */ + bool computeObjextSpaceR3Pts(cv::InputArray _objectPoints, cv::OutputArray _R); + + /** + * @brief computeObjextSpaceRSvD Computes the rotation _R that rotates the object points + * to the plane z=0. This uses the cross-product method with the first three object points. + * @param _objectPointsZeroMean zero-meaned co=planar object points: 3xN matrix (double) where N>=3 + * @param _R Rotation Mat: 3x3 (double) + * @return success (true) or failure (false) + */ + bool computeObjextSpaceRSvD(cv::InputArray _objectPointsZeroMean, cv::OutputArray _R); +}; +} // namespace IPPE + +namespace HomographyHO +{ + +/** + * @brief Computes the best-fitting homography matrix from source to + * target points using Harker and O'Leary's method: Harker, M., O'Leary, P., Computation + * of Homographies, Proceedings of the British Machine Vision Conference 2005, Oxford, + * England. This is not the author's implementation. + * @param srcPoints Array of source points: 1xN/Nx1 2-channel (float or double) + * where N is the number of points + * @param targPoints Array of target points: 1xN/Nx1 2-channel (float or double) + * @param H Homography from source to target: 3x3 1-channel (double) + */ +void homographyHO(cv::InputArray srcPoints, cv::InputArray targPoints, cv::OutputArray H); + +/** + * @brief Performs data normalization before homography estimation. + * For details see Hartley, R., Zisserman, A., Multiple View Geometry in Computer Vision, + * Cambridge University Press, Cambridge, 2001 + * @param Data Array of source data points: 1xN/Nx1 2-channel (float or double) + * where N is the number of points + * @param DataN Normalized data points: 1xN/Nx1 2-channel (float or double) + * where N is the number of points + * @param T Homogeneous transform from source to normalized: 3x3 1-channel (double) + * @param Ti Homogeneous transform from normalized to source: 3x3 1-channel (double) + */ +void normalizeDataIsotropic(cv::InputArray Data, cv::OutputArray DataN, cv::OutputArray T, + cv::OutputArray Ti); +} // namespace HomographyHO + +#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/levmarq.h b/legacy/aruco_ros/aruco/include/aruco/levmarq.h new file mode 100755 index 000000000..1e765433b --- /dev/null +++ b/legacy/aruco_ros/aruco/include/aruco/levmarq.h @@ -0,0 +1,386 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef ARUCO_MM__LevMarq_H +#define ARUCO_MM__LevMarq_H +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +namespace aruco +{ +// Levenberg-Marquardt method for general problems Inspired in +//@MISC\{IMM2004-03215, +// author = "K. Madsen and H. B. Nielsen and O. Tingleff", +// title = "Methods for Non-Linear Least Squares Problems (2nd ed.)", +// year = "2004", +// pages = "60", +// publisher = "Informatics and Mathematical Modelling, Technical University of Denmark, {DTU}", +// address = "Richard Petersens Plads, Building 321, {DK-}2800 Kgs. Lyngby", +// url = "http://www.ltu.se/cms_fs/1.51590!/nonlinear_least_squares.pdf" +//} +template +class LevMarq +{ +public: + typedef Eigen::Matrix eVector; + typedef std::function F_z_x; + typedef std::function &)> F_z_J; + LevMarq(); + /** + * @brief Constructor with parms + * @param maxIters maximum number of iterations of the algoritm + * @param minError to stop the algorithm before reaching the max iterations + * @param min_step_error_diff minimum error difference between two iterations. If below + * this level, then stop. + * @param tau parameter indicating how near the initial solution is estimated to be to + * the real one. If 1, it means that it is very far and the first + * @param der_epsilon increment to calculate the derivate of the evaluation function + * step will be very short. If near 0, means the opposite. This value is auto calculated + * in the subsequent iterations. + */ + LevMarq(int maxIters, double minError, double min_step_error_diff = 0, double tau = 1, + double der_epsilon = 1e-3); + + /** + * @brief setParams + * @param maxIters maximum number of iterations of the algoritm + * @param minError to stop the algorithm before reaching the max iterations + * @param min_step_error_diff minimum error difference between two iterations. If below + * this level, then stop. + * @param tau parameter indicating how near the initial solution is estimated to be to + * the real one. If 1, it means that it is very far and the first + * @param der_epsilon increment to calculate the derivate of the evaluation function + * step will be very short. If near 0, means the opposite. This value is auto calculated + * in the subsequent iterations. + */ + void setParams(int maxIters, double minError, double min_step_error_diff = 0, + double tau = 1, double der_epsilon = 1e-3); + + /** + * @brief solve non linear minimization problem ||F(z)||, where F(z)=f(z) f(z)^t + * @param z function params 1xP to be estimated. input-output. Contains the result of + * the optimization + * @param f_z_x evaluation function f(z)=x + * first parameter : z : input. Data is in double precision as a row vector + * (1xp) second parameter : x : output. Data must be returned in double + * @param f_J computes the jacobian of f(z) + * first parameter : z : input. Data is in double precision as a row vector + * (1xp) second parameter : J : output. Data must be returned in double + * @return final error + */ + double solve(eVector &z, F_z_x, F_z_J); + /// Step by step solve mode + + + /** + * @brief init initializes the search engine + * @param z + */ + void init(eVector &z, F_z_x); + /** + * @brief step gives a step of the search + * @param f_z_x error evaluation function + * @param f_z_J Jacobian function + * @return error of current solution + */ + bool step(F_z_x f_z_x, F_z_J f_z_J); + bool step(F_z_x f_z_x); + /** + * @brief getCurrentSolution returns the current solution + * @param z output + * @return error of the solution + */ + double getCurrentSolution(eVector &z); + /** + * @brief getBestSolution sets in z the best solution up to this moment + * @param z output + * @return error of the solution + */ + double getBestSolution(eVector &z); + + /** Automatic jacobian estimation + * @brief solve non linear minimization problem ||F(z)||, where F(z)=f(z) f(z)^t + * @param z function params 1xP to be estimated. input-output. Contains the result of + * the optimization + * @param f_z_x evaluation function f(z)=x + * first parameter : z : input. Data is in double precision as a row vector + * (1xp) second parameter : x : output. Data must be returned in double + * @return final error + */ + double solve(eVector &z, F_z_x); + // to enable verbose mode + bool &verbose() + { + return _verbose; + } + + // sets a callback func call at each step + void setStepCallBackFunc(std::function callback) + { + _step_callback = callback; + } + // sets a function that indicates when the algorithm must be stop. returns true if must stop and false otherwise + void setStopFunction(std::function stop_function) + { + _stopFunction = stop_function; + } + + void calcDerivates(const eVector &z, Eigen::Matrix &, F_z_x); + +private: + int _maxIters; + double _minErrorAllowed, _der_epsilon, _tau, _min_step_error_diff; + bool _verbose; + //-------- + eVector curr_z, x64; + double currErr, prevErr, minErr; + Eigen::Matrix I, J; + double mu, v; + std::function _step_callback; + std::function _stopFunction; +}; + + + +template +LevMarq::LevMarq() +{ + _maxIters = 1000; + _minErrorAllowed = 0; + _der_epsilon = 1e-3; + _verbose = false; + _tau = 1; + v = 5; + _min_step_error_diff = 0; +} +/** + * @brief Constructor with parms + * @param maxIters maximum number of iterations of the algoritm + * @param minError to stop the algorithm before reaching the max iterations + * @param min_step_error_diff minimum error difference between two iterations. If below + * this level, then stop. + * @param tau parameter indicating how near the initial solution is estimated to be to the + * real one. If 1, it means that it is very far and the first + * @param der_epsilon increment to calculate the derivate of the evaluation function + * step will be very short. If near 0, means the opposite. This value is auto calculated + * in the subsequent iterations. + */ +template +LevMarq::LevMarq(int maxIters, double minError, double min_step_error_diff, double tau, + double der_epsilon) +{ + _maxIters = maxIters; + _minErrorAllowed = minError; + _der_epsilon = der_epsilon; + _verbose = false; + _tau = tau; + v = 5; + _min_step_error_diff = min_step_error_diff; +} + +/** + * @brief setParams + * @param maxIters maximum number of iterations of the algoritm + * @param minError to stop the algorithm before reaching the max iterations + * @param min_step_error_diff minimum error difference between two iterations. If below + * this level, then stop. + * @param tau parameter indicating how near the initial solution is estimated to be to the + * real one. If 1, it means that it is very far and the first + * @param der_epsilon increment to calculate the derivate of the evaluation function + * step will be very short. If near 0, means the opposite. This value is auto calculated + * in the subsequent iterations. + */ +template +void LevMarq::setParams(int maxIters, double minError, double min_step_error_diff, + double tau, double der_epsilon) +{ + _maxIters = maxIters; + _minErrorAllowed = minError; + _der_epsilon = der_epsilon; + _tau = tau; + _min_step_error_diff = min_step_error_diff; +} + + +template +void LevMarq::calcDerivates(const eVector &z, + Eigen::Matrix &j, F_z_x f_z_x) +{ + for (int i = 0; i < z.rows(); i++) + { + eVector zp(z), zm(z); + zp(i) += _der_epsilon; + zm(i) -= _der_epsilon; + eVector xp, xm; + f_z_x(zp, xp); + f_z_x(zm, xm); + eVector dif = (xp - xm) / (2.f * _der_epsilon); + j.middleCols(i, 1) = dif; + } +} + +template +double LevMarq::solve(eVector &z, F_z_x f_z_x) +{ + return solve(z, f_z_x, + std::bind(&LevMarq::calcDerivates, this, std::placeholders::_1, + std::placeholders::_2, f_z_x)); +} +template +bool LevMarq::step(F_z_x f_z_x) +{ + return step(f_z_x, std::bind(&LevMarq::calcDerivates, this, std::placeholders::_1, + std::placeholders::_2, f_z_x)); +} + +template +void LevMarq::init(eVector &z, F_z_x f_z_x) +{ + curr_z = z; + I.resize(z.rows(), z.rows()); + I.setIdentity(); + f_z_x(curr_z, x64); + minErr = currErr = prevErr = x64.cwiseProduct(x64).sum(); + J.resize(x64.rows(), z.rows()); + mu = -1; +} + + +#define splm_get_time(a, b) \ + std::chrono::duration_cast>(a - b).count() + + +template +bool LevMarq::step(F_z_x f_z_x, F_z_J f_J) +{ + f_J(curr_z, J); + Eigen::Matrix Jt = J.transpose(); + Eigen::Matrix JtJ = (Jt * J); + + eVector B = -Jt * x64; + if (mu < 0) + { // first time only + int max = 0; + for (int j = 1; j < JtJ.cols(); j++) + if (JtJ(j, j) > JtJ(max, max)) + max = j; + mu = JtJ(max, max) * _tau; + } + + double gain = 0, prev_mu = 0; + int ntries = 0; + bool isStepAccepted = false; + do + { + // add/update dumping factor to JtJ. + // very efficient in any case, but particularly if initial dump does not produce improvement and must reenter + for (int j = 0; j < JtJ.cols(); j++) + JtJ(j, j) += mu - prev_mu; // update mu + prev_mu = mu; + eVector delta = JtJ.ldlt().solve(B); + eVector estimated_z = curr_z + delta; + // compute error + f_z_x(estimated_z, x64); + auto err = x64.cwiseProduct(x64).sum(); + auto L = 0.5 * delta.transpose() * ((mu * delta) - B); + gain = (err - prevErr) / L(0, 0); + // get gain + if (gain > 0) + { + mu = mu * std::max(double(0.33), 1. - pow(2 * gain - 1, 3)); + v = 5.f; + currErr = err; + curr_z = estimated_z; + isStepAccepted = true; + } + else + { + mu = mu * v; + v = v * 5; + } + + } while (gain <= 0 && ntries++ < 5); + + if (_verbose) + std::cout << std::setprecision(5) << "Curr Error=" << currErr + << " AErr(prev-curr)=" << prevErr - currErr << " gain=" << gain + << " dumping factor=" << mu << std::endl; + // //check if we must move to the new position or exit + if (currErr < prevErr) + std::swap(currErr, prevErr); + + return isStepAccepted; +} + + +template +double LevMarq::getCurrentSolution(eVector &z) +{ + z = curr_z; + return currErr; +} +template +double LevMarq::solve(eVector &z, F_z_x f_z_x, F_z_J f_J) +{ + init(z, f_z_x); + + if (_stopFunction) + { + do + { + step(f_z_x, f_J); + if (_step_callback) + _step_callback(curr_z); + } while (!_stopFunction(curr_z)); + } + else + { + // intial error estimation + int mustExit = 0; + for (int i = 0; i < _maxIters && !mustExit; i++) + { + if (_verbose) + std::cerr << "iteration " << i << "/" << _maxIters << " "; + bool isStepAccepted = step(f_z_x, f_J); + // check if we must exit + if (currErr < _minErrorAllowed) + mustExit = 1; + if (fabs(prevErr - currErr) <= _min_step_error_diff || !isStepAccepted) + mustExit = 2; + // exit if error increment + if (currErr < prevErr) + mustExit = 3; + // if ( (prevErr-currErr) < 1e-5 ) mustExit=true; + if (_step_callback) + _step_callback(curr_z); + } + + // std::cout<<"Exit code="<. +*/ + +#ifndef _Aruco_Marker_H +#define _Aruco_Marker_H + +#include "aruco_export.h" + +#include + +#include +#include +#include + +namespace aruco +{ +/**\brief This class represents a marker. It is a vector of the fours corners ot the marker + * + */ + +class CameraParameters; +class ARUCO_EXPORT Marker : public std::vector +{ +public: + // id of the marker + int id; + // size of the markers sides in meters + float ssize; + // matrices of rotation and translation respect to the camera + cv::Mat Rvec, Tvec; + // additional info about the dictionary + std::string dict_info; + // points of the contour + vector contourPoints; + + /** + */ + Marker(); + /** + */ + Marker(int id); + /** + */ + Marker(const Marker& M); + /** + */ + Marker(const std::vector& corners, int _id = -1); + /** + */ + ~Marker() + { + } + /**Indicates if this object is valid + */ + bool isValid() const + { + return id != -1 && size() == 4; + } + + bool isPoseValid() const + { + return !Rvec.empty() && !Tvec.empty(); + } + /**Draws this marker in the input image + */ + void draw(cv::Mat& in, cv::Scalar color = cv::Scalar(0, 0, 255), int lineWidth = -1, + bool writeId = true, bool writeInfo = false) const; + + /**Calculates the extrinsics (Rvec and Tvec) of the marker with respect to the camera + * @param markerSize size of the marker side expressed in meters + * @param CP parmeters of the camera + * @param setYPerpendicular If set the Y axis will be perpendicular to the surface. + * Otherwise, it will be the Z axis + */ + void calculateExtrinsics(float markerSize, const CameraParameters& CP, + bool setYPerpendicular = true); + /** + * Calculates the extrinsics (Rvec and Tvec) of the marker with respect to the camera + * @param markerSize size of the marker side expressed in meters + * @param CameraMatrix matrix with camera parameters (fx, fy, cx, cy) + * @param Distortion matrix with distortion parameters (k1, k2, p1, p2) + * @param setYPerpendicular If set the Y axis will be perpendicular to the surface. + * Otherwise, it will be the Z axis + * @param correctFisheye Correct fisheye distortion + */ + void calculateExtrinsics(float markerSize, cv::Mat CameraMatrix, + cv::Mat Distorsion = cv::Mat(), cv::Mat Extrinsics = cv::Mat(), + bool setYPerpendicular = true, bool correctFisheye = false); + + /**Given the extrinsic camera parameters returns the GL_MODELVIEW matrix for opengl. + * Setting this matrix, the reference coordinate system will be set in this marker + */ + void glGetModelViewMatrix(double modelview_matrix[16]); + + /** + * Returns position vector and orientation quaternion for an Ogre scene node or entity. + * Use: + * ... + * Ogre::Vector3 ogrePos (position[0], position[1], position[2]); + * Ogre::Quaternion ogreOrient (orientation[0], orientation[1], orientation[2], orientation[3]); + * mySceneNode->setPosition( ogrePos ); + * mySceneNode->setOrientation( ogreOrient ); + * ... + */ + void OgreGetPoseParameters(double position[3], double orientation[4]); + + /**Returns the centroid of the marker + */ + cv::Point2f getCenter() const; + /**Returns the perimeter of the marker + */ + float getPerimeter() const; + /**Returns the area + */ + float getArea() const; + /**Returns radius of enclosing circle + */ + float getRadius() const; + /**compares ids + */ + bool operator==(const Marker& m) const + { + return m.id == id; + } + + void copyTo(Marker& m) const; + /**compares ids + */ + Marker& operator=(const Marker& m); + + /** + */ + friend bool operator<(const Marker& M1, const Marker& M2) + { + return M1.id < M2.id; + } + /** + */ + friend std::ostream& operator<<(std::ostream& str, const Marker& M) + { + str << M.id << "="; + for (int i = 0; i < 4; i++) + str << "(" << M[i].x << "," << M[i].y << ") "; + if (!M.Tvec.empty() && !M.Rvec.empty()) + { + str << "Txyz="; + for (int i = 0; i < 3; i++) + str << M.Tvec.ptr(0)[i] << " "; + str << "Rxyz="; + for (int i = 0; i < 3; i++) + str << M.Rvec.ptr(0)[i] << " "; + } + return str; + } + + + // saves to a binary stream + void toStream(std::ostream& str) const; + // reads from a binary stream + void fromStream(std::istream& str); + + // returns the 3d points of a marker wrt its center + static vector get3DPoints(float msize); + // returns the 3d points of this marker wrt its center + inline vector get3DPoints() const + { + return get3DPoints(ssize); + } + + // returns the SE3 (4x4) transform matrix + + cv::Mat getTransformMatrix() const; + +private: + void rotateXAxis(cv::Mat& rotation); +}; +} // namespace aruco +#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/markerdetector.h b/legacy/aruco_ros/aruco/include/aruco/markerdetector.h new file mode 100755 index 000000000..5d8714c9e --- /dev/null +++ b/legacy/aruco_ros/aruco/include/aruco/markerdetector.h @@ -0,0 +1,463 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef _ARUCO_MarkerDetector_H +#define _ARUCO_MarkerDetector_H + +#include "aruco_export.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include "marker.h" + +#include + +namespace aruco +{ + +/** + * @brief The DetectionMode enum defines the different possibilities for detection. + * Specifies the detection mode. We have preset three types of detection modes. These are + * ways to configure the internal parameters for the most typical situations. The modes + * are: + * - DM_NORMAL: In this mode, the full resolution image is employed for detection and slow + * threshold method. Use this method when you process individual images that are not part + * of a video sequence and you are not interested in speed. + * + * - DM_FAST: In this mode, there are two main improvements. First, image is threshold + * using a faster method using a global threshold. Also, the full resolution image is + * employed for detection, but, you could speed up detection even more by indicating a + * minimum size of the markers you will accept. This is set by the variable minMarkerSize + * which shoud be in range [0,1]. When it is 0, means that you do not set a limit in the + * size of the accepted markers. However, if you set 0.1, it means that markers smaller + * than 10% of the total image area, will not be detected. Then, the detection can be + * accelated up to orders of magnitude compared to the normal mode. + * + * - DM_VIDEO_FAST: This is similar to DM_FAST, but specially adapted to video processing. + * In that case, we assume that the observed markers when you call to detect() have a size + * similar to the ones observed in the previous frame. Then, the processing can be speeded + * up by employing smaller versions of the image automatically calculated. + * + */ +enum DetectionMode : int +{ + DM_NORMAL = 0, + DM_FAST = 1, + DM_VIDEO_FAST = 2 +}; +/** Method employed to refine the estimation of the corners + * - CORNER_SUBPIX: uses subpixel refinement implemented in opencv + * - CORNER_LINES: uses all the pixels in the corner border to estimate the 4 lines of the square. Then + * estimate the point in which they intersect. In seems that it more robust to noise. However, + * it only works if input image is not resized. So, the value minMarkerSize will be set to 0. + * + * - CORNER_NONE: Does no refinement of the corner. Again, it requires minMakerSize to be 0 + */ +enum CornerRefinementMethod : int +{ + CORNER_SUBPIX = 0, + CORNER_LINES = 1, + CORNER_NONE = 2 +}; + + +class CameraParameters; +class MarkerLabeler; +class MarkerDetector_Impl; +typedef Marker MarkerCandidate; + +/**\brief Main class for marker detection + * + */ + +class ARUCO_EXPORT MarkerDetector +{ + friend class MarkerDetector_Impl; + +public: + enum ThresMethod : int + { + THRES_ADAPTIVE = 0, + THRES_AUTO_FIXED = 1 + }; + + /**Operating params + */ + struct ARUCO_EXPORT Params + { + /**Specifies the detection mode. We have preset three types of detection modes. These are + * ways to configure the internal parameters for the most typical situations. The modes are: + * - DM_NORMAL: In this mode, the full resolution image is employed for detection and + * slow threshold method. Use this method when you process individual images that are + * not part of a video sequence and you are not interested in speed. + * + * - DM_FAST: In this mode, there are two main improvements. First, image is threshold + * using a faster method using a global threshold. Also, the full resolution image is + * employed for detection, but, you could speed up detection even more by indicating a minimum size of the + * markers you will accept. This is set by the variable minMarkerSize which shoud be + * in range [0,1]. When it is 0, means that you do not set a limit in the size of the + * accepted markers. However, if you set 0.1, it means that markers smaller than 10% + * of the total image area, will not be detected. Then, the detection can be accelated + * up to orders of magnitude compared to the normal mode. + * + * - DM_VIDEO_FAST: This is similar to DM_FAST, but specially adapted to video processing. + * In that case, we assume that the observed markers when you call to detect() have a + * size similar to the ones observed in the previous frame. Then, the processing can + * be speeded up by employing smaller versions of the image automatically calculated. + * + */ + void setDetectionMode(DetectionMode dm, float minMarkerSize); + + /**Enables/Disbles the detection of enclosed markers. Enclosed markers are markers + * where corners are like opencv chessboard pattern + */ + void detectEnclosedMarkers(bool do_) + { + enclosedMarker = do_; + } + + /**Sets the corner refinement method + * - CORNER_SUBPIX: uses subpixel refinement implemented in opencv + * - CORNER_LINES: uses all the pixels in the corner border to estimate the 4 lines of + * the square. Then estimate the point in which they intersect. In seems that it more + * robust to noise. However, it only works if input image is not resized. So, the + * value minMarkerSize will be set to 0. + * + * - CORNER_NONE: Does no refinement of the corner. Again, it requires minMakerSize to + * be 0 + */ + void setCornerRefinementMethod(CornerRefinementMethod method); + + + //----------------------------------------------------------------------------- + // Below this point you probably should not use the functions + /**Sets the thresholding method manually. Do no + */ + void setThresholdMethod(ThresMethod method, int thresHold = -1, int wsize = -1, + int wsize_range = 0); + + + + void setAutoSizeSpeedUp(bool v, float Ts = 0.25) + { + autoSize = v; + ts = Ts; + } + bool getAutoSizeSpeedUp() const + { + return autoSize; + } + + + + void save(cv::FileStorage &fs) const; + void load(cv::FileStorage &fs); + + void toStream(std::ostream &str) const; + void fromStream(std::istream &str); + + static std::string toString(DetectionMode dm); + static DetectionMode getDetectionModeFromString(const std::string &str); + static std::string toString(CornerRefinementMethod dm); + static CornerRefinementMethod getCornerRefinementMethodFromString(const std::string &str); + static std::string toString(ThresMethod dm); + static ThresMethod getCornerThresMethodFromString(const std::string &str); + + // Detection mode + + DetectionMode detectMode = DM_NORMAL; + + // maximum number of parallel threads + int maxThreads = 1; //-1 means all + + // border around image limits in which corners are not allowed to be detected. (0,1) + float borderDistThres = 0.015f; + int lowResMarkerSize = 20; // minimum size of a marker in the low resolution image + + // minimum size of a contour lenght. We use the following formula + // minLenght= min ( _minSize_pix , _minSize* Is)*4 + // being Is=max(imageWidth,imageHeight) + // the value _minSize are normalized, thus, depends on camera image size + // However, _minSize_pix is expressed in pixels (you can use the one you prefer) + float minSize = -1; // tau_i in paper + int minSize_pix = -1; + bool enclosedMarker = false; // special treatment for enclosed markers + float error_correction_rate = 0; + std::string dictionary = "ALL_DICTS"; + // threshold methods + ThresMethod thresMethod = THRES_ADAPTIVE; + int NAttemptsAutoThresFix = + 3; // number of times that tries a random threshold in case of THRES_AUTO_FIXED + int trackingMinDetections = 0; // no tracking + + + // Threshold parameters + int AdaptiveThresWindowSize = -1, ThresHold = 7, AdaptiveThresWindowSize_range = 0; + // size of the image passedta to the MarkerLabeler + int markerWarpPixSize = 5; // tau_c in paper + + CornerRefinementMethod cornerRefinementM = CORNER_SUBPIX; + // enable/disables the method for automatic size estimation for speed up + bool autoSize = false; + float ts = + 0.25f; //$\tau_s$ is a factor in the range $(0,1]$ that accounts for the camera + //motion speed. For instance, when $\tau_s=0.1$, it means that in the next + //frame, $\tau_i$ is such that markers $10\%$ smaller than the smallest + //marker in the current image will be seek. To avoid loosing track of the + //markers. If no markers are detected in a frame, $\tau_i$ is set to zero + //for the next frame so that markers of any size can be detected. + /**Enables automatic image resize according to elements detected in previous frame + * @param v + * @param ts is a factor in the range $(0,1]$ that accounts for the camera motion + * speed. For instance, when ts=0.1 , it means that in the next frame, $\tau_i$ is + * such that markers $10\%$ smaller than the smallest marker in the current image will + * be seek. To avoid loosing track of the markers. + */ + float pyrfactor = 2; + int closingSize = + 0; // enables/disables morph closing operation. The actual param used is closingSize*2+1 + + private: + static void _toStream(const std::string &strg, std::ostream &str); + static void _fromStream(std::string &strg, std::istream &str); + template + static bool attemtpRead(const std::string &name, Type &var, cv::FileStorage &fs) + { + if (fs[name].type() != cv::FileNode::NONE) + { + fs[name] >> var; + return true; + } + return false; + } + }; + + /** + * See + */ + MarkerDetector(); + /**Creates indicating the dictionary. See @see setDictionary for further details + * @param dict_type Dictionary employed. See @see setDictionary for further details + * @param error_correction_rate value indicating the correction error allowed. Is in + * range [0,1]. 0 means no correction at all. So an erroneous bit will result in + * discarding the marker. 1, mean full correction. The maximum number of bits that can + * be corrected depends on each ditionary. We recommend using values from 0 to 0.5. (in + * general, this will allow up to 3 bits or correction). */ + MarkerDetector(int dict_type, float error_correction_rate = 0); + MarkerDetector(std::string dict_type, float error_correction_rate = 0); + + /**Saves the configuration of the detector to a file. + */ + void saveParamsToFile(const std::string &path) const; + + /**Loads the configuration from a file. + */ + void loadParamsFromFile(const std::string &path); + + + /** + */ + ~MarkerDetector(); + /**Specifies the detection mode. We have preset three types of detection modes. These + * are ways to configure the internal parameters for the most typical situations. The + * modes are: + * - DM_NORMAL: In this mode, the full resolution image is employed for detection and + * slow threshold method. Use this method when you process individual images that are + * not part of a video sequence and you are not interested in speed. + * + * - DM_FAST: In this mode, there are two main improvements. First, image is threshold + * using a faster method using a global threshold. Also, the full resolution image is + * employed for detection, but, you could speed up detection even more by indicating a + * minimum size of the markers you will accept. This is set by the variable + * minMarkerSize which shoud be in range [0,1]. When it is 0, means that you do not set + * a limit in the size of the accepted markers. However, if you set 0.1, it means that + * markers smaller than 10% of the total image area, will not be detected. Then, the + * detection can be accelated up to orders of magnitude compared to the normal mode. + * + * - DM_VIDEO_FAST: This is similar to DM_FAST, but specially adapted to video + * processing. In that case, we assume that the observed markers when you call to + * detect() have a size similar to the ones observed in the previous frame. Then, the + * processing can be speeded up by employing smaller versions of the image automatically + * calculated. + * + */ + void setDetectionMode(DetectionMode dm, float minMarkerSize = 0); + /**returns current detection mode + */ + DetectionMode getDetectionMode(); + /**Detects the markers in the image passed + * + * If you provide information about the camera parameters and the size of the marker, + * then, the extrinsics of the markers are detected + * + * @param input input color image + * @param camMatrix intrinsic camera information. + * @param distCoeff camera distorsion coefficient. If set Mat() if is assumed no camera + * distorion + * @param markerSizeMeters size of the marker sides expressed in meters. If not + * specified this value, the extrinsics of the markers are not detected. + * @param setYPerperdicular If set the Y axis will be perpendicular to the surface. + * Otherwise, it will be the Z axis + * @param correctFisheye Correct fisheye distortion + * @return vector with the detected markers + */ + std::vector detect(const cv::Mat &input); + std::vector detect(const cv::Mat &input, const CameraParameters &camParams, + float markerSizeMeters, bool setYPerperdicular = false, + bool correctFisheye = false); + + /**Detects the markers in the image passed + * + * If you provide information about the camera parameters and the size of the marker, + * then, the extrinsics of the markers are detected + * + * @param input input color image + * @param detectedMarkers output vector with the markers detected + * @param camParams Camera parameters + * @param markerSizeMeters size of the marker sides expressed in meters + * @param setYPerperdicular If set the Y axis will be perpendicular to the surface. + * Otherwise, it will be the Z axis + * @param correctFisheye Correct fisheye distortion + */ + void detect(const cv::Mat &input, std::vector &detectedMarkers, + CameraParameters camParams, float markerSizeMeters = -1, + bool setYPerperdicular = false, bool correctFisheye = false); + + /** + * Detects the markers in the image passed + * + * If you provide information about the camera parameters and the size of the marker, + * then, the extrinsics of the markers are detected + * + * NOTE: be sure that the camera matrix is for this image size. If you do not know what + * I am talking about, use functions above and not this one + * @param input input color image + * @param detectedMarkers output vector with the markers detected + * @param camMatrix intrinsic camera information. + * @param distCoeff camera distortion coefficient. If set Mat() if is assumed no camera + * distortion + * @param extrinsics translation (tx,ty,tz) from right stereo camera to left. Empty if + * no stereo or left camera + * @param markerSizeMeters size of the marker sides expressed in meters + * @param setYPerperdicular If set the Y axis will be perpendicular to the surface. + * Otherwise, it will be the Z axis + * @param correctFisheye Correct fisheye distortion + */ + void detect(const cv::Mat &input, std::vector &detectedMarkers, + cv::Mat camMatrix = cv::Mat(), cv::Mat distCoeff = cv::Mat(), + cv::Mat extrinsics = cv::Mat(), float markerSizeMeters = -1, + bool setYPerperdicular = false, bool correctFisheye = false); + + /**Returns operating params + */ + Params getParameters() const; + /**Returns operating params + */ + Params &getParameters(); + /** Sets the dictionary to be employed. + * You can choose:ARUCO,//original aruco dictionary. By default + ARUCO_MIP_25h7, + ARUCO_MIP_16h3, + ARUCO_MIP_36h12, **** recommended + ARTAG,// + ARTOOLKITPLUS, + ARTOOLKITPLUSBCH,// + TAG16h5,TAG25h7,TAG25h9,TAG36h11,TAG36h10//APRIL TAGS DICIONARIES + CHILITAGS,//chili tags dictionary . NOT RECOMMENDED. It has distance 0. + Markers 806 and 682 should not be used!!! + + If dict_type is none of the above ones, it is assumed you mean a CUSTOM dicionary + saved in a file @see Dictionary::loadFromFile Then, it tries to open it + */ + void setDictionary(std::string dict_type, float error_correction_rate = 0); + + /** + * @brief setDictionary Specifies the dictionary you want to use for marker decoding + * @param dict_type dictionary employed for decoding markers @see Dictionary + * @param error_correction_rate value indicating the correction error allowed. Is in + * range [0,1]. 0 means no correction at all. So an erroneous bit will result in + * discarding the marker. 1, mean full correction. The maximum number of bits that can + * be corrected depends on each ditionary. We recommend using values from 0 to 0.5. (in + * general, this will allow up to 3 bits or correction). + */ + void setDictionary(int dict_type, float error_correction_rate = 0); + + /** + * Returns a reference to the internal image thresholded. Since there can be generated + * many of them, specify which + */ + cv::Mat getThresholdedImage(uint32_t idx = 0); + /**returns the number of thresholed images available + */ + // size_t getNhresholdedImages()const{return _thres_Images.size();} + + + + ///------------------------------------------------- + /// Methods you may not need + /// Thesde methods do the hard work. They have been set public in case you want to do customizations + ///------------------------------------------------- + + /** + * @brief setMakerLabeler sets the labeler employed to analyze the squares and extract + * the inner binary code + * @param detector + */ + void setMarkerLabeler(cv::Ptr detector); + cv::Ptr getMarkerLabeler(); + + + /**Returns a list candidates to be markers (rectangles), for which no valid id was found + * after calling detectRectangles + */ + std::vector getCandidates() const; + + std::vector getImagePyramid(); + /* + * @param corners vectors of vectors + */ + void cornerUpsample(std::vector > &corners, cv::Size lowResImageSize); + void cornerUpsample(std::vector &corners, cv::Size lowResImageSize); + + /** + * Given the iput image with markers, creates an output image with it in the canonical position + * @param in input image + * @param out image with the marker + * @param size of out + * @param points 4 corners of the marker in the image in + * @return true if the operation succeed + */ + bool warp(cv::Mat &in, cv::Mat &out, cv::Size size, std::vector points); + + + // serialization in binary mode + void toStream(std::ostream &str) const; + void fromStream(std::istream &str); + // configure the detector from a set of parameters + void setParameters(const Params ¶ms); + + + +private: + MarkerDetector_Impl *_impl; +}; +}; // namespace aruco +#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/markerdetector_impl.h b/legacy/aruco_ros/aruco/include/aruco/markerdetector_impl.h new file mode 100755 index 000000000..4939a23e7 --- /dev/null +++ b/legacy/aruco_ros/aruco/include/aruco/markerdetector_impl.h @@ -0,0 +1,499 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef _ARUCO_MarkerDetector_Impl_H +#define _ARUCO_MarkerDetector_Impl_H + +#include "aruco_export.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include "marker.h" +#include "markerdetector.h" +#include + +namespace aruco +{ + +class CameraParameters; +class MarkerLabeler; +/**\brief Main class for marker detection + * + */ +class MarkerDetector_Impl +{ + friend class MarkerDetector; + +public: + /** + * See + */ + MarkerDetector_Impl(); + /**Creates indicating the dictionary. See @see setDictionary for further details + * @param dict_type Dictionary employed. See @see setDictionary for further details + * @param error_correction_rate value indicating the correction error allowed. Is in + * range [0,1]. 0 means no correction at all. So an erroneous bit will result in + * discarding the marker. 1, mean full correction. The maximum number of bits that can + * be corrected depends on each ditionary. We recommend using values from 0 to 0.5. (in + * general, this will allow up to 3 bits or correction). */ + MarkerDetector_Impl(int dict_type, float error_correction_rate = 0); + MarkerDetector_Impl(std::string dict_type, float error_correction_rate = 0); + + /**Saves the configuration of the detector to a file. + */ + void saveParamsToFile(const std::string& path) const; + + /**Loads the configuration from a file. + */ + void loadParamsFromFile(const std::string& path); + + + /** + */ + ~MarkerDetector_Impl(); + /**Specifies the detection mode. We have preset three types of detection modes. These + * are ways to configure the internal parameters for the most typical situations. The + * modes are: + * - DM_NORMAL: In this mode, the full resolution image is employed for detection and + * slow threshold method. Use this method when you process individual images that are + * not part of a video sequence and you are not interested in speed. + * + * - DM_FAST: In this mode, there are two main improvements. First, image is threshold + * using a faster method using a global threshold. Also, the full resolution image is + * employed for detection, but, you could speed up detection even more by indicating a + * minimum size of the markers you will accept. This is set by the variable + * minMarkerSize which shoud be in range [0,1]. When it is 0, means that you do not set + * a limit in the size of the accepted markers. However, if you set 0.1, it means that + * markers smaller than 10% of the total image area, will not be detected. Then, the + * detection can be accelated up to orders of magnitude compared to the normal mode. + * + * - DM_VIDEO_FAST: This is similar to DM_FAST, but specially adapted to video + * processing. In that case, we assume that the observed markers when you call to + * detect() have a size similar to the ones observed in the previous frame. Then, the + * processing can be speeded up by employing smaller versions of the image automatically + * calculated. + * + */ + void setDetectionMode(DetectionMode dm, float minMarkerSize = 0); + /**returns current detection mode + */ + DetectionMode getDetectionMode(); + /**Detects the markers in the image passed + * + * If you provide information about the camera parameters and the size of the marker, + * then, the extrinsics of the markers are detected + * + * @param input input color image + * @param camMatrix intrinsic camera information. + * @param distCoeff camera distorsion coefficient. If set Mat() if is assumed no camera + * distorion + * @param markerSizeMeters size of the marker sides expressed in meters. If not + * specified this value, the extrinsics of the markers are not detected. + * @param setYPerperdicular If set the Y axis will be perpendicular to the surface. + * Otherwise, it will be the Z axis + * @param correctFisheye Correct fisheye distortion + * @return vector with the detected markers + */ + std::vector detect(const cv::Mat& input); + std::vector detect(const cv::Mat& input, const CameraParameters& camParams, + float markerSizeMeters, bool setYPerperdicular = false, + bool correctFisheye = false); + + /**Detects the markers in the image passed + * + * If you provide information about the camera parameters and the size of the marker, + * then, the extrinsics of the markers are detected + * + * @param input input color image + * @param detectedMarkers output vector with the markers detected + * @param camParams Camera parameters + * @param markerSizeMeters size of the marker sides expressed in meters + * @param setYPerperdicular If set the Y axis will be perpendicular to the surface. + * Otherwise, it will be the Z axis + * @param correctFisheye Correct fisheye distortion + */ + void detect(const cv::Mat& input, std::vector& detectedMarkers, + CameraParameters camParams, float markerSizeMeters = -1, + bool setYPerperdicular = false, bool correctFisheye = false); + + /** + * Detects the markers in the image passed + * + * If you provide information about the camera parameters and the size of the marker, + * then, the extrinsics of the markers are detected + * + * NOTE: be sure that the camera matrix is for this image size. If you do not know what + * I am talking about, use functions above and not this one + * @param input input color image + * @param detectedMarkers output vector with the markers detected + * @param camMatrix intrinsic camera information. + * @param distCoeff camera distorsion coefficient. If set Mat() if is assumed no camera + * distorion + * @param extrinsics translation (tx,ty,tz) from right stereo camera to left. Empty if + * no stereo or left camera + * @param markerSizeMeters size of the marker sides expressed in meters + * @param setYPerperdicular If set the Y axis will be perpendicular to the surface. + * Otherwise, it will be the Z axis + * @param correctFisheye Correct fisheye distortion + */ + void detect(const cv::Mat& input, std::vector& detectedMarkers, + cv::Mat camMatrix = cv::Mat(), cv::Mat distCoeff = cv::Mat(), + cv::Mat extrinsics = cv::Mat(), float markerSizeMeters = -1, + bool setYPerperdicular = false, bool correctFisheye = false); + + + /**Returns operating params + */ + MarkerDetector::Params getParameters() const + { + return _params; + } + /**Returns operating params + */ + MarkerDetector::Params& getParameters() + { + return _params; + } + /** Sets the dictionary to be employed. + * You can choose:ARUCO,//original aruco dictionary. By default + ARUCO_MIP_25h7, + ARUCO_MIP_16h3, + ARUCO_MIP_36h12, **** recommended + ARTAG,// + ARTOOLKITPLUS, + ARTOOLKITPLUSBCH,// + TAG16h5,TAG25h7,TAG25h9,TAG36h11,TAG36h10//APRIL TAGS DICIONARIES + CHILITAGS,//chili tags dictionary . NOT RECOMMENDED. It has distance 0. + Markers 806 and 682 should not be used!!! + + If dict_type is none of the above ones, it is assumed you mean a CUSTOM dicionary + saved in a file @see Dictionary::loadFromFile Then, it tries to open it + */ + void setDictionary(std::string dict_type, float error_correction_rate = 0); + + /** + * @brief setDictionary Specifies the dictionary you want to use for marker decoding + * @param dict_type dictionary employed for decoding markers @see Dictionary + * @param error_correction_rate value indicating the correction error allowed. Is in + * range [0,1]. 0 means no correction at all. So an erroneous bit will result in + * discarding the marker. 1, mean full correction. The maximum number of bits that can + * be corrected depends on each ditionary. We recommend using values from 0 to 0.5. (in + * general, this will allow up to 3 bits or correction). + */ + void setDictionary(int dict_type, float error_correction_rate = 0); + + /** + * Returns a reference to the internal image thresholded. Since there can be generated + * many of them, specify which + */ + cv::Mat getThresholdedImage(uint32_t idx = 0); + /**returns the number of thresholed images available + */ + // size_t getNhresholdedImages()const{return _thres_Images.size();} + + + + ///------------------------------------------------- + /// Methods you may not need + /// Thesde methods do the hard work. They have been set public in case you want to do customizations + ///------------------------------------------------- + + /** + * @brief setMakerLabeler sets the labeler employed to analyze the squares and extract + * the inner binary code + * @param detector + */ + void setMarkerLabeler(cv::Ptr detector); + cv::Ptr getMarkerLabeler() + { + return markerIdDetector; + } + typedef Marker MarkerCandidate; + + + /**Returns a list candidates to be markers (rectangles), for which no valid id was found + * after calling detectRectangles + */ + std::vector getCandidates() const + { + return _candidates_wcontour; + } + + /** + * Given the iput image with markers, creates an output image with it in the canonical position + * @param in input image + * @param out image with the marker + * @param size of out + * @param points 4 corners of the marker in the image in + * @return true if the operation succeed + */ + bool warp(cv::Mat& in, cv::Mat& out, cv::Size size, std::vector points); + + + // serialization in binary mode + void toStream(std::ostream& str) const; + void fromStream(std::istream& str); + // configure the detector from a set of parameters + void setParameters(const MarkerDetector::Params& params); + + std::vector getImagePyramid() + { + return imagePyramid; + } + + + +private: + // obfuscate start + + // operating params + MarkerDetector::Params _params; + + // Images + cv::Mat grey, thres; + // pointer to the function that analizes a rectangular region so as to detect its internal marker + cv::Ptr markerIdDetector; + /** + */ + int perimeter(const std::vector& a); + + // auxiliar functions to perform LINES refinement + void interpolate2Dline(const std::vector& inPoints, cv::Point3f& outLine); + cv::Point2f getCrossPoint(const cv::Point3f& line1, const cv::Point3f& line2); + void distortPoints(std::vector in, std::vector& out, + const cv::Mat& camMatrix, const cv::Mat& distCoeff); + + // returns the number of pixels that the smallest and largest allowed markers have + int getMinMarkerSizePix(cv::Size orginput_imageSize) const; + + // returns the markerWarpSize + int getMarkerWarpSize(); + /**Given a vector vinout with elements and a boolean vector indicating the lements from + * it to remove, this function remove the elements + * @param vinout + * @param toRemove + */ + template + void removeElements(std::vector& vinout, const std::vector& toRemove) + { + // remove the invalid ones by setting the valid in the positions left by the invalids + size_t indexValid = 0; + for (size_t i = 0; i < toRemove.size(); i++) + { + if (!toRemove[i]) + { + if (indexValid != i) + vinout[indexValid] = vinout[i]; + indexValid++; + } + } + vinout.resize(indexValid); + } + + + template + void joinVectors(std::vector>& vv, std::vector& v, bool clearv = false) + { + if (clearv) + v.clear(); + for (size_t i = 0; i < vv.size(); i++) + for (size_t j = 0; j < vv[i].size(); j++) + v.push_back(vv[i][j]); + } + + std::vector imagePyramid; + void enlargeMarkerCandidate(MarkerCandidate& cand, int fact = 1); + + void cornerUpsample(std::vector>& MarkerCanditates, + cv::Size lowResImageSize); + void cornerUpsample(std::vector& MarkerCanditates, cv::Size lowResImageSize); + + + + void buildPyramid(std::vector& imagePyramid, const cv::Mat& grey, int minSize); + + + + std::vector thresholdAndDetectRectangles(const cv::Mat& input, + int thres_param1, + int thres_param2, bool erode, + cv::Mat& auxThresImage); + std::vector thresholdAndDetectRectangles(const cv::Mat& image); + std::vector prefilterCandidates(std::vector& candidates, + cv::Size orgImageSize); + + + std::vector _thres_Images; + std::vector> _vcandidates; + // std::vector > _candidates; + std::vector _candidates_wcontour; + std::vector _prevMarkers; // employed for tracking + std::map marker_ndetections; // used to keeps track only of markers with a + // minimum number of detections + + // graphical debug + void drawApproxCurve(cv::Mat& in, std::vector& approxCurve, cv::Scalar color, + int thickness = 1); + void drawContour(cv::Mat& in, std::vector& contour, cv::Scalar); + void drawAllContours(cv::Mat input, std::vector>& contours); + void draw(cv::Mat out, const std::vector& markers); + + + + enum ThreadTasks + { + THRESHOLD_TASK, + ENCLOSE_TASK, + EXIT_TASK + }; + struct ThresAndDetectRectTASK + { + int inIdx, outIdx; + int param1, param2; + ThreadTasks task; + }; + void thresholdAndDetectRectangles_thread(); + + // thread safe queue to implement producer-consumer + template + class Queue + { + public: + T pop() + { + std::unique_lock mlock(mutex_); + while (queue_.empty()) + { + cond_.wait(mlock); + } + auto item = queue_.front(); + queue_.pop(); + return item; + } + + void push(const T& item) + { + std::unique_lock mlock(mutex_); + queue_.push(item); + mlock.unlock(); + cond_.notify_one(); + } + + size_t size() + { + std::unique_lock mlock(mutex_); + size_t s = queue_.size(); + return s; + } + + private: + std::queue queue_; + std::mutex mutex_; + std::condition_variable cond_; + }; + Queue _tasks; + void refineCornerWithContourLines(aruco::Marker& marker, cv::Mat cameraMatrix = cv::Mat(), + cv::Mat distCoef = cv::Mat()); + + inline float pointSqdist(cv::Point& p, cv::Point2f& p2) + { + float dx = p.x - p2.x; + float dy = p.y - p2.y; + return dx * dx + dy * dy; + } + + float _tooNearDistance = -1; // pixel distance between nearr rectangle. Computed + // automatically based on the params + + + + struct marker_analyzer + { + void setParams(const std::vector& m) + { + corners = m; + bax = m[1].x - m[0].x; + bay = m[1].y - m[0].y; + dax = m[2].x - m[0].x; + day = m[2].y - m[0].y; + a = m[0]; + b = m[1]; + d = m[2]; + area = _getArea(); + + center = cv::Point2f(0, 0); + for (auto& p : corners) + center += p; + center *= 1. / 4.; + } + + bool isInto(const cv::Point2f& p) const + { + if (signD(corners[0], corners[1], p) < 0) + return false; + if (signD(corners[1], corners[2], p) < 0) + return false; + if (signD(corners[2], corners[3], p) < 0) + return false; + if (signD(corners[3], corners[0], p) < 0) + return false; + return true; + } + cv::Point2f getCenter() const + { + return center; + } + float getArea() const + { + return area; + } + float _getArea() const + { + // use the cross products + cv::Point2f v01 = corners[1] - corners[0]; + cv::Point2f v03 = corners[3] - corners[0]; + float area1 = fabs(v01.x * v03.y - v01.y * v03.x); + cv::Point2f v21 = corners[1] - corners[2]; + cv::Point2f v23 = corners[3] - corners[2]; + float area2 = fabs(v21.x * v23.y - v21.y * v23.x); + return (area2 + area1) / 2.f; + } + float bax, bay, dax, day; + cv::Point2f a, b, d; + float area; + cv::Point2f center; + + std::vector corners; + + inline float signD(cv::Point2f p0, cv::Point2f p1, cv::Point2f p) const + { + return ((p0.y - p1.y) * p.x + (p1.x - p0.x) * p.y + (p0.x * p1.y - p1.x * p0.y)) / + sqrt((p1.x - p0.x) * (p1.x - p0.x) + (p1.y - p0.y) * (p1.y - p0.y)); + } + }; + void addToImageHist(cv::Mat& im, std::vector& hist); + int Otsu(std::vector& hist); + + void filter_ambiguous_query(std::vector& matches); + // obfuscate end +}; +}; // namespace aruco +#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/markerlabeler.h b/legacy/aruco_ros/aruco/include/aruco/markerlabeler.h new file mode 100755 index 000000000..c3e91c10f --- /dev/null +++ b/legacy/aruco_ros/aruco/include/aruco/markerlabeler.h @@ -0,0 +1,98 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef _aruco_MarkerLabeler_ +#define _aruco_MarkerLabeler_ + +#include "aruco_export.h" +#include "dictionary.h" +#include + +namespace aruco +{ +/**\brief Base class of labelers. A labelers receive a square of the image and determines + * if it has a valid marker, its id and rotation Additionally, it implements the factory + * model + */ + +class Marker; +class ARUCO_EXPORT MarkerLabeler +{ +public: + /** Factory function that returns a labeler for a given dictionary + * @param dict_type type of dictionary + * @param error_correction_rate some dictionaries are subsceptible of error correction. + * This params specify the correction rate. 0 means no correction at all. 1 means full + * correction (maximum correction bits = (tau-1) /2, tau= predefined mimum intermarker + * distance). + * + * If you want correction capabilities and not sure how much, use 0.5 in this parameter + */ + static cv::Ptr create(Dictionary::DICT_TYPES dict_type, + float error_correction_rate = 0); + + /** Factory function that returns the desired detector + + * + * @brief create Factory function that returns the desired detector + * @param detector + * * Possible names implemented are: + * ARUCO,CHILITAGS....: original aruco markers (0-1024) + http://www.sciencedirect.com/science/article/pii/S0031320314000235 + * SVM: + * @return + */ + static cv::Ptr create(std::string detector, std::string params = ""); + + /** function that identifies a marker. + * @param in input image to analyze + * @param marker_id id of the marker (if valid) + * @param nRotations : output parameter nRotations must indicate how many times the + * marker must be rotated clockwise 90 deg to be in its ideal position. (The way you + * would see it when you print it). This is employed to know always which is the corner + * that acts as reference system. + * @return true marker valid, false otherwise + */ + virtual bool detect(const cv::Mat& in, int& marker_id, int& nRotations, + std::string& additionalInfo) = 0; + /** + * @brief getBestInputSize if desired, you can set the desired input size to the detect function + * @return -1 if detect accept any type of input, or a size otherwise + */ + virtual int getBestInputSize() + { + return -1; + } + + /** + * @brief getNSubdivisions returns the number of subdivisions in each axis that the + * iamge will be subject to. This is in dictionary based labelers, equals to the number + * of bits in each dimension plus the border bits. + * @return + */ + virtual int getNSubdivisions() const + { + return -1; + } + + // returns an string that describes the labeler and can be used to create it + virtual std::string getName() const = 0; + virtual ~MarkerLabeler() + { + } +}; +}; // namespace aruco +#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/markermap.h b/legacy/aruco_ros/aruco/include/aruco/markermap.h new file mode 100755 index 000000000..308cea123 --- /dev/null +++ b/legacy/aruco_ros/aruco/include/aruco/markermap.h @@ -0,0 +1,215 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef _Aruco_MarkerMap_h +#define _Aruco_MarkerMap_h + +#include "aruco_export.h" +#include "marker.h" + +#include + +#include +#include + +namespace aruco +{ +/** + * 3d representation of a marker + */ +class ARUCO_EXPORT Marker3DInfo +{ +public: + std::vector points; + int id; // maker id + + Marker3DInfo(); + Marker3DInfo(int _id); + inline bool operator==(const Marker3DInfo& MI) + { + return id == MI.id; + } + + // returns the distance of the marker side + inline float getMarkerSize() const + { + return static_cast(cv::norm(points[0] - points[1])); + } + inline cv::Point3f at(size_t idx) const + { + return points.at(idx); + } + inline cv::Point3f& operator[](size_t idx) + { + return points[idx]; + } + inline const cv::Point3f& operator[](size_t idx) const + { + return points[idx]; + } + inline void push_back(const cv::Point3f& p) + { + points.push_back(p); + } + inline size_t size() const + { + return points.size(); + } + +public: + inline void toStream(std::ostream& str) + { + str << id << " " << size() << " "; + for (size_t i = 0; i < size(); i++) + str << at(i).x << " " << at(i).y << " " << at(i).z << " "; + } + inline void fromStream(std::istream& str) + { + int s; + str >> id >> s; + points.resize(s); + for (size_t i = 0; i < size(); i++) + str >> points[i].x >> points[i].y >> points[i].z; + } +}; + +/**\brief This class defines a set of markers whose locations are attached to a common + * reference system, i.e., they do not move wrt each other. A MarkerMap contains several + * markers so that they are more robustly detected. + * + * A MarkerMap is only a list of the id of the markers along with the position of their + * corners. A MarkerMap may have information about the dictionary the markers belongs to + * @see getDictionary() + * + * The position of the corners can be specified either in pixels (in a non-specific size) + * or in meters. The first is the typical case in which you generate the image of board + * and the print it. Since you do not know in advance the real size of the markers, their + * corners are specified in pixels, and then, the translation to meters can be made once + * you know the real size. + * + * On the other hand, you may want to have the information of your boards in meters. The + * MarkerMap allows you to do so. + * + * The point is in the mInfoType variable. It can be either PIX or METERS according to + * your needs. + * + */ + +class ARUCO_EXPORT MarkerMap : public std::vector +{ +public: + /** + */ + MarkerMap(); + + /**Loads from file + * @param filePath to the config file + */ + MarkerMap(std::string filePath); + + /**Indicates if the corners are expressed in meters + */ + bool isExpressedInMeters() const + { + return mInfoType == METERS; + } + /**Indicates if the corners are expressed in meters + */ + bool isExpressedInPixels() const + { + return mInfoType == PIX; + } + /**converts the passed board into meters + */ + MarkerMap convertToMeters(float markerSize) const; + // simple way of knowing which elements detected in an image are from this markermap + // returns the indices of the elements in the vector 'markers' that belong to this set + // Example: The set has the elements with ids 10,21,31,41,92 + // The input vector has the markers with ids 10,88,9,12,41 + // function returns {0,4}, because element 0 (10) of the vector belongs to the set, and + // also element 4 (41) belongs to the set + std::vector getIndices(const vector& markers) const; + + /**Returns the Info of the marker with id specified. If not in the set, throws exception + */ + const Marker3DInfo& getMarker3DInfo(int id) const; + + /**Returns the index of the marker (in this object) with id indicated, if is in the vector + */ + int getIndexOfMarkerId(int id) const; + /**Set in the list passed the set of the ids + */ + void getIdList(vector& ids, bool append = true) const; + + /**Returns an image of this to be printed. This object must be in pixels @see + * isExpressedInPixels(). If not,please provide the METER2PIX conversion parameter + */ + cv::Mat getImage(float METER2PIX = 0) const; + + /**Saves the board info to a file + */ + void saveToFile(std::string sfile); + /**Reads board info from a file + */ + void readFromFile(std::string sfile); + + // calculates the camera location w.r.t. the map using the information provided + // returns the + std::pair calculateExtrinsics(const std::vector& markers, + float markerSize, cv::Mat CameraMatrix, + cv::Mat Distorsion); + + // returns string indicating the dictionary + inline std::string getDictionary() const + { + return dictionary; + } + + enum Marker3DInfoType + { + NONE = -1, + PIX = 0, + METERS = 1 + }; // indicates if the data in MakersInfo is expressed in meters or in pixels so as to do conversion internally + // returns string indicating the dictionary + void setDictionary(std::string d) + { + dictionary = d; + } + + // variable indicates if the data in MakersInfo is expressed in meters or in pixels so + // as to do conversion internally + int mInfoType; + +private: + // dictionary it belongs to (if any) + std::string dictionary; + +private: + /**Saves the board info to a file + */ + void saveToFile(cv::FileStorage& fs); + /**Reads board info from a file + */ + void readFromFile(cv::FileStorage& fs); + +public: + void toStream(std::ostream& str); + void fromStream(std::istream& str); +}; +} // namespace aruco + +#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/picoflann.h b/legacy/aruco_ros/aruco/include/aruco/picoflann.h new file mode 100755 index 000000000..3d2716a38 --- /dev/null +++ b/legacy/aruco_ros/aruco/include/aruco/picoflann.h @@ -0,0 +1,792 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ +#ifndef PicoFlann_H +#define PicoFlann_H +#include +#include +#include +#include +#include +#include +#include +namespace picoflann +{ + + +/** + * @brief The KdTreeIndex class is the simplest an minimal method to use kdtrees. + * You only must define an adapter, that tells the class how to access the i-th dimension +of your element. Here are two examples showing how easy it is: + * + * You can use any container providing the methods size() ant at(). + * You must create the adapter that must implement the method : T operator( )(const E +&elem, int dim)const; T=float or double, E is your element type + * + * You can easily save/read the index to/from an stream using toStream() and fromStream(). +Please notice that the data of the container is not copied in the KdTreeIndex so you + * must be sure it is available when doing the searchs + * + * See examples below + + * +#include +#include +#include +#include "picoflann.h" +void example1(){ + //Data type + struct Point2f{ + Point2f(float X,float Y) { x=X;y=Y; } + float x,y; + }; + + // Adapter. + // Given an Point2f element, it returns the element of the dimension specified such +that dim=0 is x and dim=1 is y struct PicoFlann_Point2fAdapter{ inline float operator( +)(const Point2f &elem, int dim)const { return dim==0?elem.x:elem.y; } + }; + + //create the points randomly + std::default_random_engine generator; + std::uniform_real_distribution distribution(-1000.0,1000.0); + std::vector data; + for(size_t i=0;i<1000;i++) + data.push_back( Point2f ( distribution(generator),distribution(generator))); + ///------------------------------------------------------------ + /// Create the kdtree + picoflann::KdTreeIndex<2,PicoFlann_Point2fAdapter> kdtree;//2 is the number of +dimensions kdtree.build(data); + //search 10 nearest neibors to point (0,0) + std::vector > res=kdtree.searchKnn(data,Point2f(0,0),10); + + //radius search in a radius of 30 (the resulting distances are squared) + res=kdtree.radiusSearch(data,Point2f(0,0),30); + //another version + kdtree.radiusSearch(res,data,Point2f(0,0),30); + + //you can save to a file + std::ofstream file_out("out.bin",std::ios::binary); + kdtree.toStream(file_out); + + //recover from the file + picoflann::KdTreeIndex<2,PicoFlann_Point2fAdapter> kdtree2; + std::ifstream file_in("out.bin",std::ios::binary); + kdtree2.fromStream(file_in); + res=kdtree2.radiusSearch(data,Point2f(0,0),30); + +} + + +//Using an array of 3d points +void example2(){ + + struct Point3f{ + Point3f(float X,float Y,float Z) { data[0]=X;data[1]=Y;data[2]=Z; } + float data[3]; + }; + struct PicoFlann_Array3f_Adapter{ + inline float operator( )(const Point3f &elem, int dim)const{ return +elem.data[dim]; } + }; + struct PicoFlann_Array3f_Container{ + const Point3f *_array; + size_t _size; + PicoFlann_Array3f_Container(float *array,size_t +Size):_array((Point3f*)array),_size(Size){} inline size_t size()const{return _size;} inline +const Point3f &at(int idx)const{ return _array [idx];} + }; + std::default_random_engine generator; + std::uniform_real_distribution distribution(-1000.0,1000.0); + + int nPoints=1000; + float *array=new float[nPoints*3]; + for(size_t i=0;i<1000*3;i++) + array[i]= distribution(generator); + + ///------------------------------------------------------------ + picoflann::KdTreeIndex<3,PicoFlann_Array3f_Adapter> kdtree;// 3 is the number of +dimensions, L2 is the type of distance kdtree.build( +PicoFlann_Array3f_Container(array,nPoints)); PicoFlann_Array3f_Container +p3container(array,nPoints); std::vector > +res=kdtree.searchKnn(p3container,Point3f(0,0,0),10); + res=kdtree.radiusSearch(p3container,Point3f(0,0,0),30); +} + * + */ +struct L2 +{ + template + double compute_distance(const ElementType &elema, const ElementType2 &elemb, + const Adapter &adapter, int ndims, double worstDist) const + { + // compute dist + double sqd = 0; + for (int i = 0; i < ndims; i++) + { + double d = adapter(elema, i) - adapter(elemb, i); + sqd += d * d; + if (sqd > worstDist) + return sqd; + } + return sqd; + } +}; + +template +class KdTreeIndex +{ +public: + /** + *Builds the index using the data passes in your container and the adapter + */ + template + inline void build(const Container &container) + { + _index.clear(); + _index.reserve(container.size() * 2); + _index.dims = DIMS; + _index.nValues = container.size(); + // Create root and assign all items + all_indices.resize(container.size()); + for (size_t i = 0; i < container.size(); i++) + all_indices[i] = i; + if (container.size() == 0) + return; + computeBoundingBox(_index.rootBBox, 0, all_indices.size(), container); + _index.push_back(Node()); + divideTree(_index, 0, 0, all_indices.size(), _index.rootBBox, container); + } + + + inline void clear() + { + _index.clear(); + all_indices.clear(); + } + + // saves to a stream. Note that the container is not saved! + inline void toStream(std::ostream &str) const; + // reads from an stream. Note that the container is not readed! + inline void fromStream(std::istream &str); + + template + inline std::vector > searchKnn(const Container &container, + const Type &val, int nn, + bool sorted = true) + { + std::vector > res; + generalSearch(res, container, val, -1, sorted, nn); + return res; + } + + + template + inline std::vector > radiusSearch(const Container &container, + const Type &val, double dist, + bool sorted = true, + int maxNN = -1) const + { + std::vector > res; + generalSearch(res, container, val, dist, sorted, maxNN); + return res; + } + + + template + inline void radiusSearch(std::vector > &res, + const Container &container, const Type &val, double dist, + bool sorted = true, int maxNN = -1) + { + generalSearch(res, container, val, dist, sorted, maxNN); + } + + + +private: + struct Node + { + inline bool isLeaf() const + { + return _ileft == -1 && _iright == -1; + } + inline void setNodesInfo(uint32_t l, uint32_t r) + { + _ileft = l; + _iright = r; + } + double div_val; + uint16_t col_index; // column index of the feature vector + std::vector idx; + float divhigh, divlow; + int64_t _ileft = -1, _iright = -1; // children + void toStream(std::ostream &str) const; + void fromStream(std::istream &str); + }; + + + typedef std::vector > BoundingBox; + + struct Index : public std::vector + { + BoundingBox rootBBox; + int dims = 0; + int nValues = 0; // number of elements of the set when call to build + inline void toStream(std::ostream &str) const; + inline void fromStream(std::istream &str); + }; + Index _index; + DistanceType _distance; + Adapter adapter; + // next are only used during build + std::vector all_indices; + int _maxLeafSize = 10; + + + + // temporal used during creation of the tree + template + void divideTree(Index &index, uint64_t nodeIdx, int startIndex, int endIndex, + BoundingBox &bbox, const Container &container) + { + // std::cout<<"CREATE="<(bbox, startIndex, endIndex, container); + // std::cout<(_bbox, startIndex, endIndex, container); + // //get the dimension with highest distnaces + double max_spread = -1; + currNode.col_index = 0; + for (int i = 0; i < DIMS; i++) + { + double spread = _bbox[i].second - _bbox[i].first; // maxV[i]-minV[i]; + if (spread > max_spread) + { + max_spread = spread; + currNode.col_index = i; + } + } + // select the split val + double split_val = (bbox[currNode.col_index].first + bbox[currNode.col_index].second) / 2; + if (split_val < _bbox[currNode.col_index].first) + currNode.div_val = _bbox[currNode.col_index].first; + else if (split_val > _bbox[currNode.col_index].second) + currNode.div_val = _bbox[currNode.col_index].second; + else + currNode.div_val = split_val; + } + else + { + /// SELECT THE COL (DIMENSION) ON WHICH PARTITION IS MADE + double var[DIMS], mean[DIMS]; + // compute the variance of the features to select the highest one + mean_var_calculate(startIndex, endIndex, var, mean, container); + currNode.col_index = 0; + // select element with highest variance + for (int i = 1; i < DIMS; i++) + if (var[i] > var[currNode.col_index]) + currNode.col_index = i; + + // now sort all indices according to the selected value + + currNode.div_val = mean[currNode.col_index]; + } + + + + // compute the variance of the features to select the highest one + // now sort all indices according to the selected value + + // std::cout<<" CUT FEAT="< +void KdTreeIndex::toStream(std::ostream &str) const +{ + _index.toStream(str); +} + +template +void KdTreeIndex::fromStream(std::istream &str) +{ + _index.fromStream(str); +} +} // namespace picoflann + +#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/posetracker.h b/legacy/aruco_ros/aruco/include/aruco/posetracker.h new file mode 100755 index 000000000..a7df97e02 --- /dev/null +++ b/legacy/aruco_ros/aruco/include/aruco/posetracker.h @@ -0,0 +1,189 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef ARUCO_POSETRACKER +#define ARUCO_POSETRACKER + +#include "aruco_export.h" +#include "cameraparameters.h" +#include "marker.h" +#include "markermap.h" + +#include +#include + +namespace aruco +{ +/**Tracks the position of a marker. Instead of trying to calculate the position from + * scratch everytime, it uses past + * observations to + * estimate the pose. It should solve the problem with ambiguities that arises in some + * circumstances + * + * To solve ambiguity we follow the following idea. We are using the IPPE method, which + * returns the two possible + * solutions s0,s1. + * Error solution has a reprojection error e(s_i) and it is assumed that e(s0)& p3d, + const std::vector& p2d, const cv::Mat& cam_matrix, + const cv::Mat& dist, cv::Mat& r_io, cv::Mat& t_io); +}; +/**Tracks the position of a markermap + */ + +class ARUCO_EXPORT MarkerMapPoseTracker +{ +public: + MarkerMapPoseTracker(); + // Sets the parameters required for operation + // If the msconf has data expressed in meters, then the markerSize parameter is not + // required. If it is in + // pixels, the markersize will be used to + // transform to meters + // Throws exception if wrong configuraiton + void setParams(const CameraParameters& cam_params, const MarkerMap& msconf, + float markerSize = -1); + // indicates if the call to setParams has been successfull and this object is ready to + // call estimatePose + bool isValid() const + { + return _isValid; + } + + // resets current state + void reset() + { + _isValid = false; + _rvec = cv::Mat(); + _tvec = cv::Mat(); + } + + // estimates camera pose wrt the markermap + // returns true if pose has been obtained and false otherwise + bool estimatePose(const std::vector& v_m); + + // returns the 4x4 transform matrix. Returns an empty matrix if last call to + // estimatePose returned false + cv::Mat getRTMatrix() const; + // return the rotation vector. Returns an empty matrix if last call to estimatePose + // returned false + const cv::Mat getRvec() const + { + return _rvec; + } + // return the translation vector. Returns an empty matrix if last call to estimatePose + // returned false + const cv::Mat getTvec() const + { + return _tvec; + } + // prevents from big jumps. If the difference between current and previous positions are + // greater than the value indicated + // assumes no good tracking and the pose will be set as null + void setMaxTrackingDifference(float maxTranslation, float maxAngle) + { + _maxTranslation = maxTranslation; + _maxAngle = maxAngle; + } + + void setMinErrorRatio(float minErrorRatio) + { + aruco_minerrratio_valid = minErrorRatio; + } + + double getInitialErr() + { + return _initial_err; + } + +protected: + cv::Mat _rvec, _tvec; // current poses + aruco::CameraParameters _cam_params; + MarkerMap _msconf; + std::map _map_mm; + bool _isValid; + cv::Mat relocalization(const std::vector& v_m); + float aruco_minerrratio_valid; /*tau_e in paper*/ + std::map marker_m2g; // for each marker, the transform from the + // global ref system to the marker ref system + float _maxTranslation = -1, _maxAngle = -1; + double _initial_err; +}; +}; // namespace aruco + +#endif diff --git a/legacy/aruco_ros/aruco/include/aruco/timers.h b/legacy/aruco_ros/aruco/include/aruco/timers.h new file mode 100755 index 000000000..65210762f --- /dev/null +++ b/legacy/aruco_ros/aruco/include/aruco/timers.h @@ -0,0 +1,289 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef ARUCO_TIMERS_H +#define ARUCO_TIMERS_H + + +#include +#include +#include +#include +#include "aruco_export.h" +namespace aruco +{ + +// timer +struct ScopeTimer +{ + std::chrono::high_resolution_clock::time_point begin, end; + + std::string name; + bool use; + enum SCALE + { + NSEC, + MSEC, + SEC + }; + SCALE sc; + ScopeTimer(std::string name_, bool use_ = true, SCALE _sc = MSEC) + { +#ifdef USE_TIMERS + name = name_; + use = use_; + sc = _sc; + begin = std::chrono::high_resolution_clock::now(); +#else + (void)name_; + (void)use_; + (void)_sc; + +#endif + } + ~ScopeTimer() + { +#ifdef USE_TIMERS + if (use) + { + end = std::chrono::high_resolution_clock::now(); + double fact = 1; + std::string str; + switch (sc) + { + case NSEC: + fact = 1; + str = "ns"; + break; + case MSEC: + fact = 1e6; + str = "ms"; + break; + case SEC: + fact = 1e9; + str = "s"; + break; + }; + + std::cout << "Time(" << name << ")= " + << double( + std::chrono::duration_cast(end - begin).count()) / + fact + << str << std::endl; + ; + } +#endif + } +}; + +struct ScopedTimerEvents +{ + enum SCALE + { + NSEC, + MSEC, + SEC + }; + SCALE sc; + std::vector vtimes; + std::vector names; + std::string _name; + + ScopedTimerEvents(std::string name = "", bool start = true, SCALE _sc = MSEC) + { +#ifdef USE_TIMERS + if (start) + add("start"); + sc = _sc; + _name = name; +#else + (void)name; + (void)start; + (void)_sc; +#endif + } + + void add(std::string name) + { +#ifdef USE_TIMERS + vtimes.push_back(std::chrono::high_resolution_clock::now()); + names.push_back(name); +#else + (void)name; +#endif + } + void addspaces(std::vector &str) + { + // get max size + size_t m = 0; + for (auto &s : str) + m = std::max(size_t(s.size()), m); + for (auto &s : str) + { + while (s.size() < m) + s.push_back(' '); + } + } + + ~ScopedTimerEvents() + { +#ifdef USE_TIMERS + double fact = 1; + std::string str; + switch (sc) + { + case NSEC: + fact = 1; + str = "ns"; + break; + case MSEC: + fact = 1e6; + str = "ms"; + break; + case SEC: + fact = 1e9; + str = "s"; + break; + }; + + add("total"); + addspaces(names); + for (size_t i = 1; i < vtimes.size(); i++) + { + std::cout << "Time(" << _name << "|" << names[i] << " ):" + << double(std::chrono::duration_cast( + vtimes[i] - vtimes[i - 1]) + .count()) / + fact + << str << " " + << double(std::chrono::duration_cast(vtimes[i] - + vtimes[0]) + .count()) / + fact + << str /*<<"\t"<< vtimes[i].time_since_epoch().count()*/ << std::endl; + } +#endif + } +}; + +struct ARUCO_EXPORT Timer +{ + enum SCALE + { + NSEC, + MSEC, + SEC + }; + + std::chrono::high_resolution_clock::time_point _s; + double sum = 0, n = 0; + std::string _name; + Timer() + { + } + + Timer(std::string name) : _name(name) + { + } + void setName(std::string name) + { + _name = name; + } + void start() + { + _s = std::chrono::high_resolution_clock::now(); + } + void end() + { + auto e = std::chrono::high_resolution_clock::now(); + sum += double(std::chrono::duration_cast(e - _s).count()); + n++; + } + + void print(SCALE sc = MSEC) + { +#ifdef USE_TIMERS + double fact = 1; + std::string str; + switch (sc) + { + case NSEC: + fact = 1; + str = "ns"; + break; + case MSEC: + fact = 1e6; + str = "ms"; + break; + case SEC: + fact = 1e9; + str = "s"; + break; + }; + std::cout << "Time(" << _name << ")= " << (sum / n) / fact << str << std::endl; +#else + (void)sc; + +#endif + } + + double getAverage(SCALE sc = MSEC) const + { + double fact = 1; + switch (sc) + { + case NSEC: + fact = 1; + break; + case MSEC: + fact = 1e6; + break; + case SEC: + fact = 1e9; + break; + }; + return (sum / n) / fact; + } +}; +inline std::string __pf_aruco_methodName(std::string prettyFunction) +{ + std::string res; + res.reserve(prettyFunction.size()); + bool spaceFound = false; + for (auto c : prettyFunction) + { + if (c == ' ' && !spaceFound) + spaceFound = true; + else if (c != '(' && spaceFound) + res.push_back(c); + else if (c == '(' && spaceFound) + break; + } + return res; +} +#ifdef USE_TIMERS + +#define __ARUCO_ADDTIMER__ \ + ScopedTimerEvents XTIMER_X(__pf_aruco_methodName(__PRETTY_FUNCTION__)); +#define __ARUCO_TIMER_EVENT__(Y) XTIMER_X.add(Y); +#else +#define __ARUCO_ADDTIMER__ +#define __ARUCO_TIMER_EVENT__(Y) +#endif +} // namespace aruco + + +#endif diff --git a/legacy/aruco_ros/aruco/package.xml b/legacy/aruco_ros/aruco/package.xml new file mode 100644 index 000000000..917b8a197 --- /dev/null +++ b/legacy/aruco_ros/aruco/package.xml @@ -0,0 +1,18 @@ + + + aruco + 2.2.2 + + The ARUCO Library has been developed by the Ava group of the Univeristy of Cordoba(Spain). + It provides real-time marker based 3D pose estimation using AR markers. + + Sai Kishor Kothakota + MIT + http://www.uco.es/investiga/grupos/ava/node/26 + Rafael Muñoz Salinas + Bence Magyar + + catkin + cv_bridge + eigen + diff --git a/legacy/aruco_ros/aruco/src/aruco/CMakeLists.txt b/legacy/aruco_ros/aruco/src/aruco/CMakeLists.txt new file mode 100644 index 000000000..5acd69442 --- /dev/null +++ b/legacy/aruco_ros/aruco/src/aruco/CMakeLists.txt @@ -0,0 +1,77 @@ +set(sources + cameraparameters.cpp + cvdrawingutils.cpp + dictionary.cpp + ippe.cpp + marker.cpp + markerdetector.cpp + markerlabeler.cpp + markermap.cpp + posetracker.cpp + markerlabelers/dictionary_based.cpp + debug.cpp + markerlabelers/svmmarkers.cpp +) + +set(headers + aruco_export.h + cameraparameters.h + cvdrawingutils.h + dictionary.h + ippe.h + marker.h + markerdetector.h + markerlabeler.h + markermap.h + posetracker.h + markerlabelers/dictionary_based.h + timers.h + debug.h + aruco.h + markerlabelers/svmmarkers.h +) + +add_library(aruco ${sources} ${headers}) +IF(NOT ARUCO_ANDROID) + +set_target_properties(aruco PROPERTIES # create *nix style library versions + symbolic links + DEFINE_SYMBOL ARUCO_DSO_EXPORTS + VERSION ${PROJECT_VERSION} + SOVERSION ${PROJECT_SOVERSION} + CLEAN_DIRECT_OUTPUT 1 # allow creating static and shared libs without conflicts + OUTPUT_NAME "aruco${PROJECT_DLLVERSION}" # avoid conflicts between library and binary target names +) + +#include(GenerateExportHeader) +#generate_export_header(aruco) + +target_link_libraries(aruco PUBLIC opencv_core) +target_link_libraries(aruco PRIVATE opencv_imgproc opencv_calib3d opencv_features2d opencv_ml) + +target_include_directories(aruco PUBLIC +# $ +# $ + $ +) + +install(TARGETS aruco EXPORT arucoConfig + RUNTIME DESTINATION bin + LIBRARY DESTINATION lib PERMISSIONS OWNER_READ OWNER_WRITE OWNER_EXECUTE GROUP_READ GROUP_EXECUTE WORLD_READ WORLD_EXECUTE + ARCHIVE DESTINATION lib +) + +install(FILES ${headers} + DESTINATION include/aruco +) + +install(EXPORT arucoConfig DESTINATION "share/aruco/cmake") +ELSE() +MESSAGE(STATUS "ARUCO COMPILATION") +target_link_libraries( # Specifies the target library. + aruco lib_opencv + + # Links the target library to the log library + # included in the NDK. + ${log-lib} ) + +ENDIF() diff --git a/legacy/aruco_ros/aruco/src/aruco/cameraparameters.cpp b/legacy/aruco_ros/aruco/src/aruco/cameraparameters.cpp new file mode 100755 index 000000000..cb6f44053 --- /dev/null +++ b/legacy/aruco_ros/aruco/src/aruco/cameraparameters.cpp @@ -0,0 +1,558 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ +#include "cameraparameters.h" + +#include +#include + +#include +#include + +using namespace std; +namespace aruco +{ +CameraParameters::CameraParameters() +{ + CameraMatrix = cv::Mat(); + Distorsion = cv::Mat(); + ExtrinsicMatrix = cv::Mat(); + CamSize = cv::Size(-1, -1); +} +/**Creates the object from the info passed + * @param cameraMatrix 3x3 matrix (fx 0 cx, 0 fy cy, 0 0 1) + * @param distorsionCoeff 4x1 matrix (k1,k2,p1,p2) + * @param size image size + */ +CameraParameters::CameraParameters(cv::Mat cameraMatrix, cv::Mat distorsionCoeff, cv::Size size) +{ + setParams(cameraMatrix, distorsionCoeff, size); +} +/** + */ +CameraParameters::CameraParameters(const CameraParameters &CI) +{ + CI.CameraMatrix.copyTo(CameraMatrix); + CI.Distorsion.copyTo(Distorsion); + CI.ExtrinsicMatrix.copyTo(ExtrinsicMatrix); + CamSize = CI.CamSize; +} + +/** + */ +CameraParameters &CameraParameters::operator=(const CameraParameters &CI) +{ + CI.CameraMatrix.copyTo(CameraMatrix); + CI.Distorsion.copyTo(Distorsion); + CI.ExtrinsicMatrix.copyTo(ExtrinsicMatrix); + CamSize = CI.CamSize; + return *this; +} +void CameraParameters::clear() +{ + CameraMatrix = cv::Mat(); + CamSize = cv::Size(-1, -1); + Distorsion = cv::Mat(); +} +/** + */ +void CameraParameters::setParams(cv::Mat cameraMatrix, cv::Mat distorsionCoeff, cv::Size size) +{ + cv::Mat auxCamMatrix; + ExtrinsicMatrix = cv::Mat::zeros(1, 3, CV_64FC1); + if (cameraMatrix.rows == 3 && cameraMatrix.cols == 4) + { + ExtrinsicMatrix.at(0, 0) = cameraMatrix.at(0, 3); + ExtrinsicMatrix.at(0, 1) = cameraMatrix.at(1, 3); + ExtrinsicMatrix.at(0, 2) = cameraMatrix.at(2, 3); + + // Change size to 3x3 + auxCamMatrix = cameraMatrix(cv::Rect(0, 0, 3, 3)).clone(); + cameraMatrix = auxCamMatrix; + } + + if (cameraMatrix.rows != 3 || cameraMatrix.cols != 3) + throw cv::Exception(9000, "invalid input cameraMatrix", "CameraParameters::setParams", + __FILE__, __LINE__); + cameraMatrix.convertTo(CameraMatrix, CV_32FC1); + if (distorsionCoeff.total() < 4 || distorsionCoeff.total() >= 7) + throw cv::Exception(9000, "invalid input distorsionCoeff", + "CameraParameters::setParams", __FILE__, __LINE__); + cv::Mat auxD; + + distorsionCoeff.convertTo(Distorsion, CV_32FC1); + + // Distorsion.create(1,4,CV_32FC1); + // for (int i=0;i<4;i++) + // Distorsion.ptr(0)[i]=auxD.ptr(0)[i]; + + CamSize = size; +} + +/** + */ +cv::Point3f CameraParameters::getCameraLocation(const cv::Mat &Rvec, const cv::Mat &Tvec) +{ + cv::Mat m33(3, 3, CV_32FC1); + cv::Rodrigues(Rvec, m33); + + cv::Mat m44 = cv::Mat::eye(4, 4, CV_32FC1); + for (int i = 0; i < 3; i++) + for (int j = 0; j < 3; j++) + m44.at(i, j) = m33.at(i, j); + + // now, add translation information + for (int i = 0; i < 3; i++) + m44.at(i, 3) = Tvec.ptr(0)[i]; + + + // invert the matrix + m44.inv(); + return cv::Point3f(m44.at(0, 3), m44.at(1, 3), m44.at(2, 3)); +} + +/**Saves this to a file + */ +void CameraParameters::saveToFile(string path, bool inXML) +{ + if (!isValid()) + throw cv::Exception(9006, "invalid object", "CameraParameters::saveToFile", __FILE__, __LINE__); + if (!inXML) + { + ofstream file(path.c_str()); + if (!file) + throw cv::Exception(9006, "could not open file:" + path, + "CameraParameters::saveToFile", __FILE__, __LINE__); + file << "# Aruco 1.0 CameraParameters" << endl; + file << "fx = " << CameraMatrix.at(0, 0) << endl; + file << "cx = " << CameraMatrix.at(0, 2) << endl; + file << "fy = " << CameraMatrix.at(1, 1) << endl; + file << "cy = " << CameraMatrix.at(1, 2) << endl; + file << "k1 = " << Distorsion.at(0, 0) << endl; + file << "k2 = " << Distorsion.at(1, 0) << endl; + file << "p1 = " << Distorsion.at(2, 0) << endl; + file << "p2 = " << Distorsion.at(3, 0) << endl; + file << "tx = " << ExtrinsicMatrix.at(0, 0) << std::endl; + file << "ty = " << ExtrinsicMatrix.at(1, 0) << std::endl; + file << "tz = " << ExtrinsicMatrix.at(2, 0) << std::endl; + file << "width = " << CamSize.width << endl; + file << "height = " << CamSize.height << endl; + } + else + { + cv::FileStorage fs(path, cv::FileStorage::WRITE); + fs << "image_width" << CamSize.width; + fs << "image_height" << CamSize.height; + fs << "camera_matrix" << CameraMatrix; + fs << "distortion_coefficients" << Distorsion; + fs << "extrinsics" << ExtrinsicMatrix; + } +} + +/**Adjust the parameters to the size of the image indicated + */ +void CameraParameters::resize(cv::Size size) +{ + if (!isValid()) + throw cv::Exception(9007, "invalid object", "CameraParameters::resize", __FILE__, __LINE__); + if (size == CamSize) + return; + // now, read the camera size + // resize the camera parameters to fit this image size + float AxFactor = float(size.width) / float(CamSize.width); + float AyFactor = float(size.height) / float(CamSize.height); + CameraMatrix.at(0, 0) *= AxFactor; + CameraMatrix.at(0, 2) *= AxFactor; + CameraMatrix.at(1, 1) *= AyFactor; + CameraMatrix.at(1, 2) *= AyFactor; + CamSize = size; +} + +/**** + * + * + * + * + */ +void CameraParameters::readFromXMLFile(string filePath) +{ + cv::FileStorage fs(filePath, cv::FileStorage::READ); + if (!fs.isOpened()) + throw std::runtime_error("CameraParameters::readFromXMLFile could not open file:" + filePath); + int w = -1, h = -1; + cv::Mat MCamera, MDist, MExtrinsics; + + + fs["image_width"] >> w; + fs["image_height"] >> h; + fs["distortion_coefficients"] >> MDist; + fs["camera_matrix"] >> MCamera; + fs["extrinsics"] >> MExtrinsics; + + if (MCamera.cols == 0 || MCamera.rows == 0) + { + fs["Camera_Matrix"] >> MCamera; + if (MCamera.cols == 0 || MCamera.rows == 0) + throw cv::Exception(9007, "File :" + filePath + " does not contains valid camera matrix", + "CameraParameters::readFromXML", __FILE__, __LINE__); + } + + if (w == -1 || h == 0) + { + fs["image_Width"] >> w; + fs["image_Height"] >> h; + if (w == -1 || h == 0) + throw cv::Exception(9007, "File :" + filePath + " does not contains valid camera dimensions", + "CameraParameters::readFromXML", __FILE__, __LINE__); + } + if (MCamera.type() != CV_32FC1) + MCamera.convertTo(CameraMatrix, CV_32FC1); + else + CameraMatrix = MCamera; + + if (MDist.total() < 4) + { + fs["Distortion_Coefficients"] >> MDist; + if (MDist.total() < 4) + throw cv::Exception(9007, "File :" + filePath + " does not contains valid distortion_coefficients", + "CameraParameters::readFromXML", __FILE__, __LINE__); + } + // convert to 32 and get the 4 first elements only + cv::Mat mdist32; + MDist.convertTo(mdist32, CV_32FC1); + // Distorsion.create(1,4,CV_32FC1); + // for (int i=0;i<4;i++) + // Distorsion.ptr(0)[i]=mdist32.ptr(0)[i]; + + Distorsion.create(1, 5, CV_32FC1); + for (int i = 0; i < 5; i++) + Distorsion.ptr(0)[i] = mdist32.ptr(0)[i]; + CamSize.width = w; + CamSize.height = h; +} +/**** + * + */ +void CameraParameters::glGetProjectionMatrix(cv::Size orgImgSize, cv::Size size, + double proj_matrix[16], double gnear, + double gfar, bool invert) +{ + if (cv::countNonZero(Distorsion) != 0) + std::cerr << "CameraParameters::glGetProjectionMatrix :: The camera has distortion coefficients " + << __FILE__ << " " << __LINE__ << endl; + if (isValid() == false) + throw cv::Exception(9100, "invalid camera parameters", + "CameraParameters::glGetProjectionMatrix", __FILE__, __LINE__); + + // Deterime the rsized info + double Ax = double(size.width) / double(orgImgSize.width); + double Ay = double(size.height) / double(orgImgSize.height); + double _fx = CameraMatrix.at(0, 0) * Ax; + double _cx = CameraMatrix.at(0, 2) * Ax; + double _fy = CameraMatrix.at(1, 1) * Ay; + double _cy = CameraMatrix.at(1, 2) * Ay; + double cparam[3][4] = { { _fx, 0, _cx, 0 }, { 0, _fy, _cy, 0 }, { 0, 0, 1, 0 } }; + + argConvGLcpara2(cparam, size.width, size.height, gnear, gfar, proj_matrix, invert); +} + +/******************* + * + * + *******************/ +double CameraParameters::norm(double a, double b, double c) +{ + return (sqrt(a * a + b * b + c * c)); +} + +/******************* + * + * + *******************/ + +double CameraParameters::dot(double a1, double a2, double a3, double b1, double b2, double b3) +{ + return (a1 * b1 + a2 * b2 + a3 * b3); +} + +/******************* + * + * + *******************/ + +void CameraParameters::argConvGLcpara2(double cparam[3][4], int width, int height, + double gnear, double gfar, double m[16], bool invert) +{ + double icpara[3][4]; + double trans[3][4]; + double p[3][3], q[4][4]; + int i, j; + + cparam[0][2] *= -1.0; + cparam[1][2] *= -1.0; + cparam[2][2] *= -1.0; + + if (arParamDecompMat(cparam, icpara, trans) < 0) + throw cv::Exception(9002, "parameter error", "MarkerDetector::argConvGLcpara2", + __FILE__, __LINE__); + + for (i = 0; i < 3; i++) + { + for (j = 0; j < 3; j++) + { + p[i][j] = icpara[i][j] / icpara[2][2]; + } + } + q[0][0] = (2.0 * p[0][0] / width); + q[0][1] = (2.0 * p[0][1] / width); + q[0][2] = ((2.0 * p[0][2] / width) - 1.0); + q[0][3] = 0.0; + + q[1][0] = 0.0; + q[1][1] = (2.0 * p[1][1] / height); + q[1][2] = ((2.0 * p[1][2] / height) - 1.0); + q[1][3] = 0.0; + + q[2][0] = 0.0; + q[2][1] = 0.0; + q[2][2] = (gfar + gnear) / (gfar - gnear); + q[2][3] = -2.0 * gfar * gnear / (gfar - gnear); + + q[3][0] = 0.0; + q[3][1] = 0.0; + q[3][2] = 1.0; + q[3][3] = 0.0; + + for (i = 0; i < 4; i++) + { + for (j = 0; j < 3; j++) + { + m[i + j * 4] = q[i][0] * trans[0][j] + q[i][1] * trans[1][j] + q[i][2] * trans[2][j]; + } + m[i + 3 * 4] = + q[i][0] * trans[0][3] + q[i][1] * trans[1][3] + q[i][2] * trans[2][3] + q[i][3]; + } + + if (!invert) + { + m[13] = -m[13]; + m[1] = -m[1]; + m[5] = -m[5]; + m[9] = -m[9]; + } +} +/******************* + * + * + *******************/ + +int CameraParameters::arParamDecompMat(double source[3][4], double cpara[3][4], + double trans[3][4]) +{ + int r, c; + double Cpara[3][4]; + double rem1, rem2, rem3; + + if (source[2][3] >= 0) + { + for (r = 0; r < 3; r++) + { + for (c = 0; c < 4; c++) + { + Cpara[r][c] = source[r][c]; + } + } + } + else + { + for (r = 0; r < 3; r++) + { + for (c = 0; c < 4; c++) + { + Cpara[r][c] = -(source[r][c]); + } + } + } + + for (r = 0; r < 3; r++) + { + for (c = 0; c < 4; c++) + { + cpara[r][c] = 0.0; + } + } + cpara[2][2] = norm(Cpara[2][0], Cpara[2][1], Cpara[2][2]); + trans[2][0] = Cpara[2][0] / cpara[2][2]; + trans[2][1] = Cpara[2][1] / cpara[2][2]; + trans[2][2] = Cpara[2][2] / cpara[2][2]; + trans[2][3] = Cpara[2][3] / cpara[2][2]; + + cpara[1][2] = + dot(trans[2][0], trans[2][1], trans[2][2], Cpara[1][0], Cpara[1][1], Cpara[1][2]); + rem1 = Cpara[1][0] - cpara[1][2] * trans[2][0]; + rem2 = Cpara[1][1] - cpara[1][2] * trans[2][1]; + rem3 = Cpara[1][2] - cpara[1][2] * trans[2][2]; + cpara[1][1] = norm(rem1, rem2, rem3); + trans[1][0] = rem1 / cpara[1][1]; + trans[1][1] = rem2 / cpara[1][1]; + trans[1][2] = rem3 / cpara[1][1]; + + cpara[0][2] = + dot(trans[2][0], trans[2][1], trans[2][2], Cpara[0][0], Cpara[0][1], Cpara[0][2]); + cpara[0][1] = + dot(trans[1][0], trans[1][1], trans[1][2], Cpara[0][0], Cpara[0][1], Cpara[0][2]); + rem1 = Cpara[0][0] - cpara[0][1] * trans[1][0] - cpara[0][2] * trans[2][0]; + rem2 = Cpara[0][1] - cpara[0][1] * trans[1][1] - cpara[0][2] * trans[2][1]; + rem3 = Cpara[0][2] - cpara[0][1] * trans[1][2] - cpara[0][2] * trans[2][2]; + cpara[0][0] = norm(rem1, rem2, rem3); + trans[0][0] = rem1 / cpara[0][0]; + trans[0][1] = rem2 / cpara[0][0]; + trans[0][2] = rem3 / cpara[0][0]; + + trans[1][3] = (Cpara[1][3] - cpara[1][2] * trans[2][3]) / cpara[1][1]; + trans[0][3] = + (Cpara[0][3] - cpara[0][1] * trans[1][3] - cpara[0][2] * trans[2][3]) / cpara[0][0]; + + for (r = 0; r < 3; r++) + { + for (c = 0; c < 3; c++) + { + cpara[r][c] /= cpara[2][2]; + } + } + + return 0; +} + +/****** + * + */ +void CameraParameters::OgreGetProjectionMatrix(cv::Size orgImgSize, cv::Size size, + double proj_matrix[16], double gnear, + double gfar, bool invert) +{ + double temp_matrix[16]; + (*this).glGetProjectionMatrix(orgImgSize, size, temp_matrix, gnear, gfar, invert); + proj_matrix[0] = -temp_matrix[0]; + proj_matrix[1] = -temp_matrix[4]; + proj_matrix[2] = -temp_matrix[8]; + proj_matrix[3] = temp_matrix[12]; + + proj_matrix[4] = -temp_matrix[1]; + proj_matrix[5] = -temp_matrix[5]; + proj_matrix[6] = -temp_matrix[9]; + proj_matrix[7] = temp_matrix[13]; + + proj_matrix[8] = -temp_matrix[2]; + proj_matrix[9] = -temp_matrix[6]; + proj_matrix[10] = -temp_matrix[10]; + proj_matrix[11] = temp_matrix[14]; + + proj_matrix[12] = -temp_matrix[3]; + proj_matrix[13] = -temp_matrix[7]; + proj_matrix[14] = -temp_matrix[11]; + proj_matrix[15] = temp_matrix[15]; +} +/****** + * + */ + +cv::Mat CameraParameters::getRTMatrix(const cv::Mat &R_, const cv::Mat &T_, int forceType) +{ + cv::Mat M; + cv::Mat R, T; + R_.copyTo(R); + T_.copyTo(T); + if (R.type() == CV_64F) + { + assert(T.type() == CV_64F); + cv::Mat Matrix = cv::Mat::eye(4, 4, CV_64FC1); + + cv::Mat R33 = cv::Mat(Matrix, cv::Rect(0, 0, 3, 3)); + if (R.total() == 3) + { + cv::Rodrigues(R, R33); + } + else if (R.total() == 9) + { + cv::Mat R64; + R.convertTo(R64, CV_64F); + R.copyTo(R33); + } + for (int i = 0; i < 3; i++) + Matrix.at(i, 3) = T.ptr(0)[i]; + M = Matrix; + } + else if (R.depth() == CV_32F) + { + cv::Mat Matrix = cv::Mat::eye(4, 4, CV_32FC1); + cv::Mat R33 = cv::Mat(Matrix, cv::Rect(0, 0, 3, 3)); + if (R.total() == 3) + { + cv::Rodrigues(R, R33); + } + else if (R.total() == 9) + { + cv::Mat R32; + R.convertTo(R32, CV_32F); + R.copyTo(R33); + } + + for (int i = 0; i < 3; i++) + Matrix.at(i, 3) = T.ptr(0)[i]; + M = Matrix; + } + + if (forceType == -1) + return M; + else + { + cv::Mat MTyped; + M.convertTo(MTyped, forceType); + return MTyped; + } +} + +std::ostream &operator<<(std::ostream &str, const CameraParameters &cp) +{ + str << cp.CamSize.width << " " << cp.CamSize.height << " "; + for (std::size_t i = 0; i < cp.CameraMatrix.total(); i++) + str << cp.CameraMatrix.ptr(0)[i] << " "; + str << cp.Distorsion.total() << " "; + for (std::size_t i = 0; i < cp.Distorsion.total(); i++) + str << cp.Distorsion.ptr(0)[i] << " "; + for (std::size_t i = 0; i < cp.ExtrinsicMatrix.total(); i++) + str << cp.ExtrinsicMatrix.ptr(0)[i] << " "; + return str; +} + +std::istream &operator>>(std::istream &str, CameraParameters &cp) +{ + str >> cp.CamSize.width >> cp.CamSize.height; + cp.CameraMatrix.create(3, 3, CV_32F); + for (std::size_t i = 0; i < cp.CameraMatrix.total(); i++) + str >> cp.CameraMatrix.ptr(0)[i]; + int t; + str >> t; + cp.Distorsion.create(1, t, CV_32F); + for (std::size_t i = 0; i < cp.Distorsion.total(); i++) + str >> cp.Distorsion.ptr(0)[i]; + cp.Distorsion.create(1, 3, CV_32F); + for (std::size_t i = 0; i < cp.ExtrinsicMatrix.total(); i++) + str >> cp.ExtrinsicMatrix.ptr(0)[i]; + return str; +} + +}; // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/cvdrawingutils.cpp b/legacy/aruco_ros/aruco/src/aruco/cvdrawingutils.cpp new file mode 100755 index 000000000..37484dfeb --- /dev/null +++ b/legacy/aruco_ros/aruco/src/aruco/cvdrawingutils.cpp @@ -0,0 +1,164 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ +#include +#include +#include "cvdrawingutils.h" +#include "cameraparameters.h" +using namespace cv; +namespace aruco +{ +void CvDrawingUtils::draw3dAxis(cv::Mat& Image, const CameraParameters& CP, + const cv::Mat& Rvec, const cv::Mat& Tvec, float axis_size) +{ + Mat objectPoints(4, 3, CV_32FC1); + objectPoints.at(0, 0) = 0; + objectPoints.at(0, 1) = 0; + objectPoints.at(0, 2) = 0; + objectPoints.at(1, 0) = axis_size; + objectPoints.at(1, 1) = 0; + objectPoints.at(1, 2) = 0; + objectPoints.at(2, 0) = 0; + objectPoints.at(2, 1) = axis_size; + objectPoints.at(2, 2) = 0; + objectPoints.at(3, 0) = 0; + objectPoints.at(3, 1) = 0; + objectPoints.at(3, 2) = axis_size; + + std::vector imagePoints; + cv::projectPoints(objectPoints, Rvec, Tvec, CP.CameraMatrix, CP.Distorsion, imagePoints); + // draw lines of different colours + cv::line(Image, imagePoints[0], imagePoints[1], Scalar(0, 0, 255, 255), 1); + cv::line(Image, imagePoints[0], imagePoints[2], Scalar(0, 255, 0, 255), 1); + cv::line(Image, imagePoints[0], imagePoints[3], Scalar(255, 0, 0, 255), 1); + putText(Image, "x", imagePoints[1], FONT_HERSHEY_SIMPLEX, 0.6, Scalar(0, 0, 255, 255), 2); + putText(Image, "y", imagePoints[2], FONT_HERSHEY_SIMPLEX, 0.6, Scalar(0, 255, 0, 255), 2); + putText(Image, "z", imagePoints[3], FONT_HERSHEY_SIMPLEX, 0.6, Scalar(255, 0, 0, 255), 2); +} +/**** + * + * + * + ****/ +void CvDrawingUtils::draw3dAxis(cv::Mat& Image, Marker& m, const CameraParameters& CP, int lineSize) +{ + float size = m.ssize * 0.6; + Mat objectPoints(4, 3, CV_32FC1); + objectPoints.at(0, 0) = 0; + objectPoints.at(0, 1) = 0; + objectPoints.at(0, 2) = 0; + objectPoints.at(1, 0) = size; + objectPoints.at(1, 1) = 0; + objectPoints.at(1, 2) = 0; + objectPoints.at(2, 0) = 0; + objectPoints.at(2, 1) = size; + objectPoints.at(2, 2) = 0; + objectPoints.at(3, 0) = 0; + objectPoints.at(3, 1) = 0; + objectPoints.at(3, 2) = size; + + std::vector imagePoints; + cv::projectPoints(objectPoints, m.Rvec, m.Tvec, CP.CameraMatrix, CP.Distorsion, imagePoints); + // draw lines of different colours + cv::line(Image, imagePoints[0], imagePoints[1], Scalar(0, 0, 255, 255), lineSize); + cv::line(Image, imagePoints[0], imagePoints[2], Scalar(0, 255, 0, 255), lineSize); + cv::line(Image, imagePoints[0], imagePoints[3], Scalar(255, 0, 0, 255), lineSize); + putText(Image, "x", imagePoints[1], FONT_HERSHEY_SIMPLEX, 0.6, Scalar(0, 0, 255, 255), 2); + putText(Image, "y", imagePoints[2], FONT_HERSHEY_SIMPLEX, 0.6, Scalar(0, 255, 0, 255), 2); + putText(Image, "z", imagePoints[3], FONT_HERSHEY_SIMPLEX, 0.6, Scalar(255, 0, 0, 255), 2); +} + +/**** + * + * + * + ****/ +void CvDrawingUtils::draw3dCube(cv::Mat& Image, Marker& m, const CameraParameters& CP, + int lineSize, bool setYperpendicular) +{ + Mat objectPoints(8, 3, CV_32FC1); + float halfSize = m.ssize / 2.f; + + if (setYperpendicular) + { + objectPoints.at(0, 0) = -halfSize; + objectPoints.at(0, 1) = 0; + objectPoints.at(0, 2) = -halfSize; + objectPoints.at(1, 0) = halfSize; + objectPoints.at(1, 1) = 0; + objectPoints.at(1, 2) = -halfSize; + objectPoints.at(2, 0) = halfSize; + objectPoints.at(2, 1) = 0; + objectPoints.at(2, 2) = halfSize; + objectPoints.at(3, 0) = -halfSize; + objectPoints.at(3, 1) = 0; + objectPoints.at(3, 2) = halfSize; + + objectPoints.at(4, 0) = -halfSize; + objectPoints.at(4, 1) = m.ssize; + objectPoints.at(4, 2) = -halfSize; + objectPoints.at(5, 0) = halfSize; + objectPoints.at(5, 1) = m.ssize; + objectPoints.at(5, 2) = -halfSize; + objectPoints.at(6, 0) = halfSize; + objectPoints.at(6, 1) = m.ssize; + objectPoints.at(6, 2) = halfSize; + objectPoints.at(7, 0) = -halfSize; + objectPoints.at(7, 1) = m.ssize; + objectPoints.at(7, 2) = halfSize; + } + else + { + objectPoints.at(0, 0) = -halfSize; + objectPoints.at(0, 1) = -halfSize; + objectPoints.at(0, 2) = 0; + objectPoints.at(1, 0) = halfSize; + objectPoints.at(1, 1) = -halfSize; + objectPoints.at(1, 2) = 0; + objectPoints.at(2, 0) = halfSize; + objectPoints.at(2, 1) = halfSize; + objectPoints.at(2, 2) = 0; + objectPoints.at(3, 0) = -halfSize; + objectPoints.at(3, 1) = halfSize; + objectPoints.at(3, 2) = 0; + + objectPoints.at(4, 0) = -halfSize; + objectPoints.at(4, 1) = -halfSize; + objectPoints.at(4, 2) = m.ssize; + objectPoints.at(5, 0) = halfSize; + objectPoints.at(5, 1) = -halfSize; + objectPoints.at(5, 2) = m.ssize; + objectPoints.at(6, 0) = halfSize; + objectPoints.at(6, 1) = halfSize; + objectPoints.at(6, 2) = m.ssize; + objectPoints.at(7, 0) = -halfSize; + objectPoints.at(7, 1) = halfSize; + objectPoints.at(7, 2) = m.ssize; + } + + std::vector imagePoints; + projectPoints(objectPoints, m.Rvec, m.Tvec, CP.CameraMatrix, CP.Distorsion, imagePoints); + // draw lines of different colours + for (int i = 0; i < 4; i++) + cv::line(Image, imagePoints[i], imagePoints[(i + 1) % 4], Scalar(0, 0, 255, 255), lineSize); + + for (int i = 0; i < 4; i++) + cv::line(Image, imagePoints[i + 4], imagePoints[4 + (i + 1) % 4], + Scalar(0, 0, 255, 255), lineSize); + + for (int i = 0; i < 4; i++) + cv::line(Image, imagePoints[i], imagePoints[i + 4], Scalar(0, 0, 255, 255), lineSize); +} +} // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/debug.cpp b/legacy/aruco_ros/aruco/src/aruco/debug.cpp new file mode 100755 index 000000000..8bce9ee68 --- /dev/null +++ b/legacy/aruco_ros/aruco/src/aruco/debug.cpp @@ -0,0 +1,63 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#include "debug.h" +#include +namespace aruco +{ +int Debug::level = 2; +std::map Debug::strings; +void Debug::addString(std::string &label, std::string &data) +{ + strings.insert(make_pair(label, data)); +} + +std::string Debug::getString(std::string &str) +{ + auto it = strings.find(str); + if (it == strings.end()) + return ""; + else + return it->second; +} + + +bool Debug::isInited = false; + +void Debug::setLevel(int l) +{ + level = l; + isInited = false; + init(); +} +int Debug::getLevel() +{ + init(); + return level; +} +void Debug::init() +{ + if (!isInited) + { + isInited = true; + if (level >= 1) + { + } + } +} + + +} // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/dictionary.cpp b/legacy/aruco_ros/aruco/src/aruco/dictionary.cpp new file mode 100755 index 000000000..c399c579c --- /dev/null +++ b/legacy/aruco_ros/aruco/src/aruco/dictionary.cpp @@ -0,0 +1,3715 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ +#include "dictionary.h" +#include +#include +#include +#include +#include +#include +#include +#include "markermap.h" +#include +#include +using namespace std; +namespace aruco +{ + + +Dictionary Dictionary::load(string info) +{ + if (isPredefinedDictinaryString(info)) + return loadPredefined(info); + else + return loadFromFile(info); +} + + +Dictionary Dictionary::loadFromFile(std::string path) +{ + auto parse = [](const string &str) + { + stringstream sstr(str); + string a, b; + sstr >> a >> b; + return b; + }; + auto _stoi = [](string str) + { + int i; + sscanf(str.c_str(), "%d", &i); + return i; + }; + + ifstream file(path); + if (!file) + throw std::runtime_error("Dictionary::loadFromFile could not open file"); + string line; + std::getline(file, line); + if (line.find("name") == std::string::npos) + throw std::runtime_error("Dictionary::loadFromFile 'name' not found"); + Dictionary d; + d._name = parse(line); + std::getline(file, line); + if (line.find("nbits") == std::string::npos) + throw std::runtime_error("Dictionary::loadFromFile 'nbits' not found"); + d._nbits = _stoi(parse(line)); + if (d._nbits > 64) + throw std::runtime_error("Dictionary::loadFromFile no more than 64 bits allowed "); + + + d._type = CUSTOM; + // go reading the data + while (!file.eof()) + { + std::getline(file, line); + if (line.size() == d._nbits) + { + bitset<64> marker; + // parse the bits + int idx = 0; + for (auto it = line.rbegin(); it != line.rend(); it++) + { + marker[idx++] = *it == '1'; + } + d._code_id.insert({ marker.to_ullong(), static_cast(d._code_id.size()) }); + } + } + d._tau = static_cast(computeDictionaryDistance(d)); + if (d._tau == 0) + { + cerr << "IMPORTANT MESSAGE:::: Your dictionary " << d._name << " has a distance of 0" << endl; + cerr << "It means that that there are markers that can be confused. Please check" << endl; + } + // cout<<"tau="< &codes, std::map &code_id_map) +{ + code_id_map.clear(); + int id = 0; + for (auto c : codes) + code_id_map.insert(make_pair(c, id++)); +} +Dictionary Dictionary::loadPredefined(std::string type) +{ + return loadPredefined(getTypeFromString(type)); +} + +Dictionary Dictionary::loadPredefined(DICT_TYPES type) +{ + Dictionary d; + switch (type) + { + case ARUCO: + { + vector codes = { + 0x1084210UL, 0x1084217UL, 0x1084209UL, 0x108420eUL, 0x10842f0UL, 0x10842f7UL, + 0x10842e9UL, 0x10842eeUL, 0x1084130UL, 0x1084137UL, 0x1084129UL, 0x108412eUL, + 0x10841d0UL, 0x10841d7UL, 0x10841c9UL, 0x10841ceUL, 0x1085e10UL, 0x1085e17UL, + 0x1085e09UL, 0x1085e0eUL, 0x1085ef0UL, 0x1085ef7UL, 0x1085ee9UL, 0x1085eeeUL, + 0x1085d30UL, 0x1085d37UL, 0x1085d29UL, 0x1085d2eUL, 0x1085dd0UL, 0x1085dd7UL, + 0x1085dc9UL, 0x1085dceUL, 0x1082610UL, 0x1082617UL, 0x1082609UL, 0x108260eUL, + 0x10826f0UL, 0x10826f7UL, 0x10826e9UL, 0x10826eeUL, 0x1082530UL, 0x1082537UL, + 0x1082529UL, 0x108252eUL, 0x10825d0UL, 0x10825d7UL, 0x10825c9UL, 0x10825ceUL, + 0x1083a10UL, 0x1083a17UL, 0x1083a09UL, 0x1083a0eUL, 0x1083af0UL, 0x1083af7UL, + 0x1083ae9UL, 0x1083aeeUL, 0x1083930UL, 0x1083937UL, 0x1083929UL, 0x108392eUL, + 0x10839d0UL, 0x10839d7UL, 0x10839c9UL, 0x10839ceUL, 0x10bc210UL, 0x10bc217UL, + 0x10bc209UL, 0x10bc20eUL, 0x10bc2f0UL, 0x10bc2f7UL, 0x10bc2e9UL, 0x10bc2eeUL, + 0x10bc130UL, 0x10bc137UL, 0x10bc129UL, 0x10bc12eUL, 0x10bc1d0UL, 0x10bc1d7UL, + 0x10bc1c9UL, 0x10bc1ceUL, 0x10bde10UL, 0x10bde17UL, 0x10bde09UL, 0x10bde0eUL, + 0x10bdef0UL, 0x10bdef7UL, 0x10bdee9UL, 0x10bdeeeUL, 0x10bdd30UL, 0x10bdd37UL, + 0x10bdd29UL, 0x10bdd2eUL, 0x10bddd0UL, 0x10bddd7UL, 0x10bddc9UL, 0x10bddceUL, + 0x10ba610UL, 0x10ba617UL, 0x10ba609UL, 0x10ba60eUL, 0x10ba6f0UL, 0x10ba6f7UL, + 0x10ba6e9UL, 0x10ba6eeUL, 0x10ba530UL, 0x10ba537UL, 0x10ba529UL, 0x10ba52eUL, + 0x10ba5d0UL, 0x10ba5d7UL, 0x10ba5c9UL, 0x10ba5ceUL, 0x10bba10UL, 0x10bba17UL, + 0x10bba09UL, 0x10bba0eUL, 0x10bbaf0UL, 0x10bbaf7UL, 0x10bbae9UL, 0x10bbaeeUL, + 0x10bb930UL, 0x10bb937UL, 0x10bb929UL, 0x10bb92eUL, 0x10bb9d0UL, 0x10bb9d7UL, + 0x10bb9c9UL, 0x10bb9ceUL, 0x104c210UL, 0x104c217UL, 0x104c209UL, 0x104c20eUL, + 0x104c2f0UL, 0x104c2f7UL, 0x104c2e9UL, 0x104c2eeUL, 0x104c130UL, 0x104c137UL, + 0x104c129UL, 0x104c12eUL, 0x104c1d0UL, 0x104c1d7UL, 0x104c1c9UL, 0x104c1ceUL, + 0x104de10UL, 0x104de17UL, 0x104de09UL, 0x104de0eUL, 0x104def0UL, 0x104def7UL, + 0x104dee9UL, 0x104deeeUL, 0x104dd30UL, 0x104dd37UL, 0x104dd29UL, 0x104dd2eUL, + 0x104ddd0UL, 0x104ddd7UL, 0x104ddc9UL, 0x104ddceUL, 0x104a610UL, 0x104a617UL, + 0x104a609UL, 0x104a60eUL, 0x104a6f0UL, 0x104a6f7UL, 0x104a6e9UL, 0x104a6eeUL, + 0x104a530UL, 0x104a537UL, 0x104a529UL, 0x104a52eUL, 0x104a5d0UL, 0x104a5d7UL, + 0x104a5c9UL, 0x104a5ceUL, 0x104ba10UL, 0x104ba17UL, 0x104ba09UL, 0x104ba0eUL, + 0x104baf0UL, 0x104baf7UL, 0x104bae9UL, 0x104baeeUL, 0x104b930UL, 0x104b937UL, + 0x104b929UL, 0x104b92eUL, 0x104b9d0UL, 0x104b9d7UL, 0x104b9c9UL, 0x104b9ceUL, + 0x1074210UL, 0x1074217UL, 0x1074209UL, 0x107420eUL, 0x10742f0UL, 0x10742f7UL, + 0x10742e9UL, 0x10742eeUL, 0x1074130UL, 0x1074137UL, 0x1074129UL, 0x107412eUL, + 0x10741d0UL, 0x10741d7UL, 0x10741c9UL, 0x10741ceUL, 0x1075e10UL, 0x1075e17UL, + 0x1075e09UL, 0x1075e0eUL, 0x1075ef0UL, 0x1075ef7UL, 0x1075ee9UL, 0x1075eeeUL, + 0x1075d30UL, 0x1075d37UL, 0x1075d29UL, 0x1075d2eUL, 0x1075dd0UL, 0x1075dd7UL, + 0x1075dc9UL, 0x1075dceUL, 0x1072610UL, 0x1072617UL, 0x1072609UL, 0x107260eUL, + 0x10726f0UL, 0x10726f7UL, 0x10726e9UL, 0x10726eeUL, 0x1072530UL, 0x1072537UL, + 0x1072529UL, 0x107252eUL, 0x10725d0UL, 0x10725d7UL, 0x10725c9UL, 0x10725ceUL, + 0x1073a10UL, 0x1073a17UL, 0x1073a09UL, 0x1073a0eUL, 0x1073af0UL, 0x1073af7UL, + 0x1073ae9UL, 0x1073aeeUL, 0x1073930UL, 0x1073937UL, 0x1073929UL, 0x107392eUL, + 0x10739d0UL, 0x10739d7UL, 0x10739c9UL, 0x10739ceUL, 0x1784210UL, 0x1784217UL, + 0x1784209UL, 0x178420eUL, 0x17842f0UL, 0x17842f7UL, 0x17842e9UL, 0x17842eeUL, + 0x1784130UL, 0x1784137UL, 0x1784129UL, 0x178412eUL, 0x17841d0UL, 0x17841d7UL, + 0x17841c9UL, 0x17841ceUL, 0x1785e10UL, 0x1785e17UL, 0x1785e09UL, 0x1785e0eUL, + 0x1785ef0UL, 0x1785ef7UL, 0x1785ee9UL, 0x1785eeeUL, 0x1785d30UL, 0x1785d37UL, + 0x1785d29UL, 0x1785d2eUL, 0x1785dd0UL, 0x1785dd7UL, 0x1785dc9UL, 0x1785dceUL, + 0x1782610UL, 0x1782617UL, 0x1782609UL, 0x178260eUL, 0x17826f0UL, 0x17826f7UL, + 0x17826e9UL, 0x17826eeUL, 0x1782530UL, 0x1782537UL, 0x1782529UL, 0x178252eUL, + 0x17825d0UL, 0x17825d7UL, 0x17825c9UL, 0x17825ceUL, 0x1783a10UL, 0x1783a17UL, + 0x1783a09UL, 0x1783a0eUL, 0x1783af0UL, 0x1783af7UL, 0x1783ae9UL, 0x1783aeeUL, + 0x1783930UL, 0x1783937UL, 0x1783929UL, 0x178392eUL, 0x17839d0UL, 0x17839d7UL, + 0x17839c9UL, 0x17839ceUL, 0x17bc210UL, 0x17bc217UL, 0x17bc209UL, 0x17bc20eUL, + 0x17bc2f0UL, 0x17bc2f7UL, 0x17bc2e9UL, 0x17bc2eeUL, 0x17bc130UL, 0x17bc137UL, + 0x17bc129UL, 0x17bc12eUL, 0x17bc1d0UL, 0x17bc1d7UL, 0x17bc1c9UL, 0x17bc1ceUL, + 0x17bde10UL, 0x17bde17UL, 0x17bde09UL, 0x17bde0eUL, 0x17bdef0UL, 0x17bdef7UL, + 0x17bdee9UL, 0x17bdeeeUL, 0x17bdd30UL, 0x17bdd37UL, 0x17bdd29UL, 0x17bdd2eUL, + 0x17bddd0UL, 0x17bddd7UL, 0x17bddc9UL, 0x17bddceUL, 0x17ba610UL, 0x17ba617UL, + 0x17ba609UL, 0x17ba60eUL, 0x17ba6f0UL, 0x17ba6f7UL, 0x17ba6e9UL, 0x17ba6eeUL, + 0x17ba530UL, 0x17ba537UL, 0x17ba529UL, 0x17ba52eUL, 0x17ba5d0UL, 0x17ba5d7UL, + 0x17ba5c9UL, 0x17ba5ceUL, 0x17bba10UL, 0x17bba17UL, 0x17bba09UL, 0x17bba0eUL, + 0x17bbaf0UL, 0x17bbaf7UL, 0x17bbae9UL, 0x17bbaeeUL, 0x17bb930UL, 0x17bb937UL, + 0x17bb929UL, 0x17bb92eUL, 0x17bb9d0UL, 0x17bb9d7UL, 0x17bb9c9UL, 0x17bb9ceUL, + 0x174c210UL, 0x174c217UL, 0x174c209UL, 0x174c20eUL, 0x174c2f0UL, 0x174c2f7UL, + 0x174c2e9UL, 0x174c2eeUL, 0x174c130UL, 0x174c137UL, 0x174c129UL, 0x174c12eUL, + 0x174c1d0UL, 0x174c1d7UL, 0x174c1c9UL, 0x174c1ceUL, 0x174de10UL, 0x174de17UL, + 0x174de09UL, 0x174de0eUL, 0x174def0UL, 0x174def7UL, 0x174dee9UL, 0x174deeeUL, + 0x174dd30UL, 0x174dd37UL, 0x174dd29UL, 0x174dd2eUL, 0x174ddd0UL, 0x174ddd7UL, + 0x174ddc9UL, 0x174ddceUL, 0x174a610UL, 0x174a617UL, 0x174a609UL, 0x174a60eUL, + 0x174a6f0UL, 0x174a6f7UL, 0x174a6e9UL, 0x174a6eeUL, 0x174a530UL, 0x174a537UL, + 0x174a529UL, 0x174a52eUL, 0x174a5d0UL, 0x174a5d7UL, 0x174a5c9UL, 0x174a5ceUL, + 0x174ba10UL, 0x174ba17UL, 0x174ba09UL, 0x174ba0eUL, 0x174baf0UL, 0x174baf7UL, + 0x174bae9UL, 0x174baeeUL, 0x174b930UL, 0x174b937UL, 0x174b929UL, 0x174b92eUL, + 0x174b9d0UL, 0x174b9d7UL, 0x174b9c9UL, 0x174b9ceUL, 0x1774210UL, 0x1774217UL, + 0x1774209UL, 0x177420eUL, 0x17742f0UL, 0x17742f7UL, 0x17742e9UL, 0x17742eeUL, + 0x1774130UL, 0x1774137UL, 0x1774129UL, 0x177412eUL, 0x17741d0UL, 0x17741d7UL, + 0x17741c9UL, 0x17741ceUL, 0x1775e10UL, 0x1775e17UL, 0x1775e09UL, 0x1775e0eUL, + 0x1775ef0UL, 0x1775ef7UL, 0x1775ee9UL, 0x1775eeeUL, 0x1775d30UL, 0x1775d37UL, + 0x1775d29UL, 0x1775d2eUL, 0x1775dd0UL, 0x1775dd7UL, 0x1775dc9UL, 0x1775dceUL, + 0x1772610UL, 0x1772617UL, 0x1772609UL, 0x177260eUL, 0x17726f0UL, 0x17726f7UL, + 0x17726e9UL, 0x17726eeUL, 0x1772530UL, 0x1772537UL, 0x1772529UL, 0x177252eUL, + 0x17725d0UL, 0x17725d7UL, 0x17725c9UL, 0x17725ceUL, 0x1773a10UL, 0x1773a17UL, + 0x1773a09UL, 0x1773a0eUL, 0x1773af0UL, 0x1773af7UL, 0x1773ae9UL, 0x1773aeeUL, + 0x1773930UL, 0x1773937UL, 0x1773929UL, 0x177392eUL, 0x17739d0UL, 0x17739d7UL, + 0x17739c9UL, 0x17739ceUL, 0x984210UL, 0x984217UL, 0x984209UL, 0x98420eUL, + 0x9842f0UL, 0x9842f7UL, 0x9842e9UL, 0x9842eeUL, 0x984130UL, 0x984137UL, + 0x984129UL, 0x98412eUL, 0x9841d0UL, 0x9841d7UL, 0x9841c9UL, 0x9841ceUL, + 0x985e10UL, 0x985e17UL, 0x985e09UL, 0x985e0eUL, 0x985ef0UL, 0x985ef7UL, + 0x985ee9UL, 0x985eeeUL, 0x985d30UL, 0x985d37UL, 0x985d29UL, 0x985d2eUL, + 0x985dd0UL, 0x985dd7UL, 0x985dc9UL, 0x985dceUL, 0x982610UL, 0x982617UL, + 0x982609UL, 0x98260eUL, 0x9826f0UL, 0x9826f7UL, 0x9826e9UL, 0x9826eeUL, + 0x982530UL, 0x982537UL, 0x982529UL, 0x98252eUL, 0x9825d0UL, 0x9825d7UL, + 0x9825c9UL, 0x9825ceUL, 0x983a10UL, 0x983a17UL, 0x983a09UL, 0x983a0eUL, + 0x983af0UL, 0x983af7UL, 0x983ae9UL, 0x983aeeUL, 0x983930UL, 0x983937UL, + 0x983929UL, 0x98392eUL, 0x9839d0UL, 0x9839d7UL, 0x9839c9UL, 0x9839ceUL, + 0x9bc210UL, 0x9bc217UL, 0x9bc209UL, 0x9bc20eUL, 0x9bc2f0UL, 0x9bc2f7UL, + 0x9bc2e9UL, 0x9bc2eeUL, 0x9bc130UL, 0x9bc137UL, 0x9bc129UL, 0x9bc12eUL, + 0x9bc1d0UL, 0x9bc1d7UL, 0x9bc1c9UL, 0x9bc1ceUL, 0x9bde10UL, 0x9bde17UL, + 0x9bde09UL, 0x9bde0eUL, 0x9bdef0UL, 0x9bdef7UL, 0x9bdee9UL, 0x9bdeeeUL, + 0x9bdd30UL, 0x9bdd37UL, 0x9bdd29UL, 0x9bdd2eUL, 0x9bddd0UL, 0x9bddd7UL, + 0x9bddc9UL, 0x9bddceUL, 0x9ba610UL, 0x9ba617UL, 0x9ba609UL, 0x9ba60eUL, + 0x9ba6f0UL, 0x9ba6f7UL, 0x9ba6e9UL, 0x9ba6eeUL, 0x9ba530UL, 0x9ba537UL, + 0x9ba529UL, 0x9ba52eUL, 0x9ba5d0UL, 0x9ba5d7UL, 0x9ba5c9UL, 0x9ba5ceUL, + 0x9bba10UL, 0x9bba17UL, 0x9bba09UL, 0x9bba0eUL, 0x9bbaf0UL, 0x9bbaf7UL, + 0x9bbae9UL, 0x9bbaeeUL, 0x9bb930UL, 0x9bb937UL, 0x9bb929UL, 0x9bb92eUL, + 0x9bb9d0UL, 0x9bb9d7UL, 0x9bb9c9UL, 0x9bb9ceUL, 0x94c210UL, 0x94c217UL, + 0x94c209UL, 0x94c20eUL, 0x94c2f0UL, 0x94c2f7UL, 0x94c2e9UL, 0x94c2eeUL, + 0x94c130UL, 0x94c137UL, 0x94c129UL, 0x94c12eUL, 0x94c1d0UL, 0x94c1d7UL, + 0x94c1c9UL, 0x94c1ceUL, 0x94de10UL, 0x94de17UL, 0x94de09UL, 0x94de0eUL, + 0x94def0UL, 0x94def7UL, 0x94dee9UL, 0x94deeeUL, 0x94dd30UL, 0x94dd37UL, + 0x94dd29UL, 0x94dd2eUL, 0x94ddd0UL, 0x94ddd7UL, 0x94ddc9UL, 0x94ddceUL, + 0x94a610UL, 0x94a617UL, 0x94a609UL, 0x94a60eUL, 0x94a6f0UL, 0x94a6f7UL, + 0x94a6e9UL, 0x94a6eeUL, 0x94a530UL, 0x94a537UL, 0x94a529UL, 0x94a52eUL, + 0x94a5d0UL, 0x94a5d7UL, 0x94a5c9UL, 0x94a5ceUL, 0x94ba10UL, 0x94ba17UL, + 0x94ba09UL, 0x94ba0eUL, 0x94baf0UL, 0x94baf7UL, 0x94bae9UL, 0x94baeeUL, + 0x94b930UL, 0x94b937UL, 0x94b929UL, 0x94b92eUL, 0x94b9d0UL, 0x94b9d7UL, + 0x94b9c9UL, 0x94b9ceUL, 0x974210UL, 0x974217UL, 0x974209UL, 0x97420eUL, + 0x9742f0UL, 0x9742f7UL, 0x9742e9UL, 0x9742eeUL, 0x974130UL, 0x974137UL, + 0x974129UL, 0x97412eUL, 0x9741d0UL, 0x9741d7UL, 0x9741c9UL, 0x9741ceUL, + 0x975e10UL, 0x975e17UL, 0x975e09UL, 0x975e0eUL, 0x975ef0UL, 0x975ef7UL, + 0x975ee9UL, 0x975eeeUL, 0x975d30UL, 0x975d37UL, 0x975d29UL, 0x975d2eUL, + 0x975dd0UL, 0x975dd7UL, 0x975dc9UL, 0x975dceUL, 0x972610UL, 0x972617UL, + 0x972609UL, 0x97260eUL, 0x9726f0UL, 0x9726f7UL, 0x9726e9UL, 0x9726eeUL, + 0x972530UL, 0x972537UL, 0x972529UL, 0x97252eUL, 0x9725d0UL, 0x9725d7UL, + 0x9725c9UL, 0x9725ceUL, 0x973a10UL, 0x973a17UL, 0x973a09UL, 0x973a0eUL, + 0x973af0UL, 0x973af7UL, 0x973ae9UL, 0x973aeeUL, 0x973930UL, 0x973937UL, + 0x973929UL, 0x97392eUL, 0x9739d0UL, 0x9739d7UL, 0x9739c9UL, 0x9739ceUL, + 0xe84210UL, 0xe84217UL, 0xe84209UL, 0xe8420eUL, 0xe842f0UL, 0xe842f7UL, + 0xe842e9UL, 0xe842eeUL, 0xe84130UL, 0xe84137UL, 0xe84129UL, 0xe8412eUL, + 0xe841d0UL, 0xe841d7UL, 0xe841c9UL, 0xe841ceUL, 0xe85e10UL, 0xe85e17UL, + 0xe85e09UL, 0xe85e0eUL, 0xe85ef0UL, 0xe85ef7UL, 0xe85ee9UL, 0xe85eeeUL, + 0xe85d30UL, 0xe85d37UL, 0xe85d29UL, 0xe85d2eUL, 0xe85dd0UL, 0xe85dd7UL, + 0xe85dc9UL, 0xe85dceUL, 0xe82610UL, 0xe82617UL, 0xe82609UL, 0xe8260eUL, + 0xe826f0UL, 0xe826f7UL, 0xe826e9UL, 0xe826eeUL, 0xe82530UL, 0xe82537UL, + 0xe82529UL, 0xe8252eUL, 0xe825d0UL, 0xe825d7UL, 0xe825c9UL, 0xe825ceUL, + 0xe83a10UL, 0xe83a17UL, 0xe83a09UL, 0xe83a0eUL, 0xe83af0UL, 0xe83af7UL, + 0xe83ae9UL, 0xe83aeeUL, 0xe83930UL, 0xe83937UL, 0xe83929UL, 0xe8392eUL, + 0xe839d0UL, 0xe839d7UL, 0xe839c9UL, 0xe839ceUL, 0xebc210UL, 0xebc217UL, + 0xebc209UL, 0xebc20eUL, 0xebc2f0UL, 0xebc2f7UL, 0xebc2e9UL, 0xebc2eeUL, + 0xebc130UL, 0xebc137UL, 0xebc129UL, 0xebc12eUL, 0xebc1d0UL, 0xebc1d7UL, + 0xebc1c9UL, 0xebc1ceUL, 0xebde10UL, 0xebde17UL, 0xebde09UL, 0xebde0eUL, + 0xebdef0UL, 0xebdef7UL, 0xebdee9UL, 0xebdeeeUL, 0xebdd30UL, 0xebdd37UL, + 0xebdd29UL, 0xebdd2eUL, 0xebddd0UL, 0xebddd7UL, 0xebddc9UL, 0xebddceUL, + 0xeba610UL, 0xeba617UL, 0xeba609UL, 0xeba60eUL, 0xeba6f0UL, 0xeba6f7UL, + 0xeba6e9UL, 0xeba6eeUL, 0xeba530UL, 0xeba537UL, 0xeba529UL, 0xeba52eUL, + 0xeba5d0UL, 0xeba5d7UL, 0xeba5c9UL, 0xeba5ceUL, 0xebba10UL, 0xebba17UL, + 0xebba09UL, 0xebba0eUL, 0xebbaf0UL, 0xebbaf7UL, 0xebbae9UL, 0xebbaeeUL, + 0xebb930UL, 0xebb937UL, 0xebb929UL, 0xebb92eUL, 0xebb9d0UL, 0xebb9d7UL, + 0xebb9c9UL, 0xebb9ceUL, 0xe4c210UL, 0xe4c217UL, 0xe4c209UL, 0xe4c20eUL, + 0xe4c2f0UL, 0xe4c2f7UL, 0xe4c2e9UL, 0xe4c2eeUL, 0xe4c130UL, 0xe4c137UL, + 0xe4c129UL, 0xe4c12eUL, 0xe4c1d0UL, 0xe4c1d7UL, 0xe4c1c9UL, 0xe4c1ceUL, + 0xe4de10UL, 0xe4de17UL, 0xe4de09UL, 0xe4de0eUL, 0xe4def0UL, 0xe4def7UL, + 0xe4dee9UL, 0xe4deeeUL, 0xe4dd30UL, 0xe4dd37UL, 0xe4dd29UL, 0xe4dd2eUL, + 0xe4ddd0UL, 0xe4ddd7UL, 0xe4ddc9UL, 0xe4ddceUL, 0xe4a610UL, 0xe4a617UL, + 0xe4a609UL, 0xe4a60eUL, 0xe4a6f0UL, 0xe4a6f7UL, 0xe4a6e9UL, 0xe4a6eeUL, + 0xe4a530UL, 0xe4a537UL, 0xe4a529UL, 0xe4a52eUL, 0xe4a5d0UL, 0xe4a5d7UL, + 0xe4a5c9UL, 0xe4a5ceUL, 0xe4ba10UL, 0xe4ba17UL, 0xe4ba09UL, 0xe4ba0eUL, + 0xe4baf0UL, 0xe4baf7UL, 0xe4bae9UL, 0xe4baeeUL, 0xe4b930UL, 0xe4b937UL, + 0xe4b929UL, 0xe4b92eUL, 0xe4b9d0UL, 0xe4b9d7UL, 0xe4b9c9UL, 0xe4b9ceUL, + 0xe74210UL, 0xe74217UL, 0xe74209UL, 0xe7420eUL, 0xe742f0UL, 0xe742f7UL, + 0xe742e9UL, 0xe742eeUL, 0xe74130UL, 0xe74137UL, 0xe74129UL, 0xe7412eUL, + 0xe741d0UL, 0xe741d7UL, 0xe741c9UL, 0xe741ceUL, 0xe75e10UL, 0xe75e17UL, + 0xe75e09UL, 0xe75e0eUL, 0xe75ef0UL, 0xe75ef7UL, 0xe75ee9UL, 0xe75eeeUL, + 0xe75d30UL, 0xe75d37UL, 0xe75d29UL, 0xe75d2eUL, 0xe75dd0UL, 0xe75dd7UL, + 0xe75dc9UL, 0xe75dceUL, 0xe72610UL, 0xe72617UL, 0xe72609UL, 0xe7260eUL, + 0xe726f0UL, 0xe726f7UL, 0xe726e9UL, 0xe726eeUL, 0xe72530UL, 0xe72537UL, + 0xe72529UL, 0xe7252eUL, 0xe725d0UL, 0xe725d7UL, 0xe725c9UL, 0xe725ceUL, + 0xe73a10UL, 0xe73a17UL, 0xe73a09UL, 0xe73a0eUL, 0xe73af0UL, 0xe73af7UL, + 0xe73ae9UL, 0xe73aeeUL, 0xe73930UL, 0xe73937UL, 0xe73929UL, 0xe7392eUL, + 0xe739d0UL, 0xe739d7UL, 0xe739c9UL + }; + fromVector(codes, d._code_id); + d._nbits = 25; + d._tau = 1; // + d._type = ARUCO; + d._name = "ARUCO"; + } + break; + case ARTAG: + { + vector codes = { + 0xf89c68ea2UL, 0xf021c83fdUL, 0x9b2f835a2UL, 0xf8ffdb019UL, 0xf2d12b272UL, + 0xf0e6afe8bUL, 0xe19dee435UL, 0xdbe424132UL, 0xa9885a341UL, 0x3add1e6caUL, + 0x600aa0d15UL, 0xf9d5c0938UL, 0xf85b0f3d4UL, 0xf838bcd6fUL, 0xfa6c8bf2dUL, + 0xfb469060cUL, 0xfb25238b7UL, 0xff8d4dc33UL, 0xfc3406a26UL, 0xfc57b549dUL, + 0xfcf361750UL, 0xfd7daedbcUL, 0xf42d724b4UL, 0xf1ccb47aaUL, 0xe1fe5da8eUL, + 0xe2e3c2f56UL, 0xe280711edUL, 0xe224a5220UL, 0xe36d0d5baUL, 0xed2cf4e23UL, + 0xecc188a74UL, 0xcf7ea3892UL, 0xcca45b03cUL, 0xc4de9c015UL, 0xc0b1959e7UL, + 0xd027a870eUL, 0xd1a967de2UL, 0xd3fd50fa0UL, 0xd67f25205UL, 0xdcf5013a3UL, + 0xdea1361e1UL, 0xdb8797f89UL, 0xd8f9bb4eaUL, 0x98321c07aUL, 0x9dd3da364UL, + 0x9162c0972UL, 0x91c614abfUL, 0x81339aaedUL, 0x3f3cd85d4UL, 0x3907e6e64UL, + 0x2231e480aUL, 0x287ca74daUL, 0xee52d854UL, 0x3b94b615UL, 0x1ab8cdc82UL, + 0x4463c9014UL, 0x6588d50b0UL, 0xf912a744eUL, 0xf97114af5UL, 0xfb81f7b7aUL, + 0xfbe2445c1UL, 0xff4a2a145UL, 0xfea756512UL, 0xfe03826dfUL, 0xfc90d29ebUL, + 0xfdbac90caUL, 0xfdd97ae71UL, 0xf564da32eUL, 0xf5c00e0e3UL, 0xf679456f6UL, + 0xf6be22b80UL, 0xf6dd9153bUL, 0xf7f78ac1aUL, 0xf35fe489eUL, 0xf33c57625UL, + 0xf398835e8UL, 0xf3fb30b53UL, 0xf2b298cc9UL, 0xf2164cf04UL, 0xf275ff1bfUL, + 0xf10bd3adcUL, 0xf16860467UL, 0xe1393a7f8UL, 0xe07092062UL, 0xe0b7f5d14UL, + 0xe0d4463afUL, 0xe7c56313eUL, 0xe7a6d0f85UL, 0xe70204c48UL, 0xe6281f569UL, + 0xe47c2872bUL, 0xed8820deeUL, 0xedeb93355UL, 0xed4f47098UL, 0xec06ef702UL, + 0xeef60c68dUL, 0xef78c3c61UL, 0xefbfa4117UL, 0xebb31e65eUL, 0xebd0ad8e5UL, + 0xeb7479b28UL, 0xeb17ca593UL, 0xea5e62209UL, 0xeafab61c4UL, 0xe8ae81386UL, + 0xe9204e96aUL, 0xe9e72941cUL, 0xe9849aaa7UL, 0xc86f86a03UL, 0xc9e1490efUL, + 0xcbb57e2adUL, 0xcb7219fdbUL, 0xca58026faUL, 0xca9f65b8cUL, 0xcef06c27eUL, + 0xce54b81b3UL, 0xcf1d10629UL, 0xcd8e4091dUL, 0xcc633cd4aUL, 0xccc7e8e87UL, + 0xc7c3035cdUL, 0xc767d7600UL, 0xc62e7f19aUL, 0xc64dccf21UL, 0xc6e918cecUL, + 0xc68aab257UL, 0xc2861151eUL, 0xc24176868UL, 0xc15ce9db0UL, 0xc0d22675cUL, + 0xd0e0cfa78UL, 0xd0837c4c3UL, 0xd16e00094UL, 0xd2739f54cUL, 0xd2102cbf7UL, + 0xd6dbf11c8UL, 0xd79259652UL, 0xd7368d59fUL, 0xd562ba7ddUL, 0xd5c66e410UL, + 0xd5a5ddaabUL, 0xd48fc638aUL, 0xd4ec75d31UL, 0xdc96b2d18UL, 0xddbca9439UL, + 0xdf4c4a5b6UL, 0xde05e222cUL, 0xdaad8c6a8UL, 0xdace3f813UL, 0xd9b013370UL, + 0xd9d3a0dcbUL, 0xd85d6f727UL, 0x9aa14cf4eUL, 0x9ac2ff1f5UL, 0x9b4c30b19UL, + 0x9be8e48d4UL, 0x9b8b5766fUL, 0x99bcd3a96UL, 0x99df6042dUL, 0x96b482695UL, + 0x979e99fb4UL, 0x95caaedf6UL, 0x950dc9080UL, 0x956e7ae3bUL, 0x9427d29a1UL, + 0x908fbcd25UL, 0x9392238fdUL, 0x92b8381dcUL, 0x824db618eUL, 0x83c379b62UL, + 0x83041e614UL, 0x81f4fd79bUL, 0x80dee6ebaUL, 0x8019813ccUL, 0x853f20da4UL, + 0x87cfc3c2bUL, 0x8e5878855UL, 0x8fb504c02UL, 0x8b1d6a886UL, 0x8a93a526aUL, + 0xabdc6d103UL, 0xaa3111554UL, 0xaa52a2befUL, 0xa8a241a60UL, 0xa8c1f24dbUL, + 0xa92c8e08cUL, 0xad438797eUL, 0xa156490a5UL, 0xa0d886a49UL, 0xb04ebb4a0UL, + 0xb1c074e4cUL, 0xb616361abUL, 0xb73c2d88aUL, 0xbf2559618UL, 0xbd716e45aUL, + 0xb8347c489UL, 0xb890a8744UL, 0xba604b6cbUL, 0xbb29e3151UL, 0x3c42f4eb7UL, + 0x388929488UL, 0x3b94b6150UL, 0x33ee71179UL, 0x311e920f6UL, 0x30905da1aUL, + 0x343833e9eUL, 0x35b6fc472UL, 0x360fb7267UL, 0x26998ac8eUL, 0x271745662UL, + 0x20a2b473eUL, 0x20c107985UL, 0x2188afe1fUL, 0x23bf2b2e6UL, 0x229530bc7UL, + 0x2a2890698UL, 0x2ba65fc74UL, 0x281f14a61UL, 0x2fc956586UL, 0x2f6d8264bUL, + 0x2e80fe21cUL, 0xe869e6efUL, 0xc767d760UL, 0x8bda0d5fUL, 0xae997f1dUL, + 0xa2ef026bUL, 0xb04ebb4aUL, 0xb67585f1UL, 0x37e2cb63UL, 0x25437242UL, + 0x149a879aUL, 0x69fea87dUL, 0x71125291UL, 0x1609d7694UL, 0x143e53a6dUL, + 0x11bc267c8UL, 0x12c20acabUL, 0x132f768fcUL, 0x134cc5647UL, 0x1a1c19f4fUL, + 0x182b9d3b6UL, 0x1c27274ffUL, 0x5a10d96a9UL, 0x50f94e9b4UL, 0x509afd70fUL, + 0x57e86bb25UL, 0x56c270204UL, 0x477e565ccUL, 0x43115fc3eUL, 0x493fafe55UL, + 0x48b1604b9UL, 0x4a2230b8dUL, 0x6cd8099b8UL, 0x6d3575defUL, 0x6bc92cb29UL, + 0x687067d3cUL, 0x652c0137dUL, 0x757d5b0e2UL, 0x76a7a384cUL, 0x72ab19f05UL, + 0x73e2b189fUL, 0x709c9d3fcUL, 0x7885e9d6eUL, 0x7bfbc560dUL, 0x7e79b0ba8UL, + 0x7dc0fbdbdUL, 0x7d642fe70UL, 0x7c4e34751UL, 0xf9b673783UL, 0xfa0f38196UL, + 0xfac85fce0UL, 0xfaabec25bUL, 0xff2999ffeUL, 0xfec4e5ba9UL, 0xfd1e1d307UL, + 0xf50769d95UL, 0xf5a3bde58UL, 0xf489a6779UL, 0xf44ec1a0fUL, 0xf794392a1UL, + 0xf7535efd7UL, 0xf0427bd46UL, 0xf1af07911UL, 0xe15a89943UL, 0xe01321ed9UL, + 0xe24716c9bUL, 0xe30ebeb01UL, 0xe3aa6a8ccUL, 0xe3c9d9677UL, 0xe761b72f3UL, + 0xe64bacbd2UL, 0xe68ccb6a4UL, 0xe4d8fc4e6UL, 0xe4bb4fa5dUL, 0xe41f9b990UL, + 0xe55633e0aUL, 0xe535800b1UL, 0xe5915437cUL, 0xe5f2e7dc7UL, 0xec655c9b9UL, + 0xeca23b4cfUL, 0xee95bf836UL, 0xee52d8540UL, 0xee316bbfbUL, 0xef1b702daUL, + 0xefdc17facUL, 0xea3dd1cb2UL, 0xea9905f7fUL, 0xe869e6ef0UL, 0xe80a5504bUL, + 0xe943fd7d1UL, 0xc8cb529ceUL, 0xc8a8e1775UL, 0xc80c354b8UL, 0xc9459d322UL, + 0xc982fae54UL, 0xcbd6cdc16UL, 0xcb11aa160UL, 0xca3bb1841UL, 0xcafcd6537UL, + 0xce93dfcc5UL, 0xce370bf08UL, 0xcfb9c45e4UL, 0xcfda77b5fUL, 0xcdedf37a6UL, + 0xcd2a94ad0UL, 0xcd492746bUL, 0xcc008f3f1UL, 0xc4bd2feaeUL, 0xc419fbd63UL, + 0xc533e0442UL, 0xc55053af9UL, 0xc5f487934UL, 0xc5973478fUL, 0xc7a0b0b76UL, + 0xc704648bbUL, 0xc2e5a2ba5UL, 0xc308deff2UL, 0xc19b8e0c6UL, 0xc01541a2aUL, + 0xd0441b9b5UL, 0xd1cad4359UL, 0xd10db3e2fUL, 0xd33a372d6UL, 0xd35984c6dUL, + 0xd2b4f883aUL, 0xd2d74b681UL, 0xd50109966UL, 0xd448a1efcUL, 0xdc51d506eUL, + 0xdd187d7f4UL, 0xdd7bce94fUL, 0xdf2ff9b0dUL, 0xdf8b2d8c0UL, 0xdfe89e67bUL, + 0xdec285f5aUL, 0xde6651c97UL, 0xda6aebbdeUL, 0xda0958565UL, 0xdb2343c44UL, + 0xd97774e06UL, 0xd914c70bdUL, 0xd89a08a51UL, 0xd83edc99cUL, 0x9a662b238UL, + 0x9a0598c83UL, 0x997bb47e0UL, 0x99180795bUL, 0x9851afec1UL, 0x9896c83b7UL, + 0x9c9a724feUL, 0x9cf9c1a45UL, 0x9c5d15988UL, 0x9c3ea6733UL, 0x9d14bde12UL, + 0x9d770e0a9UL, 0x9db069ddfUL, 0x9f87ed126UL, 0x9fe45ef9dUL, 0x9f408ac50UL, + 0x9f23392ebUL, 0x9e6a91571UL, 0x9ece456bcUL, 0x96d73182eUL, 0x961056558UL, + 0x9673e5be3UL, 0x9759fe2c2UL, 0x973a4dc79UL, 0x95a91d34dUL, 0x94446171aUL, + 0x94e0b54d7UL, 0x90ec0f39eUL, 0x902b68ee8UL, 0x9048db053UL, 0x9101737c9UL, + 0x93f190646UL, 0x93554458bUL, 0x921cec211UL, 0x82e962243UL, 0x83a0ca5d9UL, + 0x8367ad8afUL, 0x815029456UL, 0x81974e920UL, 0x80bd55001UL, 0x807a32d77UL, + 0x847688a3eUL, 0x84153b485UL, 0x84b1ef748UL, 0x84d25c9f3UL, 0x85f8470d2UL, + 0x855c9331fUL, 0x876b17fe6UL, 0x87ac70290UL, 0x86e5d850aUL, 0x8622bf87cUL, + 0x8e3bcb6eeUL, 0x8efcacb98UL, 0x8f7263174UL, 0x8f11d0fcfUL, 0x8d2654336UL, + 0x8d45e7d8dUL, 0x8de133e40UL, 0x8d82800fbUL, 0x8ca89b9daUL, 0x8c6ffc4acUL, + 0x8c0c4fa17UL, 0x8800f5d5eUL, 0x8863463e5UL, 0x88c792028UL, 0x88a421e93UL, + 0x898e3a7b2UL, 0x89ed89909UL, 0x89495dac4UL, 0x892aee47fUL, 0x8bda0d5f0UL, + 0x8bb9beb4bUL, 0x8af016cd1UL, 0x8a54c2f1cUL, 0x8a37711a7UL, 0xab1b0ac75UL, + 0xaa95c5699UL, 0xa86526716UL, 0xa806959adUL, 0xa9ebe9dfaUL, 0xa94f3de37UL, + 0xad20347c5UL, 0xade753ab3UL, 0xaccd48392UL, 0xacaefbd29UL, 0xac0a2fee4UL, + 0xae5e18ca6UL, 0xae3dab21dUL, 0xae997f1d0UL, 0xafd0d764aUL, 0xafb3648f1UL, + 0xa70ec45aeUL, 0xa76d77b15UL, 0xa7c9a38d8UL, 0xa7aa10663UL, 0xa6800bf42UL, + 0xa6e3b81f9UL, 0xa624dfc8fUL, 0xa4135b076UL, 0xa4d43cd00UL, 0xa59d94a9aUL, + 0xa5fe27421UL, 0xa55af37ecUL, 0xa135fae1eUL, 0xa1f29d368UL, 0xa1912edd3UL, + 0xa0bb354f2UL, 0xa24bd657dUL, 0xa2ef026b0UL, 0xa28cb180bUL, 0xa3a6aa12aUL, + 0xa361cdc5cUL, 0xa3027e2e7UL, 0xb39443c0eUL, 0xb3f7f02b5UL, 0xb35324178UL, + 0xb33097fc3UL, 0xb2793f859UL, 0xb2ddebb94UL, 0xb089dc9d6UL, 0xb0ea6f76dUL, + 0xb02d08a1bUL, 0xb1071333aUL, 0xb164a0d81UL, 0xb5af7d7beUL, 0xb5ccce905UL, + 0xb5681aac8UL, 0xb50ba9473UL, 0xb421b2d52UL, 0xb442013e9UL, 0xb4e6d5024UL, + 0xb48566e9fUL, 0xb6b2e2266UL, 0xb6d151cddUL, 0xb67585f10UL, 0xb75f9e631UL, + 0xb7fb4a5fcUL, 0xbfe23eb6eUL, 0xbf46ea8a3UL, 0xbe6cf1182UL, 0xbeab96cf4UL, + 0xbec82524fUL, 0xbc9c1200dUL, 0xbc38c63c0UL, 0xbc5b75d7bUL, 0xbdb60992cUL, + 0xbdd5ba797UL, 0xb9d9000deUL, 0xb9bab3e65UL, 0xb91e67da8UL, 0xb857cfa32UL, + 0xb8f31b9ffUL, 0xbac49f506UL, 0xbaa72cbbdUL, 0xba03f8870UL, 0xbb4a50feaUL, + 0xbb8d3729cUL, 0xbbee84c27UL, 0x3e757024eUL, 0x3e16c3cf5UL, 0x3eb217f38UL, + 0x3ed1a4183UL, 0x3ffbbf8a2UL, 0x3f980c619UL, 0x3f5f6bb6fUL, 0x3d0b5c92dUL, + 0x3dcc3b45bUL, 0x3ce620d7aUL, 0x3c85933c1UL, 0x3c214700cUL, 0x384e4e9feUL, + 0x38ea9aa33UL, 0x39c081312UL, 0x39a332da9UL, 0x3964550dfUL, 0x3b53d1c26UL, + 0x3b306229dUL, 0x3bf705febUL, 0x3a1a79bbcUL, 0x3a79ca507UL, 0x32030d52eUL, + 0x3260beb95UL, 0x32c46a858UL, 0x32a7d96e3UL, 0x338dc2fc2UL, 0x334aa52b4UL, + 0x332916c0fUL, 0x317d21e4dUL, 0x31d9f5d80UL, 0x31ba4633bUL, 0x30f3ee4a1UL, + 0x30573a76cUL, 0x3034899d7UL, 0x345b80025UL, 0x34ff543e8UL, 0x349ce7d53UL, + 0x35d54fac9UL, 0x3512287bfUL, 0x37461f5fdUL, 0x37e2cb630UL, 0x37817888bUL, + 0x36ab631aaUL, 0x36c8d0f11UL, 0x366c04cdcUL, 0x265eed1f8UL, 0x2774f68d9UL, + 0x27b3915afUL, 0x258415956UL, 0x25e7a67edUL, 0x254372420UL, 0x2520c1a9bUL, + 0x240ada3baUL, 0x246969d01UL, 0x24cdbdeccUL, 0x24ae0e077UL, 0x2006604f3UL, + 0x23dc98c5dUL, 0x23784cf90UL, 0x231bff12bUL, 0x2252576b1UL, 0x22f68357cUL, + 0x2aeff7beeUL, 0x2a8c44555UL, 0x2a4b23823UL, 0x2b6138102UL, 0x29f268e36UL, + 0x29350f340UL, 0x2956bcdfbUL, 0x28d873717UL, 0x2cd4c905eUL, 0x2cb77aee5UL, + 0x2c13aed28UL, 0x2d5a06ab2UL, 0x2faae5b3dUL, 0x2f0e318f0UL, 0x2e4799f6aUL, + 0x2ee34dca7UL, 0xfac85fceUL, 0xf6be22b8UL, 0xe224a522UL, 0xe41f9b99UL, + 0xcd2a94adUL, 0xd3fd50faUL, 0x9f408ac5UL, 0x950dc908UL, 0x9336f7b3UL, + 0x81974e92UL, 0x87ac7029UL, 0x8de133e4UL, 0xa4d43cd0UL, 0xbc38c63cUL, + 0xba03f887UL, 0x3daf88aeUL, 0x31d9f5d8UL, 0x29350f34UL, 0xc767d76UL, + 0xa4d43cdUL, 0x63b3ebbUL, 0x12a1b921UL, 0x1ed7c457UL, 0x526a1e68UL, + 0x545120d3UL, 0x40cba749UL, 0x4a86e484UL, 0x6fc596c6UL, 0x63b3ebb0UL, + 0x77296c2aUL, 0x7b5f115cUL, 0x7d642fe7UL, 0x17407f10eUL, 0x1723ccfb5UL, + 0x17e4ab2c3UL, 0x16ceb0be2UL, 0x16ad03559UL, 0x14f93471bUL, 0x15d32fe3aUL, + 0x15b09c081UL, 0x15144834cUL, 0x1577fbdf7UL, 0x117b41abeUL, 0x1118f2405UL, + 0x11df95973UL, 0x10963dee9UL, 0x1032e9d24UL, 0x1266def66UL, 0x12056d1ddUL, + 0x12a1b9210UL, 0x13e81158aUL, 0x1b55b18d5UL, 0x1bf165b18UL, 0x1b92d65a3UL, + 0x1adb7e239UL, 0x1a7faa1f4UL, 0x18482ed0dUL, 0x18ecfaec0UL, 0x188f4907bUL, + 0x19a55295aUL, 0x190186a97UL, 0x1dca5b0a8UL, 0x1da9e8e13UL, 0x1c83f3732UL, + 0x1ce040989UL, 0x1c4494a44UL, 0x1e10a3806UL, 0x1ed7c4570UL, 0x1eb477bcbUL, + 0x1f9e6c2eaUL, 0x1ffddfc51UL, 0x1f590bf9cUL, 0x1f3ab8127UL, 0x5da5287f5UL, + 0x5d624fa83UL, 0x5c2be7d19UL, 0x5edb04c96UL, 0x5e1c631e0UL, 0x5e7fd0f5bUL, + 0x5f92acb0cUL, 0x5ff11f5b7UL, 0x5b9e16c45UL, 0x5b5971133UL, 0x5a736a812UL, + 0x5ab40d564UL, 0x58e03a726UL, 0x58838999dUL, 0x596ef5dcaUL, 0x59a9920bcUL, + 0x59ca21e07UL, 0x51b0e6e2eUL, 0x51d355095UL, 0x511432de3UL, 0x503e294c2UL, + 0x52ceca54dUL, 0x526a1e680UL, 0x5209ad83bUL, 0x5323b611aUL, 0x53e4d1c6cUL, + 0x5387622d7UL, 0x574cbf8e8UL, 0x572f0c653UL, 0x560517f72UL, 0x56a1c3cbfUL, + 0x549647046UL, 0x54f5f4efdUL, 0x545120d30UL, 0x557b3b411UL, 0x55bc5c967UL, + 0x45ed06af8UL, 0x458eb5443UL, 0x44a4aed62UL, 0x44007aeafUL, 0x4637fe256UL, + 0x46f099f20UL, 0x47da82601UL, 0x4372ec285UL, 0x429f906d2UL, 0x4258f7ba4UL, + 0x423b4451fUL, 0x40cba7490UL, 0x40a814a2bUL, 0x41820f30aUL, 0x41e1bcdb1UL, + 0x414568e7cUL, 0x495c1c0eeUL, 0x499b7bd98UL, 0x49f8c8323UL, 0x4815b4774UL, + 0x4a4183536UL, 0x4a86e4840UL, 0x4ae5576fbUL, 0x4bcf4cfdaUL, 0x4bacff161UL, + 0x4b082b2acUL, 0x4b6b98c17UL, 0x4f04915e5UL, 0x4fc3f6893UL, 0x4ee9ed1b2UL, + 0x4e8a5ef09UL, 0x4e2e8acc4UL, 0x4e4d3927fUL, 0x4c7abde86UL, 0x4c190e03dUL, + 0x4cbdda3f0UL, 0x4cde69d4bUL, 0x4df47246aUL, 0x4d97c1ad1UL, 0x4d331591cUL, + 0x6c1f6e4ceUL, 0x6c7cdda75UL, 0x6cbbba703UL, 0x6d91a1e22UL, 0x6df212099UL, + 0x6d56c6354UL, 0x6f6142fadUL, 0x6fc596c60UL, 0x6e8c3ebfaUL, 0x6eef8d541UL, + 0x6e28ea837UL, 0x6a2450f7eUL, 0x6a47e31c5UL, 0x6ae337208UL, 0x6baa9f592UL, + 0x6b6df88e4UL, 0x6b0e4b65fUL, 0x6939cfaa6UL, 0x69fea87d0UL, 0x699d1b96bUL, + 0x68b70004aUL, 0x68d4b3ef1UL, 0x6813d4387UL, 0x6069133aeUL, 0x60ae74ed8UL, + 0x60cdc7063UL, 0x61846f7f9UL, 0x6120bb434UL, 0x614308a8fUL, 0x63748c676UL, + 0x63173f8cdUL, 0x63d0585bbUL, 0x62fa43c9aUL, 0x6299f0221UL, 0x66522d81eUL, + 0x66319e6a5UL, 0x66954a568UL, 0x66f6f9bd3UL, 0x67bf51c49UL, 0x671b85f84UL, + 0x67783613fUL, 0x654fb2dc6UL, 0x64c17d72aUL, 0x64a2ce991UL, 0x64061aa5cUL, + 0x6465a94e7UL, 0x74f394a0eUL, 0x7490274b5UL, 0x7434f3778UL, 0x77ee0bfd6UL, + 0x778db816dUL, 0x774adfc1bUL, 0x7660c453aUL, 0x760377b81UL, 0x720fcdcc8UL, + 0x726c7e273UL, 0x734665b52UL, 0x7325d65e9UL, 0x738102624UL, 0x71d535466UL, + 0x711252910UL, 0x7171e17abUL, 0x705bfae8aUL, 0x70ff2ed47UL, 0x78213dea3UL, + 0x790b26782UL, 0x79cc41af4UL, 0x7b98768b6UL, 0x7b5f115c0UL, 0x7b3ca2b7bUL, + 0x7a16b925aUL, 0x7a750ace1UL, 0x7ad1def2cUL, 0x7ab26d197UL, 0x7ebed76deUL, + 0x7edd64865UL, 0x7e1a03513UL, 0x7f3018c32UL, 0x7f53ab289UL, 0x7ff77f144UL, + 0x7f94ccfffUL, 0x7da348306UL, 0x7d079c0cbUL, 0x7c8953a27UL, 0xffeefe288UL, + 0xfe6031864UL, 0xf4ea159c2UL, 0xf61af684dUL, 0xf730ed16cUL, 0xf0851c030UL, + 0xe6ef7881fUL, 0xe8cd32d3dUL, 0xc9262ed99UL, 0xc47a483d8UL, 0xc222c56d3UL, + 0xc36b6d149UL, 0xc3ac0ac3fUL, 0xc1f83de7dUL, 0xc13f5a30bUL, 0xc076f2491UL, + 0xd39ee311bUL, 0xd61c96cbeUL, 0xd6b842f73UL, 0xd7f1ea8e9UL, 0xd7553eb24UL, + 0xd42b12047UL, 0xdc3266ed5UL, 0xdddf1aa82UL, 0x9e0922bcaUL, 0x9eadf6807UL, + 0x97fd2a10fUL, 0x948306a6cUL, 0x91a5a7404UL, 0x9336f7b30UL, 0x927f5fcaaUL, + 0x92db8bf67UL, 0x822e05f35UL, 0x828ad1cf8UL, 0x859bf4e69UL, 0x8708a415dUL, + 0x86866bbb1UL, 0x86410c6c7UL, 0x8e9f1f523UL, 0x8fd6b72b9UL, 0x8ccb28761UL, + 0xabbfdefb8UL, 0xaaf676822UL, 0xad84e0408UL, 0xac699c05fUL, 0xaefaccf6bUL, + 0xaf17b0b3cUL, 0xaf7403587UL, 0xa6476c234UL, 0xa470e8ecdUL, 0xa4b78f3bbUL, + 0xa53940957UL, 0xa07c52984UL, 0xa01fe173fUL, 0xa22865bc6UL, 0xa3c519f91UL, + 0xb21a8c6e2UL, 0xb2be5852fUL, 0xb1a3c70f7UL, 0xb798f9b47UL, 0xbf818d5d5UL, + 0xbe0f42f39UL, 0xbcffa1eb6UL, 0xbd12ddae1UL, 0xb97dd4313UL, 0x3d68ef796UL, + 0x3daf88ae0UL, 0x382dfd745UL, 0x3abead871UL, 0x35719b904UL, 0x3725acb46UL, + 0x26fa39235UL, 0x263d5ef43UL, 0x27d022b14UL, 0x2065d3a48UL, 0x212c7bdd2UL, + 0x214fc8369UL, 0x21eb1c0a4UL, 0x2b028bfb9UL, 0x2bc5ec2cfUL, 0x2991db08dUL, + 0x28bbc09acUL, 0x2c701d393UL, 0x2d39b5409UL, 0x2d9d617c4UL, 0x2dfed297fUL, + 0x2e242a1d1UL, 0xfcf36175UL, 0xc15ce9dbUL, 0xd5c66e41UL, 0xdf8b2d8cUL, + 0x997bb47eUL, 0xa8a241a6UL, 0x23784cf9UL, 0x2f0e318fUL, 0x5e1c631eUL, + 0x58275da5UL, 0x4cbdda3fUL, 0x6588d50bUL, 0x178718c78UL, 0x166a6482fUL, + 0x145de04d6UL, 0x149a879a0UL, 0x10f58e052UL, 0x10515a39fUL, 0x138ba2b31UL, + 0x19c6e17e1UL, 0x19623542cUL, 0x1d0d3cddeUL, 0x1d6e8f365UL, 0x1e73106bdUL, + 0x5dc69b94eUL, 0x5d01fc438UL, 0x5c48543a2UL, 0x5c8f33ed4UL, 0x5cec8006fUL, + 0x5eb8b722dUL, 0x5f55cb67aUL, 0x5f36788c1UL, 0x5bfda52feUL, 0x5b3ac2f88UL, + 0x58275da50UL, 0x5844ee4ebUL, 0x590d46371UL, 0x517781358UL, 0x505d9aa79UL, + 0x52ad79bf6UL, 0x534005fa1UL, 0x578bd859eUL, 0x5666a41c9UL, 0x54329338bUL, + 0x55dfef7dcUL, 0x452a6178eUL, 0x4549d2935UL, 0x44c71d3d9UL, 0x46544dcedUL, + 0x46932a19bUL, 0x47b9318baUL, 0x471de5b77UL, 0x43d638148UL, 0x43b58bff3UL, + 0x42fc23869UL, 0x400cc09e6UL, 0x406f7375dUL, 0x4126db0c7UL, 0x48d2d3a02UL, + 0x4876079cfUL, 0x4f6722b5eUL, 0x4fa045628UL, 0x4d50a67a7UL, 0x6f02f1116UL, + 0x6fa6252dbUL, 0x6e4b5968cUL, 0x6a8084cb3UL, 0x695a7c41dUL, 0x61e7dc942UL, + 0x623d241ecUL, 0x625e97f57UL, 0x67dce22f2UL, 0x65eb66e0bUL, 0x7457409c3UL, + 0x751ee8e59UL, 0x75d98f32fUL, 0x77296c2a0UL, 0x76c4106f7UL, 0x72c8aa1beUL, + 0x71b686addUL, 0x703849031UL, 0x78e65a3d5UL, 0x78428e018UL, 0x796895939UL, + 0x79aff244fUL, 0x7c2d879eaUL, 0x7ceae049cUL, 0xc3cfb9284UL, 0xdb40f02ffUL, + 0x8b7ed963dUL, 0xab78b92ceUL, 0xf0851c03UL, 0xcb11aa16UL, 0xd9b01337UL, + 0x18ecfaecUL, 0x46f099f2UL, 0x1b360266eUL, 0x5ad7bebdfUL, 0x551888aaaUL, + 0x63b3ebb00UL, 0x75ba3cd94UL, 0x98f57bd0cUL, 0xf912a744eUL + }; + fromVector(codes, d._code_id); + d._nbits = 36; + d._tau = 0; + d._type = ARTAG; + d._name = "ARTAG"; + } + break; + case ARTOOLKITPLUS: + { + vector codes = { + 0x6dc269c27UL, 0x6d4229e26UL, 0x6cc2e9825UL, 0x6c42a9a24UL, 0x6fc369423UL, + 0x6f4329622UL, 0x6ec3e9021UL, 0x6e43a9220UL, 0x69c068c2fUL, 0x694028e2eUL, + 0x68c0e882dUL, 0x6840a8a2cUL, 0x6bc16842bUL, 0x6b412862aUL, 0x6ac1e8029UL, + 0x6a41a8228UL, 0x65c66bc37UL, 0x65462be36UL, 0x64c6eb835UL, 0x6446aba34UL, + 0x67c76b433UL, 0x67472b632UL, 0x66c7eb031UL, 0x6647ab230UL, 0x61c46ac3fUL, + 0x61442ae3eUL, 0x60c4ea83dUL, 0x6044aaa3cUL, 0x63c56a43bUL, 0x63452a63aUL, + 0x62c5ea039UL, 0x6245aa238UL, 0x7dca6dc07UL, 0x7d4a2de06UL, 0x7ccaed805UL, + 0x7c4aada04UL, 0x7fcb6d403UL, 0x7f4b2d602UL, 0x7ecbed001UL, 0x7e4bad200UL, + 0x79c86cc0fUL, 0x79482ce0eUL, 0x78c8ec80dUL, 0x7848aca0cUL, 0x7bc96c40bUL, + 0x7b492c60aUL, 0x7ac9ec009UL, 0x7a49ac208UL, 0x75ce6fc17UL, 0x754e2fe16UL, + 0x74ceef815UL, 0x744eafa14UL, 0x77cf6f413UL, 0x774f2f612UL, 0x76cfef011UL, + 0x764faf210UL, 0x71cc6ec1fUL, 0x714c2ee1eUL, 0x70ccee81dUL, 0x704caea1cUL, + 0x73cd6e41bUL, 0x734d2e61aUL, 0x72cdee019UL, 0x724dae218UL, 0x4dd261c67UL, + 0x4d5221e66UL, 0x4cd2e1865UL, 0x4c52a1a64UL, 0x4fd361463UL, 0x4f5321662UL, + 0x4ed3e1061UL, 0x4e53a1260UL, 0x49d060c6fUL, 0x495020e6eUL, 0x48d0e086dUL, + 0x4850a0a6cUL, 0x4bd16046bUL, 0x4b512066aUL, 0x4ad1e0069UL, 0x4a51a0268UL, + 0x45d663c77UL, 0x455623e76UL, 0x44d6e3875UL, 0x4456a3a74UL, 0x47d763473UL, + 0x475723672UL, 0x46d7e3071UL, 0x4657a3270UL, 0x41d462c7fUL, 0x415422e7eUL, + 0x40d4e287dUL, 0x4054a2a7cUL, 0x43d56247bUL, 0x43552267aUL, 0x42d5e2079UL, + 0x4255a2278UL, 0x5dda65c47UL, 0x5d5a25e46UL, 0x5cdae5845UL, 0x5c5aa5a44UL, + 0x5fdb65443UL, 0x5f5b25642UL, 0x5edbe5041UL, 0x5e5ba5240UL, 0x59d864c4fUL, + 0x595824e4eUL, 0x58d8e484dUL, 0x5858a4a4cUL, 0x5bd96444bUL, 0x5b592464aUL, + 0x5ad9e4049UL, 0x5a59a4248UL, 0x55de67c57UL, 0x555e27e56UL, 0x54dee7855UL, + 0x545ea7a54UL, 0x57df67453UL, 0x575f27652UL, 0x56dfe7051UL, 0x565fa7250UL, + 0x51dc66c5fUL, 0x515c26e5eUL, 0x50dce685dUL, 0x505ca6a5cUL, 0x53dd6645bUL, + 0x535d2665aUL, 0x52dde6059UL, 0x525da6258UL, 0x2de279ca7UL, 0x2d6239ea6UL, + 0x2ce2f98a5UL, 0x2c62b9aa4UL, 0x2fe3794a3UL, 0x2f63396a2UL, 0x2ee3f90a1UL, + 0x2e63b92a0UL, 0x29e078cafUL, 0x296038eaeUL, 0x28e0f88adUL, 0x2860b8aacUL, + 0x2be1784abUL, 0x2b61386aaUL, 0x2ae1f80a9UL, 0x2a61b82a8UL, 0x25e67bcb7UL, + 0x25663beb6UL, 0x24e6fb8b5UL, 0x2466bbab4UL, 0x27e77b4b3UL, 0x27673b6b2UL, + 0x26e7fb0b1UL, 0x2667bb2b0UL, 0x21e47acbfUL, 0x21643aebeUL, 0x20e4fa8bdUL, + 0x2064baabcUL, 0x23e57a4bbUL, 0x23653a6baUL, 0x22e5fa0b9UL, 0x2265ba2b8UL, + 0x3dea7dc87UL, 0x3d6a3de86UL, 0x3ceafd885UL, 0x3c6abda84UL, 0x3feb7d483UL, + 0x3f6b3d682UL, 0x3eebfd081UL, 0x3e6bbd280UL, 0x39e87cc8fUL, 0x39683ce8eUL, + 0x38e8fc88dUL, 0x3868bca8cUL, 0x3be97c48bUL, 0x3b693c68aUL, 0x3ae9fc089UL, + 0x3a69bc288UL, 0x35ee7fc97UL, 0x356e3fe96UL, 0x34eeff895UL, 0x346ebfa94UL, + 0x37ef7f493UL, 0x376f3f692UL, 0x36efff091UL, 0x366fbf290UL, 0x31ec7ec9fUL, + 0x316c3ee9eUL, 0x30ecfe89dUL, 0x306cbea9cUL, 0x33ed7e49bUL, 0x336d3e69aUL, + 0x32edfe099UL, 0x326dbe298UL, 0xdf271ce7UL, 0xd7231ee6UL, 0xcf2f18e5UL, + 0xc72b1ae4UL, 0xff3714e3UL, 0xf73316e2UL, 0xef3f10e1UL, 0xe73b12e0UL, + 0x9f070cefUL, 0x97030eeeUL, 0x8f0f08edUL, 0x870b0aecUL, 0xbf1704ebUL, + 0xb71306eaUL, 0xaf1f00e9UL, 0xa71b02e8UL, 0x5f673cf7UL, 0x57633ef6UL, + 0x4f6f38f5UL, 0x476b3af4UL, 0x7f7734f3UL, 0x777336f2UL, 0x6f7f30f1UL, + 0x677b32f0UL, 0x1f472cffUL, 0x17432efeUL, 0xf4f28fdUL, 0x74b2afcUL, + 0x3f5724fbUL, 0x375326faUL, 0x2f5f20f9UL, 0x275b22f8UL, 0x1dfa75cc7UL, + 0x1d7a35ec6UL, 0x1cfaf58c5UL, 0x1c7ab5ac4UL, 0x1ffb754c3UL, 0x1f7b356c2UL, + 0x1efbf50c1UL, 0x1e7bb52c0UL, 0x19f874ccfUL, 0x197834eceUL, 0x18f8f48cdUL, + 0x1878b4accUL, 0x1bf9744cbUL, 0x1b79346caUL, 0x1af9f40c9UL, 0x1a79b42c8UL, + 0x15fe77cd7UL, 0x157e37ed6UL, 0x14fef78d5UL, 0x147eb7ad4UL, 0x17ff774d3UL, + 0x177f376d2UL, 0x16fff70d1UL, 0x167fb72d0UL, 0x11fc76cdfUL, 0x117c36edeUL, + 0x10fcf68ddUL, 0x107cb6adcUL, 0x13fd764dbUL, 0x137d366daUL, 0x12fdf60d9UL, + 0x127db62d8UL, 0xed8249d27UL, 0xed0209f26UL, 0xec82c9925UL, 0xec0289b24UL, + 0xef8349523UL, 0xef0309722UL, 0xee83c9121UL, 0xee0389320UL, 0xe98048d2fUL, + 0xe90008f2eUL, 0xe880c892dUL, 0xe80088b2cUL, 0xeb814852bUL, 0xeb010872aUL, + 0xea81c8129UL, 0xea0188328UL, 0xe5864bd37UL, 0xe5060bf36UL, 0xe486cb935UL, + 0xe4068bb34UL, 0xe7874b533UL, 0xe7070b732UL, 0xe687cb131UL, 0xe6078b330UL, + 0xe1844ad3fUL, 0xe1040af3eUL, 0xe084ca93dUL, 0xe0048ab3cUL, 0xe3854a53bUL, + 0xe3050a73aUL, 0xe285ca139UL, 0xe2058a338UL, 0xfd8a4dd07UL, 0xfd0a0df06UL, + 0xfc8acd905UL, 0xfc0a8db04UL, 0xff8b4d503UL, 0xff0b0d702UL, 0xfe8bcd101UL, + 0xfe0b8d300UL, 0xf9884cd0fUL, 0xf9080cf0eUL, 0xf888cc90dUL, 0xf8088cb0cUL, + 0xfb894c50bUL, 0xfb090c70aUL, 0xfa89cc109UL, 0xfa098c308UL, 0xf58e4fd17UL, + 0xf50e0ff16UL, 0xf48ecf915UL, 0xf40e8fb14UL, 0xf78f4f513UL, 0xf70f0f712UL, + 0xf68fcf111UL, 0xf60f8f310UL, 0xf18c4ed1fUL, 0xf10c0ef1eUL, 0xf08cce91dUL, + 0xf00c8eb1cUL, 0xf38d4e51bUL, 0xf30d0e71aUL, 0xf28dce119UL, 0xf20d8e318UL, + 0xcd9241d67UL, 0xcd1201f66UL, 0xcc92c1965UL, 0xcc1281b64UL, 0xcf9341563UL, + 0xcf1301762UL, 0xce93c1161UL, 0xce1381360UL, 0xc99040d6fUL, 0xc91000f6eUL, + 0xc890c096dUL, 0xc81080b6cUL, 0xcb914056bUL, 0xcb110076aUL, 0xca91c0169UL, + 0xca1180368UL, 0xc59643d77UL, 0xc51603f76UL, 0xc496c3975UL, 0xc41683b74UL, + 0xc79743573UL, 0xc71703772UL, 0xc697c3171UL, 0xc61783370UL, 0xc19442d7fUL, + 0xc11402f7eUL, 0xc094c297dUL, 0xc01482b7cUL, 0xc3954257bUL, 0xc3150277aUL, + 0xc295c2179UL, 0xc21582378UL, 0xdd9a45d47UL, 0xdd1a05f46UL, 0xdc9ac5945UL, + 0xdc1a85b44UL, 0xdf9b45543UL, 0xdf1b05742UL, 0xde9bc5141UL, 0xde1b85340UL, + 0xd99844d4fUL, 0xd91804f4eUL, 0xd898c494dUL, 0xd81884b4cUL, 0xdb994454bUL, + 0xdb190474aUL, 0xda99c4149UL, 0xda1984348UL, 0xd59e47d57UL, 0xd51e07f56UL, + 0xd49ec7955UL, 0xd41e87b54UL, 0xd79f47553UL, 0xd71f07752UL, 0xd69fc7151UL, + 0xd61f87350UL, 0xd19c46d5fUL, 0xd11c06f5eUL, 0xd09cc695dUL, 0xd01c86b5cUL, + 0xd39d4655bUL, 0xd31d0675aUL, 0xd29dc6159UL, 0xd21d86358UL, 0xada259da7UL, + 0xad2219fa6UL, 0xaca2d99a5UL, 0xac2299ba4UL, 0xafa3595a3UL, 0xaf23197a2UL, + 0xaea3d91a1UL, 0xae23993a0UL, 0xa9a058dafUL, 0xa92018faeUL, 0xa8a0d89adUL, + 0xa82098bacUL, 0xaba1585abUL, 0xab21187aaUL, 0xaaa1d81a9UL, 0xaa21983a8UL, + 0xa5a65bdb7UL, 0xa5261bfb6UL, 0xa4a6db9b5UL, 0xa4269bbb4UL, 0xa7a75b5b3UL, + 0xa7271b7b2UL, 0xa6a7db1b1UL, 0xa6279b3b0UL, 0xa1a45adbfUL, 0xa1241afbeUL, + 0xa0a4da9bdUL, 0xa0249abbcUL, 0xa3a55a5bbUL, 0xa3251a7baUL, 0xa2a5da1b9UL, + 0xa2259a3b8UL, 0xbdaa5dd87UL, 0xbd2a1df86UL, 0xbcaadd985UL, 0xbc2a9db84UL, + 0xbfab5d583UL, 0xbf2b1d782UL, 0xbeabdd181UL, 0xbe2b9d380UL, 0xb9a85cd8fUL, + 0xb9281cf8eUL, 0xb8a8dc98dUL, 0xb8289cb8cUL, 0xbba95c58bUL, 0xbb291c78aUL, + 0xbaa9dc189UL, 0xba299c388UL, 0xb5ae5fd97UL, 0xb52e1ff96UL, 0xb4aedf995UL, + 0xb42e9fb94UL, 0xb7af5f593UL, 0xb72f1f792UL, 0xb6afdf191UL, 0xb62f9f390UL, + 0xb1ac5ed9fUL, 0xb12c1ef9eUL, 0xb0acde99dUL, 0xb02c9eb9cUL, 0xb3ad5e59bUL, + 0xb32d1e79aUL, 0xb2adde199UL, 0xb22d9e398UL, 0x8db251de7UL, 0x8d3211fe6UL, + 0x8cb2d19e5UL, 0x8c3291be4UL, 0x8fb3515e3UL, 0x8f33117e2UL, 0x8eb3d11e1UL, + 0x8e33913e0UL, 0x89b050defUL, 0x893010feeUL, 0x88b0d09edUL, 0x883090becUL, + 0x8bb1505ebUL, 0x8b31107eaUL, 0x8ab1d01e9UL, 0x8a31903e8UL, 0x85b653df7UL, + 0x853613ff6UL, 0x84b6d39f5UL, 0x843693bf4UL, 0x87b7535f3UL, 0x8737137f2UL, + 0x86b7d31f1UL, 0x8637933f0UL, 0x81b452dffUL, 0x813412ffeUL, 0x80b4d29fdUL, + 0x803492bfcUL, 0x83b5525fbUL, 0x8335127faUL, 0x82b5d21f9UL, 0x8235923f8UL, + 0x9dba55dc7UL, 0x9d3a15fc6UL, 0x9cbad59c5UL, 0x9c3a95bc4UL, 0x9fbb555c3UL, + 0x9f3b157c2UL, 0x9ebbd51c1UL, 0x9e3b953c0UL, 0x99b854dcfUL, 0x993814fceUL, + 0x98b8d49cdUL, 0x983894bccUL, 0x9bb9545cbUL, 0x9b39147caUL, 0x9ab9d41c9UL, + 0x9a39943c8UL, 0x95be57dd7UL, 0x953e17fd6UL, 0x94bed79d5UL, 0x943e97bd4UL, + 0x97bf575d3UL, 0x973f177d2UL, 0x96bfd71d1UL, 0x963f973d0UL, 0x91bc56ddfUL, + 0x913c16fdeUL, 0x90bcd69ddUL, 0x903c96bdcUL, 0x93bd565dbUL, 0x933d167daUL, + 0x92bdd61d9UL, 0x923d963d8UL + }; + fromVector(codes, d._code_id); + d._nbits = 36; + d._tau = 4; // + d._type = ARTOOLKITPLUS; + d._name = "ARTOOLKITPLUS"; + } + break; + case ARTOOLKITPLUSBCH: + { + vector codes = { + 0x8f80b8750UL, 0x8f9d0a027UL, 0x8fa66eec9UL, 0x8fbbdc9beUL, 0x8fcd15462UL, + 0x8fd0a7315UL, 0x8febc3dfbUL, 0x8ff671a8cUL, 0x8f0650643UL, 0x8f1be2134UL, + 0x8f2086fdaUL, 0x8f3d348adUL, 0x8f4bfd571UL, 0x8f564f206UL, 0x8f6d2bce8UL, + 0x8f7099b9fUL, 0x8e8d68576UL, 0x8e90da201UL, 0x8eabbecefUL, 0x8eb60cb98UL, + 0x8ec0c5644UL, 0x8edd77133UL, 0x8ee613fddUL, 0x8efba18aaUL, 0x8e0b80465UL, + 0x8e1632312UL, 0x8e2d56dfcUL, 0x8e30e4a8bUL, 0x8e462d757UL, 0x8e5b9f020UL, + 0x8e60fbeceUL, 0x8e7d499b9UL, 0x8d86aa46bUL, 0x8d9b1831cUL, 0x8da07cdf2UL, + 0x8dbdcea85UL, 0x8dcb07759UL, 0x8dd6b502eUL, 0x8dedd1ec0UL, 0x8df0639b7UL, + 0x8d0042578UL, 0x8d1df020fUL, 0x8d2694ce1UL, 0x8d3b26b96UL, 0x8d4def64aUL, + 0x8d505d13dUL, 0x8d6b39fd3UL, 0x8d768b8a4UL, 0x8c8b7a64dUL, 0x8c96c813aUL, + 0x8cadacfd4UL, 0x8cb01e8a3UL, 0x8cc6d757fUL, 0x8cdb65208UL, 0x8ce001ce6UL, + 0x8cfdb3b91UL, 0x8c0d9275eUL, 0x8c1020029UL, 0x8c2b44ec7UL, 0x8c36f69b0UL, + 0x8c403f46cUL, 0x8c5d8d31bUL, 0x8c66e9df5UL, 0x8c7b5ba82UL, 0x8b8c9c126UL, + 0x8b912e651UL, 0x8baa4a8bfUL, 0x8bb7f8fc8UL, 0x8bc131214UL, 0x8bdc83563UL, + 0x8be7e7b8dUL, 0x8bfa55cfaUL, 0x8b0a74035UL, 0x8b17c6742UL, 0x8b2ca29acUL, + 0x8b3110edbUL, 0x8b47d9307UL, 0x8b5a6b470UL, 0x8b610fa9eUL, 0x8b7cbdde9UL, + 0x8a814c300UL, 0x8a9cfe477UL, 0x8aa79aa99UL, 0x8aba28deeUL, 0x8acce1032UL, + 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0x6a46e608eUL, 0x6a5b547f9UL, 0x6a6030917UL, 0x6a7d82e60UL, + 0x6986613b2UL, 0x699bd34c5UL, 0x69a0b7a2bUL, 0x69bd05d5cUL, 0x69cbcc080UL, + 0x69d67e7f7UL, 0x69ed1a919UL, 0x69f0a8e6eUL, 0x6900892a1UL, 0x691d3b5d6UL, + 0x69265fb38UL, 0x693bedc4fUL, 0x694d24193UL, 0x6950966e4UL, 0x696bf280aUL, + 0x697640f7dUL, 0x688bb1194UL, 0x6896036e3UL, 0x68ad6780dUL, 0x68b0d5f7aUL, + 0x68c61c2a6UL, 0x68dbae5d1UL, 0x68e0cab3fUL, 0x68fd78c48UL, 0x680d59087UL, + 0x6810eb7f0UL, 0x682b8f91eUL, 0x68363de69UL, 0x6840f43b5UL, 0x685d464c2UL, + 0x686622a2cUL, 0x687b90d5bUL, 0x6789add64UL, 0x67941fa13UL, 0x67af7b4fdUL, + 0x67b2c938aUL, 0x67c400e56UL, 0x67d9b2921UL, 0x67e2d67cfUL, 0x67ff640b8UL, + 0x670f45c77UL, 0x6712f7b00UL, 0x6729935eeUL, 0x673421299UL, 0x6742e8f45UL, + 0x675f5a832UL, 0x67643e6dcUL, 0x67798c1abUL, 0x66847df42UL, 0x6699cf835UL, + 0x66a2ab6dbUL, 0x66bf191acUL, 0x66c9d0c70UL, 0x66d462b07UL, 0x66ef065e9UL, + 0x66f2b429eUL, 0x660295e51UL, 0x661f27926UL, 0x6624437c8UL, 0x6639f10bfUL, + 0x664f38d63UL, 0x66528aa14UL, 0x6669ee4faUL, 0x66745c38dUL, 0x658fbfe5fUL, + 0x65920d928UL, 0x65a9697c6UL, 0x65b4db0b1UL, 0x65c212d6dUL, 0x65dfa0a1aUL, + 0x65e4c44f4UL, 0x65f976383UL, 0x650957f4cUL, 0x6514e583bUL, 0x652f816d5UL, + 0x6532331a2UL, 0x6544fac7eUL, 0x655948b09UL, 0x65622c5e7UL, 0x657f9e290UL, + 0x64826fc79UL, 0x649fddb0eUL, 0x64a4b95e0UL, 0x64b90b297UL, 0x64cfc2f4bUL, + 0x64d27083cUL, 0x64e9146d2UL, 0x64f4a61a5UL, 0x640487d6aUL, 0x641935a1dUL, + 0x6422514f3UL, 0x643fe3384UL, 0x64492ae58UL, 0x64549892fUL, 0x646ffc7c1UL, + 0x64724e0b6UL, 0x638589b12UL, 0x63983bc65UL, 0x63a35f28bUL, 0x63beed5fcUL, + 0x63c824820UL, 0x63d596f57UL, 0x63eef21b9UL, 0x63f3406ceUL, 0x630361a01UL, + 0x631ed3d76UL, 0x6325b7398UL, 0x6338054efUL, 0x634ecc933UL, 0x63537ee44UL, + 0x63681a0aaUL, 0x6375a87ddUL, 0x628859934UL, 0x6295ebe43UL, 0x62ae8f0adUL, + 0x62b33d7daUL, 0x62c5f4a06UL, 0x62d846d71UL, 0x62e32239fUL, 0x62fe904e8UL, + 0x620eb1827UL, 0x621303f50UL, 0x6228671beUL, 0x6235d56c9UL, 0x62431cb15UL, + 0x625eaec62UL, 0x6265ca28cUL, 0x6278785fbUL, 0x61839b829UL, 0x619e29f5eUL, + 0x61a54d1b0UL, 0x61b8ff6c7UL, 0x61ce36b1bUL, 0x61d384c6cUL, 0x61e8e0282UL, + 0x61f5525f5UL, 0x61057393aUL, 0x6118c1e4dUL, 0x6123a50a3UL, 0x613e177d4UL, + 0x6148dea08UL, 0x61556cd7fUL, 0x616e08391UL, 0x6173ba4e6UL, 0x608e4ba0fUL, + 0x6093f9d78UL, 0x60a89d396UL, 0x60b52f4e1UL, 0x60c3e693dUL, 0x60de54e4aUL, + 0x60e5300a4UL, 0x60f8827d3UL, 0x6008a3b1cUL, 0x601511c6bUL, 0x602e75285UL, + 0x6033c75f2UL, 0x60450e82eUL, 0x6058bcf59UL, 0x6063d81b7UL, 0x607e6a6c0UL, + 0x7f87a21c9UL, 0x7f9a106beUL, 0x7fa174850UL, 0x7fbcc6f27UL, 0x7fca0f2fbUL, + 0x7fd7bd58cUL, 0x7fecd9b62UL, 0x7ff16bc15UL, 0x7f014a0daUL, 0x7f1cf87adUL, + 0x7f279c943UL, 0x7f3a2ee34UL, 0x7f4ce73e8UL, 0x7f515549fUL, 0x7f6a31a71UL, + 0x7f7783d06UL, 0x7e8a723efUL, 0x7e97c0498UL, 0x7eaca4a76UL, 0x7eb116d01UL, + 0x7ec7df0ddUL, 0x7eda6d7aaUL, 0x7ee109944UL, 0x7efcbbe33UL, 0x7e0c9a2fcUL, + 0x7e112858bUL, 0x7e2a4cb65UL, 0x7e37fec12UL, 0x7e41371ceUL, 0x7e5c856b9UL, + 0x7e67e1857UL, 0x7e7a53f20UL, 0x7d81b02f2UL, 0x7d9c02585UL, 0x7da766b6bUL, + 0x7dbad4c1cUL, 0x7dcc1d1c0UL, 0x7dd1af6b7UL, 0x7deacb859UL, 0x7df779f2eUL, + 0x7d07583e1UL, 0x7d1aea496UL, 0x7d218ea78UL, 0x7d3c3cd0fUL, 0x7d4af50d3UL, + 0x7d57477a4UL, 0x7d6c2394aUL, 0x7d7191e3dUL, 0x7c8c600d4UL, 0x7c91d27a3UL, + 0x7caab694dUL, 0x7cb704e3aUL, 0x7cc1cd3e6UL, 0x7cdc7f491UL, 0x7ce71ba7fUL, + 0x7cfaa9d08UL, 0x7c0a881c7UL, 0x7c173a6b0UL, 0x7c2c5e85eUL, 0x7c31ecf29UL, + 0x7c47252f5UL, 0x7c5a97582UL, 0x7c61f3b6cUL, 0x7c7c41c1bUL, 0x7b8b867bfUL, + 0x7b96340c8UL, 0x7bad50e26UL, 0x7bb0e2951UL, 0x7bc62b48dUL, 0x7bdb993faUL, + 0x7be0fdd14UL, 0x7bfd4fa63UL, 0x7b0d6e6acUL, 0x7b10dc1dbUL, 0x7b2bb8f35UL, + 0x7b360a842UL, 0x7b40c359eUL, 0x7b5d712e9UL, 0x7b6615c07UL, 0x7b7ba7b70UL, + 0x7a8656599UL, 0x7a9be42eeUL, 0x7aa080c00UL, 0x7abd32b77UL, 0x7acbfb6abUL, + 0x7ad6491dcUL, 0x7aed2df32UL, 0x7af09f845UL, 0x7a00be48aUL, 0x7a1d0c3fdUL, + 0x7a2668d13UL, 0x7a3bdaa64UL, 0x7a4d137b8UL, 0x7a50a10cfUL, 0x7a6bc5e21UL, + 0x7a7677956UL, 0x798d94484UL, 0x7990263f3UL, 0x79ab42d1dUL, 0x79b6f0a6aUL, + 0x79c0397b6UL, 0x79dd8b0c1UL, 0x79e6efe2fUL, 0x79fb5d958UL, 0x790b7c597UL, + 0x7916ce2e0UL, 0x792daac0eUL, 0x793018b79UL, 0x7946d16a5UL, 0x795b631d2UL, + 0x796007f3cUL, 0x797db584bUL, 0x7880446a2UL, 0x789df61d5UL, 0x78a692f3bUL, + 0x78bb2084cUL, 0x78cde9590UL, 0x78d05b2e7UL, 0x78eb3fc09UL, 0x78f68db7eUL, + 0x7806ac7b1UL, 0x781b1e0c6UL, 0x78207ae28UL, 0x783dc895fUL, 0x784b01483UL, + 0x7856b33f4UL, 0x786dd7d1aUL, 0x787065a6dUL, 0x778258a52UL, 0x779fead25UL, + 0x77a48e3cbUL, 0x77b93c4bcUL, 0x77cff5960UL, 0x77d247e17UL, 0x77e9230f9UL, + 0x77f49178eUL, 0x7704b0b41UL, 0x771902c36UL, 0x7722662d8UL, 0x773fd45afUL, + 0x77491d873UL, 0x7754aff04UL, 0x776fcb1eaUL, 0x77727969dUL, 0x768f88874UL, + 0x76923af03UL, 0x76a95e1edUL, 0x76b4ec69aUL, 0x76c225b46UL, 0x76df97c31UL, + 0x76e4f32dfUL, 0x76f9415a8UL, 0x760960967UL, 0x7614d2e10UL, 0x762fb60feUL, + 0x763204789UL, 0x7644cda55UL, 0x76597fd22UL, 0x76621b3ccUL, 0x767fa94bbUL, + 0x75844a969UL, 0x7599f8e1eUL, 0x75a29c0f0UL, 0x75bf2e787UL, 0x75c9e7a5bUL, + 0x75d455d2cUL, 0x75ef313c2UL, 0x75f2834b5UL, 0x7502a287aUL, 0x751f10f0dUL, + 0x7524741e3UL, 0x7539c6694UL, 0x754f0fb48UL, 0x7552bdc3fUL, 0x7569d92d1UL, + 0x75746b5a6UL, 0x74899ab4fUL, 0x749428c38UL, 0x74af4c2d6UL, 0x74b2fe5a1UL, + 0x74c43787dUL, 0x74d985f0aUL, 0x74e2e11e4UL, 0x74ff53693UL, 0x740f72a5cUL, + 0x7412c0d2bUL, 0x7429a43c5UL, 0x7434164b2UL, 0x7442df96eUL, 0x745f6de19UL, + 0x7464090f7UL, 0x7479bb780UL, 0x738e7cc24UL, 0x7393ceb53UL, 0x73a8aa5bdUL, + 0x73b5182caUL, 0x73c3d1f16UL, 0x73de63861UL, 0x73e50768fUL, 0x73f8b51f8UL, + 0x730894d37UL, 0x731526a40UL, 0x732e424aeUL, 0x7333f03d9UL, 0x734539e05UL, + 0x73588b972UL, 0x7363ef79cUL, 0x737e5d0ebUL, 0x7283ace02UL, 0x729e1e975UL, + 0x72a57a79bUL, 0x72b8c80ecUL, 0x72ce01d30UL, 0x72d3b3a47UL, 0x72e8d74a9UL, + 0x72f5653deUL, 0x720544f11UL, 0x7218f6866UL, 0x722392688UL, 0x723e201ffUL, + 0x7248e9c23UL, 0x72555bb54UL, 0x726e3f5baUL, 0x72738d2cdUL, 0x71886ef1fUL, + 0x7195dc868UL, 0x71aeb8686UL, 0x71b30a1f1UL, 0x71c5c3c2dUL, 0x71d871b5aUL, + 0x71e3155b4UL, 0x71fea72c3UL, 0x710e86e0cUL, 0x71133497bUL, 0x712850795UL, + 0x7135e20e2UL, 0x71432bd3eUL, 0x715e99a49UL, 0x7165fd4a7UL, 0x71784f3d0UL, + 0x7085bed39UL, 0x70980ca4eUL, 0x70a3684a0UL, 0x70beda3d7UL, 0x70c813e0bUL, + 0x70d5a197cUL, 0x70eec5792UL, 0x70f3770e5UL, 0x700356c2aUL, 0x701ee4b5dUL, + 0x7025805b3UL, 0x7038322c4UL, 0x704efbf18UL, 0x70534986fUL, 0x70682d681UL, + 0x70759f1f6UL + }; + fromVector(codes, d._code_id); + d._nbits = 36; + d._tau = 2; // + d._type = ARTOOLKITPLUSBCH; + d._name = "ARTOOLKITPLUSBCH"; + } + break; + case TAG36h11: + { + vector codes = { + 0xd5d628584UL, 0xd97f18b49UL, 0xdd280910eUL, 0xe479e9c98UL, 0xebcbca822UL, + 0xf31dab3acUL, 0x56a5d085UL, 0x10652e1d4UL, 0x22b1dfeadUL, 0x265ad0472UL, + 0x34fe91b86UL, 0x3ff962cd5UL, 0x43a25329aUL, 0x474b4385fUL, 0x4e9d243e9UL, + 0x5246149aeUL, 0x5997f5538UL, 0x683bb6c4cUL, 0x6be4a7211UL, 0x7e3158eeaUL, + 0x81da494afUL, 0x858339a74UL, 0x8cd51a5feUL, 0x9f21cc2d7UL, 0xa2cabc89cUL, + 0xadc58d9ebUL, 0xb16e7dfb0UL, 0xb8c05eb3aUL, 0xd25ef139dUL, 0xd607e1962UL, + 0xe4aba3076UL, 0x2dde6a3daUL, 0x43d40c678UL, 0x5620be351UL, 0x64c47fa65UL, + 0x686d7002aUL, 0x6c16605efUL, 0x6fbf50bb4UL, 0x8d06d39dcUL, 0x9f53856b5UL, + 0xadf746dc9UL, 0xbc9b084ddUL, 0xd290aa77bUL, 0xd9e28b305UL, 0xe4dd5c454UL, + 0xfad2fe6f2UL, 0x181a8151aUL, 0x26be42c2eUL, 0x2e10237b8UL, 0x405cd5491UL, + 0x7742eab1cUL, 0x85e6ac230UL, 0x8d388cdbaUL, 0x9f853ea93UL, 0xc41ea2445UL, + 0xcf1973594UL, 0x14a34a333UL, 0x31eacd15bUL, 0x6c79d2dabUL, 0x73cbb3935UL, + 0x89c155bd3UL, 0x8d6a46198UL, 0x91133675dUL, 0xa708d89fbUL, 0xae5ab9585UL, + 0xb9558a6d4UL, 0xb98743ab2UL, 0xd6cec68daUL, 0x1506bcaefUL, 0x4becd217aUL, + 0x4f95c273fUL, 0x658b649ddUL, 0xa76c4b1b7UL, 0xecf621f56UL, 0x1c8a56a57UL, + 0x3628e92baUL, 0x53706c0e2UL, 0x5e6b3d231UL, 0x7809cfa94UL, 0xe97eead6fUL, + 0x5af40604aUL, 0x7492988adUL, 0xed5994712UL, 0x5eceaf9edUL, 0x7c1632815UL, + 0xc1a0095b4UL, 0xe9e25d52bUL, 0x3a6705419UL, 0xa8333012fUL, 0x4ce5704d0UL, + 0x508e60a95UL, 0x877476120UL, 0xa864e950dUL, 0xea45cfce7UL, 0x19da047e8UL, + 0x24d4d5937UL, 0x6e079cc9bUL, 0x99f2e11d7UL, 0x33aa50429UL, 0x499ff26c7UL, + 0x50f1d3251UL, 0x66e7754efUL, 0x96ad633ceUL, 0x9a5653993UL, 0xaca30566cUL, + 0xc298a790aUL, 0x8be44b65dUL, 0xdc68f354bUL, 0x16f7f919bUL, 0x4dde0e826UL, + 0xd548cbd9fUL, 0xe0439ceeeUL, 0xfd8b1fd16UL, 0x76521bb7bUL, 0xd92375742UL, + 0xcab16d40cUL, 0x730c9dd72UL, 0xad9ba39c2UL, 0xb14493f87UL, 0x52b15651fUL, + 0x185409cadUL, 0x77ae2c68dUL, 0x94f5af4b5UL, 0xa13bad55UL, 0x61ea437cdUL, + 0xa022399e2UL, 0x203b163d1UL, 0x7bba8f40eUL, 0x95bc9442dUL, 0x41c0b5358UL, + 0x8e9c6cc81UL, 0xeb549670UL, 0x9da3a0b51UL, 0xd832a67a1UL, 0xdcd4350bcUL, + 0x4aa05fdd2UL, 0x60c7bb44eUL, 0x4b358b96cUL, 0x67299b45UL, 0xb9c89b5faUL, + 0x6975acaeaUL, 0x62b8f7afaUL, 0x33567c3d7UL, 0xbac139950UL, 0xa5927c62aUL, + 0x5c916e6a4UL, 0x260ecb7d5UL, 0x29b7bbd9aUL, 0x903205f26UL, 0xae72270a4UL, + 0x3d2ec51a7UL, 0x82ea55324UL, 0x11a6f3427UL, 0x1ca1c4576UL, 0xa40c81aefUL, + 0xbddccd730UL, 0xe617561eUL, 0x969317b0fUL, 0x67f781364UL, 0x610912f96UL, + 0xb2549fdfcUL, 0x6e5aaa6bUL, 0xb6c475339UL, 0xc56836a4dUL, 0x844e351ebUL, + 0x4647f83b4UL, 0x908a04f5UL, 0x7f51034c9UL, 0xaee537fcaUL, 0x5e92494baUL, + 0xd445808f4UL, 0x28d68b563UL, 0x4d25374bUL, 0x2bc065f65UL, 0x96dc3ea0cUL, + 0x4b2ade817UL, 0x7c3fd502UL, 0xe768b5cafUL, 0x17605cf6cUL, 0x182741ee4UL, + 0x62846097cUL, 0x72b5ebf80UL, 0x263da6e13UL, 0xfa841bcb5UL, 0x7e45e8c69UL, + 0x653c81fa0UL, 0x7443b5e70UL, 0xa5234afdUL, 0x74756f24eUL, 0x157ebf02aUL, + 0x82ef46939UL, 0x80d420264UL, 0x2aeed3e98UL, 0xb0a1dd4f8UL, 0xb5436be13UL, + 0x7b7b4b13bUL, 0x1ce80d6d3UL, 0x16c08427dUL, 0xee54462ddUL, 0x1f7644cceUL, + 0x9c7b5cc92UL, 0xe369138f8UL, 0x5d5a66e91UL, 0x485d62f49UL, 0xe6e819e94UL, + 0xb1f340eb5UL, 0x9d198ce2UL, 0xd60717437UL, 0x196b856cUL, 0xf0a6173a5UL, + 0x12c0e1ec6UL, 0x62b82d5cfUL, 0xad154c067UL, 0xce3778832UL, 0x6b0a7b864UL, + 0x4c7686694UL, 0x5058ff3ecUL, 0xd5e21ea23UL, 0x9ff4a76eeUL, 0x9dd981019UL, + 0x1bad4d30aUL, 0xc601896d1UL, 0x973439b48UL, 0x1ce7431a8UL, 0x57a8021d6UL, + 0xf9dba96e6UL, 0x83a2e4e7cUL, 0x8ea585380UL, 0xaf6c0e744UL, 0x875b73babUL, + 0xda34ca901UL, 0x2ab9727efUL, 0xd39f21b9aUL, 0x8a10b742fUL, 0x5f8952dbaUL, + 0xf8da71ab0UL, 0xc25f9df96UL, 0x6f8a5d94UL, 0xe42e63e1aUL, 0xb78409d1bUL, + 0x792229addUL, 0x5acf8c455UL, 0x2fc29a9b0UL, 0xea486237bUL, 0xb0c9685a0UL, + 0x1ad748a47UL, 0x3b4712d5UL, 0xf29216d30UL, 0x8dad65e49UL, 0xa2cf09ddUL, + 0xb5f174c6UL, 0xe54f57743UL, 0xb9cf54d78UL, 0x4a312a88aUL, 0x27babc962UL, + 0xb86897111UL, 0xf2ff6c116UL, 0x82274bd8aUL, 0x97023505eUL, 0x52d46edd1UL, + 0x585c1f538UL, 0xbddd00e43UL, 0x5590b74dfUL, 0x729404a1fUL, 0x65320855eUL, + 0xd3d4b6956UL, 0x7ae374f14UL, 0x2d7a60e06UL, 0x315cd9b5eUL, 0xfd36b4eacUL, + 0xf1df7642bUL, 0x55db27726UL, 0x8f15ebc19UL, 0x992f8c531UL, 0x62dea2a40UL, + 0x928275cabUL, 0x69c263cb9UL, 0xa774cca9eUL, 0x266b2110eUL, 0x1b14acbb8UL, + 0x624b8a71bUL, 0x1c539406bUL, 0x3086d529bUL, 0x111dd66eUL, 0x98cd630bfUL, + 0x8b9d1ffdcUL, 0x72b2f61e7UL, 0x9ed9d672bUL, 0x96cdd15f3UL, 0x6366c2504UL, + 0x6ca9df73aUL, 0xa066d60f0UL, 0xe7a4b8addUL, 0x8264647efUL, 0xaa195bf81UL, + 0x9a3db8244UL, 0x14d2df6aUL, 0xb63265b7UL, 0x2f010de73UL, 0x97e774986UL, + 0x248affc29UL, 0xfb57dcd11UL, 0xb1a7e4d9UL, 0x4bfa2d07dUL, 0x54e5cdf96UL, + 0x4c15c1c86UL, 0xcd9c61166UL, 0x499380b2aUL, 0x540308d09UL, 0x8b63fe66fUL, + 0xc81aeb35eUL, 0x86fe0bd5cUL, 0xce2480c2aUL, 0x1ab29ee60UL, 0x8048daa15UL, + 0xdbfeb2d39UL, 0x567c9858cUL, 0x2b6edc5bcUL, 0x2078fca82UL, 0xadacc22aaUL, + 0xb92486f49UL, 0x51fac5964UL, 0x691ee6420UL, 0xf63b3e129UL, 0x39be7e572UL, + 0xda2ce6c74UL, 0x20cf17a5cUL, 0xee55f9b6eUL, 0xfb8572726UL, 0xb2c2de548UL, + 0xcaa9bce92UL, 0xae9182db3UL, 0x74b6e5bd1UL, 0x137b252afUL, 0x51f686881UL, + 0xd672f6c02UL, 0x654146ce4UL, 0xf944bc825UL, 0xe8327f809UL, 0x76a73fd59UL, + 0xf79da4cb4UL, 0x956f8099bUL, 0x7b5f2655cUL, 0xd06b114a6UL, 0xd0697ca50UL, + 0x27c390797UL, 0xbc61ed9b2UL, 0xcc12dd19bUL, 0xeb7818d2cUL, 0x92fcecdaUL, + 0x89ded4ea1UL, 0x256a0ba34UL, 0xb6948e627UL, 0x1ef6b1054UL, 0x8639294a2UL, + 0xeda3780a4UL, 0x39ee2af1dUL, 0xcd257edc5UL, 0x2d9d6bc22UL, 0x121d3b47dUL, + 0x37e23f8adUL, 0x119f31cf6UL, 0x2c97f4f09UL, 0xd502abfe0UL, 0x10bc3ca77UL, + 0x53d7190efUL, 0x90c3e62a6UL, 0x7e9ebf675UL, 0x979ce23d1UL, 0x27f0c98e9UL, + 0xeafb4ae59UL, 0x7ca7fe2bdUL, 0x1490ca8f6UL, 0x9123387baUL, 0xb3bc73888UL, + 0x3ea87e325UL, 0x4888964aaUL, 0xa0188a6b9UL, 0xcd383c666UL, 0x40029a3fdUL, + 0xe1c00ac5cUL, 0x39e6f2b6eUL, 0xde664f622UL, 0xe979a75e8UL, 0x7c6b4c86cUL, + 0xfd492e071UL, 0x8fbb35118UL, 0x40b4a09b7UL, 0xaf80bd6daUL, 0x70e0b2521UL, + 0x2f5c54d93UL, 0x3f4a118d5UL, 0x9c1897b9UL, 0x79776eacUL, 0x84b00b17UL, + 0x3a95ad90eUL, 0x28c544095UL, 0x39d457c05UL, 0x7a3791a78UL, 0xbb770e22eUL, + 0x9a822bd6cUL, 0x68a4b1fedUL, 0xa5fd27b3bUL, 0xc3995b79UL, 0xd1519dff1UL, + 0x8e7eee359UL, 0xcd3ca50b1UL, 0xb73b8b793UL, 0x57aca1c43UL, 0xec2655277UL, + 0x785a2c1b3UL, 0x75a07985aUL, 0xa4b01eb69UL, 0xa18a11347UL, 0xdb1f28ca3UL, + 0x877ec3e25UL, 0x31f6341b8UL, 0x1363a3a4cUL, 0x75d8b9baUL, 0x7ae0792a9UL, + 0xa83a21651UL, 0x7f08f9fb5UL, 0xd0cf73a9UL, 0xb04dcc98eUL, 0xf65c7b0f8UL, + 0x65ddaf69aUL, 0x2cf9b86b3UL, 0x14cb51e25UL, 0xf48027b5bUL, 0xec26ea8bUL, + 0x44bafd45cUL, 0xb12c7c0c4UL, 0x959fd9d82UL, 0xc77c9725aUL, 0x48a22d462UL, + 0x8398e8072UL, 0xec89b05ceUL, 0xbb682d4c9UL, 0xe5a86d2ffUL, 0x358f01134UL, + 0x8556ddcf6UL, 0x67584b6e2UL, 0x11609439fUL, 0x8488816eUL, 0xaaf1a2c46UL, + 0xf879898cfUL, 0x8bbe5e2f7UL, 0x101eee363UL, 0x690f69377UL, 0xf5bd93cd9UL, + 0xcea4c2bf6UL, 0x9550be706UL, 0x2c5b38a60UL, 0xe72033547UL, 0x4458b0629UL, + 0xee8d9ed41UL, 0xd2f918d72UL, 0x78dc39fd3UL, 0x8212636f6UL, 0x7450a72a7UL, + 0xc4f0cf4c6UL, 0x367bcddcdUL, 0xc1caf8cc6UL, 0xa7f5b853dUL, 0x9d536818bUL, + 0x535e021b0UL, 0xa7eb8729eUL, 0x422a67b49UL, 0x929e928a6UL, 0x48e8aefccUL, + 0xa9897393cUL, 0x5eb81d37eUL, 0x1e80287b7UL, 0x34770d903UL, 0x2eef86728UL, + 0x59266ccb6UL, 0x110bba61UL, 0x1dfd284efUL, 0x447439d1bUL, 0xfece0e599UL, + 0x9309f3703UL, 0x80764d1ddUL, 0x353f1e6a0UL, 0x2c1c12dccUL, 0xc1d21b9d7UL, + 0x457ee453eUL, 0xd66faf540UL, 0x44831e652UL, 0xcfd49a848UL, 0x9312d4133UL, + 0x3f097d3eeUL, 0x8c9ebef7aUL, 0xa99e29e88UL, 0xe9fab22cUL, 0x4e748f4fbUL, + 0xecdee4288UL, 0xabce5f1d0UL, 0xc42f6876cUL, 0x7ed402ea0UL, 0xe5c4242c3UL, + 0xd5b2c31aeUL, 0x286863be6UL, 0x160444d94UL, 0x5f0f5808eUL, 0xae3d44b2aUL, + 0x9f5c5d109UL, 0x8ad9316d7UL, 0x3422ba064UL, 0x2fed11d56UL, 0xbea6e3e04UL, + 0x4b029eecUL, 0x6deed7435UL, 0x3718ce17cUL, 0x55857f5e2UL, 0x2edac7b62UL, + 0x85d6c512UL, 0xd6ca88e0fUL, 0x2b7e1fc69UL, 0xa699d5c1bUL, 0xf05ad74deUL, + 0x4cf5fb56dUL, 0x5725e07e1UL, 0x72f18a2deUL, 0x1cec52609UL, 0x48534243cUL, + 0x2523a4d69UL, 0x35c1b80d1UL, 0xa4d7338a7UL, 0xdb1af012UL, 0xe61a9475dUL, + 0x5df03f91UL, 0x97ae260bbUL, 0x32d627fefUL, 0xb640f73c2UL, 0x45a1ac9c6UL, + 0x6a2202de1UL, 0x57d3e25f2UL, 0x5aa9f986eUL, 0xcc859d8aUL, 0xe3ec6cca8UL, + 0x54e95e1aeUL, 0x446887b06UL, 0x7516732beUL, 0x3817ac8f5UL, 0x3e26d938cUL, + 0xaa81bc235UL, 0xdf387ca1bUL, 0xf3a3b3f2UL, 0xb4bf69677UL, 0xae21868edUL, + 0x81e1d2d9dUL, 0xa0a9ea14cUL, 0x8eee297a9UL, 0x4740c0559UL, 0xe8b141837UL, + 0xac69e0a3dUL, 0x9ed83a1e1UL, 0x5edb55ecbUL, 0x7340fe81UL, 0x50dfbc6bfUL, + 0x4f583508aUL, 0xcb1fb78bcUL, 0x4025ced2fUL, 0x39791ebecUL, 0x53ee388f1UL, + 0x7d6c0bd23UL, 0x93a995fbeUL, 0x8a41728deUL, 0x2fe70e053UL, 0xab3db443aUL, + 0x1364edb05UL, 0x47b6eeed6UL, 0x12e71af01UL, 0x52ff83587UL, 0x3a1575dd8UL, + 0x3feaa3564UL, 0xeacf78ba7UL, 0x872b94f8UL, 0xda8ddf9a2UL, 0x9aa920d2bUL, + 0x1f350ed36UL, 0x18a5e861fUL, 0x2c35b89c3UL, 0x3347ac48aUL, 0x7f23e022eUL, + 0x2459068fbUL, 0xe83be4b73UL + }; + fromVector(codes, d._code_id); + d._nbits = 36; + d._tau = 11; + d._type = TAG36h11; + d._name = "TAG36h11"; + } + break; + case TAG36h10: + { + vector codes = { + 0x1ca92a687UL, 0x20521ac4cUL, 0x27a3fb7d6UL, 0x2b4cebd9bUL, 0x3647bceeaUL, + 0x39f0ad4afUL, 0x3d999da74UL, 0x44eb7e5feUL, 0x538f3fd12UL, 0x5738302d7UL, + 0x65dbf19ebUL, 0x70d6c2b3aUL, 0x7f7a8424eUL, 0x832374813UL, 0x86cc64dd8UL, + 0x8a755539dUL, 0x9570264ecUL, 0x991916ab1UL, 0xa06af763bUL, 0xab65c878aUL, + 0xb2b7a9314UL, 0xb660998d9UL, 0xbdb27a463UL, 0xcc563bb77UL, 0xe24bdde15UL, + 0xed46aef64UL, 0xf4988faeeUL, 0x6e5417c7UL, 0x158902edbUL, 0x1cdae3a65UL, + 0x242cc45efUL, 0x27d5b4bb4UL, 0x2b7ea5179UL, 0x32d085d03UL, 0x3679762c8UL, + 0x3a226688dUL, 0x3dcb56e52UL, 0x48c627fa1UL, 0x5769e96b5UL, 0x6264ba804UL, + 0x660daadc9UL, 0x6d5f8b953UL, 0x74b16c4ddUL, 0x7fac3d62cUL, 0x91f8ef305UL, + 0x95a1df8caUL, 0x994acfe8fUL, 0xa09cb0a19UL, 0xa445a0fdeUL, 0xa7ee915a3UL, + 0xab9781b68UL, 0xaf407212dUL, 0xb69252cb7UL, 0xc8df04990UL, 0xd3d9d5adfUL, + 0xd782c60a4UL, 0xf12158907UL, 0x1d0c9ce43UL, 0x20b58d408UL, 0x2f594eb1cUL, + 0x3a541fc6bUL, 0x454ef0dbaUL, 0x53f2b24ceUL, 0x629673be2UL, 0x74e3258bbUL, + 0x8ad8c7b59UL, 0x9d2579832UL, 0xa8204a981UL, 0xaf722b50bUL, 0xb6c40c095UL, + 0xba6cfc65aUL, 0xf15311ce5UL, 0x748b3f83UL, 0xaf1a4548UL, 0xe9a94b0dUL, + 0x2be217935UL, 0x3e2ec960eUL, 0x4cd28ad22UL, 0x507b7b2e7UL, 0x54246b8acUL, + 0x57cd5be71UL, 0x6a1a0db4aUL, 0x6dc2fe10fUL, 0x876190972UL, 0x99ae4264bUL, + 0xabfaf4324UL, 0xc9427714cUL, 0xd09457cd6UL, 0xd43d4829bUL, 0xea32ea539UL, + 0xf52dbb688UL, 0x161e2ea75UL, 0x286ae074eUL, 0x66a2d6963UL, 0x8b3c3a315UL, + 0x8ee52a8daUL, 0xa131dc5b3UL, 0xe6bbb3352UL, 0xf55f74a66UL, 0x5a45bb5UL, + 0x7ac2673fUL, 0x1da1c89ddUL, 0x289c99b2cUL, 0x3ae94b805UL, 0x50deedaa3UL, + 0x5830ce62dUL, 0x5bd9bebf2UL, 0x632b9f77cUL, 0x6e26708cbUL, 0x841c12b69UL, + 0x92bfd427dUL, 0x9668c4842UL, 0x9dbaa53ccUL, 0xb007570a5UL, 0xb3b04766aUL, + 0xc25408d7eUL, 0xea965ccf5UL, 0xf93a1e409UL, 0x434ef558UL, 0x1681a1231UL, + 0x1dd381dbbUL, 0x302033a94UL, 0x75aa0a833UL, 0x92f18d65bUL, 0x9a436e1e5UL, + 0xa1954ed6fUL, 0xb78af100dUL, 0xbb33e15d2UL, 0xc62eb2721UL, 0x466a8936UL, + 0xf6179a85UL, 0x16b35a60fUL, 0x589440de9UL, 0x6738024fdUL, 0x847f85325UL, + 0x9e1e17b88UL, 0xacc1d929cUL, 0xb06ac9861UL, 0xd5042d213UL, 0xfd468118aUL, + 0xf9332e63UL, 0x342c96815UL, 0x37d586ddaUL, 0x551d09c02UL, 0x5c6eea78cUL, + 0x6017dad51UL, 0x9354ffe17UL, 0x9aa6e09a1UL, 0xa94aa20b5UL, 0xacf39267aUL, + 0xbb9753d8eUL, 0xbf4044353UL, 0x8730b6b7UL, 0x1716ccdcbUL, 0x22119df1aUL, + 0x3f5920d42UL, 0x58f7b35a5UL, 0x6b446527eUL, 0x972fa97baUL, 0x9e818a344UL, + 0xa5d36aeceUL, 0xd1beaf40aUL, 0xdcb980559UL, 0xf65812dbcUL, 0x139f95be4UL, + 0x6b761e65cUL, 0x6f1f0ec21UL, 0xa605242acUL, 0xe43d1a4c1UL, 0x29c6f1260UL, + 0x386ab2974UL, 0x4e6054c12UL, 0x8c984ae27UL, 0x97931bf76UL, 0x9ee4fcb00UL, + 0xd22221bc6UL, 0xe46ed389fUL, 0xebc0b4429UL, 0x6f82813ddUL, 0x732b719a2UL, + 0x9072f47caUL, 0x941be4d8fUL, 0x97c4d5354UL, 0x9f16b5edeUL, 0xb8b548741UL, + 0xd253dafa4UL, 0xd5fccb569UL, 0xd9a5bbb2eUL, 0xe4a08cc7dUL, 0x3c77156f5UL, + 0x7aaf0b90aUL, 0xb53e1155aUL, 0xb8e701b1fUL, 0x5c2b9448UL, 0x14667ab5cUL, + 0x47a39fc22UL, 0x4ef5807acUL, 0x64eb22a4aUL, 0x982847b10UL, 0xaa74f97e9UL, + 0xae1de9daeUL, 0xb56fca938UL, 0xf750b1112UL, 0x1bea14ac4UL, 0x1f9305089UL, + 0x233bf564eUL, 0x31dfb6d62UL, 0x3931978ecUL, 0x52d02a14fUL, 0x5a220acd9UL, + 0xb1f893751UL, 0xfb2b5aab5UL, 0x40b531854UL, 0x5a53c40b7UL, 0x8d90e917dUL, + 0x9139d9742UL, 0x94e2c9d07UL, 0xd6c3b04e1UL, 0xe910621baUL, 0xf40b33309UL, + 0x1152b6131UL, 0x32432951eUL, 0x3d3dfa66dUL, 0x65804e5e4UL, 0xab0a25383UL, + 0xb604f64d2UL, 0xde474a449UL, 0x11846f50fUL, 0x6d03e854cUL, 0x7455c90d6UL, + 0xab3bde761UL, 0xdad013262UL, 0xe973d4976UL, 0x2b54bb150UL, 0x9577f58a1UL, + 0x9920e5e66UL, 0xb66868c8eUL, 0xf4a05eea3UL, 0x3dd326207UL, 0x5b1aa902fUL, + 0x99529f244UL, 0xb2f131aa7UL, 0xd038b48cfUL, 0xd3e1a4e94UL, 0x24664cd82UL, + 0x36b2fea5bUL, 0x95db6805dUL, 0xa0d6391acUL, 0xabd10a2fbUL, 0x15f444a4cUL, + 0x2be9e6ceaUL, 0x57d52b226UL, 0x5f270bdb0UL, 0xb6fd94828UL, 0x879b19105UL, + 0xd476d0a2eUL, 0xe6c382707UL, 0xdbfa6a996UL, 0x1689705e6UL, 0x3b22d3f98UL, + 0x636527f0fUL, 0x7d03ba772UL, 0xee78d5a4dUL, 0xbf165a32aUL, 0xc2bf4a8efUL, + 0x517be89f2UL, 0x67718ac90UL, 0x6b1a7b255UL, 0x726c5bddfUL, 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0xc88d267e6UL, + 0x73a0ac25fUL, 0xe7b75690fUL, 0xdcbb95be2UL, 0x7a1d2a059UL, 0xd8fac361eUL, + 0x6312ff5c9UL, 0xd2cf50d54UL, 0x8c65fd00fUL, 0xaa1636532UL, 0x870c7285dUL, + 0x1894f0b84UL, 0x4260cc5c3UL, 0xe9997b9ecUL, 0x87a052144UL, 0x8706babf6UL, + 0xbd5f62ad3UL, 0x1a7895439UL, 0xf7e294bbcUL, 0xbcc27ca26UL, 0x3186a63d4UL, + 0x7f3ede4a4UL, 0xb64e32468UL, 0x71f250d53UL, 0x7c6513783UL, 0xb1778714aUL, + 0x94bf2c57fUL, 0x64a9f893aUL, 0x1305be654UL, 0x493e0c9f6UL, 0x5ba6fed8UL, + 0xc4a0c7a06UL, 0xcc2ec0ddUL, 0xd9a6769afUL, 0x724c78a49UL, 0xc85c981a4UL, + 0x12553c4cdUL, 0x83cb892b1UL, 0xbc324ccc7UL, 0xef43f6c1dUL, 0x2d6748bb7UL, + 0x5efdce2d7UL, 0x94af64f28UL, 0xf9d58feb3UL, 0xcf547ac63UL, 0xceb309febUL, + 0x30beba8caUL, 0x8ab2e486aUL, 0x4a95d58adUL, 0x25ce07c46UL, 0x712b93fd7UL, + 0x7f46acc81UL, 0x64049d4beUL, 0x65303aa09UL, 0xf3aad21b3UL, 0x2903a6cd0UL, + 0x5a0e0467dUL, 0x3c4fa64e4UL, 0x5c6655126UL, 0xb40a2a67fUL, 0xb0c22c6e5UL, + 0x1507e039bUL, 0xb282b16b8UL, 0xc0e14a3d3UL, 0x93d381427UL, 0x6bb55bb87UL, + 0xb675af72fUL, 0xfceb4f95eUL, 0x66af6ebbdUL, 0x20a44d1f2UL, 0x6bc873916UL, + 0xb8947bee8UL, 0x4b6bed8a6UL, 0x7012f7867UL, 0x7eda3c150UL, 0xab3ef1b8eUL, + 0x6d71466eeUL, 0x408c4e225UL, 0xe117838b1UL, 0xaef3a075UL, 0x5a0779d4fUL, + 0x70a3b1d69UL, 0x26ccd31fdUL, 0xed64dd1b2UL, 0x981d4f60cUL, 0x6a6e4fb61UL, + 0x52f15fc93UL, 0x32b3a64dUL, 0xecb17d667UL, 0xa983fb935UL, 0x37d23c88dUL, + 0xb8590fbcbUL, 0xec2f1a277UL, 0x90d3053e6UL, 0xa36fa8ccdUL, 0x44bd08eccUL, + 0x61dd197d9UL, 0xa307cfd82UL, 0x1d09c2de4UL, 0x5f6d74368UL, 0x1327d1b2dUL, + 0x594cc36b9UL, 0xfea1cba7cUL, 0x50c31262dUL, 0xd99b1a6baUL, 0x1bf789cd2UL, + 0xe2f6f66f9UL, 0x13d5edfc6UL, 0xbc3a9ab0cUL, 0x1da5b2734UL, 0x25ef4f2deUL, + 0xdcb55a50aUL, 0x9c6dbc6acUL, 0x89a838853UL, 0x168f099eeUL, 0xd51601760UL, + 0x89f324f1aUL, 0x2cb1ec1eaUL, 0x6306de366UL, 0x12a2f11eUL, 0xb5c0bf797UL, + 0x5c5f02be4UL, 0x5019f54beUL, 0x6ae4a096aUL, 0x4bce78778UL, 0x94b65b97fUL, + 0xd3f6e7bd2UL, 0x1fbd2a84cUL, 0x6d0127ab1UL, 0x3e82799aaUL, 0x4c1264dfeUL, + 0xcf69c9360UL, 0x4b43e5342UL, 0x35d1f0372UL, 0xd78c18eb4UL, 0x262574101UL, + 0xc2c5c7335UL, 0xbad04051aUL, 0x1c481f94eUL, 0x3285aa0deUL, 0x8973e1f69UL, + 0x5d238c694UL, 0x7b71847b9UL, 0x242f5675cUL, 0xcc5751c2dUL, 0xe09bc620bUL, + 0xe4e904ddUL, 0x7ca4f1a7UL, 0x2ac79ae43UL, 0xe213d4250UL, 0xd4137c2b5UL, + 0xddfce11bcUL, 0xd1d658566UL, 0x213f5b1bbUL, 0xcd35be0a8UL, 0xcc67d7f91UL, + 0x509bde098UL, 0x74d3d8f46UL, 0x51309c970UL, 0x53e2bdf66UL, 0xa5dd3fed3UL, + 0xa4e69b212UL, 0xb1d39936dUL, 0x6b6c8926bUL, 0x46540a7b0UL, 0x2eebc599fUL, + 0x2e54a283eUL, 0xf9a328a9cUL, 0x7ea9cfc53UL, 0x5cffa2bdbUL, 0x464d16f8eUL, + 0xeb09444bcUL, 0x3f341b259UL, 0x4d112b108UL, 0x70cb94242UL, 0x974ed4ffdUL, + 0x1084da291UL, 0x85673ca39UL, 0xd4d74766fUL, 0x64a68e1deUL, 0xe35630caeUL, + 0x2073229dbUL, 0x63d3a3902UL, 0x31598ee06UL, 0x808d61126UL, 0x29957984UL, + 0xd4f5f2649UL, 0x9ec8a706bUL, 0x349981760UL, 0xc93ab23a6UL, 0x2c7aa80daUL, + 0x866f102baUL, 0xb15cff7bcUL, 0x66a13a4caUL, 0x54a755048UL, 0xd13fdb8d9UL, + 0x16ad5edf3UL, 0xe043bb154UL, 0xcc8755671UL, 0xcf9b2bfd5UL, 0x3608890b4UL, + 0x330fef315UL, 0xe3299ca65UL, 0xb60765e1UL, 0xe9bb17dcUL, 0x95f474d8bUL, + 0xe721d3d00UL, 0xd4679e565UL, 0xc80da6113UL, 0x98deeff30UL, 0xc293bb871UL, + 0xe79132f48UL, 0xb152dafbbUL, 0x55f6a4386UL, 0xa1b8a4044UL, 0x4f4187b05UL, + 0xb17c2ed3UL, 0x95d75ba04UL, 0xbbf12e96dUL, 0x6abd1a52fUL, 0xf300bc991UL, + 0xf0a7385d4UL, 0x52964f82aUL, 0xa9962925fUL, 0x613b2eef1UL, 0x5fd2c92a8UL, + 0x9ebecd05UL, 0x36002b87aUL, 0x902c79eefUL, 0x394e63c7eUL, 0x133285064UL, + 0xf7cfe2d4bUL, 0x4f068522cUL, 0x96fea1a0fUL, 0xc5a927b13UL, 0xe9a2c1994UL, + 0x5c53b3803UL, 0xf636b6188UL, 0x7c656e3UL, 0x26af1fc5fUL, 0xec2f40b78UL, + 0xfaa1921e5UL, 0x6137a8b30UL, 0x28674f7bUL, 0x3de184e35UL, 0xeeef093e6UL, + 0xd44b3dae0UL, 0xbb7ab7d93UL, 0x2ae18c956UL, 0xcde492bd6UL, 0x1cee0216eUL, + 0xf1e5830adUL, 0x76f6c3299UL, 0xdea24af84UL, 0x277e75586UL, 0xa17318024UL, + 0x5c4739486UL, 0x5e3de4725UL, 0x6f67c9f6dUL, 0x25f42791dUL, 0x3c54d15b3UL, + 0xef98d9c32UL, 0x42f64819dUL, 0x16d5fd070UL, 0x63cb98d4fUL, 0x45a3ad27cUL, + 0x1b496b0acUL, 0xaa471c42dUL, 0x599346a2UL, 0xdc8d1c2dUL, 0x7498928c1UL, + 0xea06e90ffUL, 0xb683baa32UL, 0xf93014e16UL, 0x20575d56eUL, 0x794325589UL, + 0x1533e9935UL, 0x86b8bcb70UL, 0xce11faf5dUL, 0x36c0bd318UL, 0xe5e8c1167UL, + 0xe1831ba64UL, 0xe088dbfa4UL, 0x984479674UL, 0xafef02b29UL, 0x48518c716UL, + 0x4301564ceUL, 0x21cc88710UL, 0xd5c995278UL, 0xd8367de1cUL, 0x4a51125e8UL, + 0x113e1c226UL, 0xef141e076UL, 0x44097011dUL, 0x4ca9d707cUL, 0x40d8831f1UL, + 0xbd9c3b1d8UL, 0x978364177UL, 0x10f7606a9UL, 0x46a64270aUL, 0x42df1b22bUL, + 0xe906cf2a0UL, 0x997da6fa5UL, 0xa5722c26fUL, 0xb14f58aaaUL, 0xafc167ad8UL, + 0x37be56e60UL, 0xde7f80d62UL, 0xc3fb0a64UL, 0xce8ca802cUL, 0x35032ed9dUL, + 0xaa8ba3ee6UL, 0x94b2e707cUL, 0x2debbdae1UL, 0xf53e25fcfUL, 0xe935543ebUL, + 0x1462f0e90UL, 0x54ce7d18cUL, 0x2ddafdc5fUL, 0x700565deeUL, 0xfd408e0afUL, + 0x17d089decUL, 0x833ea2459UL, 0x3c8d3776aUL, 0x2e5eebac8UL, 0x20cbf49b0UL, + 0xc44675eb7UL, 0x3a4b6beb1UL, 0xce6f37c1eUL, 0x63fba2e7cUL, 0x5a05b553dUL, + 0x1286445b0UL, 0x5e07a9b61UL, 0x7d8397ea4UL, 0x8084b7bbbUL, 0xb05b38097UL, + 0x29c3019eeUL, 0xed1d2708bUL, 0x9df8a4d47UL, 0xe4891e436UL, 0x2a762ab72UL, + 0x92f70600fUL, 0x92329a2cdUL, 0x3e200c6edUL, 0x8c0a7233eUL, 0x60866806aUL, + 0xf4fddd24aUL, 0xf78464c71UL, 0x9c3d22242UL, 0x3877ea6d1UL, 0xe2a6d54acUL, + 0x497d2a5e7UL, 0xca82f781eUL, 0x481524f4cUL, 0xdee088814UL, 0xb2a82d3a4UL, + 0x8e6afe6e5UL, 0xd6279a5daUL, 0x4567cbc1aUL, 0x5bec2b2fdUL, 0x4ef452505UL, + 0x61d992cbaUL, 0xab96be0cbUL, 0x708ef35d9UL, 0xb3f6f3623UL, 0x36eb1801dUL, + 0xbadfee917UL, 0xa3db13cd0UL, 0x1d1a12828UL, 0x2500816ceUL, 0xcf7612148UL, + 0xbe6a3f4bUL, 0x74142f3daUL, 0xce5deed92UL, 0xf9530a786UL, 0x47c8bb38UL, + 0xfcabfe88fUL, 0xbc83accb1UL, 0x20cd9fb1fUL, 0x23dcceb3UL, 0x9e969b8c4UL, + 0x6e28de934UL, 0x80a399667UL, 0x76a0b85adUL, 0x21a84be3cUL, 0xa28d028b5UL, + 0xc4e7690dfUL, 0xbfd9621e8UL, 0x6f4bc0c24UL, 0xaa8e76bd7UL, 0xdeb55dac9UL, + 0xbb344fa8bUL, 0xfcaab4decUL, 0x146aba6cbUL, 0xf49ed6eb8UL, 0xdd57e9deaUL, + 0x225d5d090UL, 0xd6e86c1c5UL, 0x639be5f39UL, 0xf5e7a6132UL, 0xd2968b09fUL, + 0x82b30ba1eUL, 0x803fa46ccUL, 0xc290fab00UL, 0x10df59de5UL, 0x51ae9dcfbUL, + 0x49af8516dUL, 0x2b564ce6UL, 0xc615a1de0UL, 0xfef9864a4UL, 0xc16e27341UL, + 0x39e846736UL, 0x1ecbb6746UL, 0x588d03a7cUL, 0x10a0eaf9cUL, 0x671ccea6bUL, + 0x33a154603UL, 0xa7b003bc1UL, 0xc5fc3848dUL, 0x78e50a9c7UL, 0x17dbfb88eUL, + 0x4fd0ed541UL, 0x84221debaUL, 0x3132cf7e6UL, 0xb67e7ac53UL, 0xdf6b28024UL, + 0x785b9f7edUL, 0xe3d35320dUL, 0x159c06583UL, 0x5c54a80a3UL, 0xed4d4533bUL, + 0xcf16c601aUL, 0x5e94efbd1UL, 0x5d587126eUL, 0xeef2f2807UL, 0x9f3c558eUL, + 0x736cfd539UL, 0xf5a922ae1UL, 0x4e2ab9959UL, 0x6a2dd34e7UL, 0x8c9d30d23UL, + 0xeba20b791UL, 0xd5c5095e3UL, 0x423d75a82UL, 0x40cebaafeUL, 0x65e08d288UL, + 0x2e4f6d767UL, 0xfe10d2f21UL, 0x110347bdaUL, 0xe43a9bfb3UL, 0xcdea483ccUL, + 0xfb1e2d8c6UL, 0xd8a0af7a7UL, 0x37d05b182UL, 0x8d1241d83UL, 0xda1ea7b6eUL, + 0x65bea93dbUL, 0x2a02f8753UL, 0x454243289UL, 0x4150bc5a2UL, 0xbbabe5911UL, + 0x4cbcdbc59UL, 0xf0e61340bUL, 0x30a2cdea8UL, 0x5daecb091UL, 0x5dc93d891UL, + 0xc501b4051UL, 0x782cfba78UL, 0x4c191b61eUL, 0xb7e27ef35UL, 0x5a476838UL, + 0x9b0209574UL, 0xa775164cfUL, 0xd33d21701UL, 0x3afcb7d45UL, 0x4df2035cdUL, + 0x498819a21UL, 0x293f9e506UL, 0x9a35ff1c8UL, 0xc090ebe6bUL, 0xa4f0551d4UL, + 0x5dc0dc194UL, 0x1388aeb31UL, 0x340b27bf4UL, 0x3a0f320abUL, 0x996be75dUL, + 0xb257ecf39UL, 0x78d86f2f1UL, 0x673f5ff91UL, 0x4538d7e3eUL, 0xde5bc4369UL + }; + fromVector(codes, d._code_id); + d._nbits = 36; + d._tau = 10; + d._type = TAG36h10; + d._name = "TAG36h10"; + } + break; + case TAG16h5: + { + vector codes = { 0x231bUL, 0x2ea5UL, 0x346aUL, 0x45b9UL, 0x79a6UL, + 0x7f6bUL, 0xb358UL, 0xe745UL, 0xfe59UL, 0x156dUL, + 0x380bUL, 0xf0abUL, 0xd84UL, 0x4736UL, 0x8c72UL, + 0xaf10UL, 0x93cUL, 0x93b4UL, 0xa503UL, 0x468fUL, + 0xe137UL, 0x5795UL, 0xdf42UL, 0x1c1dUL, 0xe9dcUL, + 0x73adUL, 0xad5fUL, 0xd530UL, 0x7caUL, 0xaf2eUL }; + fromVector(codes, d._code_id); + d._nbits = 16; + d._tau = 5; + d._type = TAG16h5; + d._name = "TAG16h5"; + } + break; + case TAG25h7: + { + vector codes = { + 0x4b770dUL, 0x11693e6UL, 0x1a599abUL, 0xc3a535UL, 0x152aafaUL, 0xaccd98UL, + 0x1cad922UL, 0x2c2fadUL, 0xbb3572UL, 0x14a3b37UL, 0x186524bUL, 0xc99d4cUL, + 0x23bfeaUL, 0x141cb74UL, 0x1d0d139UL, 0x1670aebUL, 0x851675UL, 0x150334eUL, + 0x6e3ed8UL, 0xfd449dUL, 0xaa55ecUL, 0x1c86176UL, 0x15e9b28UL, 0x7ca6b2UL, + 0x147c38bUL, 0x1d6c950UL, 0x8b0e8cUL, 0x11a1451UL, 0x1562b65UL, 0x13f53c8UL, + 0xd58d7aUL, 0x829ec9UL, 0xfaccf1UL, 0x136e405UL, 0x7a2f06UL, 0x10934cbUL, + 0x16a8b56UL, 0x1a6a26aUL, 0xf85545UL, 0x195c2e4UL, 0x24c8a9UL, 0x12bfc96UL, + 0x16813aaUL, 0x1a42abeUL, 0x1573424UL, 0x1044573UL, 0xb156c2UL, 0x5e6811UL, + 0x1659bfeUL, 0x1d55a63UL, 0x5bf065UL, 0xe28667UL, 0x1e9ba54UL, 0x17d7c5aUL, + 0x1f5aa82UL, 0x1a2bbd1UL, 0x1ae9f9UL, 0x1259e51UL, 0x134062bUL, 0xe1177aUL, + 0xed07a8UL, 0x162be24UL, 0x59128bUL, 0x1663e8fUL, 0x1a83cbUL, 0x45bb59UL, + 0x189065aUL, 0x4bb370UL, 0x16fb711UL, 0x122c077UL, 0xeca17aUL, 0xdbc1f4UL, + 0x88d343UL, 0x58ac5dUL, 0xba02e8UL, 0x1a1d9dUL, 0x1c72eecUL, 0x924bc5UL, + 0xdccab3UL, 0x886d15UL, 0x178c965UL, 0x5bc69aUL, 0x1716261UL, 0x174e2ccUL, + 0x1ed10f4UL, 0x156aa8UL, 0x3e2a8aUL, 0x2752edUL, 0x153c651UL, 0x1741670UL, + 0x765b05UL, 0x119c0bbUL, 0x172a783UL, 0x4faca1UL, 0xf31257UL, 0x12441fcUL, + 0xd3748UL, 0xc21f15UL, 0xac5037UL, 0x180e592UL, 0x7d3210UL, 0xa27187UL, + 0x2beeafUL, 0x26ff57UL, 0x690e82UL, 0x77765cUL, 0x1a9e1d7UL, 0x140be1aUL, + 0x1aa1e3aUL, 0x1944f5cUL, 0x19b5032UL, 0x169897UL, 0x1068eb9UL, 0xf30dbcUL, + 0x106a151UL, 0x1d53e95UL, 0x1348ceeUL, 0xcf4fcaUL, 0x1728bb5UL, 0xdc1eecUL, + 0x69e8dbUL, 0x16e1523UL, 0x105fa25UL, 0x18abb0cUL, 0xc4275dUL, 0x6d8e76UL, + 0xe8d6dbUL, 0xe16fd7UL, 0x1ac2682UL, 0x77435bUL, 0xa359ddUL, 0x3a9c4eUL, + 0x123919aUL, 0x1e25817UL, 0x2a836UL, 0x1545a4UL, 0x1209c8dUL, 0xbb5f69UL, + 0x1dc1f02UL, 0x5d5f7eUL, 0x12d0581UL, 0x13786c2UL, 0xe15409UL, 0x1aa3599UL, + 0x139aad8UL, 0xb09d2aUL, 0x54488fUL, 0x13c351cUL, 0x976079UL, 0xb25b12UL, + 0x1addb34UL, 0x1cb23aeUL, 0x1175738UL, 0x1303bb8UL, 0xd47716UL, 0x188ceeaUL, + 0xbaf967UL, 0x1226d39UL, 0x135e99bUL, 0x34adc5UL, 0x2e384dUL, 0x90d3faUL, + 0x232713UL, 0x17d49b1UL, 0xaa84d6UL, 0xc2ddf8UL, 0x1665646UL, 0x4f345fUL, + 0x2276b1UL, 0x1255dd7UL, 0x16f4cccUL, 0x4aaffcUL, 0xc46da6UL, 0x85c7b3UL, + 0x1311fcbUL, 0x9c6c4fUL, 0x187d947UL, 0x8578e4UL, 0xe2bf0bUL, 0xa01b4cUL, + 0xa1493bUL, 0x7ad766UL, 0xccfe82UL, 0x1981b5bUL, 0x1cacc85UL, 0x562cdbUL, + 0x15b0e78UL, 0x8f66c5UL, 0x3332bfUL, 0x12ce754UL, 0x96a76UL, 0x1d5e3baUL, + 0x27ea41UL, 0x14412dfUL, 0x67b9b4UL, 0xdaa51aUL, 0x1dcb17UL, 0x4d4afdUL, + 0x6335d5UL, 0xee2334UL, 0x17d4e55UL, 0x1b8b0f0UL, 0x14999e3UL, 0x1513dfaUL, + 0x765cf2UL, 0x56af90UL, 0x12e16acUL, 0x1d3d86cUL, 0xff279bUL, 0x18822ddUL, + 0x99d478UL, 0x8dc0d2UL, 0x34b666UL, 0xcf9526UL, 0x186443dUL, 0x7a8e29UL, + 0x19c6aa5UL, 0x1f2a27dUL, 0x12b2136UL, 0xd0cd0dUL, 0x12cb320UL, 0x17ddb0bUL, + 0x5353bUL, 0x15b2cafUL, 0x1e5a507UL, 0x120f1e5UL, 0x114605aUL, 0x14efe4cUL, + 0x568134UL, 0x11b9f92UL, 0x174d2a7UL, 0x692b1dUL, 0x39e4feUL, 0xaaff3dUL, + 0x96224cUL, 0x13c9f77UL, 0x110ee8fUL, 0xf17beaUL, 0x99fb5dUL, 0x337141UL, + 0x2b54dUL, 0x1233a70UL + }; + fromVector(codes, d._code_id); + d._nbits = 25; + d._tau = 7; + d._type = TAG25h7; + d._name = "TAG25h7"; + } + break; + case TAG25h9: + { + vector codes = { + 0x155cbf1UL, 0x1e4d1b6UL, 0x17b0b68UL, 0x1eac9cdUL, 0x12e14ceUL, 0x3548bbUL, + 0x7757e6UL, 0x1065dabUL, 0x1baa2e7UL, 0xdea688UL, 0x81d927UL, 0x51b241UL, + 0xdbc8aeUL, 0x1e50e19UL, 0x15819d2UL, 0x16d8282UL, 0x163e035UL, 0x9d9b81UL, + 0x173eec4UL, 0xae3a09UL, 0x5f7c51UL, 0x1a137fcUL, 0xdc9562UL, 0x1802e45UL, + 0x1c3542cUL, 0x870fa4UL, 0x914709UL, 0x16684f0UL, 0xc8f2a5UL, 0x833ebbUL, + 0x59717fUL, 0x13cd050UL, 0xfa0ad1UL, 0x1b763b0UL, 0xb991ceUL + }; + fromVector(codes, d._code_id); + d._nbits = 25; + d._tau = 9; + d._type = TAG25h9; + d._name = "TAG25h9"; + } + break; + case ARUCO_MIP_16h3: + { + vector codes = { + 0x5867UL, 0x8b03UL, 0x2537UL, 0xb6c7UL, 0xe45UL, 0x161UL, 0x219UL, 0x859bUL, + 0x87UL, 0xc93fUL, 0x905fUL, 0x3e73UL, 0x6ab7UL, 0x1bafUL, 0x6f0fUL, 0x23d3UL, + 0x47a5UL, 0x8cf7UL, 0x83cfUL, 0x9205UL, 0x29a5UL, 0x8033UL, 0x857dUL, 0xa4afUL, + 0x422fUL, 0x1d07UL, 0x4ee3UL, 0x64c5UL, 0xaa7fUL, 0x4b75UL, 0x34dbUL, 0x926UL, + 0x262UL, 0x501dUL, 0x415UL, 0x6201UL, 0x2064UL, 0x2d5UL, 0x10bUL, 0x9427UL, + 0xc16bUL, 0xa603UL, 0x911UL, 0x1043UL, 0x87bUL, 0xccfUL, 0x162bUL, 0x9ab3UL, + 0x30b7UL, 0xad0bUL, 0x60a6UL, 0x3845UL, 0xce2bUL, 0xadc7UL, 0x612UL, 0x4253UL, + 0x9cc3UL, 0xc23UL, 0x409bUL, 0x8e87UL, 0x98e5UL, 0x20f1UL, 0xa807UL, 0x1bfUL, + 0x7023UL, 0xdf1UL, 0x2957UL, 0x26b3UL, 0xd80fUL, 0x4076UL, 0x233bUL, 0x32e3UL, + 0x7a85UL, 0x4349UL, 0xc857UL, 0x41c6UL, 0x3813UL, 0x6d97UL, 0x324fUL, 0xe3fUL, + 0x47ffUL, 0x2217UL, 0xdd6fUL, 0x48b1UL, 0x8b95UL, 0xd9c7UL, 0x1a7dUL, 0x867bUL, + 0xb7ffUL, 0x7fa7UL, 0x478bUL, 0x6d43UL, 0x6167UL, 0x8f67UL, 0xcda7UL, 0x5cb7UL, + 0xf3afUL, 0x889fUL, 0x2fdfUL, 0xd2e7UL, 0x553UL, 0xbc1fUL, 0x7607UL, 0x2a61UL, + 0x11ebUL, 0xa457UL, 0x789fUL, 0x2e95UL, 0xb46bUL, 0x39ffUL, 0x4fb6UL, 0x647fUL, + 0x250dUL, 0x5883UL, 0xc5d7UL, 0xe73fUL, 0x129fUL, 0x548fUL, 0xb253UL, 0x635fUL, + 0x1ed7UL, 0xc647UL, 0xa1f7UL, 0x565fUL, 0x7e6fUL, 0xe10fUL, 0xf56UL, 0xf2dfUL, + 0x87a3UL, 0x4b87UL, 0x24f6UL, 0xafb7UL, 0x3bc7UL, 0x51a7UL, 0x6a47UL, 0x4c46UL, + 0x6723UL, 0x2787UL, 0x2667UL, 0x2f13UL, 0x50d7UL, 0x680dUL, 0x7ad3UL, 0x454fUL, + 0x6c35UL, 0xf17fUL, 0x6b91UL, 0x4011UL, 0x16UL, 0x2022UL, 0xa1UL, 0x142UL, + 0x40fUL, 0x1025UL, 0xcbUL, 0x45UL, 0x4427UL, 0x8491UL, 0x2292UL, 0x482bUL, + 0x8221UL, 0x8293UL, 0xf7UL, 0x7dUL, 0x601UL, 0x84a5UL, 0x2443UL, 0x806fUL, + 0x21c1UL, 0x4825UL, 0x466UL, 0x742dUL, 0xca07UL, 0x20bbUL, 0x88a3UL, 0x2251UL, + 0xa81UL, 0x202dUL, 0x205bUL, 0x1a07UL, 0x8119UL, 0x6413UL, 0x6105UL, 0x820bUL, + 0x8715UL, 0x1c0bUL, 0xb003UL, 0x307UL, 0x147bUL, 0x135UL, 0x62a3UL, 0x6c0bUL, + 0x14b3UL, 0x5c05UL, 0xd81UL, 0x36dUL, 0x8d3UL, 0x8ba7UL, 0xb25UL, 0x4c5bUL, + 0x2867UL, 0x242bUL, 0x1237UL, 0x4206UL, 0xa0c3UL, 0xa4f3UL, 0x984bUL, 0x8507UL, + 0x4529UL, 0xf0dUL, 0xb2bUL, 0x2891UL, 0x1a3bUL, 0x234bUL, 0x8d43UL, 0x22e6UL, + 0x7245UL, 0x1c77UL, 0x825dUL, 0x3487UL, 0x60d6UL, 0x5403UL, 0x90e3UL, 0xa43UL, + 0x6519UL, 0x6169UL, 0xc397UL, 0x2285UL, 0xc127UL, 0x2c05UL, 0x8871UL, 0x5a0bUL, + 0x4e26UL, 0x15afUL, 0xf97UL, 0x258bUL, 0x463bUL, 0x86c3UL, 0x292fUL, 0x9e3UL, + 0x2571UL, 0x4ce5UL, 0x81d5UL, 0x459UL, 0x40e2UL, 0x5b6UL, 0x4a33UL, 0x837UL, + 0xa2a7UL, 0xf4bUL + }; + fromVector(codes, d._code_id); + d._nbits = 16; + d._tau = 3; + d._type = ARUCO_MIP_16h3; + d._name = "ARUCO_MIP_16h3"; + } + break; + + case ARUCO_MIP_25h7: + { + vector codes = { + 0x1ad2487UL, 0x141b6e9UL, 0x1780e66UL, 0x1a86ad8UL, 0x1146916UL, 0x14ebcb6UL, + 0x1a1893cUL, 0xd79525UL, 0xf8db53UL, 0x1b5928UL, 0x127bf52UL, 0x1cb3a02UL, + 0x145ed8cUL, 0x3970efUL, 0xc8934cUL, 0x5badedUL, 0x53c9daUL, 0x1991f79UL, + 0x1d40a4dUL, 0x1631993UL, 0x74d97cUL, 0x62c8a5UL, 0x1a6ce96UL, 0x1c71456UL, + 0x18d8df2UL, 0xe290faUL, 0x494061UL, 0xedc6cdUL, 0x12bd8f0UL, 0x1a5d254UL, + 0x172eb3aUL, 0x9d6e92UL, 0x10a2172UL, 0x1bd085aUL, 0x186e528UL, 0xb4af45UL, + 0x55a5b2UL, 0x5e5136UL, 0x88508bUL, 0xea2c6fUL, 0x1a9274cUL, 0xbbb977UL, + 0x5ede62UL, 0x105ba85UL, 0x18a79bcUL, 0x18d4b9dUL, 0x1a144deUL, 0x1ba5390UL, + 0x1b8a652UL, 0x1c4948dUL, 0x3ce285UL, 0xb5cce7UL, 0x16d2cb9UL, 0xb7d338UL, + 0xb650e9UL, 0x130e4b1UL, 0xd3badcUL, 0xf2161dUL, 0x17a45a7UL, 0x14c5c50UL, + 0x14be8abUL, 0x1230de9UL, 0xf7c242UL, 0x508697UL, 0x14b1cc5UL, 0x2c1e94UL, + 0xf89469UL, 0xdc52d8UL, 0x6eb5c4UL, 0xd8ea08UL, 0x16c779dUL, 0x1770dbeUL, + 0x90a4ecUL, 0x1bf212eUL, 0x1a4b99aUL, 0x1d2d3a9UL, 0xf4f5aeUL, 0x842e89UL, + 0x1c0e8d4UL, 0x1af4a4cUL, 0x189044bUL, 0xdd3108UL, 0x1ab639eUL, 0x18836c5UL, + 0x5f5ad3UL, 0x1410f5dUL, 0xeb532fUL, 0xbda0baUL, 0x9edf2dUL, 0xd5ae4eUL, + 0x165d1b8UL, 0x187d07aUL, 0x1dd616dUL, 0x912527UL, 0x940c3cUL, 0x516b8dUL, + 0xc1da19UL, 0xc7db85UL, 0x144cb34UL, 0xcd7a34UL + }; + fromVector(codes, d._code_id); + d._nbits = 25; + d._tau = 7; + d._type = ARUCO_MIP_25h7; + d._name = "ARUCO_MIP_25h7"; + } + break; + + case ARUCO_MIP_36h12: + { + vector codes = { + 0xd2b63a09dUL, 0x6001134e5UL, 0x1206fbe72UL, 0xff8ad6cb4UL, 0x85da9bc49UL, + 0xb461afe9cUL, 0x6db51fe13UL, 0x5248c541fUL, 0x8f34503UL, 0x8ea462eceUL, + 0xeac2be76dUL, 0x1af615c44UL, 0xb48a49f27UL, 0x2e4e1283bUL, 0x78b1f2fa8UL, + 0x27d34f57eUL, 0x89222fff1UL, 0x4c1669406UL, 0xbf49b3511UL, 0xdc191cd5dUL, + 0x11d7c3f85UL, 0x16a130e35UL, 0xe29f27effUL, 0x428d8ae0cUL, 0x90d548477UL, + 0x2319cbc93UL, 0xc3b0c3dfcUL, 0x424bccc9UL, 0x2a081d630UL, 0x762743d96UL, + 0xd0645bf19UL, 0xf38d7fd60UL, 0xc6cbf9a10UL, 0x3c1be7c65UL, 0x276f75e63UL, + 0x4490a3f63UL, 0xda60acd52UL, 0x3cc68df59UL, 0xab46f9daeUL, 0x88d533d78UL, + 0xb6d62ec21UL, 0xb3c02b646UL, 0x22e56d408UL, 0xac5f5770aUL, 0xaaa993f66UL, + 0x4caa07c8dUL, 0x5c9b4f7b0UL, 0xaa9ef0e05UL, 0x705c5750UL, 0xac81f545eUL, + 0x735b91e74UL, 0x8cc35cee4UL, 0xe44694d04UL, 0xb5e121de0UL, 0x261017d0fUL, + 0xf1d439eb5UL, 0xa1a33ac96UL, 0x174c62c02UL, 0x1ee27f716UL, 0x8b1c5ece9UL, + 0x6a05b0c6aUL, 0xd0568dfcUL, 0x192d25e5fUL, 0x1adbeccc8UL, 0xcfec87f00UL, + 0xd0b9dde7aUL, 0x88dcef81eUL, 0x445681cb9UL, 0xdbb2ffc83UL, 0xa48d96df1UL, + 0xb72cc2e7dUL, 0xc295b53fUL, 0xf49832704UL, 0x9968edc29UL, 0x9e4e1af85UL, + 0x8683e2d1bUL, 0x810b45c04UL, 0x6ac44bfe2UL, 0x645346615UL, 0x3990bd598UL, + 0x1c9ed0f6aUL, 0xc26729d65UL, 0x83993f795UL, 0x3ac05ac5dUL, 0x357adff3bUL, + 0xd5c05565UL, 0x2f547ef44UL, 0x86c115041UL, 0x640fd9e5fUL, 0xce08bbcf7UL, + 0x109bb343eUL, 0xc21435c92UL, 0x35b4dfce4UL, 0x459752cf2UL, 0xec915b82cUL, + 0x51881eed0UL, 0x2dda7dc97UL, 0x2e0142144UL, 0x42e890f99UL, 0x9a8856527UL, + 0x8e80d9d80UL, 0x891cbcf34UL, 0x25dd82410UL, 0x239551d34UL, 0x8fe8f0c70UL, + 0x94106a970UL, 0x82609b40cUL, 0xfc9caf36UL, 0x688181d11UL, 0x718613c08UL, + 0xf1ab7629UL, 0xa357bfc18UL, 0x4c03b7a46UL, 0x204dedce6UL, 0xad6300d37UL, + 0x84cc4cd09UL, 0x42160e5c4UL, 0x87d2adfa8UL, 0x7850e7749UL, 0x4e750fc7cUL, + 0xbf2e5dfdaUL, 0xd88324da5UL, 0x234b52f80UL, 0x378204514UL, 0xabdf2ad53UL, + 0x365e78ef9UL, 0x49caa6ca2UL, 0x3c39ddf3UL, 0xc68c5385dUL, 0x5bfcbbf67UL, + 0x623241e21UL, 0xabc90d5ccUL, 0x388c6fe85UL, 0xda0e2d62dUL, 0x10855dfe9UL, + 0x4d46efd6bUL, 0x76ea12d61UL, 0x9db377d3dUL, 0xeed0efa71UL, 0xe6ec3ae2fUL, + 0x441faee83UL, 0xba19c8ff5UL, 0x313035eabUL, 0x6ce8f7625UL, 0x880dab58dUL, + 0x8d3409e0dUL, 0x2be92ee21UL, 0xd60302c6cUL, 0x469ffc724UL, 0x87eebeed3UL, + 0x42587ef7aUL, 0x7a8cc4e52UL, 0x76a437650UL, 0x999e41ef4UL, 0x7d0969e42UL, + 0xc02baf46bUL, 0x9259f3e47UL, 0x2116a1dc0UL, 0x9f2de4d84UL, 0xeffac29UL, + 0x7b371ff8cUL, 0x668339da9UL, 0xd010aee3fUL, 0x1cd00b4c0UL, 0x95070fc3bUL, + 0xf84c9a770UL, 0x38f863d76UL, 0x3646ff045UL, 0xce1b96412UL, 0x7a5d45da8UL, + 0x14e00ef6cUL, 0x5e95abfd8UL, 0xb2e9cb729UL, 0x36c47dd7UL, 0xb8ee97c6bUL, + 0xe9e8f657UL, 0xd4ad2ef1aUL, 0x8811c7f32UL, 0x47bde7c31UL, 0x3adadfb64UL, + 0x6e5b28574UL, 0x33e67cd91UL, 0x2ab9fdd2dUL, 0x8afa67f2bUL, 0xe6a28fc5eUL, + 0x72049cdbdUL, 0xae65dac12UL, 0x1251a4526UL, 0x1089ab841UL, 0xe2f096ee0UL, + 0xb0caee573UL, 0xfd6677e86UL, 0x444b3f518UL, 0xbe8b3a56aUL, 0x680a75cfcUL, + 0xac02baea8UL, 0x97d815e1cUL, 0x1d4386e08UL, 0x1a14f5b0eUL, 0xe658a8d81UL, + 0xa3868efa7UL, 0x3668a9673UL, 0xe8fc53d85UL, 0x2e2b7edd5UL, 0x8b2470f13UL, + 0xf69795f32UL, 0x4589ffc8eUL, 0x2e2080c9cUL, 0x64265f7dUL, 0x3d714dd10UL, + 0x1692c6ef1UL, 0x3e67f2f49UL, 0x5041dad63UL, 0x1a1503415UL, 0x64c18c742UL, + 0xa72eec35UL, 0x1f0f9dc60UL, 0xa9559bc67UL, 0xf32911d0dUL, 0x21c0d4ffcUL, + 0xe01cef5b0UL, 0x4e23a3520UL, 0xaa4f04e49UL, 0xe1c4fcc43UL, 0x208e8f6e8UL, + 0x8486774a5UL, 0x9e98c7558UL, 0x2c59fb7dcUL, 0x9446a4613UL, 0x8292dcc2eUL, + 0x4d61631UL, 0xd05527809UL, 0xa0163852dUL, 0x8f657f639UL, 0xcca6c3e37UL, + 0xcb136bc7aUL, 0xfc5a83e53UL, 0x9aa44fc30UL, 0xbdec1bd3cUL, 0xe020b9f7cUL, + 0x4b8f35fb0UL, 0xb8165f637UL, 0x33dc88d69UL, 0x10a2f7e4dUL, 0xc8cb5ff53UL, + 0xde259ff6bUL, 0x46d070dd4UL, 0x32d3b9741UL, 0x7075f1c04UL, 0x4d58dbea0UL + }; + fromVector(codes, d._code_id); + d._nbits = 36; + d._tau = 12; + d._type = ARUCO_MIP_36h12; + d._name = "ARUCO_MIP_36h12"; + } + break; + case CHILITAGS: + { + vector codes = { 0x7c765c6e0c3e00UL, + 0x7c765c14121e00UL, + 0x7c765a06763e00UL, + 0x7c765a7c681e00UL, + 0x7c764248643e00UL, + 0x7c7642327a1e00UL, + 0x7c7644201e3e00UL, + 0x7c76445a001e00UL, + 0x7c7626702c3800UL, + 0x7c76260a321800UL, + 0x7c762018563800UL, + 0x7c762062481800UL, + 0x7c763856443800UL, + 0x7c76382c5a1800UL, + 0x7c763e3e3e3800UL, + 0x7c763e44201800UL, + 0x7c70346e120000UL, + 0x7c7034140c2000UL, + 0x7c703206680000UL, + 0x7c70327c762000UL, + 0x7c702a487a0000UL, + 0x7c702a32642000UL, + 0x7c702c20000000UL, + 0x7c702c5a1e2000UL, + 0x7c704e70320600UL, + 0x7c704e0a2c2600UL, + 0x7c704818480600UL, + 0x7c704862562600UL, + 0x7c7050565a0600UL, + 0x7c70502c442600UL, + 0x7c70563e200600UL, + 0x7c7056443e2600UL, + 0x7c687c6e764400UL, + 0x7c687c14686400UL, + 0x7c687a060c4400UL, + 0x7c687a7c126400UL, + 0x7c6862481e4400UL, + 0x7c686232006400UL, + 0x7c686420644400UL, + 0x7c68645a7a6400UL, + 0x7c680670564200UL, + 0x7c68060a486200UL, + 0x7c6800182c4200UL, + 0x7c680062326200UL, + 0x7c6818563e4200UL, + 0x7c68182c206200UL, + 0x7c681e3e444200UL, + 0x7c681e445a6200UL, + 0x7c6e146e687a00UL, + 0x7c6e1414765a00UL, + 0x7c6e1206127a00UL, + 0x7c6e127c0c5a00UL, + 0x7c6e0a48007a00UL, + 0x7c6e0a321e5a00UL, + 0x7c6e0c207a7a00UL, + 0x7c6e0c5a645a00UL, + 0x7c6e6e70487c00UL, + 0x7c6e6e0a565c00UL, + 0x7c6e6818327c00UL, + 0x7c6e68622c5c00UL, + 0x7c6e7056207c00UL, + 0x7c6e702c3e5c00UL, + 0x7c6e763e5a7c00UL, + 0x7c6e7644445c00UL, + 0x7c0c5c68625600UL, + 0x7c0c5c127c7600UL, + 0x7c0c5a00185600UL, + 0x7c0c5a7a067600UL, + 0x7c0c424e0a5600UL, + 0x7c0c4234147600UL, + 0x7c0c4426705600UL, + 0x7c0c445c6e7600UL, + 0x7c0c2676425000UL, + 0x7c0c260c5c7000UL, + 0x7c0c201e385000UL, + 0x7c0c2064267000UL, + 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0x1e5a622c267600UL, + 0x1e5a643e425600UL, + 0x1e5a64445c7600UL, + 0x1e5a066e705000UL, + 0x1e5a06146e7000UL, + 0x1e5a00060a5000UL, + 0x1e5a007c147000UL, + 0x1e5a1848185000UL, + 0x1e5a1832067000UL, + 0x1e5a1e20625000UL, + 0x1e5a1e5a7c7000UL, + 0x1e5c14704e6800UL, + 0x1e5c140a504800UL, + 0x1e5c1218346800UL, + 0x1e5c12622a4800UL, + 0x1e5c0a56266800UL, + 0x1e5c0a2c384800UL, + 0x1e5c0c3e5c6800UL, + 0x1e5c0c44424800UL, + 0x1e5c6e6e6e6e00UL, + 0x1e5c6e14704e00UL, + 0x1e5c6806146e00UL, + 0x1e5c687c0a4e00UL, + 0x1e5c7048066e00UL, + 0x1e5c7032184e00UL, + 0x1e5c76207c6e00UL, + 0x1e5c765a624e00UL }; + fromVector(codes, d._code_id); + d._nbits = 64; + d._tau = 5; + d._type = CHILITAGS; + d._name = "CHILITAGS"; + } + break; + case CUSTOM: + throw cv::Exception(-1, "CUSTOM type is only set by loading from file", + "Dictionary::loadPredefined", "dictionary.h", -1); + break; + case ALL_DICTS: + { + d._nbits = 64; + d._tau = 1; // + d._type = ALL_DICTS; + d._name = "ALL_DICTS"; + } + break; + + default: + throw cv::Exception(9001, "Invalid Dictionary type requested", + "Dictionary::loadPredefined", __FILE__, __LINE__); + }; + return d; +} +/** + * @brief Dictionary::getMarkerImage_id + * @param id + * @return + */ +// cv::Mat Dictionary::getMarkerMatrix_id(int id){ +// const int nBitsSquared = static_cast(std::sqrt(nbits())); +// const int A=bit_size*(2+nBitsSquared); + +// cv::Mat img=cv::Mat::zeros(A,A,CV_8UC1); +//} + + +cv::Mat Dictionary::getMarkerImage_id(int id, int bit_size, bool addWaterMark, + bool enclosed_corners, bool externalWhiteBorder, + bool centralCircle) +{ + const int nBitsSquared = static_cast(std::sqrt(nbits())); + const int A = bit_size * (2 + nBitsSquared); + + cv::Mat img = cv::Mat::zeros(A, A, CV_8UC1); + + // find the code in the map + uint64_t code; + bool found = false; + for (auto c_id : _code_id) + if (c_id.second == id) + { + found = true; + code = c_id.first; + break; + } + if (!found) + { + cerr << "marker " << id << " not found" << endl; + return cv::Mat(); + } + // get the code as a bitset + bitset<64> bset = code; + + int bidx = 0; + for (int y = nBitsSquared - 1; y >= 0; y--) + for (int x = nBitsSquared - 1; x >= 0; x--) + { + if (bset[bidx++]) + { + cv::Mat bit_pix = img(cv::Range((1 + y) * bit_size, (2 + y) * bit_size), + cv::Range((1 + x) * bit_size, (2 + x) * bit_size)); + bit_pix.setTo(cv::Scalar::all(255)); + } + } + + if (addWaterMark) + { + char idcad[30]; + sprintf(idcad, "#%d", id); + float ax = static_cast(A) / 100.f; + int linew = 1 + (img.rows / 500); + cv::putText(img, idcad, cv::Point(0, img.rows - img.rows / 40), + cv::FONT_HERSHEY_COMPLEX, ax * 0.15f, cv::Scalar::all(30), linew); + } + + + if (enclosed_corners) + { + cv::Mat biggerImage(img.rows + img.rows / 2, img.cols + img.cols / 2, img.type()); + biggerImage.setTo(cv::Scalar::all(255)); + // set the image in the center + int sy = img.rows / 4; + int sx = img.cols / 4; + cv::Mat center = biggerImage(cv::Range(sy, sy + img.rows), cv::Range(sx, sx + img.cols)); + img.copyTo(center); + biggerImage(cv::Range(0, sy), cv::Range(0, sx)).setTo(cv::Scalar::all(0)); + biggerImage(cv::Range(biggerImage.rows - sy, biggerImage.rows), cv::Range(0, sx)) + .setTo(cv::Scalar::all(0)); + biggerImage(cv::Range(biggerImage.rows - sy, biggerImage.rows), + cv::Range(biggerImage.cols - sx, biggerImage.cols)) + .setTo(cv::Scalar::all(0)); + biggerImage(cv::Range(0, sy), cv::Range(biggerImage.cols - sx, biggerImage.cols)) + .setTo(cv::Scalar::all(0)); + + img = biggerImage; + } + + if (externalWhiteBorder && !enclosed_corners) + { + int borderSize = bit_size; + // Create another image in white and put the marker in the middle + cv::Mat biggerImage(img.rows + 2 * borderSize, img.cols + 2 * borderSize, img.type()); + biggerImage.setTo(cv::Scalar::all(255)); + // set the image in the center + cv::Mat center = biggerImage(cv::Range(borderSize, borderSize + img.rows), + cv::Range(borderSize, borderSize + img.cols)); + img.copyTo(center); + img = biggerImage; + } + + if (centralCircle) + { + // at the image center, draw a circle to mark the center + cv::Point2f center(img.cols / 2, img.rows / 2); + cv::Mat mask(img.size(), CV_8UC1); + mask.setTo(cv::Scalar::all(0)); + cv::circle(mask, center, sqrt(bit_size), cv::Scalar::all(255), -1); + // now, invert the color in the image + for (int r = 0; r < img.rows; r++) + { + uchar *imgptr = img.ptr(r); + uchar *maskptr = mask.ptr(r); + for (int c = 0; c < img.cols; c++) + { + if (maskptr[c]) + imgptr[c] = 255 - imgptr[c]; + } + } + } + return img; +} + + +std::string Dictionary::getTypeString(DICT_TYPES t) +{ + switch (t) + { + case ARUCO: + return "ARUCO"; + case ARUCO_MIP_16h3: + return "ARUCO_MIP_16h3"; + case ARUCO_MIP_25h7: + return "ARUCO_MIP_25h7"; + case ARTAG: + return "ARTAG"; + + case ARUCO_MIP_36h12: + return "ARUCO_MIP_36h12"; + case ARTOOLKITPLUS: + return "ARTOOLKITPLUS"; + case ARTOOLKITPLUSBCH: + return "ARTOOLKITPLUSBCH"; + case TAG16h5: + return "TAG16h5"; + case TAG25h7: + return "TAG25h7"; + case TAG25h9: + return "TAG25h9"; + case TAG36h11: + return "TAG36h11"; + case TAG36h10: + return "TAG36h10"; + case CHILITAGS: + return "CHILITAGS"; + case CUSTOM: + return "CUSTOM"; + case ALL_DICTS: + return "ALL_DICTS"; + }; + return "Non valid DICT_TYPE"; +} + +Dictionary::DICT_TYPES Dictionary::getTypeFromString(std::string str) +{ + if (str == "ARUCO") + return ARUCO; + if (str == "ARUCO_MIP_16h3") + return ARUCO_MIP_16h3; + if (str == "ARUCO_MIP_25h7") + return ARUCO_MIP_25h7; + if (str == "ARUCO_MIP_36h12") + return ARUCO_MIP_36h12; + if (str == "ARTOOLKITPLUS") + return ARTOOLKITPLUS; + if (str == "ARTOOLKITPLUSBCH") + return ARTOOLKITPLUSBCH; + if (str == "ARTAG") + return ARTAG; + if (str == "TAG16h5") + return TAG16h5; + if (str == "TAG25h7") + return TAG25h7; + if (str == "TAG25h9") + return TAG25h9; + if (str == "TAG36h11") + return TAG36h11; + if (str == "TAG36h10") + return TAG36h10; + if (str == "CHILITAGS") + return CHILITAGS; + if (str == "ALL_DICTS") + return ALL_DICTS; + else + return CUSTOM; + + // throw cv::Exception(9001, "Invalid string <"+str+"> to convert to Dictionary + // type", "Dictionary::getTypeFromString", __FILE__, __LINE__); +} + +bool Dictionary::isPredefinedDictinaryString(string str) +{ + return getTypeFromString(str) != CUSTOM; +} + +vector Dictionary::getDicTypes() +{ + return { "ARUCO", "ARUCO_MIP_16h3", "ARUCO_MIP_25h7", "ARUCO_MIP_36h12", + "ARTOOLKITPLUS", "ARTOOLKITPLUSBCH", "TAG16h5", "TAG25h7", + "TAG25h9", "TAG36h11", "TAG36h10", "CHILITAGS", + "ALL_DICTS" }; +} + +MarkerMap Dictionary::createMarkerMap(cv::Size gridSize, int MarkerSize, int MarkerDistance, + const std::vector &ids, bool chess_board) +{ + if (gridSize.height * gridSize.width != int(ids.size())) + throw cv::Exception(9001, "gridSize != ids.size()Invalid ", + "Dictionary::createMarkerMap", __FILE__, __LINE__); + MarkerMap TInfo; + + TInfo.mInfoType = MarkerMap::PIX; + TInfo.setDictionary(getTypeString(_type)); + const float markerSizeFloat = static_cast(MarkerSize); + + + if (!chess_board) + { + TInfo.resize(ids.size()); + for (size_t i = 0; i < ids.size(); i++) + TInfo[i].id = ids[i]; + int idp = 0; + float mtotal = static_cast(MarkerDistance) + markerSizeFloat; + for (int y = 0; y < gridSize.height; y++) + for (int x = 0; x < gridSize.width; x++, idp++) + { + /// \todo use const auto & + for (auto p : aruco::Marker::get3DPoints(markerSizeFloat)) + TInfo[idp].points.push_back(p + cv::Point3f(x * mtotal, y * mtotal, 0)); + } + } + else + { + // find the center so that the ref systeem is in it + int CurMarkerIdx = 0; + for (int y = 0; y < gridSize.height; y++) + { + bool toWrite; + if (y % 2 == 0) + toWrite = false; + else + toWrite = true; + for (int x = 0; x < gridSize.width; x++) + { + toWrite = !toWrite; + if (toWrite) + { + if (CurMarkerIdx >= int(ids.size())) + throw cv::Exception(999, " FiducidalMarkers::createMarkerMapImage_ChessMarkerMap", + "INTERNAL ERROR. REWRITE THIS!!", __FILE__, __LINE__); + TInfo.push_back(Marker3DInfo(ids[CurMarkerIdx++])); + /// \todo use const auto & + for (auto p : aruco::Marker::get3DPoints(markerSizeFloat)) + TInfo.back().points.push_back( + p + cv::Point3f(x * markerSizeFloat, y * markerSizeFloat, 0)); + } + } + } + } + + // cv::Point3f center(0,0,0); + // double n=0; + // for(auto &ti:TInfo)for(auto p:ti) {center+=p;n++;} + // center*=1./n; + cv::Point3f center(gridSize.width / 2.0f * markerSizeFloat - markerSizeFloat / 2.0f, + gridSize.height / 2.0f * markerSizeFloat - markerSizeFloat / 2.0f, 0.f); + for (auto &ti : TInfo) + for (auto &p : ti.points) + p -= center; + + + return TInfo; +} + +/** + * @brief Dictionary::computeDictionaryDistance + * @param dict + * @return + */ +uint64_t Dictionary::computeDictionaryDistance(const Dictionary &dict) +{ + auto rotate = [](const cv::Mat &in) + { + cv::Mat out; + in.copyTo(out); + for (int i = 0; i < in.rows; i++) + { + for (int j = 0; j < in.cols; j++) + { + out.at(i, j) = in.at(in.cols - j - 1, i); + } + } + return out; + }; + auto getImage = [](uint64_t tag, int nbits) + { + std::bitset<64> bs(tag); + cv::Mat im(nbits, nbits, CV_8UC1); + int bit = (nbits * nbits) - 1; + for (int i = 0; i < nbits; i++) + for (int j = 0; j < nbits; j++) + im.at(i, j) = bs[bit--]; + return im; + }; + + auto getCode = [](const cv::Mat &in) + { + assert(in.type() == CV_8UC1); + std::bitset<64> bs; + size_t bit = in.total() - 1; + for (int i = 0; i < in.rows; i++) + for (int j = 0; j < in.cols; j++) + bs[bit--] = in.at(i, j); + return bs.to_ullong(); + }; + + + // convert each element into its 4 rorations first + std::vector all_rotations; + + std::vector ids; + // for chilitag + auto code_id2 = dict._code_id; + for (auto tag_id : code_id2) + { + all_rotations.push_back(tag_id.first); + auto m = getImage(tag_id.first, static_cast(sqrt(dict._nbits))); + for (int i = 0; i < 3; i++) + { + m = rotate(m); + all_rotations.push_back(getCode(m)); + ids.push_back(tag_id.second); + } + assert(getCode(rotate(m)) == tag_id.first); + } + + // now, compute minimum distance + std::map > errors; + uint64_t mind = std::numeric_limits::max(); + for (size_t i = 0; i < all_rotations.size(); i++) + { + for (size_t j = 0; j < all_rotations.size(); j++) + { + if (i != j) + { + auto d = bitset<64>(all_rotations[i] ^ all_rotations[j]).count(); + if (d == 0) + { + if (errors[ids[i]].count(ids[j]) == 0) + { + cerr << " Dictionary::computeDictionaryDistance ERROR IN YOUR DICT!!!!!" << endl; + if (ids[i] == ids[j]) + { + cerr << "marker " << ids[i] + << " can be confused with one of its rotations. It is imposible to determine properly its rotation. You should remove this marker from the dictionary" + << endl; + } + else + { + cerr << "marker " << ids[i] << " and " << ids[j] + << " can be confused. It is imposible to determine distinguish them . You should remove any of this marker from the dictionary" + << endl; + } + errors[ids[i]].insert(ids[j]); + errors[ids[j]].insert(ids[i]); + } + } + mind = std::min(mind, uint64_t(d)); + } + } + } + return mind; +} + +}; // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/dictionary_based.cpp b/legacy/aruco_ros/aruco/src/aruco/dictionary_based.cpp new file mode 100755 index 000000000..67ed69d94 --- /dev/null +++ b/legacy/aruco_ros/aruco/src/aruco/dictionary_based.cpp @@ -0,0 +1,309 @@ +/** +Copyright 2017 Rafael Muñoz Salinas. All rights reserved. + +Redistribution and use in source and binary forms, with or without modification, are +permitted provided that the following conditions are met: + + 1. Redistributions of source code must retain the above copyright notice, this list of + conditions and the following disclaimer. + + 2. Redistributions in binary form must reproduce the above copyright notice, this list + of conditions and the following disclaimer in the documentation and/or other +materials provided with the distribution. + +THIS SOFTWARE IS PROVIDED BY Rafael Muñoz Salinas ''AS IS'' AND ANY EXPRESS OR IMPLIED +WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND +FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Rafael Muñoz Salinas OR +CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON +ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING +NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF +ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + +The views and conclusions contained in the software and documentation are those of the +authors and should not be interpreted as representing official policies, either expressed +or implied, of Rafael Muñoz Salinas. +*/ + +#include "dictionary_based.h" + +#include +#include +#include +#include "aruco_cvversioning.h" +namespace aruco +{ +void DictionaryBased::setParams(const Dictionary& dic, float max_correction_rate) +{ + _nsubdivisions = sqrt(dic.nbits()) + 2; + nbits_dict.clear(); + dicttypename = dic.getName(); + if (dic.getType() == Dictionary::ALL_DICTS) + { + for (auto& dt : Dictionary::getDicTypes()) + if (dt != "ALL_DICTS" && dt != "CUSTOM") + vdic.push_back(Dictionary ::loadPredefined(dt)); + } + else + vdic.push_back(dic); + + // + for (auto& dic : vdic) + nbits_dict[dic.nbits()].push_back(&dic); + + _max_correction_rate = std::max(0.f, std::min(1.0f, max_correction_rate)); +} + +std::string DictionaryBased::getName() const +{ + return dicttypename; +} + +void DictionaryBased::toMat(uint64_t code, int nbits_sq, cv::Mat& out) +{ + out.create(nbits_sq, nbits_sq, CV_8UC1); + std::bitset<64> bs(code); + int curbit = 0; + for (int r = 0; r < nbits_sq; r++) + { + uchar* pr = out.ptr(r); + for (int c = 0; c < nbits_sq; c++) + pr[c] = bs[curbit]; + } +} + +int hamm_distance(uint64_t a, uint64_t b) +{ + return static_cast(std::bitset<64>(a ^ b).count()); +} + +bool DictionaryBased::detect(const cv::Mat& in, int& marker_id, int& nRotations, + std::string& additionalInfo) +{ + assert(in.rows == in.cols); + + cv::Mat grey; + if (in.type() == CV_8UC1) + grey = in; + else + cv::cvtColor(in, grey, CV_BGR2GRAY); + // threshold image + cv::threshold(grey, grey, 125, 255, cv::THRESH_BINARY | cv::THRESH_OTSU); + + + std::map > nbits_ids; + // for each + for (auto& bitsids : nbits_dict) + { + int nbits = bitsids.first; + std::vector ids; + getInnerCode(grey, nbits, ids); + if (ids.size() > 0) + { + if (ids[0] != 0) + { + nbits_ids[nbits] = ids; + } + } + } + // how many are there? + + if (nbits_ids.size() == 0) + return false; + // check if any dictionary recognizes it + for (auto nbits : nbits_ids) + { + const auto& ids = nbits.second; + // check in every dictionary + for (auto& dic : nbits_dict[nbits.first]) + { + // try a perfecf match + for (int rot = 0; rot < 4; rot++) + if (dic->is(ids[rot])) + { + // std::cout<<"MATCH:"<getName()<<" "<at(ids[rot]); + additionalInfo = dic->getName(); + return true; + } + + // try with some error/correction if allowed + if (_max_correction_rate > 0) + { // find distance to map elements + int _maxCorrectionAllowed = + static_cast(static_cast(dic->tau()) * _max_correction_rate); + + int min_dist = 100000000; + bool found = false; + for (auto ci : dic->getMapCode()) + { + for (int i = 0; i < 4; i++) + { + int curr_dist = hamm_distance(ci.first, ids[i]); + if (curr_dist < _maxCorrectionAllowed && curr_dist < min_dist) + { + found = true; + min_dist = curr_dist; + marker_id = ci.second; + nRotations = i; + additionalInfo = dic->getName(); + } + } + } + return found; + } + } + } + + + return false; +} + + +bool DictionaryBased::getInnerCode(const cv::Mat& thres_img, int total_nbits, + std::vector& ids) +{ + int bits_noborder = static_cast(std::sqrt(total_nbits)); + int bits_withborder = bits_noborder + 2; + // Markers are divided in (bits_a+2)x(bits_a+2) regions, of which the inner + // bits_axbits_a belongs to marker info the external border shoould be entirely black + cv::Mat nonZeros(bits_withborder, bits_withborder, CV_32SC1); + cv::Mat nValues(bits_withborder, bits_withborder, CV_32SC1); + nonZeros.setTo(cv::Scalar::all(0)); + nValues.setTo(cv::Scalar::all(0)); + for (int y = 0; y < thres_img.rows; y++) + { + const uchar* ptr = thres_img.ptr(y); + int my = float(bits_withborder) * float(y) / float(thres_img.rows); + for (int x = 0; x < thres_img.cols; x++) + { + int mx = float(bits_withborder) * float(x) / float(thres_img.cols); + if (ptr[x] > 125) + nonZeros.at(my, mx)++; + nValues.at(my, mx)++; + } + } + cv::Mat binaryCode(bits_withborder, bits_withborder, CV_8UC1); + // now, make the theshold + for (int y = 0; y < bits_withborder; y++) + for (int x = 0; x < bits_withborder; x++) + { + if (nonZeros.at(y, x) > nValues.at(y, x) / 2) + binaryCode.at(y, x) = 1; + else + binaryCode.at(y, x) = 0; + } + + // check if border is completely black + for (int y = 0; y < bits_withborder; y++) + { + int inc = bits_withborder - 1; + if (y == 0 || y == bits_withborder - 1) + inc = 1; // for first and last row, check the whole border + for (int x = 0; x < bits_withborder; x += inc) + if (binaryCode.at(y, x) != 0) + return false; + } + + // take the inner code + + cv::Mat _bits(bits_noborder, bits_noborder, CV_8UC1); + for (int y = 0; y < bits_noborder; y++) + for (int x = 0; x < bits_noborder; x++) + _bits.at(y, x) = binaryCode.at(y + 1, x + 1); + + // now, get the 64bits ids + + int nr = 0; + do + { + ids.push_back(touulong(_bits)); + _bits = rotate(_bits); + nr++; + } while (nr < 4); + return true; +} + + +// bool DictionaryBased::getInnerCode(const cv::Mat& thres_img, int total_nbits, +// std::vector& ids) +// { +// auto toInt=[](float v){return int(v+0.5);}; +// int bits_a = static_cast(std::sqrt(total_nbits)); +// int bits_a2 = bits_a + 2; +// // Markers are divided in (bits_a+2)x(bits_a+2) regions, of which the inner +// bits_axbits_a belongs to marker +// // info +// // the external border shoould be entirely black + +// float swidth = float(thres_img.rows) / float(bits_a2); +// for (int y = 0; y < bits_a2; y++) +// { +// int inc = bits_a2 - 1; +// if (y == 0 || y == bits_a2 - 1) +// inc = 1; // for first and last row, check the whole border +// for (int x = 0; x < bits_a2; x += inc) +// { +// cv::Mat square = thres_img(cv::Rect( toInt(float(x) * swidth ), toInt(float(y) +// * swidth), swidth, swidth)); if (cv::countNonZero(square) > (swidth * swidth) / 2) +// return false; // can not be a marker because the border element is not black! +// } +// } + +// // now, +// // get information(for each inner square, determine if it is black or white) + +// // now, +// cv::Mat _bits = cv::Mat::zeros(bits_a, bits_a, CV_8UC1); +// // get information(for each inner square, determine if it is black or white) + +// for (int y = 0; y < bits_a; y++) +// { +// for (int x = 0; x < bits_a; x++) +// { +// int Xstart = toInt(float(x + 1) * swidth); +// int Ystart = toInt(float(y + 1) * swidth); +// cv::Mat square = thres_img(cv::Rect(Xstart, Ystart, swidth, swidth)); +// int nZ = cv::countNonZero(square); +// if (nZ > (swidth * swidth) / 2) +// _bits.at(y, x) = 1; +// } +// } +// // now, get the 64bits ids + +// int nr = 0; +// do +// { +// ids.push_back(touulong(_bits)); +// _bits = rotate(_bits); +// nr++; +// } while (nr < 4); +// return true; +// } + +// convert matrix of (0,1)s in a 64 bit value +uint64_t DictionaryBased::touulong(const cv::Mat& code) +{ + std::bitset<64> bits; + int bidx = 0; + for (int y = code.rows - 1; y >= 0; y--) + for (int x = code.cols - 1; x >= 0; x--) + bits[bidx++] = code.at(y, x); + return bits.to_ullong(); +} +cv::Mat DictionaryBased::rotate(const cv::Mat& in) +{ + cv::Mat out; + in.copyTo(out); + for (int i = 0; i < in.rows; i++) + { + for (int j = 0; j < in.cols; j++) + { + out.at(i, j) = in.at(in.cols - j - 1, i); + } + } + return out; +} +} // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/fractaldetector.cpp b/legacy/aruco_ros/aruco/src/aruco/fractaldetector.cpp new file mode 100755 index 000000000..56db5a135 --- /dev/null +++ b/legacy/aruco_ros/aruco/src/aruco/fractaldetector.cpp @@ -0,0 +1,185 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ +#include "fractaldetector.h" +#include "opencv2/calib3d/calib3d.hpp" +#include "cvdrawingutils.h" +#include +#include "aruco_cvversioning.h" + +namespace aruco +{ +FractalDetector::FractalDetector() +{ + _markerDetector = new MarkerDetector(); + MarkerDetector::Params p; + p.markerWarpPixSize = 10; + _markerDetector->setParameters(p); +}; + +void FractalDetector::setConfiguration(int params) +{ + _fractalLabeler = FractalMarkerLabeler::create((FractalMarkerSet::CONF_TYPES)params); + _params.configuration_type = + FractalMarkerSet::getTypeString((FractalMarkerSet::CONF_TYPES)params); + _markerDetector->setMarkerLabeler(_fractalLabeler); +} + +void FractalDetector::setConfiguration(std::string params) +{ + _params.configuration_type = params; + _fractalLabeler = FractalMarkerLabeler::create(params); + _markerDetector->setMarkerLabeler(_fractalLabeler); +} + +void FractalDetector::drawMarkers(cv::Mat &img) +{ + float size = std::max(1., float(img.cols) / 1280.); + for (auto m : Markers) + m.draw(img, cv::Scalar(0, 0, 255), size, false); +} + +void FractalDetector::draw2d(cv::Mat &img) +{ + if (Markers.size() > 0) + { + std::map id_fmarker = + _fractalLabeler->_fractalMarkerSet.fractalMarkerCollection; + + std::vector inners; + std::map> id_innerCorners = + _fractalLabeler->_fractalMarkerSet.getInnerCorners(); + for (auto id_innerC : id_innerCorners) + { + std::vector inner3d; + for (auto pt : id_innerC.second) + inners.push_back(cv::Point2f(pt.x, pt.y)); + } + + std::vector points3d; + std::vector points2d; + for (auto m : Markers) + { + for (auto p : id_fmarker[m.id].points) + points3d.push_back(cv::Point2f(p.x, p.y)); + + for (auto p : m) + points2d.push_back(p); + } + + cv::Mat H = cv::findHomography(points3d, points2d); + std::vector dstPnt; + cv::perspectiveTransform(inners, dstPnt, H); + + float size = std::max(1., float(img.cols) / 1280.); + for (auto p : dstPnt) + cv::circle(img, p, size, cv::Scalar(0, 0, 255), CV_FILLED); + } +} + +void FractalDetector::draw3d(cv::Mat &img, bool cube, bool axis) +{ + if (Tracker.isPoseValid()) + { + cv::Mat rot; + cv::Rodrigues(Tracker.getRvec(), rot); + + std::vector innerPoints3d; + for (auto pt : Tracker.getInner3d()) + { + cv::Mat_ src(3, 1, rot.type()); + src(0, 0) = pt.x; + src(1, 0) = pt.y; + src(2, 0) = pt.z; + + cv::Mat cam_image_point = rot * src + Tracker.getTvec(); + cam_image_point = cam_image_point / cv::norm(cam_image_point); + + if (cam_image_point.at(2, 0) > 0.85) + innerPoints3d.push_back(pt); + } + // Draw inner points + if (innerPoints3d.size() > 0) + { + std::vector innerPoints; + projectPoints(innerPoints3d, Tracker.getRvec(), Tracker.getTvec(), + _cam_params.CameraMatrix, _cam_params.Distorsion, innerPoints); + for (auto p : innerPoints) + circle(img, p, 3, cv::Scalar(0, 0, 255), CV_FILLED); + } + // Draw cube + if (cube) + { + std::map id_fmarker = Tracker.getFractal().fractalMarkerCollection; + for (auto m : Markers) + draw3dCube(img, id_fmarker[m.id], _cam_params, 2); + } + + // Draw axes + if (axis) + CvDrawingUtils::draw3dAxis(img, _cam_params, getRvec(), getTvec(), + Tracker.getFractal().getFractalSize() / 2); + } +} + +void FractalDetector::draw3dCube(cv::Mat &Image, FractalMarker m, + const CameraParameters &CP, int lineSize) +{ + cv::Mat objectPoints(8, 3, CV_32FC1); + + float msize = m.getMarkerSize(); + float halfSize = msize / 2; + + objectPoints.at(0, 0) = -halfSize; + objectPoints.at(0, 1) = -halfSize; + objectPoints.at(0, 2) = 0; + objectPoints.at(1, 0) = halfSize; + objectPoints.at(1, 1) = -halfSize; + objectPoints.at(1, 2) = 0; + objectPoints.at(2, 0) = halfSize; + objectPoints.at(2, 1) = halfSize; + objectPoints.at(2, 2) = 0; + objectPoints.at(3, 0) = -halfSize; + objectPoints.at(3, 1) = halfSize; + objectPoints.at(3, 2) = 0; + + objectPoints.at(4, 0) = -halfSize; + objectPoints.at(4, 1) = -halfSize; + objectPoints.at(4, 2) = msize; + objectPoints.at(5, 0) = halfSize; + objectPoints.at(5, 1) = -halfSize; + objectPoints.at(5, 2) = msize; + objectPoints.at(6, 0) = halfSize; + objectPoints.at(6, 1) = halfSize; + objectPoints.at(6, 2) = msize; + objectPoints.at(7, 0) = -halfSize; + objectPoints.at(7, 1) = halfSize; + objectPoints.at(7, 2) = msize; + + + std::vector imagePoints; + projectPoints(objectPoints, getRvec(), getTvec(), CP.CameraMatrix, CP.Distorsion, imagePoints); + + for (int i = 0; i < 4; i++) + cv::line(Image, imagePoints[i], imagePoints[(i + 1) % 4], cv::Scalar(0, 0, 255, 255), lineSize); + + for (int i = 0; i < 4; i++) + cv::line(Image, imagePoints[i + 4], imagePoints[4 + (i + 1) % 4], + cv::Scalar(0, 0, 255, 255), lineSize); + + for (int i = 0; i < 4; i++) + cv::line(Image, imagePoints[i], imagePoints[i + 4], cv::Scalar(0, 0, 255, 255), lineSize); +} +}; // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/fractallabelers/fractallabeler.cpp b/legacy/aruco_ros/aruco/src/aruco/fractallabelers/fractallabeler.cpp new file mode 100755 index 000000000..dd0b8be48 --- /dev/null +++ b/legacy/aruco_ros/aruco/src/aruco/fractallabelers/fractallabeler.cpp @@ -0,0 +1,145 @@ +#include "fractallabelers/fractallabeler.h" + +#include "aruco_cvversioning.h" +namespace aruco +{ + +void FractalMarkerLabeler::setConfiguration(const FractalMarkerSet& fractMarkerSet) +{ + _fractalMarkerSet = fractMarkerSet; +} + +bool FractalMarkerLabeler::detect(const cv::Mat& in, int& marker_id, int& nRotations, + std::string& additionalInfo) +{ + assert(in.rows == in.cols); + cv::Mat grey; + if (in.type() == CV_8UC1) + grey = in; + else + cv::cvtColor(in, grey, CV_BGR2GRAY); + // threshold image + cv::threshold(grey, grey, 125, 255, cv::THRESH_BINARY | cv::THRESH_OTSU); + + std::map > nbits_innerCodes; + + for (auto bitsids : _fractalMarkerSet.nbits_fractalMarkerIDs) + { + int nbits = bitsids.first; + std::vector innerCodes; + getInnerCode(grey, nbits, innerCodes); + + if (innerCodes.size() > 0) + { + if (sum(innerCodes[0])[0] != 0) + { + nbits_innerCodes[nbits] = innerCodes; + } + } + } + + if (nbits_innerCodes.size() == 0) + return false; + + // check if any dictionary recognizes it + for (auto bit_innerCodes : nbits_innerCodes) + { + uint32_t nb = bit_innerCodes.first; + auto innerCodes = bit_innerCodes.second; + + for (int i = 0; i < 4; i++) + { + if (_fractalMarkerSet.isFractalMarker(innerCodes[i], nb, marker_id)) + { + // is in the set? + nRotations = i; // how many rotations are and its id + return true; // bye bye + } + } + } + return false; +} + + +std::string FractalMarkerLabeler::getName() const +{ + return "fractal"; + ; +} + +bool FractalMarkerLabeler::getInnerCode(const cv::Mat& thres_img, int total_nbits, + std::vector& innerCodes) +{ + int bits_noborder = static_cast(std::sqrt(total_nbits)); + int bits_withborder = bits_noborder + 2; + // Markers are divided in (bits_a+2)x(bits_a+2) regions, of which the inner + // bits_axbits_a belongs to marker info the external border shoould be entirely black + cv::Mat nonZeros(bits_withborder, bits_withborder, CV_32SC1); + cv::Mat nValues(bits_withborder, bits_withborder, CV_32SC1); + nonZeros.setTo(cv::Scalar::all(0)); + nValues.setTo(cv::Scalar::all(0)); + for (int y = 0; y < thres_img.rows; y++) + { + const uchar* ptr = thres_img.ptr(y); + int my = float(bits_withborder) * float(y) / float(thres_img.rows); + for (int x = 0; x < thres_img.cols; x++) + { + int mx = float(bits_withborder) * float(x) / float(thres_img.cols); + if (ptr[x] > 125) + nonZeros.at(my, mx)++; + nValues.at(my, mx)++; + } + } + cv::Mat binaryCode(bits_withborder, bits_withborder, CV_8UC1); + // now, make the theshold + for (int y = 0; y < bits_withborder; y++) + for (int x = 0; x < bits_withborder; x++) + { + if (nonZeros.at(y, x) > nValues.at(y, x) / 2) + binaryCode.at(y, x) = 1; + else + binaryCode.at(y, x) = 0; + } + + // check if border is completely black + for (int y = 0; y < bits_withborder; y++) + { + int inc = bits_withborder - 1; + if (y == 0 || y == bits_withborder - 1) + inc = 1; // for first and last row, check the whole border + for (int x = 0; x < bits_withborder; x += inc) + if (binaryCode.at(y, x) != 0) + return false; + } + + // take the inner code + cv::Mat _bits(bits_noborder, bits_noborder, CV_8UC1); + for (int y = 0; y < bits_noborder; y++) + for (int x = 0; x < bits_noborder; x++) + _bits.at(y, x) = binaryCode.at(y + 1, x + 1); + + // now, get the 64bits ids + int nr = 0; + do + { + innerCodes.push_back(_bits); + _bits = rotate(_bits); + nr++; + } while (nr < 4); + return true; +} + +cv::Mat FractalMarkerLabeler::rotate(const cv::Mat& in) +{ + cv::Mat out; + in.copyTo(out); + for (int i = 0; i < in.rows; i++) + { + for (int j = 0; j < in.cols; j++) + { + out.at(i, j) = in.at(in.cols - j - 1, i); + } + } + return out; +} +} // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/fractallabelers/fractalmarker.cpp b/legacy/aruco_ros/aruco/src/aruco/fractallabelers/fractalmarker.cpp new file mode 100755 index 000000000..aafd78a0f --- /dev/null +++ b/legacy/aruco_ros/aruco/src/aruco/fractallabelers/fractalmarker.cpp @@ -0,0 +1,76 @@ +#include "fractallabelers/fractalmarker.h" + +#include + + +namespace aruco +{ +FractalMarker::FractalMarker() +{ +} + +FractalMarker::FractalMarker(int id, cv::Mat m, std::vector corners, + std::vector id_submarkers) +{ + this->id = id; + this->_M = m; + for (auto p : corners) + push_back(p); + + _submarkers = id_submarkers; + _mask = cv::Mat::ones(m.size(), CV_8UC1); +} + +void FractalMarker::addSubFractalMarker(FractalMarker submarker) +{ + float bitSize = (at(1).x - at(0).x) / int(mat().cols + 2); + float nsubBits = (submarker.at(1).x - submarker.at(0).x) / bitSize; + + int x_min = int(round(submarker[0].x / bitSize + mat().cols / 2)); + int x_max = x_min + nsubBits; + int y_min = int(round(-submarker[0].y / bitSize + mat().cols / 2)); + int y_max = y_min + nsubBits; + + for (int y = y_min; y < y_max; y++) + { + for (int x = x_min; x < x_max; x++) + { + _mask.at(y, x) = 0; + } + } +} + +std::vector FractalMarker::findInnerCorners() +{ + int nBitsSquared = int(sqrt(mat().total())); + float bitSize = getMarkerSize() / (nBitsSquared + 2); + + // Set submarker pixels (=1) and add border + cv::Mat marker; + mat().copyTo(marker); + marker += -1 * (mask() - 1); + cv::Mat markerBorder; + copyMakeBorder(marker, markerBorder, 1, 1, 1, 1, cv::BORDER_CONSTANT, 0); + + // Get inner corners + std::vector innerCorners; + for (int y = 0; y < markerBorder.rows - 1; y++) + { + for (int x = 0; x < markerBorder.cols - 1; x++) + { + if (((markerBorder.at(y, x) == markerBorder.at(y + 1, x + 1)) && + (markerBorder.at(y, x) != markerBorder.at(y, x + 1) || + markerBorder.at(y, x) != markerBorder.at(y + 1, x))) + + || + + ((markerBorder.at(y, x + 1) == markerBorder.at(y + 1, x)) && + (markerBorder.at(y, x + 1) != markerBorder.at(y, x) || + markerBorder.at(y, x + 1) != markerBorder.at(y + 1, x + 1)))) + innerCorners.push_back( + cv::Point3f(x - nBitsSquared / 2.f, -(y - nBitsSquared / 2.f), 0) * bitSize); + } + } + return innerCorners; +} +} // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/fractallabelers/fractalmarkerset.cpp b/legacy/aruco_ros/aruco/src/aruco/fractallabelers/fractalmarkerset.cpp new file mode 100755 index 000000000..75f1f1cd1 --- /dev/null +++ b/legacy/aruco_ros/aruco/src/aruco/fractallabelers/fractalmarkerset.cpp @@ -0,0 +1,866 @@ +#include "fractallabelers/fractalmarkerset.h" +#include +#include + +namespace aruco +{ + +FractalMarkerSet FractalMarkerSet::load(std::string info) +{ + if (isPredefinedConfigurationString(info)) + return loadPredefined(info); + else + return readFromFile(info); +} + +FractalMarkerSet FractalMarkerSet::loadPredefined(std::string type) +{ + return loadPredefined(getTypeFromString(type)); +} + +FractalMarkerSet FractalMarkerSet::loadPredefined(CONF_TYPES type) +{ + FractalMarkerSet fms; + + switch (type) + { + case FRACTAL_2L_6: + { + unsigned char _conf_2L_6[] = { + 0x02, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x64, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xbf, 0x00, 0x00, + 0x80, 0x3f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x3f, 0x00, 0x00, 0x80, + 0x3f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x3f, 0x00, 0x00, 0x80, 0xbf, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xbf, 0x00, 0x00, 0x80, 0xbf, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, + 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, 0x01, + 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, + 0x00, 0x01, 0x01, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, + 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, + 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x01, 0x01, 0x00, 0x01, 0x01, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x01, + 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x24, 0x00, + 0x00, 0x00, 0xab, 0xaa, 0xaa, 0xbe, 0xab, 0xaa, 0xaa, 0x3e, 0x00, 0x00, 0x00, + 0x00, 0xab, 0xaa, 0xaa, 0x3e, 0xab, 0xaa, 0xaa, 0x3e, 0x00, 0x00, 0x00, 0x00, + 0xab, 0xaa, 0xaa, 0x3e, 0xab, 0xaa, 0xaa, 0xbe, 0x00, 0x00, 0x00, 0x00, 0xab, + 0xaa, 0xaa, 0xbe, 0xab, 0xaa, 0xaa, 0xbe, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, + 0x00, 0x01, 0x01, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x01, + 0x00, 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00 + }; + unsigned int _conf_2L_6_len = 272; + + std::stringstream stream; + stream.write((char *)_conf_2L_6, sizeof(unsigned char) * _conf_2L_6_len); + _fromStream(fms, stream); + } + break; + case FRACTAL_3L_6: + { + unsigned char _conf_3L_6[] = { + 0x02, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x90, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xbf, 0x00, 0x00, + 0x80, 0x3f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x3f, 0x00, 0x00, 0x80, + 0x3f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x3f, 0x00, 0x00, 0x80, 0xbf, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xbf, 0x00, 0x00, 0x80, 0xbf, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x01, 0x01, 0x00, 0x00, + 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x01, 0x01, 0x00, + 0x01, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, + 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, + 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x01, 0x01, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x01, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x00, 0x01, 0x01, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, + 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 0x01, 0x00, 0x01, 0x01, 0x01, 0x00, 0x01, + 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x01, 0x01, 0x00, 0x01, 0x01, 0x00, 0x01, + 0x00, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, + 0x00, 0x00, 0x00, 0x64, 0x00, 0x00, 0x00, 0xb7, 0x6d, 0xdb, 0xbe, 0xb7, 0x6d, + 0xdb, 0x3e, 0x00, 0x00, 0x00, 0x00, 0xb7, 0x6d, 0xdb, 0x3e, 0xb7, 0x6d, 0xdb, + 0x3e, 0x00, 0x00, 0x00, 0x00, 0xb7, 0x6d, 0xdb, 0x3e, 0xb7, 0x6d, 0xdb, 0xbe, + 0x00, 0x00, 0x00, 0x00, 0xb7, 0x6d, 0xdb, 0xbe, 0xb7, 0x6d, 0xdb, 0xbe, 0x00, + 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, + 0x00, 0x01, 0x00, 0x01, 0x01, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01, + 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, + 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, + 0x01, 0x01, 0x01, 0x00, 0x00, 0x01, 0x00, 0x01, 0x01, 0x00, 0x00, 0x01, 0x01, + 0x01, 0x01, 0x01, 0x00, 0x01, 0x01, 0x01, 0x00, 0x01, 0x01, 0x01, 0x00, 0x01, + 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x24, 0x00, + 0x00, 0x00, 0x25, 0x49, 0x12, 0xbe, 0x25, 0x49, 0x12, 0x3e, 0x00, 0x00, 0x00, + 0x00, 0x25, 0x49, 0x12, 0x3e, 0x25, 0x49, 0x12, 0x3e, 0x00, 0x00, 0x00, 0x00, + 0x25, 0x49, 0x12, 0x3e, 0x25, 0x49, 0x12, 0xbe, 0x00, 0x00, 0x00, 0x00, 0x25, + 0x49, 0x12, 0xbe, 0x25, 0x49, 0x12, 0xbe, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x01, 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x01, + 0x00, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 + }; + unsigned int _conf_3L_6_len = 480; + + std::stringstream stream; + stream.write((char *)_conf_3L_6, sizeof(unsigned char) * _conf_3L_6_len); + _fromStream(fms, stream); + } + break; + case FRACTAL_4L_6: + { + unsigned char _conf_4L_6[] = { + 0x02, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0xa9, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xbf, 0x00, 0x00, + 0x80, 0x3f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x3f, 0x00, 0x00, 0x80, + 0x3f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x3f, 0x00, 0x00, 0x80, 0xbf, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xbf, 0x00, 0x00, 0x80, 0xbf, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x01, 0x00, + 0x01, 0x01, 0x00, 0x01, 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01, + 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, + 0x01, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x01, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x01, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x01, 0x00, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x01, 0x01, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x01, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x01, 0x00, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, + 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, 0x01, 0x01, 0x00, 0x01, 0x00, 0x01, 0x00, + 0x01, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, + 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, + 0x00, 0x00, 0x90, 0x00, 0x00, 0x00, 0xef, 0xee, 0xee, 0xbe, 0xef, 0xee, 0xee, + 0x3e, 0x00, 0x00, 0x00, 0x00, 0xef, 0xee, 0xee, 0x3e, 0xef, 0xee, 0xee, 0x3e, + 0x00, 0x00, 0x00, 0x00, 0xef, 0xee, 0xee, 0x3e, 0xef, 0xee, 0xee, 0xbe, 0x00, + 0x00, 0x00, 0x00, 0xef, 0xee, 0xee, 0xbe, 0xef, 0xee, 0xee, 0xbe, 0x00, 0x00, + 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x00, 0x00, 0x01, 0x01, + 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, + 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x01, 0x00, 0x01, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, + 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x01, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, + 0x01, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x02, 0x00, + 0x00, 0x00, 0x64, 0x00, 0x00, 0x00, 0xcd, 0xcc, 0x4c, 0xbe, 0xcd, 0xcc, 0x4c, + 0x3e, 0x00, 0x00, 0x00, 0x00, 0xcd, 0xcc, 0x4c, 0x3e, 0xcd, 0xcc, 0x4c, 0x3e, + 0x00, 0x00, 0x00, 0x00, 0xcd, 0xcc, 0x4c, 0x3e, 0xcd, 0xcc, 0x4c, 0xbe, 0x00, + 0x00, 0x00, 0x00, 0xcd, 0xcc, 0x4c, 0xbe, 0xcd, 0xcc, 0x4c, 0xbe, 0x00, 0x00, + 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x01, 0x01, 0x00, 0x01, 0x00, 0x01, + 0x01, 0x01, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x01, 0x01, 0x00, 0x01, 0x01, + 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x01, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, + 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x01, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x01, + 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 0x01, 0x01, 0x01, 0x00, 0x00, 0x01, + 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, 0x01, 0x00, 0x01, 0x01, 0x00, + 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, + 0x00, 0x89, 0x88, 0x88, 0xbd, 0x89, 0x88, 0x88, 0x3d, 0x00, 0x00, 0x00, 0x00, + 0x89, 0x88, 0x88, 0x3d, 0x89, 0x88, 0x88, 0x3d, 0x00, 0x00, 0x00, 0x00, 0x89, + 0x88, 0x88, 0x3d, 0x89, 0x88, 0x88, 0xbd, 0x00, 0x00, 0x00, 0x00, 0x89, 0x88, + 0x88, 0xbd, 0x89, 0x88, 0x88, 0xbd, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, + 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x01, 0x01, + 0x01, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x01, 0x00, 0x01, 0x01, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00 + }; + unsigned int _conf_4L_6_len = 713; + + std::stringstream stream; + stream.write((char *)_conf_4L_6, sizeof(unsigned char) * _conf_4L_6_len); + _fromStream(fms, stream); + } + break; + case FRACTAL_5L_6: + { + unsigned char _conf_5L_6[] = { + 0x02, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x79, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xbf, 0x00, 0x00, + 0x80, 0x3f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x3f, 0x00, 0x00, 0x80, + 0x3f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x3f, 0x00, 0x00, 0x80, 0xbf, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xbf, 0x00, 0x00, 0x80, 0xbf, 0x00, + 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 0x01, 0x01, 0x00, + 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x01, 0x00, 0x00, + 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x01, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x01, 0x01, 0x00, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, + 0x00, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, + 0x00, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, 0x00, 0x01, + 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x01, 0x01, + 0x00, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, + 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xa9, 0x00, 0x00, 0x00, 0x4f, 0xec, 0xc4, + 0xbe, 0x4f, 0xec, 0xc4, 0x3e, 0x00, 0x00, 0x00, 0x00, 0x4f, 0xec, 0xc4, 0x3e, + 0x4f, 0xec, 0xc4, 0x3e, 0x00, 0x00, 0x00, 0x00, 0x4f, 0xec, 0xc4, 0x3e, 0x4f, + 0xec, 0xc4, 0xbe, 0x00, 0x00, 0x00, 0x00, 0x4f, 0xec, 0xc4, 0xbe, 0x4f, 0xec, + 0xc4, 0xbe, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x00, 0x01, 0x01, 0x00, + 0x00, 0x00, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x01, + 0x00, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, + 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, + 0x00, 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0x00, 0x00, 0x00, 0x00, 0x01, 0x00, + 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, + 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x01, + 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x00, 0x00, 0x01, 0x01, + 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, 0x01, 0x00, 0x01, + 0x00, 0x01, 0x00, 0x00, 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, 0x01, 0x00, 0x00, + 0x01, 0x01, 0x00, 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, + 0x00, 0x03, 0x00, 0x00, 0x00, 0x64, 0x00, 0x00, 0x00, 0xd9, 0x89, 0x9d, 0xbd, + 0xd9, 0x89, 0x9d, 0x3d, 0x00, 0x00, 0x00, 0x00, 0xd9, 0x89, 0x9d, 0x3d, 0xd9, + 0x89, 0x9d, 0x3d, 0x00, 0x00, 0x00, 0x00, 0xd9, 0x89, 0x9d, 0x3d, 0xd9, 0x89, + 0x9d, 0xbd, 0x00, 0x00, 0x00, 0x00, 0xd9, 0x89, 0x9d, 0xbd, 0xd9, 0x89, 0x9d, + 0xbd, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x01, 0x00, 0x01, 0x01, + 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, + 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, + 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x01, 0x01, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, + 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x01, 0x01, + 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x00, + 0x01, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x24, 0x00, 0x00, 0x00, 0x21, 0x0d, 0xd2, 0xbc, 0x21, 0x0d, 0xd2, 0x3c, 0x00, + 0x00, 0x00, 0x00, 0x21, 0x0d, 0xd2, 0x3c, 0x21, 0x0d, 0xd2, 0x3c, 0x00, 0x00, + 0x00, 0x00, 0x21, 0x0d, 0xd2, 0x3c, 0x21, 0x0d, 0xd2, 0xbc, 0x00, 0x00, 0x00, + 0x00, 0x21, 0x0d, 0xd2, 0xbc, 0x21, 0x0d, 0xd2, 0xbc, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x01, 0x01, + 0x01, 0x00, 0x01, 0x00, 0x01, 0x01, 0x00, 0x01, 0x00, 0x01, 0x01, 0x01, 0x00, + 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00 + }; + unsigned int _conf_5L_6_len = 898; + + std::stringstream stream; + stream.write((char *)_conf_5L_6, sizeof(unsigned char) * _conf_5L_6_len); + _fromStream(fms, stream); + } + break; + case CUSTOM: + throw cv::Exception(-1, "CUSTOM type is only set by loading from file", + "FractalMarkerSet::loadPredefined", "fractalmarkerset.h", -1); + break; + + default: + throw cv::Exception(9001, "Invalid Dictionary type requested", + "Dictionary::loadPredefined", __FILE__, __LINE__); + } + return fms; +} + +bool FractalMarkerSet::isPredefinedConfigurationString(std::string str) +{ + return getTypeFromString(str) != CUSTOM; +} + +std::string FractalMarkerSet::getTypeString(CONF_TYPES t) +{ + switch (t) + { + case FRACTAL_2L_6: + return "FRACTAL_2L_6"; + case FRACTAL_3L_6: + return "FRACTAL_3L_6"; + case FRACTAL_4L_6: + return "FRACTAL_4L_6"; + case FRACTAL_5L_6: + return "FRACTAL_5L_6"; + case CUSTOM: + return "CUSTOM"; + }; + return "Non valid CONF_TYPE"; +} + +FractalMarkerSet::CONF_TYPES FractalMarkerSet::getTypeFromString(std::string str) +{ + if (str == "FRACTAL_2L_6") + return FRACTAL_2L_6; + if (str == "FRACTAL_3L_6") + return FRACTAL_3L_6; + if (str == "FRACTAL_4L_6") + return FRACTAL_4L_6; + if (str == "FRACTAL_5L_6") + return FRACTAL_5L_6; + else + return CUSTOM; +} + +std::vector FractalMarkerSet::getConfigurations() +{ + return { "FRACTAL_2L_6", "FRACTAL_3L_6", "FRACTAL_4L_6", "FRACTAL_5L_6" }; +} + +void FractalMarkerSet::_toStream(FractalMarkerSet &configuration, std::ostream &str) +{ + str.write((char *)&configuration.mInfoType, sizeof(mInfoType)); + str.write((char *)&configuration._nmarkers, sizeof(_nmarkers)); + str.write((char *)&configuration._idExternal, sizeof(_idExternal)); + + for (auto fractal : configuration.fractalMarkerCollection) + { + // ID + int id = fractal.first; + str.write((char *)&id, sizeof(id)); + // NBITS + int nbits = fractal.second.nBits(); + str.write((char *)&nbits, sizeof(nbits)); + // CORNERS + std::vector corners = fractal.second.points; + str.write((char *)&corners[0], sizeof(cv::Point3f) * 4); + // MAT + cv::Mat mat = fractal.second.mat(); + str.write((char *)mat.data, mat.elemSize() * mat.total()); + // SUBMARKERS + std::vector sub = fractal.second.subMarkers(); + int nsub = sub.size(); + str.write((char *)&nsub, sizeof(nsub)); + str.write((char *)&sub[0], sizeof(int) * nsub); + } +} + +void FractalMarkerSet::_fromStream(FractalMarkerSet &configuration, std::istream &str) +{ + str.read((char *)&configuration.mInfoType, sizeof(mInfoType)); + str.read((char *)&configuration._nmarkers, sizeof(_nmarkers)); + str.read((char *)&configuration._idExternal, sizeof(_idExternal)); + + for (int i = 0; i < configuration._nmarkers; i++) + { + // ID + int id; + str.read((char *)&id, sizeof(id)); + // NBITS + int nbits; + str.read((char *)&nbits, sizeof(nbits)); + + // CORNERS + std::vector corners(4); + str.read((char *)&corners[0], sizeof(cv::Point3f) * 4); + // MAT + cv::Mat mat; + mat.create(sqrt(nbits), sqrt(nbits), CV_8UC1); + str.read((char *)mat.data, mat.elemSize() * mat.total()); + // SUBMARKERS + int nsub; + str.read((char *)&nsub, sizeof(nsub)); + std::vector id_submarkers(nsub); + if (nsub > 0) + str.read((char *)&id_submarkers[0], sizeof(int) * nsub); + + FractalMarker fractalMarker = FractalMarker(id, mat, corners, id_submarkers); + configuration.nbits_fractalMarkerIDs[mat.total()].push_back(fractalMarker.id); + configuration.fractalMarkerCollection[fractalMarker.id] = fractalMarker; + } + + // Add subfractals + for (auto &id_marker : configuration.fractalMarkerCollection) + { + FractalMarker &marker = id_marker.second; + for (auto id : id_marker.second.subMarkers()) + marker.addSubFractalMarker(configuration.fractalMarkerCollection[id]); + } +} + +void FractalMarkerSet::create(std::vector> regionsConfig, float pixSize) +{ + if (pixSize == -1) + { + mInfoType = NORM; + pixSize = 1; + } + else + mInfoType = PIX; + + _nmarkers = regionsConfig.size(); + _idExternal = 0; + + std::vector submarkers; + submarkers.clear(); + float pix = 0; + for (int n = regionsConfig.size() - 1; n >= 0; n--) + { + int nVal = regionsConfig[n].first; + int kVal = regionsConfig[n].second; + + cv::Mat mat = configureMat(nVal, kVal); + + pix = (nVal + 2) * pixSize; + std::vector corners = { cv::Point3f(-pix / 2, pix / 2, 0.), + cv::Point3f(pix / 2, pix / 2, 0.), + cv::Point3f(pix / 2, -pix / 2, 0.), + cv::Point3f(-pix / 2, -pix / 2, 0.) }; + + FractalMarker fractal = FractalMarker(n, mat, corners, submarkers); + fractalMarkerCollection[n] = fractal; + submarkers.clear(); + submarkers.push_back(n); + + + float kValSup = regionsConfig[n - 1].second - 2; + float newP = (nVal + 2) / (kValSup); + pixSize = newP * pixSize; + } + + // Normalize corners. Fractal marker: (-1,1,0)(1,1,0)(1,-1,0)(-1,-1,0) + if (isNormalize()) + { + for (auto &m : fractalMarkerCollection) + { + for (auto &c : m.second.points) + { + c.x /= pix / 2; + c.y /= pix / 2; + } + } + } +} + +cv::Mat FractalMarkerSet::configureMat(int nVal, int kVal, int maxIter) +{ + // Pixels to configure (n-k region) + std::vector pixels; + for (int y = 0; y < nVal; y++) + { + for (int x = 0; x < nVal; x++) + { + if ((x <= ((nVal - kVal) / 2) - 1 || x >= kVal + (nVal - kVal) / 2) || + (y <= ((nVal - kVal) / 2) - 1 || y >= kVal + (nVal - kVal) / 2)) + { + pixels.push_back(cv::Point2i(x, y)); + } + } + } + + int dst_mkr = 0; + int dst_set = 0; + + cv::Mat m; + int markerIters = 0; + do + { + std::vector conf_pixels = pixels; + m = cv::Mat::ones(nVal, nVal, CV_8UC1); + + // struct timespec ts; + // clock_gettime(CLOCK_MONOTONIC, &ts); + // srand((time_t)ts.tv_nsec); + + // Random delete half of pixels + int npix = conf_pixels.size() / 2; + for (int i = 0; i < npix; i++) + { + int idxSelected = rand() % conf_pixels.size(); + conf_pixels.erase(conf_pixels.begin() + idxSelected); + } + + // Put the new configuration (0 selected pixels) + for (auto p : conf_pixels) + m.at(p.y, p.x) = 0; + + // Check marker distance to itself + int new_dst_mkr = dstMarker(m); + if (new_dst_mkr > dst_mkr) + { + // Check marker distance to set + int new_dst_set = dstMarkerToFractalDict(m); + if (new_dst_set > dst_set) + { + dst_mkr = new_dst_mkr; + dst_set = new_dst_set; + } + } + } while (markerIters++ < maxIter); + + for (int y = ((nVal - kVal) / 2) + 1; y < kVal + (nVal - kVal) / 2 - 1; y++) + { + for (int x = ((nVal - kVal) / 2) + 1; x < kVal + (nVal - kVal) / 2 - 1; x++) + { + m.at(y, x) = 0; + } + } + + return m; +} + +/* + * Calculate minimum distance between marker 'm' and the 4 rotations of each word in the dictionary + */ +int FractalMarkerSet::dstMarkerToFractalDict(cv::Mat m) +{ + int HDist = m.cols * m.rows; // distancia maxima + int HDistTemp; + + for (auto marker : fractalMarkerCollection) + { + if (marker.second.nBits() == m.total()) + { + HDistTemp = dstMarkerToMarker(marker.second.mat(), m); + + if (HDistTemp == 0) + return 0; + else if (HDistTemp < HDist) + HDist = HDistTemp; + } + } + return HDist; +} + +/* + * Calculate minimum distance between marker1 'm' and the 4 rotations of marker2 'm2' + */ +auto rotate = [](const cv::Mat &m) +{ + cv::Mat out; + m.copyTo(out); + for (int i = 0; i < m.rows; i++) + { + for (int j = 0; j < m.cols; j++) + { + out.at(i, j) = m.at(m.cols - j - 1, i); + } + } + return out; +}; + +int FractalMarkerSet::dstMarker(const cv::Mat m) +{ + int HDist = m.cols * m.rows; // maximum distance + int HDistTemp; + + cv::Mat rot; + m.copyTo(rot); + + + for (int i = 0; i < 3; i++) + { + cv::Mat diff; + rot = rotate(rot); + cv::compare(rot, m, diff, cv::CMP_NE); + HDistTemp = cv::countNonZero(diff); + if (HDistTemp < HDist) + HDist = HDistTemp; + } + return HDist; +} + +int FractalMarkerSet::dstMarkerToMarker(const cv::Mat m1, const cv::Mat m2) +{ + int HDist = m2.cols * m2.rows; // maximum distance + int HDistTemp; + + for (int i = 0; i < 4; i++) + { + cv::Mat diff; + cv::compare(rotate(m2), m1, diff, cv::CMP_NE); + HDistTemp = cv::countNonZero(diff); + if (HDistTemp < HDist) + HDist = HDistTemp; + } + + return HDist; +} + + +FractalMarkerSet FractalMarkerSet::readFromFile(std::string path) +{ + cv::FileStorage fs; + try + { + fs.open(path, cv::FileStorage::READ); + } + catch (std::exception &ex) + { + throw cv::Exception(81818, "FractalMarkerSet::readFromFile", + ex.what() + std::string(" file=)") + path, __FILE__, __LINE__); + } + + FractalMarkerSet configuration; + + fs["mInfoType"] >> configuration.mInfoType; + fs["fractal_levels"] >> configuration._nmarkers; + fs["fractal_external_id"] >> configuration._idExternal; + + cv::FileNode markers = fs["markers"]; + int i = 0; + for (cv::FileNodeIterator it = markers.begin(); it != markers.end(); ++it, i++) + { + int id = (*it)["id"]; + std::vector bits; + + std::vector corners; + std::vector submarkers_id; + + cv::FileNode bitsMarker = (*it)["bits"]; + for (cv::FileNodeIterator itb = bitsMarker.begin(); itb != bitsMarker.end(); ++itb) + { + bits.push_back(*itb); + } + cv::Mat m = cv::Mat(sqrt(bits.size()), sqrt(bits.size()), CV_32SC1); + memcpy(m.data, bits.data(), bits.size() * sizeof(int)); + + m.convertTo(m, CV_8UC1); + + cv::FileNode cornersFractal = (*it)["corners"]; + for (cv::FileNodeIterator itp = cornersFractal.begin(); itp != cornersFractal.end(); ++itp) + { + std::vector coordinates3d; + (*itp) >> coordinates3d; + if (coordinates3d.size() != 3) + throw cv::Exception(81818, "FractalMarkerSet::readFromFile", + "invalid file type 3", __FILE__, __LINE__); + cv::Point3f point(coordinates3d[0], coordinates3d[1], coordinates3d[2]); + corners.push_back(point); + } + + cv::FileNode submarkersID = (*it)["submarkers_id"]; + for (cv::FileNodeIterator itm = submarkersID.begin(); itm != submarkersID.end(); ++itm) + { + submarkers_id.push_back((*itm)); + } + + FractalMarker fractalMarker = FractalMarker(id, m, corners, submarkers_id); + configuration.nbits_fractalMarkerIDs[m.total()].push_back(fractalMarker.id); + configuration.fractalMarkerCollection[fractalMarker.id] = fractalMarker; + } + + // Add subfractals + for (auto &id_marker : configuration.fractalMarkerCollection) + { + FractalMarker &marker = id_marker.second; + for (auto id : id_marker.second.subMarkers()) + marker.addSubFractalMarker(configuration.fractalMarkerCollection[id]); + } + + return configuration; +} + +void FractalMarkerSet::saveToFile(cv::FileStorage &fs) +{ + fs << "codeid" + << "fractalmarkers"; + fs << "mInfoType" << mInfoType; + fs << "fractal_levels" << _nmarkers; + fs << "fractal_external_id" << _idExternal; + fs << "markers" + << "["; + for (auto id_marker : fractalMarkerCollection) + { + FractalMarker marker = id_marker.second; + + fs << "{:" + << "id" << (int)id_marker.first; + + fs << "bits" + << "[:"; + cv::Mat m = marker.mat(); + for (int y = 0; y < m.cols; y++) + for (int x = 0; x < m.rows; x++) + if (m.at(y, x) == 2) + fs << 0; + else + fs << m.at(y, x); + fs << "]"; + + fs << "corners" + << "[:"; + for (auto corner : marker.points) + fs << corner; + fs << "]"; + + fs << "submarkers_id" + << "[:"; + for (auto idsub : marker.subMarkers()) + fs << (int)idsub; + fs << "]"; + + fs << "}"; + } + fs << "]"; +} + +bool FractalMarkerSet::isFractalMarker(cv::Mat &m, int nbits, int &markerid) +{ + bool found = false; + + for (auto id : nbits_fractalMarkerIDs[nbits]) + { + FractalMarker fm = fractalMarkerCollection[id]; + + // Apply mask to substract submarkers + cv::Mat m2; + m.copyTo(m2, fm.mask()); + + // Code without submarkers == fractal marker? + if (cv::countNonZero(m2 != fm.mat()) == 0) + { + found = true; + + // Change new code!! + ////////////// + markerid = fm.id; + ///////////// + + break; + } + } + + return found; +} + +FractalMarkerSet FractalMarkerSet::convertToMeters(float fractalSizeM) +{ + if (!(isExpressedInPixels() || isNormalize())) + throw cv::Exception(-1, "The FractalMarkers are not expressed in pixels", + "FractalMarkerSet::convertToMeters", __FILE__, __LINE__); + + FractalMarkerSet BInfo(*this); + BInfo.mInfoType = FractalMarkerSet::METERS; + + // now, get the size of a pixel, and change scale + float pixSizeM = fractalSizeM / float(BInfo.getFractalSize()); + + for (size_t i = 0; i < BInfo.fractalMarkerCollection.size(); i++) + { + // Convert to meters the position fractal marker + for (int c = 0; c < 4; c++) + { + BInfo.fractalMarkerCollection[i][c] *= pixSizeM; + } + } + return BInfo; +} + +FractalMarkerSet FractalMarkerSet::normalize() +{ + if (!(isExpressedInPixels() || isExpressedInMeters())) + throw cv::Exception(-1, "The FractalMarkers are not expressed in pixels or meters", + "FractalMarkerSet::convertToMeters", __FILE__, __LINE__); + + FractalMarkerSet BInfo(*this); + BInfo.mInfoType = FractalMarkerSet::NORM; + + float currentHalfSize = BInfo.getFractalSize() / 2.f; + + for (size_t i = 0; i < BInfo.fractalMarkerCollection.size(); i++) + { + // Normalize the position fractal marker + for (size_t c = 0; c < 4; c++) + { + BInfo.fractalMarkerCollection[i][c] /= currentHalfSize; + } + } + + return BInfo; +} + +std::map> FractalMarkerSet::getInnerCorners() +{ + std::map> id_innerCorners; + + for (auto id_fm : fractalMarkerCollection) + { + int id = id_fm.first; + FractalMarker fm = id_fm.second; + + for (auto ic : fm.getInnerCorners()) + id_innerCorners[id].push_back(ic); // Conversion + } + return id_innerCorners; +} + +cv::Mat FractalMarkerSet::getFractalMarkerImage(int pixSize, bool border) +{ + if (fractalMarkerCollection.size() < 1) + throw cv::Exception(9001, "There is not any fractal marker loaded", + "FractalMarkerSet::getFractalMarkerImage", __FILE__, __LINE__); + + // Smallest fractal marker + FractalMarker innerM = (--fractalMarkerCollection.end())->second; + float bitSize = innerM.getMarkerSize() / (pixSize * (sqrt(innerM.nBits()) + 2)); + + FractalMarker externMarker = fractalMarkerCollection[_idExternal]; + float markerSize = externMarker.getMarkerSize() / bitSize; + float markerBitSize = markerSize / (sqrt(externMarker.nBits()) + 2); + cv::Mat img = cv::Mat::zeros(markerSize, markerSize, CV_8U); + + // Asign value pixels + cv::Mat m = externMarker.mat(); + + for (int y = m.cols - 1; y >= 0; y--) + for (int x = m.cols - 1; x >= 0; x--) + { + if (m.at(y, x) == 1) + { + cv::Range val1 = cv::Range((1 + y) * markerBitSize, (y + 2) * markerBitSize); + cv::Range val2 = cv::Range((1 + x) * markerBitSize, (x + 2) * markerBitSize); + + cv::Mat bit_pix = img(val1, val2); + bit_pix.setTo(cv::Scalar::all(255)); + } + } + + for (auto idSubmarker : externMarker.subMarkers()) + { + std::vector idds; + idds.push_back(idSubmarker); + while (!idds.empty()) + { + idSubmarker = idds.back(); + idds.pop_back(); + + FractalMarker submarker = fractalMarkerCollection[idSubmarker]; + + cv::Mat m = submarker.mat(); + cv::Point3f coord = submarker.points[0]; + + float markerSize = submarker.getMarkerSize() / bitSize; + float markerBitSize = markerSize / (sqrt(submarker.nBits()) + 2); + + // Get position inside fractal marker + float offsetX = fabs(coord.x - externMarker.points[0].x) / bitSize; + float offsetY = fabs(coord.y - externMarker.points[0].y) / bitSize; + + // Asign value pixels + for (int y = m.cols - 1; y >= 0; y--) + for (int x = m.cols - 1; x >= 0; x--) + { + if (m.at(y, x) == 1) + { + cv::Range val1 = cv::Range((1 + y) * markerBitSize + offsetY, + (2 + y) * markerBitSize + offsetY); + cv::Range val2 = cv::Range((1 + x) * markerBitSize + offsetX, + (2 + x) * markerBitSize + offsetX); + + cv::Mat bit_pix = img(val1, val2); + bit_pix.setTo(cv::Scalar::all(255)); + } + } + + // Add submarkers to draw + for (auto idsm : submarker.subMarkers()) + idds.push_back(idsm); + } + } + + if (border) + copyMakeBorder(img, img, markerBitSize, markerBitSize, markerBitSize, markerBitSize, + cv::BORDER_CONSTANT, cv::Scalar::all(255)); + + return img; +} +}; // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/fractallabelers/fractalposetracker.cpp b/legacy/aruco_ros/aruco/src/aruco/fractallabelers/fractalposetracker.cpp new file mode 100755 index 000000000..ac17b7f3c --- /dev/null +++ b/legacy/aruco_ros/aruco/src/aruco/fractallabelers/fractalposetracker.cpp @@ -0,0 +1,1093 @@ +#include "fractallabelers/fractalposetracker.h" +#include "levmarq.h" +#include "ippe.h" +#include "aruco_export.h" +#include "timers.h" + + +#include "opencv2/calib3d/calib3d.hpp" +#include "aruco_cvversioning.h" + +namespace aruco +{ + +/* + * KeyPoint cornersubpixel + */ +void kcornerSubPix(const cv::Mat image, std::vector &kpoints) +{ + std::vector points; + cv::KeyPoint::convert(kpoints, points); + + cv::Size winSize = cv::Size(4, 4); + cv::Size zeroZone = cv::Size(-1, -1); + cv::TermCriteria criteria(cv::TermCriteria::MAX_ITER | cv::TermCriteria::EPS, 12, + 0.005); // cv::cornerSubPix(image, points, winSize, zeroZone, criteria); + cornerSubPix(image, points, winSize, zeroZone, criteria); + + // Update kpoints + uint32_t i = 0; + for (auto &k : kpoints) + { + k.pt = points[i]; + i++; + } +} + +/* + * KeyPoints Filter. Delete kpoints with low response and duplicated. + */ +void kfilter(std::vector &kpoints) +{ + float minResp = kpoints[0].response; + float maxResp = kpoints[0].response; + for (auto &p : kpoints) + { + p.size = 40; + if (p.response < minResp) + minResp = p.response; + if (p.response > maxResp) + maxResp = p.response; + } + float thresoldResp = (maxResp - minResp) * 0.20f + minResp; + + for (uint32_t xi = 0; xi < kpoints.size(); xi++) + { + // Erase keypoints with low response (20%) + if (kpoints[xi].response < thresoldResp) + { + kpoints[xi].size = -1; + continue; + } + + // Duplicated keypoints (closer) + for (uint32_t xj = xi + 1; xj < kpoints.size(); xj++) + { + if (pow(kpoints[xi].pt.x - kpoints[xj].pt.x, 2) + + pow(kpoints[xi].pt.y - kpoints[xj].pt.y, 2) < + 200) + { + if (kpoints[xj].response > kpoints[xi].response) + kpoints[xi] = kpoints[xj]; + + kpoints[xj].size = -1; + } + } + } + kpoints.erase(std::remove_if(kpoints.begin(), kpoints.end(), + [](const cv::KeyPoint &kpt) { return kpt.size == -1; }), + kpoints.end()); +} + +void assignClass(const cv::Mat &im, std::vector &kpoints, float sizeNorm, int wsize) +{ + if (im.type() != CV_8UC1) + throw std::runtime_error("assignClass Input image must be 8UC1"); + int wsizeFull = wsize * 2 + 1; + + cv::Mat labels = cv::Mat::zeros(wsize * 2 + 1, wsize * 2 + 1, CV_8UC1); + cv::Mat thresIm = cv::Mat(wsize * 2 + 1, wsize * 2 + 1, CV_8UC1); + + for (auto &kp : kpoints) + { + float x = kp.pt.x; + float y = kp.pt.y; + + // Convert point range from norm (-size/2, size/2) to (0,imageSize) + if (sizeNorm > 0) + { + // x = im.cols * (x/_fractalMarker.getFractalSize() + 0.5f); + // y = im.rows * (-y/_fractalMarker.getFractalSize() + 0.5f); + x = im.cols * (x / sizeNorm + 0.5f); + y = im.rows * (-y / sizeNorm + 0.5f); + } + + x = int(x + 0.5f); + y = int(y + 0.5f); + + cv::Rect r = cv::Rect(x - wsize, y - wsize, wsize * 2 + 1, wsize * 2 + 1); + // Check boundaries + if (r.x < 0 || r.x + r.width > im.cols || r.y < 0 || r.y + r.height > im.rows) + continue; + + int endX = r.x + r.width; + int endY = r.y + r.height; + uchar minV = 255, maxV = 0; + for (int y = r.y; y < endY; y++) + { + const uchar *ptr = im.ptr(y); + for (int x = r.x; x < endX; x++) + { + if (minV > ptr[x]) + minV = ptr[x]; + if (maxV < ptr[x]) + maxV = ptr[x]; + } + } + + if ((maxV - minV) < 25) + { + kp.class_id = 0; + continue; + } + + double thres = (maxV + minV) / 2.0; + + unsigned int nZ = 0; + // count non zero considering the threshold + for (int y = 0; y < wsizeFull; y++) + { + const uchar *ptr = im.ptr(r.y + y) + r.x; + uchar *thresPtr = thresIm.ptr(y); + for (int x = 0; x < wsizeFull; x++) + { + if (ptr[x] > thres) + { + nZ++; + thresPtr[x] = 255; + } + else + thresPtr[x] = 0; + } + } + // set all to zero labels.setTo(cv::Scalar::all(0)); + for (int y = 0; y < thresIm.rows; y++) + { + uchar *labelsPtr = labels.ptr(y); + for (int x = 0; x < thresIm.cols; x++) + labelsPtr[x] = 0; + } + + uchar newLab = 1; + std::map unions; + for (int y = 0; y < thresIm.rows; y++) + { + uchar *thresPtr = thresIm.ptr(y); + uchar *labelsPtr = labels.ptr(y); + for (int x = 0; x < thresIm.cols; x++) + { + uchar reg = thresPtr[x]; + uchar lleft_px = 0; + uchar ltop_px = 0; + + if (x - 1 > -1) + { + if (reg == thresPtr[x - 1]) + lleft_px = labelsPtr[x - 1]; + } + + if (y - 1 > -1) + { + if (reg == thresIm.ptr(y - 1)[x]) // thresIm.at(y-1, x) + ltop_px = labels.at(y - 1, x); + } + + if (lleft_px == 0 && ltop_px == 0) + labelsPtr[x] = newLab++; + + else if (lleft_px != 0 && ltop_px != 0) + { + if (lleft_px < ltop_px) + { + labelsPtr[x] = lleft_px; + unions[ltop_px] = lleft_px; + } + else if (lleft_px > ltop_px) + { + labelsPtr[x] = ltop_px; + unions[lleft_px] = ltop_px; + } + else + { // IGuales + labelsPtr[x] = ltop_px; + } + } + else + { + if (lleft_px != 0) + labelsPtr[x] = lleft_px; + else + labelsPtr[x] = ltop_px; + } + } + } + + int nc = newLab - 1 - unions.size(); + if (nc == 2) + { + if (nZ > thresIm.total() - nZ) + kp.class_id = 0; + else + kp.class_id = 1; + } + else if (nc > 2) + { + kp.class_id = 2; + } + } +} + +FractalPoseTracker::FractalPoseTracker() +{ +} + +void FractalPoseTracker::setParams(const CameraParameters &cam_params, + const FractalMarkerSet &msconf, const float markerSize) +{ + _cam_params = cam_params; + _fractalMarker = msconf; + + if (!cam_params.isValid()) + throw cv::Exception(9001, "Invalid camera parameters", + "FractalPoseTracker::setParams", __FILE__, __LINE__); + if (_fractalMarker.mInfoType == aruco::FractalMarkerSet::NONE) + throw cv::Exception(9001, "Invalid FractalMarker", "FractalPoseTracker::setParams", + __FILE__, __LINE__); + if ((_fractalMarker.mInfoType == aruco::FractalMarkerSet::PIX || + _fractalMarker.mInfoType == aruco::FractalMarkerSet::NORM) && + markerSize <= 0) + throw cv::Exception(9001, "You should indicate the markersize since the Fractal Marker is in pixels or normalized", + "FractalPoseTracker::setParams", __FILE__, __LINE__); + if (_fractalMarker.mInfoType == aruco::FractalMarkerSet::PIX || + _fractalMarker.mInfoType == aruco::FractalMarkerSet::NORM) + _fractalMarker = _fractalMarker.convertToMeters(markerSize); + + for (auto id_innerMarker : _fractalMarker.fractalMarkerCollection) + { + int markerId = id_innerMarker.first; + FractalMarker innerMarker = id_innerMarker.second; + + // Inner corners + _id_innerp3d[markerId] = innerMarker.getInnerCorners(); + for (auto pt : _id_innerp3d[markerId]) + { + _innerp3d.push_back(pt); + _innerkpoints.push_back(cv::KeyPoint(cv::Point2f(pt.x, pt.y), 20, -1, 0, markerId)); + } + + // radius search by marker + float radiusF = 0.25; + float ratio = innerMarker.getMarkerSize() / _fractalMarker.getFractalSize(); + float NBits = float(sqrt(_fractalMarker.nBits()) + 2) * ratio; + _id_radius[markerId] = + ((2 * NBits) / ((sqrt(innerMarker.nBits()) + 2) * (sqrt(_fractalMarker.nBits()) + 2))) * + radiusF * _fractalMarker.getFractalSize() / 2; + } + + // Get synthetic image (pixsize 6 in order to get inner corners classification) + cv::Mat imageGray = _fractalMarker.getFractalMarkerImage(6) * 255; + assignClass(imageGray, _innerkpoints, _fractalMarker.getFractalSize()); + _kdtree.build(_innerkpoints); + + // #define _fractal_debug_classification +#ifdef _fractal_debug_classification + drawKeyPoints(imageGray, _innerkpoints, false, true); +#endif +} + +bool FractalPoseTracker::fractalRefinement(const cv::Ptr markerDetector, + int markerWarpPix) +{ + // ScopedTimerEvents Timer("fractal-refinement"); + + std::vector imagePyramid = markerDetector->getImagePyramid(); + std::vector _ref_inner3d; + std::vector _ref_inner2d; + + cv::Mat _p_rvec; + _rvec.copyTo(_p_rvec); + cv::Mat _p_tvec; + _tvec.copyTo(_p_tvec); + + cv::Mat rot; + cv::Rodrigues(_rvec, rot); + + for (auto id_marker : _fractalMarker.fractalMarkerCollection) + { + // Check z value for 4 external corners + std::vector marker3d; + for (auto pt : id_marker.second.points) + { + cv::Mat_ src(3, 1, rot.type()); + src(0, 0) = pt.x; + src(1, 0) = pt.y; + src(2, 0) = pt.z; + + cv::Mat cam_image_point = rot * src + _tvec; + cam_image_point = cam_image_point / cv::norm(cam_image_point); + + if (cam_image_point.at(2, 0) > 0.85) + marker3d.push_back(pt); + else + break; + } + + std::vector _inners3d; + std::vector _inners2d; + float area = 0; + if (marker3d.size() < 4) + { + if (_id_area.find(id_marker.first) != _id_area.end()) + area = _id_area[id_marker.first]; + else + return false; + + for (auto pt : _id_innerp3d[id_marker.first]) + { + cv::Mat_ src(3, 1, _rvec.type()); + src(0, 0) = pt.x; + src(1, 0) = pt.y; + src(2, 0) = pt.z; + + cv::Mat cam_image_point = rot * src + _tvec; + cam_image_point = cam_image_point / cv::norm(cam_image_point); + + if (cam_image_point.at(2, 0) > 0.85) + _inners3d.push_back(pt); + } + + if (_inners3d.size() == 0) + return false; + + cv::projectPoints(_inners3d, _rvec, _tvec, _cam_params.CameraMatrix, + _cam_params.Distorsion, _inners2d); + } + else + { + std::vector marker2d; + cv::projectPoints(marker3d, _rvec, _tvec, _cam_params.CameraMatrix, + _cam_params.Distorsion, marker2d); + + cv::Point2f v01 = marker2d[1] - marker2d[0]; + cv::Point2f v03 = marker2d[3] - marker2d[0]; + float area1 = fabs(v01.x * v03.y - v01.y * v03.x); + cv::Point2f v21 = marker2d[1] - marker2d[2]; + cv::Point2f v23 = marker2d[3] - marker2d[2]; + float area2 = fabs(v21.x * v23.y - v21.y * v23.x); + + area = (area2 + area1) / 2.f; + _id_area[id_marker.first] = area; + + _inners3d = _id_innerp3d[id_marker.first]; + cv::projectPoints(_inners3d, _rvec, _tvec, _cam_params.CameraMatrix, + _cam_params.Distorsion, _inners2d); + } + + size_t imgPyrIdx = 0; + auto markerWarpSize = (sqrt(id_marker.second.nBits()) + 2) * markerWarpPix; + float desiredarea = std::pow(static_cast(markerWarpSize), 2.f); + for (size_t p = 1; p < imagePyramid.size(); p++) + { + if (area / pow(4, p) >= desiredarea) + imgPyrIdx = p; + else + break; + } + + float ratio = float(imagePyramid[imgPyrIdx].cols) / float(imagePyramid[0].cols); + + // std::cout << "REFINE["<< id_marker.first <<"], imgPyrId:"< _inners2d_error; + if (ratio == 1 && area >= desiredarea) + { + int halfwsize = + 4 * float(imagePyramid[imgPyrIdx].cols) / float(imagePyramid[imgPyrIdx].cols) + 0.5; + + std::vector _inners2d_copy; + for (auto pt : _inners2d) + { + _inners2d_copy.push_back(pt); + } + cornerSubPix( + imagePyramid[imgPyrIdx], _inners2d, cv::Size(halfwsize, halfwsize), cv::Size(-1, -1), + cv::TermCriteria(cv::TermCriteria::MAX_ITER | cv::TermCriteria::EPS, 12, 0.005)); + int idx = 0; + for (auto pt : _inners2d) + { + _inners2d_error.push_back(sqrt(pow(_inners2d_copy[idx].x - pt.x, 2) + + pow(_inners2d_copy[idx].y - pt.y, 2))); + idx++; + } + } + else if (ratio != 1 && area >= desiredarea) + { + std::vector _inners2d_copy; + for (auto &pt : _inners2d) + { + _inners2d_copy.push_back(pt); + pt *= ratio; + } + + std::vector> vpnts; + vpnts.push_back(_inners2d); + markerDetector->cornerUpsample(vpnts, imagePyramid[imgPyrIdx].size()); + + int idx = 0; + for (auto pt : vpnts[0]) + { + _inners2d_error.push_back(sqrt(pow(_inners2d_copy[idx].x - pt.x, 2) + + pow(_inners2d_copy[idx].y - pt.y, 2))); + _inners2d[idx++] = pt; + } + } + + // Elimina puntos que no son esquinas + if (area >= desiredarea) + { + // We discard outliers. Points above limit Q3+3*(Q3-1) + std::vector _inners2d_error_copy; + for (auto err : _inners2d_error) + _inners2d_error_copy.push_back(err); + sort(_inners2d_error_copy.begin(), _inners2d_error_copy.end()); + int q1 = (_inners2d_error_copy.size() + 1) / 4; + int q3 = 3 * (_inners2d_error_copy.size() + 1) / 4; + + double limit = _inners2d_error_copy[q3] + + 3 * (_inners2d_error_copy[q3] - _inners2d_error_copy[q1]); + + int wsize = 10; + for (int idx = 0; idx < _inners2d.size(); idx++) + { + if (_inners2d_error[idx] > limit) + continue; + + float x = int(_inners2d[idx].x + 0.5f); + float y = int(_inners2d[idx].y + 0.5f); + + cv::Rect r = cv::Rect(x - wsize, y - wsize, wsize * 2 + 1, wsize * 2 + 1); + // Check boundaries + if (r.x < 0 || r.x + r.width > imagePyramid[0].cols || r.y < 0 || + r.y + r.height > imagePyramid[0].rows) + continue; + + int endX = r.x + r.width; + int endY = r.y + r.height; + uchar minV = 255, maxV = 0; + for (int y = r.y; y < endY; y++) + { + const uchar *ptr = imagePyramid[0].ptr(y); + for (int x = r.x; x < endX; x++) + { + if (minV > ptr[x]) + minV = ptr[x]; + if (maxV < ptr[x]) + maxV = ptr[x]; + } + } + + if ((maxV - minV) < 25) + continue; + + _ref_inner3d.push_back(_inners3d[idx]); + _ref_inner2d.push_back(_inners2d[idx]); + } + } + // Timer.add("refine-"+std::to_string(id_marker.first)); + } + + // Solve + if (_ref_inner3d.size() > 4) + { + aruco::solvePnP(_ref_inner3d, _ref_inner2d, _cam_params.CameraMatrix, + _cam_params.Distorsion, _rvec, _tvec); + +//#define _fractal_debug_inners +#ifdef _fractal_debug_inners + cv::Mat InImageCopy; + cv::cvtColor(imagePyramid[0], InImageCopy, CV_GRAY2RGB); + + // Show first position (estimation with detected markers) + std::vector preinnersPrj; + for (auto id_marker : _fractalMarker.fractalMarkerCollection) + { + cv::projectPoints(_id_innerp3d[id_marker.first], _p_rvec, _p_tvec, + _cam_params.CameraMatrix, _cam_params.Distorsion, preinnersPrj); + for (auto pt : preinnersPrj) + cv::circle(InImageCopy, pt, 5, cv::Scalar(0, 0, 255), CV_FILLED); + } + + // Show first position with refinement + for (auto p : _ref_inner2d) + cv::circle(InImageCopy, p, 5, cv::Scalar(255, 0, 0), CV_FILLED); + + _rvec.convertTo(_rvec, CV_32F); + _tvec.convertTo(_tvec, CV_32F); + cv::Rodrigues(_rvec, rot); + + std::vector _inners; + for (auto pt : _inner_corners_3d) + { + cv::Mat_ src(3, 1, rot.type()); + src(0, 0) = pt.x; + src(1, 0) = pt.y; + src(2, 0) = pt.z; + + cv::Mat cam_image_point = rot * src + _tvec; + cam_image_point = cam_image_point / cv::norm(cam_image_point); + + if (cam_image_point.at(2, 0) > 0.85f) + _inners.push_back(pt); + } + std::vector _inners_prj; + cv::projectPoints(_inners, _rvec, _tvec, _cam_params.CameraMatrix, + _cam_params.Distorsion, _inners_prj); + + // Show new projection using all inner points + for (auto pt : _inners_prj) + cv::circle(InImageCopy, pt, 5, cv::Scalar(0, 255, 0), CV_FILLED); + + cv::namedWindow("AA", cv::WINDOW_NORMAL); + imshow("AA", InImageCopy); + cv::waitKey(); +#endif + // Timer.add("solve"); + + return true; + } + else + return false; +} + +bool FractalPoseTracker::fractalInnerPose(const cv::Ptr markerDetector, + const std::vector &vmarkers, + bool refinement) +{ + if (vmarkers.size() > 0) + { + // ScopedTimerEvents Timer("pnp"); + // std::cout << "[Case 1]"<< std::endl; + std::vector p2d; + std::vector p3d; + for (auto marker : vmarkers) + { + if (_fractalMarker.fractalMarkerCollection.find(marker.id) != + _fractalMarker.fractalMarkerCollection.end()) + { + for (auto p : marker) + p2d.push_back(p); + + for (auto p : _fractalMarker.fractalMarkerCollection[marker.id].points) + p3d.push_back(p); + } + } + + // Initial pose estimation + aruco::solvePnP(p3d, p2d, _cam_params.CameraMatrix, _cam_params.Distorsion, _rvec, _tvec); + + // Timer.add("solve"); + + // REFINE + if (refinement) + { + fractalRefinement(markerDetector); + // Timer.add("refine-solution"); + } + + return true; + } + else + { + if (!_rvec.empty()) + { + // std::cout << "[Case 2]"<< std::endl; + // ScopedTimerEvents Timer("ransac"); + // Timer.add("detect"); + + std::vector innerPoints2d; + std::vector innerPoints3d; + + float radius = 0; + cv::Mat rot; + cv::Rodrigues(_rvec, rot); + + // Getting the keypoints search radius + for (auto id_marker : _fractalMarker.fractalMarkerCollection) + { + std::vector marker2d; + std::vector marker3d; + for (auto pt : _fractalMarker.fractalMarkerCollection[id_marker.first].points) + { + cv::Mat_ src(3, 1, rot.type()); + src(0, 0) = pt.x; + src(1, 0) = pt.y; + src(2, 0) = pt.z; + cv::Mat cam_image_point = rot * src + _tvec; + cam_image_point = cam_image_point / cv::norm(cam_image_point); + + if (cam_image_point.at(2, 0) > 0.85) + marker3d.push_back(pt); + else + break; + } + + if (marker3d.size() == 4) + { + cv::projectPoints(marker3d, _rvec, _tvec, _cam_params.CameraMatrix, + _cam_params.Distorsion, marker2d); + + // Find marker area + cv::Point2f v01 = marker2d[1] - marker2d[0]; + cv::Point2f v03 = marker2d[3] - marker2d[0]; + float area1 = fabs(v01.x * v03.y - v01.y * v03.x); + cv::Point2f v21 = marker2d[1] - marker2d[2]; + cv::Point2f v23 = marker2d[3] - marker2d[2]; + float area2 = fabs(v21.x * v23.y - v21.y * v23.x); + double area = (area2 + area1) / 2.f; + + auto markerWarpSize = + (sqrt(_fractalMarker.fractalMarkerCollection[id_marker.first].nBits()) + 2) * 10; + float desiredarea = std::pow(static_cast(markerWarpSize), 2.f); + if (area >= desiredarea) + { + for (auto pt : _id_innerp3d[id_marker.first]) + innerPoints3d.push_back(pt); + } + + if (radius == 0.f) + radius = sqrt(area) / (sqrt(id_marker.second.nBits()) + 2.f); + } + else + { + for (auto pt : _id_innerp3d[id_marker.first]) + innerPoints3d.push_back(pt); + } + } + + if (radius == 0) + radius = _preRadius; + _preRadius = radius; + + if (innerPoints3d.size() > 0 && radius > 0) + { + cv::projectPoints(innerPoints3d, _rvec, _tvec, _cam_params.CameraMatrix, + _cam_params.Distorsion, innerPoints2d); + + cv::Mat region; + cv::Point2f offset; + float ratio; + if (!ROI(markerDetector->getImagePyramid(), region, innerPoints2d, offset, ratio)) + return false; + radius = radius * ratio; + // Timer.add("roi"); + + + std::cout << "radius: " << radius << std::endl; + +//#define _fractal_debug_region +#ifdef _fractal_debug_region + cv::Mat out; + cv::cvtColor(region, out, CV_GRAY2RGB); + for (uint32_t i = 0; i < innerPoints2d.size(); i++) + circle(out, innerPoints2d[i], radius, cv::Scalar(0, 0, 255), 2); + cv::imshow("REGION ", out); + cv::waitKey(); +#endif + + // FAST + std::vector kpoints; + cv::Ptr fd = cv::FastFeatureDetector::create(); + fd->detect(region, kpoints); + // Timer.add("fast"); + + + if (kpoints.size() > 0) + { + // Filter kpoints (low response) and removing duplicated. + kfilter(kpoints); + // Timer.add("fast-filter"); + // std::cout << "fast-filter" << std::endl; + + // Assign class to keypoints + assignClass(region, kpoints); +// Timer.add("fast-class"); + +//#define _fractal_debug_classification +#ifdef _fractal_debug_classification + drawKeyPoints(region, kpoints); + cv::waitKey(); +#endif + // Get keypoints with better response in a radius + picoflann::KdTreeIndex<2, PicoFlann_KeyPointAdapter> kdtreeImg; + kdtreeImg.build(kpoints); + std::vector>> inner_candidates; + for (uint idx = 0; idx < innerPoints2d.size(); idx++) + { + std::vector> res = + kdtreeImg.radiusSearch(kpoints, innerPoints2d[idx], radius); + + std::vector candidates; + for (auto r : res) + { + if (kpoints[r.first].class_id == _innerkpoints[idx].class_id) + candidates.push_back(r.first); + } + if (candidates.size() > 0) + inner_candidates.push_back(make_pair(idx, candidates)); + } + + // Timer.add("candidates"); + cv::Mat bestModel = + fractal_solve_ransac(innerPoints2d.size(), inner_candidates, kpoints); + // Timer.add("find-solution"); + + if (!bestModel.empty()) + { + std::vector p3d; + std::vector p2d; + + std::vector pnts, pntsDst; + cv::KeyPoint::convert(kpoints, pnts); + perspectiveTransform(pnts, pntsDst, bestModel); + for (uint32_t id = 0; id < pntsDst.size(); id++) + { + std::vector> res = + _kdtree.radiusSearch(_innerkpoints, pntsDst[id], _id_radius[0]); + + int i = 0; + for (auto r : res) + { + uint32_t innerId = r.first; + double dist = sqrt(r.second); + + uint32_t fmarkerId = _innerkpoints[innerId].octave; + if (dist > _id_radius[fmarkerId]) + res.erase(res.begin() + i); + else + i++; + } + if (res.size() > 0) + { + p3d.push_back(_innerp3d[res[0].first]); + p2d.push_back( + cv::Point2f(kpoints[id].pt.x + offset.x, kpoints[id].pt.y + offset.y) / ratio); + } + } + + if (p3d.size() >= 4) + { + // std::cout << "solves" << std::endl; + aruco::solvePnP(p3d, p2d, _cam_params.CameraMatrix, _cam_params.Distorsion, + _rvec, _tvec); + // Timer.add("solves"); + + if (refinement) + { + // std::cout << "refine-solution" << std::endl; + fractalRefinement(markerDetector); + // Timer.add("refine-solution"); + } + + return true; + } + } + } + } + } + _rvec = cv::Mat(); + _tvec = cv::Mat(); + + return false; + } +} + +bool FractalPoseTracker::ROI(const std::vector imagePyramid, cv::Mat &img, + std::vector &innerPoints2d, cv::Point2f &offset, + float &ratio) +{ + cv::Mat rot; + cv::Rodrigues(_rvec, rot); + + // Biggest marker projection + std::vector biggest_p2d; + std::vector biggest_p3d; + for (int idx = 0; + idx < _fractalMarker.fractalMarkerCollection.size() & biggest_p3d.size() < 4; idx++) + { + biggest_p3d.empty(); + for (auto pt : _fractalMarker.fractalMarkerCollection[idx].points) + { + cv::Mat_ src(3, 1, rot.type()); + src(0, 0) = pt.x; + src(1, 0) = pt.y; + src(2, 0) = pt.z; + cv::Mat cam_image_point = rot * src + _tvec; + cam_image_point = cam_image_point / cv::norm(cam_image_point); + + if (cam_image_point.at(2, 0) > 0.85) + biggest_p3d.push_back(pt); + else + break; + } + } + + if (!biggest_p3d.empty()) + { + cv::projectPoints(biggest_p3d, _rvec, _tvec, _cam_params.CameraMatrix, + _cam_params.Distorsion, biggest_p2d); + + // Smallest marker projection + std::vector smallest_p2d; + std::vector smallest_p3d; + auto marker_smallest = (--_fractalMarker.fractalMarkerCollection.end())->second; + for (auto pt : marker_smallest.points) + smallest_p3d.push_back(pt); + cv::projectPoints(smallest_p3d, _rvec, _tvec, _cam_params.CameraMatrix, + _cam_params.Distorsion, smallest_p2d); + + // Smallest marker area + cv::Point2f v01 = smallest_p2d[1] - smallest_p2d[0]; + cv::Point2f v03 = smallest_p2d[3] - smallest_p2d[0]; + float area1 = fabs(v01.x * v03.y - v01.y * v03.x); + cv::Point2f v21 = smallest_p2d[1] - smallest_p2d[2]; + cv::Point2f v23 = smallest_p2d[3] - smallest_p2d[2]; + float area2 = fabs(v21.x * v23.y - v21.y * v23.x); + double area = (area2 + area1) / 2.f; + + + // Compute boundaries region + float border = sqrt(area) / sqrt(marker_smallest.nBits()) + 2; + int minX = imagePyramid[0].cols, minY = imagePyramid[0].rows, maxX = 0, maxY = 0; + for (auto p : biggest_p2d) + { + if (p.x < minX) + minX = p.x - border; + if (p.x > maxX) + maxX = p.x + border; + if (p.y < minY) + minY = p.y - border; + if (p.y > maxY) + maxY = p.y + border; + } + if (minX < 0) + minX = 0; + if (minY < 0) + minY = 0; + if (maxX > imagePyramid[0].cols) + maxX = imagePyramid[0].cols; + if (maxY > imagePyramid[0].rows) + maxY = imagePyramid[0].rows; + + + // Select imagePyramid + size_t imgPyrIdx = 0; + auto markerWarpSize = (sqrt(marker_smallest.nBits()) + 2) * 10; + float desiredarea = std::pow(static_cast(markerWarpSize), 2.f); + for (size_t p = 1; p < imagePyramid.size(); p++) + { + if (area / pow(4, p) >= desiredarea) + imgPyrIdx = p; + else + break; + } + + ratio = float(imagePyramid[imgPyrIdx].cols) / float(imagePyramid[0].cols); + offset = cv::Point2i(minX, minY) * ratio; + cv::Rect region = cv::Rect(cv::Point2i(minX, minY) * ratio, cv::Point2i(maxX, maxY) * ratio); + img = imagePyramid[imgPyrIdx](region); + + for (auto &pt : innerPoints2d) + { + pt.x = pt.x * ratio - region.x; + pt.y = pt.y * ratio - region.y; + } + return true; + } + else + return false; +} + +cv::Mat FractalPoseTracker::fractal_solve_ransac( + int ninners, std::vector>> inner_kpnt, + std::vector kpnts, uint32_t maxIter, float _minInliers, float _thresInliers) +{ + std::vector pnts; + cv::KeyPoint::convert(kpnts, pnts); + + // Number randomly values selected + uint32_t numInliers = 4; + // Number of inliers to consider it good model, stop iterating!!! + uint32_t thresInliers = uint32_t(ninners * _thresInliers); + // Enough number of inliers to consider the model as valid + uint32_t minInliers = uint32_t(ninners * _minInliers); + + // Number of inliers + uint32_t bestInliers = 0; + // Best model + cv::Mat bestH = cv::Mat(); + + // struct timespec ts; + // clock_gettime(CLOCK_MONOTONIC, &ts); + // srand((time_t)ts.tv_nsec); + + uint32_t count = 0; + for (auto ik : inner_kpnt) + if (ik.second.size() > 0) + count++; + if (count < minInliers) + return cv::Mat(); + + uint32_t iter = 0; + do + { + // New stop condition to avoid infinite loop, when it tries to find the initial inliers + // For instance, for innerkpts group: 23{2} 18{3}, 14{3}, 3{7,6,5}, 2{3}, + // when the initial group of inliers is selected: + // 23{2},18{3},3{6} there's no way to find the fourth ... + uint32_t iter2 = 0; + std::vector> inliers; + while (inliers.size() < numInliers && iter2++ < maxIter) + { + uint idx = rand() % inner_kpnt.size(); + uint id_dst = inner_kpnt[idx].first; + + uint idxc = rand() % inner_kpnt[idx].second.size(); + uint id_src = inner_kpnt[idx].second[idxc]; + + // avoid duplicate observations + bool exist = false; + for (auto in : inliers) + { + if ((in.first != id_dst) && (in.second != id_src)) + continue; + else + { + exist = true; + break; + } + } + + // if it is a new observation, add it! + if (!exist) + inliers.push_back(std::make_pair(id_dst, id_src)); + } + + if (iter2 >= maxIter) + return cv::Mat(); + + std::vector srcInliers; + std::vector dstInliers; + for (auto in : inliers) + { + dstInliers.push_back(_innerkpoints[in.first].pt); + srcInliers.push_back(kpnts[in.second].pt); + } + // Fit model with initial random inliers + cv::Mat H = findHomography(srcInliers, dstInliers); + + if (!H.empty()) + { + std::vector> newInliers; + std::vector> newInliers2; + + std::vector dstNewInliers; + std::vector srcNewInliers; + std::vector pntsTranf; + perspectiveTransform(pnts, pntsTranf, H); + + for (uint idP = 0; idP < pntsTranf.size(); idP++) + { + std::vector> res = + _kdtree.radiusSearch(_innerkpoints, pntsTranf[idP], _id_radius[0]); + + int i = 0; + for (auto r : res) + { + uint32_t innerId = r.first; + double dist = sqrt(r.second); + + uint32_t fmarkerId = _innerkpoints[innerId].octave; + if (dist > _id_radius[fmarkerId]) + res.erase(res.begin() + i); + else + i++; + } + + if (res.size() > 0) + { + // avoid duplicate observations + bool exist = false; + for (auto in : newInliers) + { + if (in.first != res[0].first) + continue; + else + { + exist = true; + break; + } + } + // if it is a new observation and these belong to the same class, add it! + if (!exist) + { + if (_innerkpoints[res[0].first].class_id == kpnts[idP].class_id) + newInliers.push_back(std::make_pair(res[0].first, idP)); + } + } + } + if (newInliers.size() > bestInliers) + { + bestInliers = newInliers.size(); + bestH = H; + } + } + iter++; + } while (iter < maxIter && bestInliers < thresInliers); + + // std::cout << "[RANSAC] minInliers: "<< minInliers ; + // std::cout << " ,bestInliers: "<< bestInliers; + // std::cout << " ,iterations: "<< iter << std::endl; + + if (bestInliers < minInliers) + bestH = cv::Mat(); + + return bestH; +} + +void FractalPoseTracker::drawKeyPoints(const cv::Mat image, std::vector kpoints, + bool text, bool transf) +{ + if (transf) + { + // Convert point range from norm (-size/2, size/2) to (0,imageSize) + for (auto &k : kpoints) + { + k.pt.x = image.cols * (k.pt.x / _fractalMarker.getFractalSize() + 0.5f); + k.pt.y = image.rows * (-k.pt.y / _fractalMarker.getFractalSize() + 0.5f); + } + } + + cv::Mat out; + cv::cvtColor(image, out, CV_GRAY2BGR); + // drawKeypoints(image, kpoints, out, cv::Scalar(0,0,255), cv::DrawMatchesFlags::DRAW_RICH_KEYPOINTS); + + cv::Scalar color; + for (auto kp : kpoints) + { + if (kp.class_id == -1) + color = cv::Scalar(255, 0, 255); + if (kp.class_id == 0) + color = cv::Scalar(0, 0, 255); + if (kp.class_id == 1) + color = cv::Scalar(0, 255, 0); + if (kp.class_id == 2) + color = cv::Scalar(255, 0, 0); + circle(out, kp.pt, 2, color, -1); + } + + if (text) + { + int nkm = 0; + for (auto kp : kpoints) + { + putText(out, std::to_string(nkm++), kp.pt, CV_FONT_HERSHEY_COMPLEX, 1, + cv::Scalar(0, 0, 255), 2, 8); + } + } + + //#ifdef _DEBUG + // imshow("KPoints", out); + // cv::waitKey(); + //#endif +} +} // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/ippe.cpp b/legacy/aruco_ros/aruco/src/aruco/ippe.cpp new file mode 100755 index 000000000..7cacdd5cf --- /dev/null +++ b/legacy/aruco_ros/aruco/src/aruco/ippe.cpp @@ -0,0 +1,1300 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#include "ippe.h" +#include + +#include + +using namespace cv; +using namespace std; + + +namespace aruco +{ + +/****** + * + */ + +cv::Mat getRTMatrix(const cv::Mat& R_, const cv::Mat& T_, int forceType) +{ + cv::Mat M; + cv::Mat R, T; + R_.copyTo(R); + T_.copyTo(T); + if (R.type() == CV_64F) + { + assert(T.type() == CV_64F); + cv::Mat Matrix = cv::Mat::eye(4, 4, CV_64FC1); + + cv::Mat R33 = cv::Mat(Matrix, cv::Rect(0, 0, 3, 3)); + if (R.total() == 3) + { + cv::Rodrigues(R, R33); + } + else if (R.total() == 9) + { + cv::Mat R64; + R.convertTo(R64, CV_64F); + R.copyTo(R33); + } + for (int i = 0; i < 3; i++) + Matrix.at(i, 3) = T.ptr(0)[i]; + M = Matrix; + } + else if (R.depth() == CV_32F) + { + cv::Mat Matrix = cv::Mat::eye(4, 4, CV_32FC1); + cv::Mat R33 = cv::Mat(Matrix, cv::Rect(0, 0, 3, 3)); + if (R.total() == 3) + { + cv::Rodrigues(R, R33); + } + else if (R.total() == 9) + { + cv::Mat R32; + R.convertTo(R32, CV_32F); + R.copyTo(R33); + } + + for (int i = 0; i < 3; i++) + Matrix.at(i, 3) = T.ptr(0)[i]; + M = Matrix; + } + + if (forceType == -1) + return M; + else + { + cv::Mat MTyped; + M.convertTo(MTyped, forceType); + return MTyped; + } +} +vector solvePnP(const vector& objPoints, + const std::vector& imgPoints, + cv::InputArray cameraMatrix, cv::InputArray distCoeffs) +{ + cv::Mat Rvec, Tvec; + float reprojErr1, reprojErr2; + cv::Mat Rvec2, Tvec2; + + IPPE::PoseSolver Solver; + Solver.solveGeneric(objPoints, imgPoints, cameraMatrix, distCoeffs, Rvec, Tvec, + reprojErr1, Rvec2, Tvec2, reprojErr2); + + return { getRTMatrix(Rvec, Tvec, CV_32F), getRTMatrix(Rvec2, Tvec2, CV_32F) }; +} + +void solvePnP(const vector& objPoints, + const std::vector& imgPoints, cv::InputArray cameraMatrix, + cv::InputArray distCoeffs, cv::Mat& rvec, cv::Mat& tvec) +{ + float reprojErr1, reprojErr2; + cv::Mat Rvec2, Tvec2; + + IPPE::PoseSolver Solver; + Solver.solveGeneric(objPoints, imgPoints, cameraMatrix, distCoeffs, rvec, tvec, + reprojErr1, Rvec2, Tvec2, reprojErr2); +} + +std::vector> solvePnP_(float size, + const std::vector& imgPoints, + cv::InputArray cameraMatrix, + cv::InputArray distCoeffs) +{ + cv::Mat Rvec, Tvec, Rvec2, Tvec2; + float reprojErr1, reprojErr2; + + IPPE::PoseSolver Solver; + Solver.solveSquare(size, imgPoints, cameraMatrix, distCoeffs, Rvec, Tvec, reprojErr1, + Rvec2, Tvec2, reprojErr2); + + + return { make_pair(getRTMatrix(Rvec, Tvec, CV_32F), reprojErr1), + make_pair(getRTMatrix(Rvec2, Tvec2, CV_32F), reprojErr2) }; +} + +std::vector> solvePnP_(const std::vector& objPoints, + const std::vector& imgPoints, + cv::InputArray cameraMatrix, + cv::InputArray distCoeffs) +{ + cv::Mat Rvec, Tvec; + float reprojErr1, reprojErr2; + cv::Mat Rvec2, Tvec2; + + IPPE::PoseSolver Solver; + Solver.solveGeneric(objPoints, imgPoints, cameraMatrix, distCoeffs, Rvec, Tvec, + reprojErr1, Rvec2, Tvec2, reprojErr2); + + + return { make_pair(getRTMatrix(Rvec, Tvec, CV_32F), reprojErr1), + make_pair(getRTMatrix(Rvec2, Tvec2, CV_32F), reprojErr2) }; +} +} // namespace aruco + +IPPE::PoseSolver::PoseSolver() +{ +} + +IPPE::PoseSolver::~PoseSolver() +{ +} + +void IPPE::PoseSolver::solveGeneric(cv::InputArray _objectPoints, cv::InputArray _imagePoints, + cv::InputArray _cameraMatrix, cv::InputArray _distCoeffs, + cv::OutputArray _rvec1, cv::OutputArray _tvec1, + float& err1, cv::OutputArray _rvec2, + cv::OutputArray _tvec2, float& err2) +{ + cv::Mat normalizedImagePoints; // undistored version of imagePoints + + if (_cameraMatrix.empty()) + { + // there is no camera matrix and image points are given in normalized pixel coordinates. + _imagePoints.copyTo(normalizedImagePoints); + } + else + { + // undistort the image points (i.e. put them in normalized pixel coordinates): + cv::undistortPoints(_imagePoints, normalizedImagePoints, _cameraMatrix, _distCoeffs); + } + + // solve: + cv::Mat Ma, Mb; + solveGeneric(_objectPoints, normalizedImagePoints, Ma, Mb); + + // the two poses computed by IPPE (sorted): + cv::Mat M1, M2; + + // sort poses by reprojection error: + sortPosesByReprojError(_objectPoints, _imagePoints, _cameraMatrix, _distCoeffs, Ma, Mb, + M1, M2, err1, err2); + + // fill outputs + rot2vec(M1.colRange(0, 3).rowRange(0, 3), _rvec1); + rot2vec(M2.colRange(0, 3).rowRange(0, 3), _rvec2); + + M1.colRange(3, 4).rowRange(0, 3).copyTo(_tvec1); + M2.colRange(3, 4).rowRange(0, 3).copyTo(_tvec2); +} + +void IPPE::PoseSolver::solveGeneric(cv::InputArray _objectPoints, + cv::InputArray _normalizedInputPoints, + cv::OutputArray _Ma, cv::OutputArray _Mb) +{ + // argument checking: + size_t n = _objectPoints.rows() * _objectPoints.cols(); // number of points + int objType = _objectPoints.type(); + int type_input = _normalizedInputPoints.type(); + assert((objType == CV_32FC3) | (objType == CV_64FC3)); + assert((type_input == CV_32FC2) | (type_input == CV_64FC2)); + assert((_objectPoints.rows() == 1) | (_objectPoints.cols() == 1)); + assert((_objectPoints.rows() >= 4) | (_objectPoints.cols() >= 4)); + assert((_normalizedInputPoints.rows() == 1) | (_normalizedInputPoints.cols() == 1)); + assert(static_cast(_objectPoints.rows() * _objectPoints.cols()) == n); + + cv::Mat normalizedInputPoints; + if (type_input == CV_32FC2) + { + _normalizedInputPoints.getMat().convertTo(normalizedInputPoints, CV_64FC2); + } + else + { + normalizedInputPoints = _normalizedInputPoints.getMat(); + } + + cv::Mat objectInputPoints; + if (type_input == CV_32FC3) + { + _objectPoints.getMat().convertTo(objectInputPoints, CV_64FC3); + } + else + { + objectInputPoints = _objectPoints.getMat(); + } + + cv::Mat canonicalObjPoints; + cv::Mat MmodelPoints2Canonical; + + // transform object points to the canonical position (zero centred and on the plane z=0): + makeCanonicalObjectPoints(objectInputPoints, canonicalObjPoints, MmodelPoints2Canonical); + + // compute the homography mapping the model's points to normalizedInputPoints + cv::Mat H; + HomographyHO::homographyHO(canonicalObjPoints, _normalizedInputPoints, H); + + // now solve + cv::Mat MaCanon, MbCanon; + solveCanonicalForm(canonicalObjPoints, normalizedInputPoints, H, MaCanon, MbCanon); + + // transform computed poses to account for canonical transform: + cv::Mat Ma = MaCanon * MmodelPoints2Canonical; + cv::Mat Mb = MbCanon * MmodelPoints2Canonical; + + // output poses: + Ma.copyTo(_Ma); + Mb.copyTo(_Mb); +} + +void IPPE::PoseSolver::solveCanonicalForm(cv::InputArray _canonicalObjPoints, + cv::InputArray _normalizedInputPoints, + cv::InputArray _H, cv::OutputArray _Ma, + cv::OutputArray _Mb) +{ + _Ma.create(4, 4, CV_64FC1); + _Mb.create(4, 4, CV_64FC1); + + cv::Mat Ma = _Ma.getMat(); + cv::Mat Mb = _Mb.getMat(); + cv::Mat H = _H.getMat(); + + // initialise poses: + Ma.setTo(0); + Ma.at(3, 3) = 1; + Mb.setTo(0); + Mb.at(3, 3) = 1; + + // Compute the Jacobian J of the homography at (0,0): + double j00, j01, j10, j11, v0, v1; + + j00 = H.at(0, 0) - H.at(2, 0) * H.at(0, 2); + j01 = H.at(0, 1) - H.at(2, 1) * H.at(0, 2); + j10 = H.at(1, 0) - H.at(2, 0) * H.at(1, 2); + j11 = H.at(1, 1) - H.at(2, 1) * H.at(1, 2); + + // Compute the transformation of (0,0) into the image: + v0 = H.at(0, 2); + v1 = H.at(1, 2); + + // compute the two rotation solutions: + cv::Mat Ra = Ma.colRange(0, 3).rowRange(0, 3); + cv::Mat Rb = Mb.colRange(0, 3).rowRange(0, 3); + computeRotations(j00, j01, j10, j11, v0, v1, Ra, Rb); + + // for each rotation solution, compute the corresponding translation solution: + cv::Mat ta = Ma.colRange(3, 4).rowRange(0, 3); + cv::Mat tb = Mb.colRange(3, 4).rowRange(0, 3); + computeTranslation(_canonicalObjPoints, _normalizedInputPoints, Ra, ta); + computeTranslation(_canonicalObjPoints, _normalizedInputPoints, Rb, tb); +} + +void IPPE::PoseSolver::solveSquare(double squareLength, InputArray _imagePoints, + InputArray _cameraMatrix, InputArray _distCoeffs, + OutputArray _rvec1, OutputArray _tvec1, float& err1, + OutputArray _rvec2, OutputArray _tvec2, float& err2) +{ + // allocate outputs: + _rvec1.create(3, 1, CV_64FC1); + _tvec1.create(3, 1, CV_64FC1); + _rvec2.create(3, 1, CV_64FC1); + _tvec2.create(3, 1, CV_64FC1); + + cv::Mat normalizedInputPoints; // undistored version of imagePoints + cv::Mat objectPoints2D; + + // generate the object points: + generateSquareObjectCorners2D(squareLength, objectPoints2D); + + cv::Mat H; // homography from canonical object points to normalized pixels + + + if (_cameraMatrix.empty()) + { + // this means imagePoints are defined in normalized pixel coordinates, so just copy it: + _imagePoints.copyTo(normalizedInputPoints); + } + else + { + // undistort the image points (i.e. put them in normalized pixel coordinates). + cv::undistortPoints(_imagePoints, normalizedInputPoints, _cameraMatrix, _distCoeffs); + } + + if (normalizedInputPoints.type() == CV_32FC2) + { + normalizedInputPoints.convertTo(normalizedInputPoints, CV_64F); + } + + // compute H + homographyFromSquarePoints(normalizedInputPoints, squareLength / 2.0, H); + + // now solve + cv::Mat Ma, Mb; + solveCanonicalForm(objectPoints2D, normalizedInputPoints, H, Ma, Mb); + + // sort poses according to reprojection error: + cv::Mat M1, M2; + cv::Mat objectPoints3D; + generateSquareObjectCorners3D(squareLength, objectPoints3D); + + sortPosesByReprojError(objectPoints3D, normalizedInputPoints, _cameraMatrix, + _distCoeffs, Ma, Mb, M1, M2, err1, err2); + + // fill outputs + rot2vec(M1.colRange(0, 3).rowRange(0, 3), _rvec1); + rot2vec(M2.colRange(0, 3).rowRange(0, 3), _rvec2); + + M1.colRange(3, 4).rowRange(0, 3).copyTo(_tvec1); + M2.colRange(3, 4).rowRange(0, 3).copyTo(_tvec2); +} + +void IPPE::PoseSolver::generateSquareObjectCorners3D(double squareLength, OutputArray _objectPoints) +{ + _objectPoints.create(1, 4, CV_64FC3); + cv::Mat objectPoints = _objectPoints.getMat(); + objectPoints.ptr(0)[0] = Vec3d(-squareLength / 2.0, squareLength / 2.0, 0.0); + objectPoints.ptr(0)[1] = Vec3d(squareLength / 2.0, squareLength / 2.0, 0.0); + objectPoints.ptr(0)[2] = Vec3d(squareLength / 2.0, -squareLength / 2.0, 0.0); + objectPoints.ptr(0)[3] = Vec3d(-squareLength / 2.0, -squareLength / 2.0, 0.0); +} + +void IPPE::PoseSolver::generateSquareObjectCorners2D(double squareLength, OutputArray _objectPoints) +{ + _objectPoints.create(1, 4, CV_64FC2); + cv::Mat objectPoints = _objectPoints.getMat(); + objectPoints.ptr(0)[0] = Vec2d(-squareLength / 2.0, squareLength / 2.0); + objectPoints.ptr(0)[1] = Vec2d(squareLength / 2.0, squareLength / 2.0); + objectPoints.ptr(0)[2] = Vec2d(squareLength / 2.0, -squareLength / 2.0); + objectPoints.ptr(0)[3] = Vec2d(-squareLength / 2.0, -squareLength / 2.0); +} + +double IPPE::PoseSolver::meanSceneDepth(InputArray _objectPoints, InputArray _rvec, InputArray _tvec) +{ + assert(_objectPoints.type() == CV_64FC3); + + size_t n = static_cast(_objectPoints.rows() * _objectPoints.cols()); + Mat R; + Mat q; + Rodrigues(_rvec, R); + double zBar = 0; + + for (size_t i = 0; i < n; i++) + { + cv::Mat p(_objectPoints.getMat().at(i)); + q = R * p + _tvec.getMat(); + double z; + if (q.depth() == CV_64FC1) + { + z = q.at(2); + } + else + { + z = static_cast(q.at(2)); + } + zBar += z; + + // if (z <= 0) { + // std::cout << "Warning: object point " << i << " projects behind the camera! + // This should not be allowed. " << std::endl; + // } + } + return zBar / static_cast(n); +} + +void IPPE::PoseSolver::rot2vec(InputArray _R, OutputArray _r) +{ + assert(_R.type() == CV_64FC1); + assert(_R.rows() == 3); + assert(_R.cols() == 3); + + _r.create(3, 1, CV_64FC1); + + cv::Mat R = _R.getMat(); + cv::Mat rvec = _r.getMat(); + + double trace = R.at(0, 0) + R.at(1, 1) + R.at(2, 2); + double w_norm = acos((trace - 1.0) / 2.0); + double c0, c1, c2; + double eps = std::numeric_limits::epsilon(); + double d = 1 / (2 * sin(w_norm)) * w_norm; + if (w_norm < eps) // rotation is the identity + { + rvec.setTo(0); + } + else + { + c0 = R.at(2, 1) - R.at(1, 2); + c1 = R.at(0, 2) - R.at(2, 0); + c2 = R.at(1, 0) - R.at(0, 1); + rvec.at(0) = d * c0; + rvec.at(1) = d * c1; + rvec.at(2) = d * c2; + } +} + +void IPPE::PoseSolver::computeTranslation(InputArray _objectPoints, InputArray _normalizedImgPoints, + InputArray _R, OutputArray _t) +{ + // This is solved by building the linear system At = b, where t corresponds to the + // (unknown) translation. This is then inverted with the associated normal equations to + // give t = inv(transpose(A)*A)*transpose(A)*b For efficiency we only store the + // coefficients of (transpose(A)*A) and (transpose(A)*b) + + assert(_objectPoints.type() == CV_64FC2); + assert(_normalizedImgPoints.type() == CV_64FC2); + assert(_R.type() == CV_64FC1); + + assert((_R.rows() == 3) & (_R.cols() == 3)); + assert((_objectPoints.rows() == 1) | (_objectPoints.cols() == 1)); + assert((_normalizedImgPoints.rows() == 1) | (_normalizedImgPoints.cols() == 1)); + + size_t n = static_cast(_normalizedImgPoints.rows() * _normalizedImgPoints.cols()); + assert(n == static_cast(_objectPoints.rows() * _objectPoints.cols())); + + cv::Mat objectPoints = _objectPoints.getMat(); + cv::Mat imgPoints = _normalizedImgPoints.getMat(); + + _t.create(3, 1, CV_64FC1); + + cv::Mat R = _R.getMat(); + + // coefficients of (transpose(A)*A) + double ATA00 = n; + double ATA02 = 0; + double ATA11 = n; + double ATA12 = 0; + double ATA20 = 0; + double ATA21 = 0; + double ATA22 = 0; + + // coefficients of (transpose(A)*b) + double ATb0 = 0; + double ATb1 = 0; + double ATb2 = 0; + + // S gives inv(transpose(A)*A)/det(A)^2 + double S00, S01, S02; + double S10, S11, S12; + double S20, S21, S22; + + double rx, ry, rz; + double a2; + double b2; + double bx, by; + + // now loop through each point and increment the coefficients: + for (size_t i = 0; i < n; i++) + { + rx = R.at(0, 0) * objectPoints.at(i)(0) + + R.at(0, 1) * objectPoints.at(i)(1); + ry = R.at(1, 0) * objectPoints.at(i)(0) + + R.at(1, 1) * objectPoints.at(i)(1); + rz = R.at(2, 0) * objectPoints.at(i)(0) + + R.at(2, 1) * objectPoints.at(i)(1); + + a2 = -imgPoints.at(i)(0); + b2 = -imgPoints.at(i)(1); + + ATA02 = ATA02 + a2; + ATA12 = ATA12 + b2; + ATA20 = ATA20 + a2; + ATA21 = ATA21 + b2; + ATA22 = ATA22 + a2 * a2 + b2 * b2; + + bx = -a2 * rz - rx; + by = -b2 * rz - ry; + + ATb0 = ATb0 + bx; + ATb1 = ATb1 + by; + ATb2 = ATb2 + a2 * bx + b2 * by; + } + + double detAInv = 1.0 / (ATA00 * ATA11 * ATA22 - ATA00 * ATA12 * ATA21 - ATA02 * ATA11 * ATA20); + + // construct S: + S00 = ATA11 * ATA22 - ATA12 * ATA21; + S01 = ATA02 * ATA21; + S02 = -ATA02 * ATA11; + S10 = ATA12 * ATA20; + S11 = ATA00 * ATA22 - ATA02 * ATA20; + S12 = -ATA00 * ATA12; + S20 = -ATA11 * ATA20; + S21 = -ATA00 * ATA21; + S22 = ATA00 * ATA11; + + // solve t: + Mat t = _t.getMat(); + t.at(0) = detAInv * (S00 * ATb0 + S01 * ATb1 + S02 * ATb2); + t.at(1) = detAInv * (S10 * ATb0 + S11 * ATb1 + S12 * ATb2); + t.at(2) = detAInv * (S20 * ATb0 + S21 * ATb1 + S22 * ATb2); +} + +void IPPE::PoseSolver::computeRotations(double j00, double j01, double j10, double j11, + double p, double q, OutputArray _R1, OutputArray _R2) +{ + // This is fairly optimized code which makes it hard to understand. The matlab code is certainly easier to read. + _R1.create(3, 3, CV_64FC1); + _R2.create(3, 3, CV_64FC1); + + double a00, a01, a10, a11, ata00, ata01, ata11, b00, b01, b10, b11, binv00, binv01, + binv10, binv11; + // double rv00, rv01, rv02, rv10, rv11, rv12, rv20, rv21, rv22; + double rtilde00, rtilde01, rtilde10, rtilde11; + double rtilde00_2, rtilde01_2, rtilde10_2, rtilde11_2; + double b0, b1, gamma, dtinv; + double sp; + + Mat Rv; + cv::Mat v(3, 1, CV_64FC1); + v.at(0) = p; + v.at(1) = q; + v.at(2) = 1; + rotateVec2ZAxis(v, Rv); + Rv = Rv.t(); + + + // setup the 2x2 SVD decomposition: + double rv00, rv01, rv02; + double rv10, rv11, rv12; + double rv20, rv21, rv22; + rv00 = Rv.at(0, 0); + rv01 = Rv.at(0, 1); + rv02 = Rv.at(0, 2); + + rv10 = Rv.at(1, 0); + rv11 = Rv.at(1, 1); + rv12 = Rv.at(1, 2); + + rv20 = Rv.at(2, 0); + rv21 = Rv.at(2, 1); + rv22 = Rv.at(2, 2); + + b00 = rv00 - p * rv20; + b01 = rv01 - p * rv21; + b10 = rv10 - q * rv20; + b11 = rv11 - q * rv21; + + dtinv = 1.0 / ((b00 * b11 - b01 * b10)); + + binv00 = dtinv * b11; + binv01 = -dtinv * b01; + binv10 = -dtinv * b10; + binv11 = dtinv * b00; + + a00 = binv00 * j00 + binv01 * j10; + a01 = binv00 * j01 + binv01 * j11; + a10 = binv10 * j00 + binv11 * j10; + a11 = binv10 * j01 + binv11 * j11; + + // compute the largest singular value of A: + ata00 = a00 * a00 + a01 * a01; + ata01 = a00 * a10 + a01 * a11; + ata11 = a10 * a10 + a11 * a11; + + gamma = sqrt( + 0.5 * (ata00 + ata11 + sqrt((ata00 - ata11) * (ata00 - ata11) + 4.0 * ata01 * ata01))); + + // reconstruct the full rotation matrices: + rtilde00 = a00 / gamma; + rtilde01 = a01 / gamma; + rtilde10 = a10 / gamma; + rtilde11 = a11 / gamma; + + rtilde00_2 = rtilde00 * rtilde00; + rtilde01_2 = rtilde01 * rtilde01; + rtilde10_2 = rtilde10 * rtilde10; + rtilde11_2 = rtilde11 * rtilde11; + + b0 = sqrt(-rtilde00_2 - rtilde10_2 + 1); + b1 = sqrt(-rtilde01_2 - rtilde11_2 + 1); + sp = (-rtilde00 * rtilde01 - rtilde10 * rtilde11); + + if (sp < 0) + { + b1 = -b1; + } + + // store results: + Mat R1 = _R1.getMat(); + Mat R2 = _R2.getMat(); + + R1.at(0, 0) = (rtilde00)*rv00 + (rtilde10)*rv01 + (b0)*rv02; + R1.at(0, 1) = (rtilde01)*rv00 + (rtilde11)*rv01 + (b1)*rv02; + R1.at(0, 2) = (b1 * rtilde10 - b0 * rtilde11) * rv00 + + (b0 * rtilde01 - b1 * rtilde00) * rv01 + + (rtilde00 * rtilde11 - rtilde01 * rtilde10) * rv02; + R1.at(1, 0) = (rtilde00)*rv10 + (rtilde10)*rv11 + (b0)*rv12; + R1.at(1, 1) = (rtilde01)*rv10 + (rtilde11)*rv11 + (b1)*rv12; + R1.at(1, 2) = (b1 * rtilde10 - b0 * rtilde11) * rv10 + + (b0 * rtilde01 - b1 * rtilde00) * rv11 + + (rtilde00 * rtilde11 - rtilde01 * rtilde10) * rv12; + R1.at(2, 0) = (rtilde00)*rv20 + (rtilde10)*rv21 + (b0)*rv22; + R1.at(2, 1) = (rtilde01)*rv20 + (rtilde11)*rv21 + (b1)*rv22; + R1.at(2, 2) = (b1 * rtilde10 - b0 * rtilde11) * rv20 + + (b0 * rtilde01 - b1 * rtilde00) * rv21 + + (rtilde00 * rtilde11 - rtilde01 * rtilde10) * rv22; + + R2.at(0, 0) = (rtilde00)*rv00 + (rtilde10)*rv01 + (-b0) * rv02; + R2.at(0, 1) = (rtilde01)*rv00 + (rtilde11)*rv01 + (-b1) * rv02; + R2.at(0, 2) = (b0 * rtilde11 - b1 * rtilde10) * rv00 + + (b1 * rtilde00 - b0 * rtilde01) * rv01 + + (rtilde00 * rtilde11 - rtilde01 * rtilde10) * rv02; + R2.at(1, 0) = (rtilde00)*rv10 + (rtilde10)*rv11 + (-b0) * rv12; + R2.at(1, 1) = (rtilde01)*rv10 + (rtilde11)*rv11 + (-b1) * rv12; + R2.at(1, 2) = (b0 * rtilde11 - b1 * rtilde10) * rv10 + + (b1 * rtilde00 - b0 * rtilde01) * rv11 + + (rtilde00 * rtilde11 - rtilde01 * rtilde10) * rv12; + R2.at(2, 0) = (rtilde00)*rv20 + (rtilde10)*rv21 + (-b0) * rv22; + R2.at(2, 1) = (rtilde01)*rv20 + (rtilde11)*rv21 + (-b1) * rv22; + R2.at(2, 2) = (b0 * rtilde11 - b1 * rtilde10) * rv20 + + (b1 * rtilde00 - b0 * rtilde01) * rv21 + + (rtilde00 * rtilde11 - rtilde01 * rtilde10) * rv22; +} + + +void IPPE::PoseSolver::homographyFromSquarePoints(InputArray _targetPoints, + double halfLength, OutputArray H_) +{ + assert((_targetPoints.type() == CV_32FC2) | (_targetPoints.type() == CV_64FC2)); + + cv::Mat pts = _targetPoints.getMat(); + H_.create(3, 3, CV_64FC1); + Mat H = H_.getMat(); + + double p1x, p1y; + double p2x, p2y; + double p3x, p3y; + double p4x, p4y; + + if (_targetPoints.type() == CV_32FC2) + { + p1x = -pts.at(0)(0); + p1y = -pts.at(0)(1); + + p2x = -pts.at(1)(0); + p2y = -pts.at(1)(1); + + p3x = -pts.at(2)(0); + p3y = -pts.at(2)(1); + + p4x = -pts.at(3)(0); + p4y = -pts.at(3)(1); + } + else + { + p1x = -pts.at(0)(0); + p1y = -pts.at(0)(1); + + p2x = -pts.at(1)(0); + p2y = -pts.at(1)(1); + + p3x = -pts.at(2)(0); + p3y = -pts.at(2)(1); + + p4x = -pts.at(3)(0); + p4y = -pts.at(3)(1); + } + + // analytic solution: + double detsInv = -1 / (halfLength * (p1x * p2y - p2x * p1y - p1x * p4y + p2x * p3y - + p3x * p2y + p4x * p1y + p3x * p4y - p4x * p3y)); + + H.at(0, 0) = + detsInv * (p1x * p3x * p2y - p2x * p3x * p1y - p1x * p4x * p2y + p2x * p4x * p1y - + p1x * p3x * p4y + p1x * p4x * p3y + p2x * p3x * p4y - p2x * p4x * p3y); + H.at(0, 1) = + detsInv * (p1x * p2x * p3y - p1x * p3x * p2y - p1x * p2x * p4y + p2x * p4x * p1y + + p1x * p3x * p4y - p3x * p4x * p1y - p2x * p4x * p3y + p3x * p4x * p2y); + H.at(0, 2) = + detsInv * halfLength * + (p1x * p2x * p3y - p2x * p3x * p1y - p1x * p2x * p4y + p1x * p4x * p2y - + p1x * p4x * p3y + p3x * p4x * p1y + p2x * p3x * p4y - p3x * p4x * p2y); + H.at(1, 0) = + detsInv * (p1x * p2y * p3y - p2x * p1y * p3y - p1x * p2y * p4y + p2x * p1y * p4y - + p3x * p1y * p4y + p4x * p1y * p3y + p3x * p2y * p4y - p4x * p2y * p3y); + H.at(1, 1) = + detsInv * (p2x * p1y * p3y - p3x * p1y * p2y - p1x * p2y * p4y + p4x * p1y * p2y + + p1x * p3y * p4y - p4x * p1y * p3y - p2x * p3y * p4y + p3x * p2y * p4y); + H.at(1, 2) = + detsInv * halfLength * + (p1x * p2y * p3y - p3x * p1y * p2y - p2x * p1y * p4y + p4x * p1y * p2y - + p1x * p3y * p4y + p3x * p1y * p4y + p2x * p3y * p4y - p4x * p2y * p3y); + H.at(2, 0) = -detsInv * (p1x * p3y - p3x * p1y - p1x * p4y - p2x * p3y + + p3x * p2y + p4x * p1y + p2x * p4y - p4x * p2y); + H.at(2, 1) = detsInv * (p1x * p2y - p2x * p1y - p1x * p3y + p3x * p1y + + p2x * p4y - p4x * p2y - p3x * p4y + p4x * p3y); + H.at(2, 2) = 1.0; +} + +void IPPE::PoseSolver::makeCanonicalObjectPoints(InputArray _objectPoints, + OutputArray _canonicalObjPoints, + OutputArray _MmodelPoints2Canonical) +{ + int objType = _objectPoints.type(); + assert((objType == CV_64FC3) | (objType == CV_32FC3)); + + size_t n = _objectPoints.rows() * _objectPoints.cols(); + + _canonicalObjPoints.create(1, n, CV_64FC2); + _MmodelPoints2Canonical.create(4, 4, CV_64FC1); + + cv::Mat objectPoints = _objectPoints.getMat(); + cv::Mat canonicalObjPoints = _canonicalObjPoints.getMat(); + + cv::Mat UZero(3, n, CV_64FC1); + + double xBar = 0; + double yBar = 0; + double zBar = 0; + bool isOnZPlane = true; + for (size_t i = 0; i < n; i++) + { + double x, y, z; + if (objType == CV_32FC3) + { + x = static_cast(objectPoints.at(i)[0]); + y = static_cast(objectPoints.at(i)[1]); + z = static_cast(objectPoints.at(i)[2]); + } + else + { + x = objectPoints.at(i)[0]; + y = objectPoints.at(i)[1]; + z = objectPoints.at(i)[2]; + + if (abs(z) > IPPE_SMALL) + { + isOnZPlane = false; + } + } + xBar += x; + yBar += y; + zBar += z; + + UZero.at(0, i) = x; + UZero.at(1, i) = y; + UZero.at(2, i) = z; + } + xBar = xBar / (double)n; + yBar = yBar / (double)n; + zBar = zBar / (double)n; + + for (size_t i = 0; i < n; i++) + { + UZero.at(0, i) -= xBar; + UZero.at(1, i) -= yBar; + UZero.at(2, i) -= zBar; + } + + cv::Mat MCenter(4, 4, CV_64FC1); + MCenter.setTo(0); + MCenter.at(0, 0) = 1; + MCenter.at(1, 1) = 1; + MCenter.at(2, 2) = 1; + MCenter.at(3, 3) = 1; + + MCenter.at(0, 3) = -xBar; + MCenter.at(1, 3) = -yBar; + MCenter.at(2, 3) = -zBar; + + if (isOnZPlane) + { + // MmodelPoints2Canonical is given by MCenter + MCenter.copyTo(_MmodelPoints2Canonical); + for (size_t i = 0; i < n; i++) + { + canonicalObjPoints.at(i)[0] = UZero.at(0, i); + canonicalObjPoints.at(i)[1] = UZero.at(1, i); + } + } + else + { + cv::Mat UZeroAligned(3, n, CV_64FC1); + cv::Mat R; // rotation that rotates objectPoints to the plane z=0 + + if (!computeObjextSpaceR3Pts(objectPoints, R)) + { + // we could not compute R, problably because there is a duplicate point in + // {objectPoints(0),objectPoints(1),objectPoints(2)}. So we compute it with the SVD (which is slower): + computeObjextSpaceRSvD(UZero, R); + } + + UZeroAligned = R * UZero; + + for (size_t i = 0; i < n; i++) + { + canonicalObjPoints.at(i)[0] = UZeroAligned.at(0, i); + canonicalObjPoints.at(i)[1] = UZeroAligned.at(1, i); + assert(abs(UZeroAligned.at(2, i)) <= IPPE_SMALL); + } + + cv::Mat MRot(4, 4, CV_64FC1); + MRot.setTo(0); + MRot.at(3, 3) = 1; + + R.copyTo(MRot.colRange(0, 3).rowRange(0, 3)); + cv::Mat Mb = MRot * MCenter; + Mb.copyTo(_MmodelPoints2Canonical); + } +} + +void IPPE::PoseSolver::evalReprojError(cv::InputArray _objectPoints, cv::InputArray _imagePoints, + cv::InputArray _cameraMatrix, cv::InputArray _distCoeffs, + cv::InputArray _M, float& err) +{ + cv::Mat projectedPoints; + cv::Mat imagePoints = _imagePoints.getMat(); + cv::Mat r; + rot2vec(_M.getMat().colRange(0, 3).rowRange(0, 3), r); + + if (_cameraMatrix.empty()) + { + // there is no camera matrix and image points are in normalized pixel coordinates + cv::Mat K(3, 3, CV_64FC1); + K.setTo(0); + K.at(0, 0) = 1; + K.at(1, 1) = 1; + K.at(2, 2) = 1; + cv::Mat kc; + cv::projectPoints(_objectPoints, r, _M.getMat().colRange(3, 4).rowRange(0, 3), K, kc, + projectedPoints); + } + else + { + cv::projectPoints(_objectPoints, r, _M.getMat().colRange(3, 4).rowRange(0, 3), + _cameraMatrix, _distCoeffs, projectedPoints); + } + + err = 0; + size_t n = _objectPoints.rows() * _objectPoints.cols(); + + float dx, dy; + for (size_t i = 0; i < n; i++) + { + if (projectedPoints.depth() == CV_32FC1) + { + dx = projectedPoints.at(i)[0] - imagePoints.at(i)[0]; + dy = projectedPoints.at(i)[1] - imagePoints.at(i)[1]; + } + else + { + dx = projectedPoints.at(i)[0] - imagePoints.at(i)[0]; + dy = projectedPoints.at(i)[1] - imagePoints.at(i)[1]; + } + + err += dx * dx + dy * dy; + } + err = sqrt(err / (2.0f * n)); +} + +void IPPE::PoseSolver::sortPosesByReprojError(cv::InputArray _objectPoints, + cv::InputArray _imagePoints, + cv::InputArray _cameraMatrix, + cv::InputArray _distCoeffs, cv::InputArray _Ma, + cv::InputArray _Mb, cv::OutputArray _M1, + cv::OutputArray _M2, float& err1, float& err2) +{ + float erra, errb; + evalReprojError(_objectPoints, _imagePoints, _cameraMatrix, _distCoeffs, _Ma, erra); + evalReprojError(_objectPoints, _imagePoints, _cameraMatrix, _distCoeffs, _Mb, errb); + if (erra < errb) + { + err1 = erra; + _Ma.copyTo(_M1); + + err2 = errb; + _Mb.copyTo(_M2); + } + else + { + err1 = errb; + _Mb.copyTo(_M1); + + err2 = erra; + _Ma.copyTo(_M2); + } +} + +void HomographyHO::normalizeDataIsotropic(cv::InputArray _Data, cv::OutputArray _DataN, + cv::OutputArray _T, cv::OutputArray _Ti) +{ + cv::Mat Data = _Data.getMat(); + int numPoints = Data.rows * Data.cols; + assert((Data.rows == 1) | (Data.cols == 1)); + assert((Data.channels() == 2) | (Data.channels() == 3)); + assert(numPoints >= 4); + + int dataType = _Data.type(); + assert((dataType == CV_64FC2) | (dataType == CV_64FC3) | (dataType == CV_32FC2) | + (dataType == CV_32FC3)); + + _DataN.create(2, numPoints, CV_64FC1); + + _T.create(3, 3, CV_64FC1); + _Ti.create(3, 3, CV_64FC1); + + cv::Mat DataN = _DataN.getMat(); + cv::Mat T = _T.getMat(); + cv::Mat Ti = _Ti.getMat(); + + _T.setTo(0); + _Ti.setTo(0); + + double xm, ym; + int numChannels = Data.channels(); + + xm = 0; + ym = 0; + for (int i = 0; i < numPoints; i++) + { + if (numChannels == 2) + { + if (dataType == CV_32FC2) + { + xm = xm + Data.at(i)[0]; + ym = ym + Data.at(i)[1]; + } + else + { + xm = xm + Data.at(i)[0]; + ym = ym + Data.at(i)[1]; + } + } + else + { + if (dataType == CV_32FC3) + { + xm = xm + Data.at(i)[0]; + ym = ym + Data.at(i)[1]; + } + else + { + xm = xm + Data.at(i)[0]; + ym = ym + Data.at(i)[1]; + } + } + } + xm = xm / (double)numPoints; + ym = ym / (double)numPoints; + + double kappa = 0; + double xh, yh; + + for (int i = 0; i < numPoints; i++) + { + if (numChannels == 2) + { + if (dataType == CV_32FC2) + { + xh = Data.at(i)[0] - xm; + yh = Data.at(i)[1] - ym; + } + else + { + xh = Data.at(i)[0] - xm; + yh = Data.at(i)[1] - ym; + } + } + else + { + if (dataType == CV_32FC3) + { + xh = Data.at(i)[0] - xm; + yh = Data.at(i)[1] - ym; + } + else + { + xh = Data.at(i)[0] - xm; + yh = Data.at(i)[1] - ym; + } + } + + DataN.at(0, i) = xh; + DataN.at(1, i) = yh; + kappa = kappa + xh * xh + yh * yh; + } + double beta = sqrt(2 * numPoints / kappa); + DataN = DataN * beta; + + T.at(0, 0) = 1.0 / beta; + T.at(1, 1) = 1.0 / beta; + + T.at(0, 2) = xm; + T.at(1, 2) = ym; + + T.at(2, 2) = 1; + + Ti.at(0, 0) = beta; + Ti.at(1, 1) = beta; + + Ti.at(0, 2) = -beta * xm; + Ti.at(1, 2) = -beta * ym; + + Ti.at(2, 2) = 1; +} + +void HomographyHO::homographyHO(cv::InputArray _srcPoints, cv::InputArray _targPoints, + cv::OutputArray _H) +{ + _H.create(3, 3, CV_64FC1); + cv::Mat H = _H.getMat(); + + cv::Mat DataA, DataB, TA, TAi, TB, TBi; + + HomographyHO::normalizeDataIsotropic(_srcPoints, DataA, TA, TAi); + HomographyHO::normalizeDataIsotropic(_targPoints, DataB, TB, TBi); + + int n = DataA.cols; + assert(n == DataB.cols); + + cv::Mat C1(1, n, CV_64FC1); + cv::Mat C2(1, n, CV_64FC1); + cv::Mat C3(1, n, CV_64FC1); + cv::Mat C4(1, n, CV_64FC1); + + cv::Mat Mx(n, 3, CV_64FC1); + cv::Mat My(n, 3, CV_64FC1); + + double mC1, mC2, mC3, mC4; + mC1 = 0; + mC2 = 0; + mC3 = 0; + mC4 = 0; + + for (int i = 0; i < n; i++) + { + C1.at(0, i) = -DataB.at(0, i) * DataA.at(0, i); + C2.at(0, i) = -DataB.at(0, i) * DataA.at(1, i); + C3.at(0, i) = -DataB.at(1, i) * DataA.at(0, i); + C4.at(0, i) = -DataB.at(1, i) * DataA.at(1, i); + + mC1 = mC1 + C1.at(0, i); + mC2 = mC2 + C2.at(0, i); + mC3 = mC3 + C3.at(0, i); + mC4 = mC4 + C4.at(0, i); + } + + mC1 = mC1 / n; + mC2 = mC2 / n; + mC3 = mC3 / n; + mC4 = mC4 / n; + + for (int i = 0; i < n; i++) + { + Mx.at(i, 0) = C1.at(0, i) - mC1; + Mx.at(i, 1) = C2.at(0, i) - mC2; + Mx.at(i, 2) = -DataB.at(0, i); + + My.at(i, 0) = C3.at(0, i) - mC3; + My.at(i, 1) = C4.at(0, i) - mC4; + My.at(i, 2) = -DataB.at(1, i); + } + + cv::Mat DataAT, DataADataAT, DataADataATi, Pp, Bx, By, Ex, Ey, D; + + cv::transpose(DataA, DataAT); + DataADataAT = DataA * DataAT; + double dt = DataADataAT.at(0, 0) * DataADataAT.at(1, 1) - + DataADataAT.at(0, 1) * DataADataAT.at(1, 0); + + DataADataATi = cv::Mat(2, 2, CV_64FC1); + DataADataATi.at(0, 0) = DataADataAT.at(1, 1) / dt; + DataADataATi.at(0, 1) = -DataADataAT.at(0, 1) / dt; + DataADataATi.at(1, 0) = -DataADataAT.at(1, 0) / dt; + DataADataATi.at(1, 1) = DataADataAT.at(0, 0) / dt; + + Pp = DataADataATi * DataA; + + Bx = Pp * Mx; + By = Pp * My; + + Ex = DataAT * Bx; + Ey = DataAT * By; + + D = cv::Mat(2 * n, 3, CV_64FC1); + cv::Mat DT, DDT; + + for (int i = 0; i < n; i++) + { + D.at(i, 0) = Mx.at(i, 0) - Ex.at(i, 0); + D.at(i, 1) = Mx.at(i, 1) - Ex.at(i, 1); + D.at(i, 2) = Mx.at(i, 2) - Ex.at(i, 2); + + D.at(i + n, 0) = My.at(i, 0) - Ey.at(i, 0); + D.at(i + n, 1) = My.at(i, 1) - Ey.at(i, 1); + D.at(i + n, 2) = My.at(i, 2) - Ey.at(i, 2); + } + + cv::transpose(D, DT); + DDT = DT * D; + + cv::Mat S, U, V, h12, h45; + double h3, h6; + + cv::eigen(DDT, S, U); + + cv::Mat h789(3, 1, CV_64FC1); + h789.at(0, 0) = U.at(2, 0); + h789.at(1, 0) = U.at(2, 1); + h789.at(2, 0) = U.at(2, 2); + + h12 = -Bx * h789; + h45 = -By * h789; + + h3 = -(mC1 * h789.at(0, 0) + mC2 * h789.at(1, 0)); + h6 = -(mC3 * h789.at(0, 0) + mC4 * h789.at(1, 0)); + + H.at(0, 0) = h12.at(0, 0); + H.at(0, 1) = h12.at(1, 0); + H.at(0, 2) = h3; + + H.at(1, 0) = h45.at(0, 0); + H.at(1, 1) = h45.at(1, 0); + H.at(1, 2) = h6; + + H.at(2, 0) = h789.at(0, 0); + H.at(2, 1) = h789.at(1, 0); + H.at(2, 2) = h789.at(2, 0); + + H = TB * H * TAi; + H = H / H.at(2, 2); +} + + +void IPPE::PoseSolver::rotateVec2ZAxis(InputArray _a, OutputArray _Ra) +{ + _Ra.create(3, 3, CV_64FC1); + Mat Ra = _Ra.getMat(); + + double ax = _a.getMat().at(0); + double ay = _a.getMat().at(1); + double az = _a.getMat().at(2); + + double nrm = sqrt(ax * ax + ay * ay + az * az); + ax = ax / nrm; + ay = ay / nrm; + az = az / nrm; + + double c = az; + + if (abs(1.0 + c) < std::numeric_limits::epsilon()) + { + Ra.setTo(0.0); + Ra.at(0, 0) = 1.0; + Ra.at(1, 1) = 1.0; + Ra.at(2, 2) = -1.0; + } + else + { + double d = 1.0 / (1.0 + c); + double ax2 = ax * ax; + double ay2 = ay * ay; + double axay = ax * ay; + + Ra.at(0, 0) = -ax2 * d + 1.0; + Ra.at(0, 1) = -axay * d; + Ra.at(0, 2) = -ax; + + Ra.at(1, 0) = -axay * d; + Ra.at(1, 1) = -ay2 * d + 1.0; + Ra.at(1, 2) = -ay; + + Ra.at(2, 0) = ax; + Ra.at(2, 1) = ay; + Ra.at(2, 2) = 1.0 - (ax2 + ay2) * d; + } +} + +bool IPPE::PoseSolver::computeObjextSpaceR3Pts(InputArray _objectPoints, OutputArray R) +{ + bool ret; // return argument + double p1x, p1y, p1z; + double p2x, p2y, p2z; + double p3x, p3y, p3z; + + cv::Mat objectPoints = _objectPoints.getMat(); + size_t n = objectPoints.rows * objectPoints.cols; + if (objectPoints.type() == CV_32FC3) + { + p1x = objectPoints.at(0)[0]; + p1y = objectPoints.at(0)[1]; + p1z = objectPoints.at(0)[2]; + + p2x = objectPoints.at(1)[0]; + p2y = objectPoints.at(1)[1]; + p2z = objectPoints.at(1)[2]; + + p3x = objectPoints.at(2)[0]; + p3y = objectPoints.at(2)[1]; + p3z = objectPoints.at(2)[2]; + } + else + { + p1x = objectPoints.at(0)[0]; + p1y = objectPoints.at(0)[1]; + p1z = objectPoints.at(0)[2]; + + p2x = objectPoints.at(1)[0]; + p2y = objectPoints.at(1)[1]; + p2z = objectPoints.at(1)[2]; + + p3x = objectPoints.at(2)[0]; + p3y = objectPoints.at(2)[1]; + p3z = objectPoints.at(2)[2]; + } + + double nx = (p1y - p2y) * (p1z - p3z) - (p1y - p3y) * (p1z - p2z); + double ny = (p1x - p3x) * (p1z - p2z) - (p1x - p2x) * (p1z - p3z); + double nz = (p1x - p2x) * (p1y - p3y) - (p1x - p3x) * (p1y - p2y); + + double nrm = sqrt(nx * nx + ny * ny + nz * nz); + if (nrm > IPPE_SMALL) + { + nx = nx / nrm; + ny = ny / nrm; + nz = nz / nrm; + cv::Mat v(3, 1, CV_64FC1); + v.at(0) = nx; + v.at(1) = ny; + v.at(2) = nz; + rotateVec2ZAxis(v, R); + ret = true; + } + else + { + ret = false; + } + return ret; +} + +bool IPPE::PoseSolver::computeObjextSpaceRSvD(InputArray _objectPointsZeroMean, OutputArray _R) +{ + bool ret; // return argument + _R.create(3, 3, CV_64FC1); + cv::Mat R = _R.getMat(); + + // we could not compute R with the first three points, so lets use the SVD + cv::SVD s; + cv::Mat W, U, VT; + s.compute(_objectPointsZeroMean.getMat() * _objectPointsZeroMean.getMat().t(), W, U, VT); + double s3 = W.at(2); + double s2 = W.at(1); + + // check if points are coplanar: + assert(s3 / s2 < IPPE_SMALL); + + R = U.t(); + if (cv::determinant(R) < 0) + { // this ensures R is a rotation matrix and not a general unitary matrix: + R.at(2, 0) = -R.at(2, 0); + R.at(2, 1) = -R.at(2, 1); + R.at(2, 2) = -R.at(2, 2); + } + ret = true; + return ret; +} diff --git a/legacy/aruco_ros/aruco/src/aruco/marker.cpp b/legacy/aruco_ros/aruco/src/aruco/marker.cpp new file mode 100755 index 000000000..917ba63ea --- /dev/null +++ b/legacy/aruco_ros/aruco/src/aruco/marker.cpp @@ -0,0 +1,495 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#include "marker.h" + +/// \todo set this definition in the cmake code +#define _USE_MATH_DEFINES + +#include +#include + +#include +#include +#include "cameraparameters.h" +#include "ippe.h" + +namespace aruco +{ +/** + * + */ +Marker::Marker() +{ + id = -1; + ssize = -1; + Rvec.create(3, 1, CV_32FC1); + Tvec.create(3, 1, CV_32FC1); + for (int i = 0; i < 3; i++) + Tvec.at(i, 0) = Rvec.at(i, 0) = -999999; +} +/** + * + */ +Marker::Marker(int _id) +{ + id = _id; + ssize = -1; + Rvec.create(3, 1, CV_32FC1); + Tvec.create(3, 1, CV_32FC1); + for (int i = 0; i < 3; i++) + Tvec.at(i, 0) = Rvec.at(i, 0) = -999999; +} +/** + * + */ +Marker::Marker(const Marker& M) : std::vector(M) +{ + M.copyTo(*this); +} + +/** + * + */ +Marker::Marker(const std::vector& corners, int _id) + : std::vector(corners) +{ + id = _id; + ssize = -1; + Rvec.create(3, 1, CV_32FC1); + Tvec.create(3, 1, CV_32FC1); + for (int i = 0; i < 3; i++) + Tvec.at(i, 0) = Rvec.at(i, 0) = -999999; +} + +void Marker::copyTo(Marker& m) const +{ + m.id = id; + // size of the markers sides in meters + m.ssize = ssize; + // matrices of rotation and translation respect to the camera + Rvec.copyTo(m.Rvec); + Tvec.copyTo(m.Tvec); + m.resize(size()); + for (size_t i = 0; i < size(); i++) + m.at(i) = at(i); + m.dict_info = dict_info; + m.contourPoints = contourPoints; +} +/**compares ids + */ +Marker& Marker::operator=(const Marker& m) +{ + m.copyTo(*this); + return *this; +} +/** + * + */ +void Marker::glGetModelViewMatrix(double modelview_matrix[16]) +{ + // check if paremeters are valid + bool invalid = false; + for (int i = 0; i < 3 && !invalid; i++) + { + if (Tvec.at(i, 0) != -999999) + invalid |= false; + if (Rvec.at(i, 0) != -999999) + invalid |= false; + } + if (invalid) + throw cv::Exception(9003, "extrinsic parameters are not set", + "Marker::getModelViewMatrix", __FILE__, __LINE__); + cv::Mat Rot(3, 3, CV_32FC1), Jacob; + cv::Rodrigues(Rvec, Rot, Jacob); + + double para[3][4]; + for (int i = 0; i < 3; i++) + for (int j = 0; j < 3; j++) + para[i][j] = Rot.at(i, j); + // now, add the translation + para[0][3] = Tvec.at(0, 0); + para[1][3] = Tvec.at(1, 0); + para[2][3] = Tvec.at(2, 0); + double scale = 1; + + modelview_matrix[0 + 0 * 4] = para[0][0]; + // R1C2 + modelview_matrix[0 + 1 * 4] = para[0][1]; + modelview_matrix[0 + 2 * 4] = para[0][2]; + modelview_matrix[0 + 3 * 4] = para[0][3]; + // R2 + modelview_matrix[1 + 0 * 4] = para[1][0]; + modelview_matrix[1 + 1 * 4] = para[1][1]; + modelview_matrix[1 + 2 * 4] = para[1][2]; + modelview_matrix[1 + 3 * 4] = para[1][3]; + // R3 + modelview_matrix[2 + 0 * 4] = -para[2][0]; + modelview_matrix[2 + 1 * 4] = -para[2][1]; + modelview_matrix[2 + 2 * 4] = -para[2][2]; + modelview_matrix[2 + 3 * 4] = -para[2][3]; + modelview_matrix[3 + 0 * 4] = 0.0; + modelview_matrix[3 + 1 * 4] = 0.0; + modelview_matrix[3 + 2 * 4] = 0.0; + modelview_matrix[3 + 3 * 4] = 1.0; + if (scale != 0.0) + { + modelview_matrix[12] *= scale; + modelview_matrix[13] *= scale; + modelview_matrix[14] *= scale; + } +} + +/**** + * + */ +void Marker::OgreGetPoseParameters(double position[3], double orientation[4]) +{ + // check if paremeters are valid + bool invalid = false; + for (int i = 0; i < 3 && !invalid; i++) + { + if (Tvec.at(i, 0) != -999999) + invalid |= false; + if (Rvec.at(i, 0) != -999999) + invalid |= false; + } + if (invalid) + throw cv::Exception(9003, "extrinsic parameters are not set", + "Marker::getModelViewMatrix", __FILE__, __LINE__); + + // calculate position vector + position[0] = -Tvec.ptr(0)[0]; + position[1] = -Tvec.ptr(0)[1]; + position[2] = +Tvec.ptr(0)[2]; + + // now calculare orientation quaternion + cv::Mat Rot(3, 3, CV_32FC1); + cv::Rodrigues(Rvec, Rot); + + // calculate axes for quaternion + double stAxes[3][3]; + // x axis + stAxes[0][0] = -Rot.at(0, 0); + stAxes[0][1] = -Rot.at(1, 0); + stAxes[0][2] = +Rot.at(2, 0); + // y axis + stAxes[1][0] = -Rot.at(0, 1); + stAxes[1][1] = -Rot.at(1, 1); + stAxes[1][2] = +Rot.at(2, 1); + // for z axis, we use cross product + stAxes[2][0] = stAxes[0][1] * stAxes[1][2] - stAxes[0][2] * stAxes[1][1]; + stAxes[2][1] = -stAxes[0][0] * stAxes[1][2] + stAxes[0][2] * stAxes[1][0]; + stAxes[2][2] = stAxes[0][0] * stAxes[1][1] - stAxes[0][1] * stAxes[1][0]; + + // transposed matrix + double axes[3][3]; + axes[0][0] = stAxes[0][0]; + axes[1][0] = stAxes[0][1]; + axes[2][0] = stAxes[0][2]; + + axes[0][1] = stAxes[1][0]; + axes[1][1] = stAxes[1][1]; + axes[2][1] = stAxes[1][2]; + + axes[0][2] = stAxes[2][0]; + axes[1][2] = stAxes[2][1]; + axes[2][2] = stAxes[2][2]; + + // Algorithm in Ken Shoemake's article in 1987 SIGGRAPH course notes + // article "Quaternion Calculus and Fast Animation". + double fTrace = axes[0][0] + axes[1][1] + axes[2][2]; + double fRoot; + + if (fTrace > 0.0) + { + // |w| > 1/2, may as well choose w > 1/2 + fRoot = sqrt(fTrace + 1.0); // 2w + orientation[0] = 0.5 * fRoot; + fRoot = 0.5 / fRoot; // 1/(4w) + orientation[1] = (axes[2][1] - axes[1][2]) * fRoot; + orientation[2] = (axes[0][2] - axes[2][0]) * fRoot; + orientation[3] = (axes[1][0] - axes[0][1]) * fRoot; + } + else + { + // |w| <= 1/2 + static unsigned int s_iNext[3] = { 1, 2, 0 }; + unsigned int i = 0; + if (axes[1][1] > axes[0][0]) + i = 1; + if (axes[2][2] > axes[i][i]) + i = 2; + unsigned int j = s_iNext[i]; + unsigned int k = s_iNext[j]; + + fRoot = sqrt(axes[i][i] - axes[j][j] - axes[k][k] + 1.0); + double* apkQuat[3] = { &orientation[1], &orientation[2], &orientation[3] }; + *apkQuat[i] = 0.5 * fRoot; + fRoot = 0.5 / fRoot; + orientation[0] = (axes[k][j] - axes[j][k]) * fRoot; + *apkQuat[j] = (axes[j][i] + axes[i][j]) * fRoot; + *apkQuat[k] = (axes[k][i] + axes[i][k]) * fRoot; + } +} + +void Marker::draw(cv::Mat& in, cv::Scalar color, int lineWidth, bool writeId, bool writeInfo) const +{ + auto _to_string = [](int i) + { + std::stringstream str; + str << i; + return str.str(); + }; + + if (size() != 4) + return; + float flineWidth = lineWidth; + if (lineWidth == -1) // auto + flineWidth = std::max(1.f, std::min(5.f, float(in.cols) / 500.f)); + lineWidth = round(flineWidth); + cv::line(in, (*this)[0], (*this)[1], color, lineWidth); + cv::line(in, (*this)[1], (*this)[2], color, lineWidth); + cv::line(in, (*this)[2], (*this)[3], color, lineWidth); + cv::line(in, (*this)[3], (*this)[0], color, lineWidth); + + auto p2 = + cv::Point2f(2.f * static_cast(lineWidth), 2.f * static_cast(lineWidth)); + cv::rectangle(in, (*this)[0] - p2, (*this)[0] + p2, cv::Scalar(0, 0, 255, 255), -1); + cv::rectangle(in, (*this)[1] - p2, (*this)[1] + p2, cv::Scalar(0, 255, 0, 255), lineWidth); + cv::rectangle(in, (*this)[2] - p2, (*this)[2] + p2, cv::Scalar(255, 0, 0, 255), lineWidth); + + + + if (writeId) + { + // determine the centroid + cv::Point cent(0, 0); + for (int i = 0; i < 4; i++) + { + cent.x += static_cast((*this)[i].x); + cent.y += static_cast((*this)[i].y); + } + cent.x /= 4; + cent.y /= 4; + std::string str; + if (writeInfo) + str += dict_info + ":"; + if (writeId) + str += _to_string(id); + float fsize = std::min(3.0f, flineWidth * 0.75f); + cv::putText(in, str, cent - cv::Point(10 * flineWidth, 0), cv::FONT_HERSHEY_SIMPLEX, + fsize, cv::Scalar(255, 255, 255) - color, lineWidth, cv::LINE_AA); + } +} + +/** + */ +void Marker::calculateExtrinsics(float markerSize, const CameraParameters& CP, bool setYPerpendicular) +{ + if (!CP.isValid()) + throw cv::Exception(9004, "!CP.isValid(): invalid camera parameters. It is not possible to calculate extrinsics", + "calculateExtrinsics", __FILE__, __LINE__); + calculateExtrinsics(markerSize, CP.CameraMatrix, CP.Distorsion, CP.ExtrinsicMatrix, + setYPerpendicular); +} + +void print(cv::Point3f p, std::string cad) +{ + std::cout << cad << " " << p.x << " " << p.y << " " << p.z << std::endl; +} +/** + */ +void Marker::calculateExtrinsics(float markerSizeMeters, cv::Mat camMatrix, cv::Mat distCoeff, + cv::Mat Extrinsics, bool setYPerpendicular, bool correctFisheye) +{ + if (!isValid()) + throw cv::Exception(9004, "!isValid(): invalid marker. It is not possible to calculate extrinsics", + "calculateExtrinsics", __FILE__, __LINE__); + if (markerSizeMeters <= 0) + throw cv::Exception(9004, "markerSize<=0: invalid markerSize", "calculateExtrinsics", + __FILE__, __LINE__); + if (camMatrix.rows == 0 || camMatrix.cols == 0) + throw cv::Exception(9004, "CameraMatrix is empty", "calculateExtrinsics", __FILE__, __LINE__); + + std::vector objpoints = get3DPoints(markerSizeMeters); + + cv::Mat raux, taux; + if (correctFisheye) + { + std::vector undistorted; + cv::fisheye::undistortPoints(*this, undistorted, camMatrix, distCoeff); + cv::solvePnP(objpoints, undistorted, cv::Mat::eye(camMatrix.size(), camMatrix.type()), + cv::Mat::zeros(distCoeff.size(), distCoeff.type()), raux, taux); + } + else + { + cv::solvePnP(objpoints, *this, camMatrix, distCoeff, raux, taux); + } + raux.convertTo(Rvec, CV_32F); + taux.convertTo(Tvec, CV_32F); + float tx = -1 * (Extrinsics.at(0, 0) / camMatrix.at(0, 0)); + Tvec.at(0) += tx; + float ty = -1 * (Extrinsics.at(0, 1) / camMatrix.at(1, 1)); + Tvec.at(1) += ty; + float tz = -1 * (Extrinsics.at(0, 2) / camMatrix.at(2, 2)); + Tvec.at(2) += tz; + + // rotate the X axis so that Y is perpendicular to the marker plane + if (setYPerpendicular) + rotateXAxis(Rvec); + ssize = markerSizeMeters; + // cout << (*this) << endl; +} + + +std::vector Marker::get3DPoints(float msize) +{ + float halfSize = msize / 2.f; + // std::vector res(4); + // res[0]=cv::Point3f(-halfSize, halfSize, 0); + // res[1]=cv::Point3f(halfSize, halfSize, 0); + // res[2]=cv::Point3f(halfSize,-halfSize, 0); + // res[3]=cv::Point3f(-halfSize,- halfSize, 0); + // return res; + return { cv::Point3f(-halfSize, halfSize, 0), cv::Point3f(halfSize, halfSize, 0), + cv::Point3f(halfSize, -halfSize, 0), cv::Point3f(-halfSize, -halfSize, 0) }; +} + +void Marker::rotateXAxis(cv::Mat& rotation) +{ + cv::Mat R(3, 3, CV_32F); + cv::Rodrigues(rotation, R); + // create a rotation matrix for x axis + cv::Mat RX = cv::Mat::eye(3, 3, CV_32F); + const float angleRad = 3.14159265359f / 2.f; + RX.at(1, 1) = cos(angleRad); + RX.at(1, 2) = -sin(angleRad); + RX.at(2, 1) = sin(angleRad); + RX.at(2, 2) = cos(angleRad); + // now multiply + R = R * RX; + // finally, the the rodrigues back + Rodrigues(R, rotation); +} + +/** + */ +cv::Point2f Marker::getCenter() const +{ + cv::Point2f cent(0, 0); + for (size_t i = 0; i < size(); i++) + { + cent.x += (*this)[i].x; + cent.y += (*this)[i].y; + } + cent.x /= float(size()); + cent.y /= float(size()); + return cent; +} + +/** + */ +float Marker::getArea() const +{ + assert(size() == 4); + // use the cross products + cv::Point2f v01 = (*this)[1] - (*this)[0]; + cv::Point2f v03 = (*this)[3] - (*this)[0]; + float area1 = fabs(v01.x * v03.y - v01.y * v03.x); + cv::Point2f v21 = (*this)[1] - (*this)[2]; + cv::Point2f v23 = (*this)[3] - (*this)[2]; + float area2 = fabs(v21.x * v23.y - v21.y * v23.x); + return (area2 + area1) / 2.f; +} +/** + */ +float Marker::getPerimeter() const +{ + assert(size() == 4); + float sum = 0; + for (int i = 0; i < 4; i++) + sum += static_cast(norm((*this)[i] - (*this)[(i + 1) % 4])); + return sum; +} + + +// saves to a binary stream +void Marker::toStream(std::ostream& str) const +{ + assert(Rvec.type() == CV_32F && Tvec.type() == CV_32F); + str.write((char*)&id, sizeof(id)); + str.write((char*)&ssize, sizeof(ssize)); + str.write((char*)Rvec.ptr(0), 3 * sizeof(float)); + str.write((char*)Tvec.ptr(0), 3 * sizeof(float)); + // write the 2d points + uint32_t np = static_cast(size()); + str.write((char*)&np, sizeof(np)); + for (size_t i = 0; i < size(); i++) + str.write((char*)&at(i), sizeof(cv::Point2f)); + // write the additional info + uint32_t s = dict_info.size(); + str.write((char*)&s, sizeof(s)); + str.write((char*)&dict_info[0], dict_info.size()); + s = contourPoints.size(); + str.write((char*)&s, sizeof(s)); + str.write((char*)&contourPoints[0], contourPoints.size() * sizeof(contourPoints[0])); +} +// reads from a binary stream +void Marker::fromStream(std::istream& str) +{ + Rvec.create(1, 3, CV_32F); + Tvec.create(1, 3, CV_32F); + str.read((char*)&id, sizeof(id)); + str.read((char*)&ssize, sizeof(ssize)); + str.read((char*)Rvec.ptr(0), 3 * sizeof(float)); + str.read((char*)Tvec.ptr(0), 3 * sizeof(float)); + uint32_t np; + str.read((char*)&np, sizeof(np)); + resize(np); + for (size_t i = 0; i < size(); i++) + str.read((char*)&(*this)[i], sizeof(cv::Point2f)); + // read the additional info + uint32_t s; + str.read((char*)&s, sizeof(s)); + dict_info.resize(s); + str.read((char*)&dict_info[0], dict_info.size()); + str.read((char*)&s, sizeof(s)); + contourPoints.resize(s); + str.read((char*)&contourPoints[0], contourPoints.size() * sizeof(contourPoints[0])); +} + +cv::Mat Marker::getTransformMatrix() const +{ + cv::Mat T = cv::Mat::eye(4, 4, CV_32F); + cv::Mat rot = T.rowRange(0, 3).colRange(0, 3); + cv::Rodrigues(Rvec, rot); + for (int i = 0; i < 3; i++) + T.at(i, 3) = Tvec.ptr(0)[i]; + return T; +} + +float Marker::getRadius() const +{ + auto center = getCenter(); + + float maxDist = 0; + for (auto p : *this) + maxDist = std::max(maxDist, float(cv::norm(p - center))); + return maxDist; +} + +} // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/markerdetector.cpp b/legacy/aruco_ros/aruco/src/aruco/markerdetector.cpp new file mode 100755 index 000000000..88f24baa0 --- /dev/null +++ b/legacy/aruco_ros/aruco/src/aruco/markerdetector.cpp @@ -0,0 +1,466 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#include "markerdetector.h" +#include "cameraparameters.h" +#include "markerlabeler.h" +#include "timers.h" + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "debug.h" +#include "aruco_cvversioning.h" +#include "markerdetector_impl.h" + +//#ifdef _DEBUG +//#include +//#endif +using namespace std; +using namespace cv; + +namespace aruco +{ +/************************************ + * + * + * + * + ************************************/ +MarkerDetector::MarkerDetector() +{ + _impl = new MarkerDetector_Impl(); + // _iplm=std::unique_ptr(new MarkerDetector_Impl()); +} +/************************************ + * + * + * + * + ************************************/ +MarkerDetector::MarkerDetector(int dict_type, float error_correction_rate) +{ + _impl = new MarkerDetector_Impl(); + setDictionary(dict_type, error_correction_rate); + setDetectionMode(DM_NORMAL); +} +/************************************ + * + * + * + * + ************************************/ +MarkerDetector::MarkerDetector(std::string dict_type, float error_correction_rate) +{ + _impl = new MarkerDetector_Impl(); + setDictionary(dict_type, error_correction_rate); + setDetectionMode(DM_NORMAL); +} +/************************************ + * + * + * + * + ************************************/ + +MarkerDetector::~MarkerDetector() +{ + delete _impl; +} + +void MarkerDetector::setParameters(const Params ¶ms) +{ + _impl->setParameters(params); +} + +/************************************ + * + * + * + * + ************************************/ +void MarkerDetector::setDetectionMode(DetectionMode dm, float minMarkerSize) +{ + _impl->_params.setDetectionMode(dm, minMarkerSize); +} + +DetectionMode MarkerDetector::getDetectionMode() +{ + return _impl->_params.detectMode; +} + + + +/************************************ + * + * + * + * + ************************************/ + +std::vector MarkerDetector::detect(const cv::Mat &input) +{ + return _impl->detect(input); +} + +std::vector MarkerDetector::detect(const cv::Mat &input, + const CameraParameters &camParams, + float markerSizeMeters, + bool setYPerperdicular, bool correctFisheye) +{ + return _impl->detect(input, camParams, markerSizeMeters, setYPerperdicular); +} + +/************************************ + * + * + * + * + ************************************/ +void MarkerDetector::detect(const cv::Mat &input, std::vector &detectedMarkers, + CameraParameters camParams, float markerSizeMeters, + bool setYPerpendicular, bool correctFisheye) +{ + _impl->detect(input, detectedMarkers, camParams, markerSizeMeters, setYPerpendicular); +} + +/**Returns operating params + */ +MarkerDetector::Params MarkerDetector::getParameters() const +{ + return _impl->getParameters(); +} +/**Returns operating params + */ +MarkerDetector::Params &MarkerDetector::getParameters() +{ + return _impl->getParameters(); +} + + + +std::vector MarkerDetector::getCandidates() const +{ + return _impl->getCandidates(); +} + +std::vector MarkerDetector::getImagePyramid() +{ + return _impl->getImagePyramid(); +} +cv::Ptr MarkerDetector::getMarkerLabeler() +{ + return _impl->getMarkerLabeler(); +} +void MarkerDetector::setMarkerLabeler(cv::Ptr detector) +{ + _impl->setMarkerLabeler(detector); +} + +void MarkerDetector::setDictionary(int dict_type, float error_correction_rate) +{ + _impl->setDictionary(dict_type, error_correction_rate); +} + + +void MarkerDetector::setDictionary(string dict_type, float error_correction_rate) +{ + _impl->setDictionary(dict_type, error_correction_rate); +} +cv::Mat MarkerDetector::getThresholdedImage(uint32_t idx) +{ + return _impl->getThresholdedImage(idx); +} + +void MarkerDetector::Params::save(cv::FileStorage &fs) const +{ + fs << "aruco-dictionary" << dictionary; + fs << "aruco-detectMode" << toString(detectMode); + fs << "aruco-cornerRefinementM" << toString(cornerRefinementM); + fs << "aruco-thresMethod" << toString(thresMethod); + fs << "aruco-maxThreads" << maxThreads; + fs << "aruco-borderDistThres" << borderDistThres; + fs << "aruco-lowResMarkerSize" << lowResMarkerSize; + fs << "aruco-minSize" << minSize; + fs << "aruco-minSize_pix" << minSize_pix; + fs << "aruco-enclosedMarker" << enclosedMarker; + fs << "aruco-NAttemptsAutoThresFix" << NAttemptsAutoThresFix; + fs << "aruco-AdaptiveThresWindowSize" << AdaptiveThresWindowSize; + fs << "aruco-ThresHold" << ThresHold; + fs << "aruco-AdaptiveThresWindowSize_range" << AdaptiveThresWindowSize_range; + fs << "aruco-markerWarpPixSize" << markerWarpPixSize; + fs << "aruco-autoSize" << autoSize; + fs << "aruco-ts" << ts; + fs << "aruco-pyrfactor" << pyrfactor; + fs << "aruco-error_correction_rate" << error_correction_rate; + fs << "aruco-trackingMinDetections" << trackingMinDetections; + fs << "aruco-closingSize" << closingSize; +} + +void MarkerDetector::Params::load(cv::FileStorage &fs) +{ + attemtpRead("aruco-maxThreads", maxThreads, fs); + attemtpRead("aruco-borderDistThres", borderDistThres, fs); + attemtpRead("aruco-lowResMarkerSize", lowResMarkerSize, fs); + attemtpRead("aruco-minSize", minSize, fs); + attemtpRead("aruco-minSize_pix", minSize_pix, fs); + attemtpRead("aruco-enclosedMarker", enclosedMarker, fs); + attemtpRead("aruco-NAttemptsAutoThresFix", NAttemptsAutoThresFix, fs); + attemtpRead("aruco-AdaptiveThresWindowSize", AdaptiveThresWindowSize, fs); + attemtpRead("aruco-ThresHold", ThresHold, fs); + attemtpRead("aruco-AdaptiveThresWindowSize_range", AdaptiveThresWindowSize_range, fs); + attemtpRead("aruco-markerWarpPixSize", markerWarpPixSize, fs); + attemtpRead("aruco-autoSize", autoSize, fs); + attemtpRead("aruco-ts", ts, fs); + attemtpRead("aruco-pyrfactor", pyrfactor, fs); + attemtpRead("aruco-error_correction_rate", error_correction_rate, fs); + attemtpRead("aruco-dictionary", dictionary, fs); + attemtpRead("aruco-trackingMinDetections", trackingMinDetections, fs); + attemtpRead("aruco-closingSize", closingSize, fs); + + + + if (fs["aruco-detectMode"].type() != cv::FileNode::NONE) + { + string aux; + fs["aruco-detectMode"] >> aux; + detectMode = getDetectionModeFromString(aux); + } + if (fs["aruco-thresMethod"].type() != cv::FileNode::NONE) + { + string aux; + fs["aruco-thresMethod"] >> aux; + thresMethod = getCornerThresMethodFromString(aux); + } + if (fs["aruco-cornerRefinementM"].type() != cv::FileNode::NONE) + { + string aux; + fs["aruco-cornerRefinementM"] >> aux; + cornerRefinementM = getCornerRefinementMethodFromString(aux); + } +} + + +void MarkerDetector::Params::toStream(std::ostream &str) const +{ + str.write((char *)&detectMode, sizeof(detectMode)); + str.write((char *)&maxThreads, sizeof(maxThreads)); + str.write((char *)&borderDistThres, sizeof(borderDistThres)); + str.write((char *)&lowResMarkerSize, sizeof(lowResMarkerSize)); + str.write((char *)&minSize, sizeof(minSize)); + str.write((char *)&minSize_pix, sizeof(minSize_pix)); + str.write((char *)&enclosedMarker, sizeof(enclosedMarker)); + str.write((char *)&thresMethod, sizeof(thresMethod)); + str.write((char *)&NAttemptsAutoThresFix, sizeof(NAttemptsAutoThresFix)); + str.write((char *)&AdaptiveThresWindowSize, sizeof(AdaptiveThresWindowSize)); + str.write((char *)&ThresHold, sizeof(ThresHold)); + str.write((char *)&AdaptiveThresWindowSize_range, sizeof(AdaptiveThresWindowSize_range)); + str.write((char *)&markerWarpPixSize, sizeof(markerWarpPixSize)); + str.write((char *)&cornerRefinementM, sizeof(cornerRefinementM)); + str.write((char *)&autoSize, sizeof(autoSize)); + str.write((char *)&ts, sizeof(pyrfactor)); + str.write((char *)&error_correction_rate, sizeof(error_correction_rate)); + str.write((char *)&trackingMinDetections, sizeof(trackingMinDetections)); + str.write((char *)&closingSize, sizeof(closingSize)); + + + _toStream(dictionary, str); +} +void MarkerDetector::Params::fromStream(std::istream &str) +{ + str.read((char *)&detectMode, sizeof(detectMode)); + str.read((char *)&maxThreads, sizeof(maxThreads)); + str.read((char *)&borderDistThres, sizeof(borderDistThres)); + str.read((char *)&lowResMarkerSize, sizeof(lowResMarkerSize)); + str.read((char *)&minSize, sizeof(minSize)); + str.read((char *)&minSize_pix, sizeof(minSize_pix)); + str.read((char *)&enclosedMarker, sizeof(enclosedMarker)); + str.read((char *)&thresMethod, sizeof(thresMethod)); + str.read((char *)&NAttemptsAutoThresFix, sizeof(NAttemptsAutoThresFix)); + str.read((char *)&AdaptiveThresWindowSize, sizeof(AdaptiveThresWindowSize)); + str.read((char *)&ThresHold, sizeof(ThresHold)); + str.read((char *)&AdaptiveThresWindowSize_range, sizeof(AdaptiveThresWindowSize_range)); + str.read((char *)&markerWarpPixSize, sizeof(markerWarpPixSize)); + str.read((char *)&cornerRefinementM, sizeof(cornerRefinementM)); + str.read((char *)&autoSize, sizeof(autoSize)); + str.read((char *)&ts, sizeof(pyrfactor)); + str.read((char *)&error_correction_rate, sizeof(error_correction_rate)); + str.read((char *)&trackingMinDetections, sizeof(trackingMinDetections)); + str.read((char *)&closingSize, sizeof(closingSize)); + _fromStream(dictionary, str); +} +/**Saves the configuration of the detector to a file + */ +void MarkerDetector::saveParamsToFile(const std::string &path) const +{ + _impl->saveParamsToFile(path); +} + +/**Loads the configuration from a file + */ +void MarkerDetector::loadParamsFromFile(const std::string &path) +{ + _impl->loadParamsFromFile(path); +} + +void MarkerDetector::toStream(std::ostream &str) const +{ + _impl->toStream(str); +} + +void MarkerDetector::fromStream(std::istream &str) +{ + _impl->fromStream(str); +} + +std::string MarkerDetector::Params::toString(DetectionMode dm) +{ + switch (dm) + { + case DM_FAST: + return "DM_FAST"; + case DM_NORMAL: + return "DM_NORMAL"; + case DM_VIDEO_FAST: + return "DM_VIDEO_FAST"; + }; + return "DM_NORMAL"; +} + +DetectionMode MarkerDetector::Params::getDetectionModeFromString(const std::string &str) +{ + if (str == "DM_FAST") + return DM_FAST; + if (str == "DM_NORMAL") + return DM_NORMAL; + if (str == "DM_VIDEO_FAST") + return DM_VIDEO_FAST; + return DM_NORMAL; +} + +std::string MarkerDetector::Params::toString(CornerRefinementMethod dm) +{ + switch (dm) + { + case CORNER_LINES: + return "CORNER_LINES"; + case CORNER_SUBPIX: + return "CORNER_SUBPIX"; + case CORNER_NONE: + return "CORNER_NONE"; + }; + return "CORNER_SUBPIX"; +} +CornerRefinementMethod MarkerDetector::Params::getCornerRefinementMethodFromString(const std::string &str) +{ + if (str == "CORNER_LINES") + return CORNER_LINES; + if (str == "CORNER_SUBPIX") + return CORNER_SUBPIX; + if (str == "CORNER_NONE") + return CORNER_NONE; + return CORNER_SUBPIX; +} +std::string MarkerDetector::Params::toString(MarkerDetector::ThresMethod dm) +{ + switch (dm) + { + case THRES_ADAPTIVE: + return "THRES_ADAPTIVE"; + case THRES_AUTO_FIXED: + return "THRES_AUTO_FIXED"; + }; + return "THRES_ADAPTIVE"; +} +MarkerDetector::ThresMethod MarkerDetector::Params::getCornerThresMethodFromString(const std::string &str) +{ + if (str == "THRES_ADAPTIVE") + return THRES_ADAPTIVE; + if (str == "THRES_AUTO_FIXED") + return THRES_AUTO_FIXED; + return THRES_ADAPTIVE; +} +void MarkerDetector::Params::setThresholdMethod(MarkerDetector::ThresMethod method, + int thresHold, int wsize, int wsize_range) +{ + AdaptiveThresWindowSize = wsize; + thresMethod = method; + if (thresHold == -1) + { + if (method == MarkerDetector::THRES_AUTO_FIXED) + ThresHold = 100; + else + ThresHold = 7; + } + else + ThresHold = thresHold; + AdaptiveThresWindowSize_range = wsize_range; +} +void MarkerDetector::Params::setDetectionMode(DetectionMode dm, float minMarkerSize) +{ + detectMode = dm; + minSize = minMarkerSize; + if (detectMode == DM_NORMAL) + { + setAutoSizeSpeedUp(false); + setThresholdMethod(THRES_ADAPTIVE); + } + else if (detectMode == DM_FAST) + { + setAutoSizeSpeedUp(false); + setThresholdMethod(THRES_AUTO_FIXED); + } + else if (detectMode == DM_VIDEO_FAST) + { + setThresholdMethod(THRES_AUTO_FIXED); + setAutoSizeSpeedUp(true, 0.3); + } +} +void MarkerDetector::Params::setCornerRefinementMethod(CornerRefinementMethod method) +{ + cornerRefinementM = method; + if (method != CORNER_SUBPIX) + minSize = 0; +} +void MarkerDetector::Params::_toStream(const std::string &strg, std::ostream &str) +{ + uint32_t s = strg.size(); + str.write((char *)&s, sizeof(s)); + str.write(strg.c_str(), strg.size()); +} +void MarkerDetector::Params::_fromStream(std::string &strg, std::istream &str) +{ + uint32_t s; + str.read((char *)&s, sizeof(s)); + strg.resize(s); + str.read(&strg[0], strg.size()); +} + +void MarkerDetector::cornerUpsample(std::vector > &corners, + cv::Size lowResImageSize) +{ + _impl->cornerUpsample(corners, lowResImageSize); +} + + + +}; // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/markerdetector_impl.cpp b/legacy/aruco_ros/aruco/src/aruco/markerdetector_impl.cpp new file mode 100755 index 000000000..e1a21a65a --- /dev/null +++ b/legacy/aruco_ros/aruco/src/aruco/markerdetector_impl.cpp @@ -0,0 +1,1851 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#include "markerdetector_impl.h" +#include "cameraparameters.h" +#include "markerlabeler.h" +#include "timers.h" + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "debug.h" +#include "aruco_cvversioning.h" +//#include "picoflann.h" + +//#ifdef _DEBUG +//#include +//#endif +using namespace std; +using namespace cv; + +namespace aruco +{ +/************************************ + * + * + * + * + ************************************/ +MarkerDetector_Impl::MarkerDetector_Impl() +{ + markerIdDetector = aruco::MarkerLabeler::create(Dictionary::ALL_DICTS); + setDetectionMode(DM_NORMAL); +} +/************************************ + * + * + * + * + ************************************/ +MarkerDetector_Impl::MarkerDetector_Impl(int dict_type, float error_correction_rate) +{ + setDictionary(dict_type, error_correction_rate); + setDetectionMode(DM_NORMAL); +} +/************************************ + * + * + * + * + ************************************/ +MarkerDetector_Impl::MarkerDetector_Impl(std::string dict_type, float error_correction_rate) +{ + setDictionary(dict_type, error_correction_rate); + setDetectionMode(DM_NORMAL); +} +/************************************ + * + * + * + * + ************************************/ + +MarkerDetector_Impl::~MarkerDetector_Impl() +{ +} + +void MarkerDetector_Impl::setParameters(const MarkerDetector::Params ¶ms) +{ + _params = params; + setDictionary(_params.dictionary, _params.error_correction_rate); +} + +/************************************ + * + * + * + * + ************************************/ +void MarkerDetector_Impl::setDetectionMode(DetectionMode dm, float minMarkerSize) +{ + _params.setDetectionMode(dm, minMarkerSize); +} + +DetectionMode MarkerDetector_Impl::getDetectionMode() +{ + return _params.detectMode; +} + + + +/************************************ + * + * + * + * + ************************************/ + +std::vector MarkerDetector_Impl::detect(const cv::Mat &input) +{ + std::vector detectedMarkers; + detect(input, detectedMarkers); + return detectedMarkers; +} + +std::vector MarkerDetector_Impl::detect(const cv::Mat &input, + const CameraParameters &camParams, + float markerSizeMeters, + bool setYPerperdicular, bool correctFisheye) +{ + std::vector detectedMarkers; + detect(input, detectedMarkers, camParams, markerSizeMeters, setYPerperdicular, correctFisheye); + return detectedMarkers; +} + +/************************************ + * + * + * + * + ************************************/ +void MarkerDetector_Impl::detect(const cv::Mat &input, std::vector &detectedMarkers, + CameraParameters camParams, float markerSizeMeters, + bool setYPerpendicular, bool correctFisheye) +{ + if (camParams.CamSize != input.size() && camParams.isValid() && markerSizeMeters > 0) + { + // must resize camera parameters if we want to compute properly marker poses + CameraParameters cp_aux = camParams; + cp_aux.resize(input.size()); + detect(input, detectedMarkers, cp_aux.CameraMatrix, cp_aux.Distorsion, + cp_aux.ExtrinsicMatrix, markerSizeMeters, setYPerpendicular, correctFisheye); + } + else + { + detect(input, detectedMarkers, camParams.CameraMatrix, camParams.Distorsion, + camParams.ExtrinsicMatrix, markerSizeMeters, setYPerpendicular, correctFisheye); + } +} +int MarkerDetector_Impl::getMarkerWarpSize() +{ + auto bis = markerIdDetector->getBestInputSize(); + if (bis != -1) + return bis; + + int ndiv = markerIdDetector->getNSubdivisions(); + if (ndiv == -1) + ndiv = 7; // set any possible value(it is used for non dictionary based labelers) + return _params.markerWarpPixSize * + ndiv; // this is the minimum size that the smallest marker will have +} + + + +void MarkerDetector_Impl::buildPyramid(vector &ImagePyramid, const cv::Mat &grey, + int minSize) +{ + // determine numbre of pyramid images + int npyrimg = 1; + cv::Size imgpsize = grey.size(); + while (imgpsize.width > minSize) + { + imgpsize = cv::Size(imgpsize.width / _params.pyrfactor, imgpsize.height / _params.pyrfactor); + npyrimg++; + } + + ImagePyramid.resize(npyrimg); + imagePyramid[0] = grey; + // now, create pyramid images + imgpsize = grey.size(); + for (int i = 1; i < npyrimg; i++) + { + cv::Size nsize(ImagePyramid[i - 1].cols / _params.pyrfactor, + ImagePyramid[i - 1].rows / _params.pyrfactor); + cv::resize(ImagePyramid[i - 1], ImagePyramid[i], nsize); + } +} + +void impl_assignClass_fast(const cv::Mat &im, std::vector &kpoints, + bool norm, int wsize) +{ + if (im.type() != CV_8UC1) + throw std::runtime_error("assignClass_fast Input image must be 8UC1"); + int wsizeFull = wsize * 2 + 1; + + cv::Mat labels = cv::Mat::zeros(wsize * 2 + 1, wsize * 2 + 1, CV_8UC1); + cv::Mat thresIm = cv::Mat(wsize * 2 + 1, wsize * 2 + 1, CV_8UC1); + + for (auto &kp : kpoints) + { + int x = kp.pt.x + 0.5f; + int y = kp.pt.y + 0.5f; + + cv::Rect r = cv::Rect(x - wsize, y - wsize, wsize * 2 + 1, wsize * 2 + 1); + // Check boundaries + if (r.x < 0 || r.x + r.width > im.cols || r.y < 0 || r.y + r.height > im.rows) + continue; + + + int endX = r.x + r.width; + int endY = r.y + r.height; + uchar minV = 255, maxV = 0; + for (int y = r.y; y < endY; y++) + { + const uchar *ptr = im.ptr(y); + for (int x = r.x; x < endX; x++) + { + if (minV > ptr[x]) + minV = ptr[x]; + if (maxV < ptr[x]) + maxV = ptr[x]; + } + } + + if ((maxV - minV) < 25) + { + kp.class_id = 0; + continue; + } + + double thres = (maxV + minV) / 2.0; + + unsigned int nZ = 0; + // count non zero considering the threshold + for (int y = 0; y < wsizeFull; y++) + { + const uchar *ptr = im.ptr(r.y + y) + r.x; + uchar *thresPtr = thresIm.ptr(y); + for (int x = 0; x < wsizeFull; x++) + { + if (ptr[x] > thres) + { + nZ++; + thresPtr[x] = 255; + } + else + thresPtr[x] = 0; + } + } + // set all to zero labels.setTo(cv::Scalar::all(0)); + for (int y = 0; y < thresIm.rows; y++) + { + uchar *labelsPtr = labels.ptr(y); + for (int x = 0; x < thresIm.cols; x++) + labelsPtr[x] = 0; + } + + uchar newLab = 1; + std::map unions; + for (int y = 0; y < thresIm.rows; y++) + { + uchar *thresPtr = thresIm.ptr(y); + uchar *labelsPtr = labels.ptr(y); + for (int x = 0; x < thresIm.cols; x++) + { + uchar reg = thresPtr[x]; + uchar lleft_px = 0; + uchar ltop_px = 0; + + if (x - 1 > -1) + { + if (reg == thresPtr[x - 1]) + lleft_px = labelsPtr[x - 1]; + } + + if (y - 1 > -1) + { + if (reg == thresIm.ptr(y - 1)[x]) // thresIm.at(y-1, x) + ltop_px = labels.at(y - 1, x); + } + + if (lleft_px == 0 && ltop_px == 0) + labelsPtr[x] = newLab++; + + else if (lleft_px != 0 && ltop_px != 0) + { + if (lleft_px < ltop_px) + { + labelsPtr[x] = lleft_px; + unions[ltop_px] = lleft_px; + } + else if (lleft_px > ltop_px) + { + labelsPtr[x] = ltop_px; + unions[lleft_px] = ltop_px; + } + else + { // IGuales + labelsPtr[x] = ltop_px; + } + } + else + { + if (lleft_px != 0) + labelsPtr[x] = lleft_px; + else + labelsPtr[x] = ltop_px; + } + } + } + + int nc = newLab - 1 - unions.size(); + if (nc == 2) + { + if (nZ > thresIm.total() - nZ) + kp.class_id = 0; + else + kp.class_id = 1; + } + else if (nc > 2) + { + kp.class_id = 2; + } + } +} + +// void fastCorners{ +// vector kpts; +// cv::FAST(input,kpts,7); + +// // Adapter. +// // Given an Point2f element, it returns the element of the dimension specified such +// that dim=0 is x and dim=1 is y struct PicoFlann_Point2fAdapter{ +// inline float operator( )(const cv::KeyPoint &kp, int dim)const { return +// dim==0?kp.pt.x:kp.pt.y; } +// }; + +// picoflann::KdTreeIndex<2,PicoFlann_Point2fAdapter> kdtree;//2 is the number of +// dimensions kdtree.build(kpts); +// //search 10 nearest neibors to point (0,0) +// vector maxima(kpts.size(),true); +// for(auto &kpt:kpts){ +// kpt.size=1;//used +// kpt.class_id=-1;//not yet +// } + +// int classIdx=0; +// vector > center_weight; +// center_weight.reserve(kpts.size()); + +// for(size_t i=0;i > res=kdtree.radiusSearch(kpts,kpts[i],7); +// //compute the one with max response +// for(auto p:res){ +// if( kpts[p.first].response>= kpts[maxResponseIdx].response && kpts[p.first].size) +// maxResponseIdx= p.first ; +// } +// auto &maxKp=kpts[ maxResponseIdx]; + +// if(maxKp.class_id==-1){ +// maxKp.class_id=int(center_weight.size()); +// center_weight.push_back( { maxKp.pt*maxKp.response,maxKp.response}); +// } + +// //the others are non maxima +// for(auto p:res){ +// if(p.first==maxResponseIdx) continue; +// auto &kp=kpts[p.first]; +// if( kp.size!=0 && kp.class_id==-1){ +// kp.size=0;//sets as non maxiima +// center_weight[maxKp.class_id].first+=kp.pt*kp.response; +// center_weight[maxKp.class_id].second+=kp.response; +// } +// } +// } +// } + +// //take only the selected ones +// kpts.clear(); +// for(auto cw:center_weight){ +// cv::KeyPoint kp; +// kp.pt= cw.first*(1./cw.second); +// kpts.push_back(kp); +// } + +//// kpts.erase(std::remove_if(kpts.begin(),kpts.end(), [ ](const cv::KeyPoint +///&kp){return kp.class_id==0;}), kpts.end()); + +// assignClass_fast(input,kpts,false,5); + + +// cv::Mat im2; +// cv::cvtColor(input,im2,CV_GRAY2BGR); +// for(int i=0;i< kpts.size();i++){ +// auto & kp=kpts[i]; + +// if(kp.class_id==2){ + +// cv::rectangle(auxThresImage,kp.pt-cv::Point2f(2,2),kp.pt+cv::Point2f(2,2),cv::Scalar(0,0,0),-1); +// cv::rectangle(im2,kp.pt-cv::Point2f(2,2),kp.pt+cv::Point2f(2,2),cv::Scalar(255,0,123)); +// } +// else +// cv::rectangle(im2,kp.pt-cv::Point2f(2,2),kp.pt+cv::Point2f(2,2),cv::Scalar(125,125,125)); +// } + +//} +/************************************************** + * + */ + +vector MarkerDetector_Impl::thresholdAndDetectRectangles( + const cv::Mat &input, int thres_param1, int thres_param2, bool enclosed, cv::Mat &auxThresImage) +{ + // ensure that _thresParam1%2==1 + __ARUCO_ADDTIMER__; + if (thres_param1 < 3) + thres_param1 = 3; + else if (((int)thres_param1) % 2 != 1) + thres_param1 = (int)(thres_param1 + 1); + + int enclosedOffset = -1; + cv::Mat auxImage; + // if ( !erode) + auxImage = auxThresImage; + if (_params.thresMethod == MarkerDetector::THRES_AUTO_FIXED) + { + cv::threshold(input, auxImage, static_cast(thres_param2), 255, THRESH_BINARY_INV); + if (enclosed) + { + cv::Mat aux1; + enclosedOffset = int(std::max(3.0, 3. / 1920. * float(auxImage.cols))); + if (enclosedOffset % 2 == 0) + enclosedOffset++; + cv::erode(auxImage, aux1, + getStructuringElement(MORPH_CROSS, cv::Size(enclosedOffset, enclosedOffset), + cv::Point(enclosedOffset / 2, enclosedOffset / 2))); + cv::bitwise_xor(aux1, auxImage, auxImage); + + __ARUCO_TIMER_EVENT__("erode"); + } + } + else + { + cv::adaptiveThreshold(input, auxImage, 255., ADAPTIVE_THRESH_MEAN_C, THRESH_BINARY_INV, + static_cast(thres_param1), static_cast(thres_param2)); + if (_params.closingSize > 0) + { + int p = _params.closingSize * 2 + 1; + cv::Mat im2; + cv::Mat ker = cv::getStructuringElement(cv::MORPH_RECT, cv::Size(p, p)); + cv::morphologyEx(auxImage, im2, cv::MORPH_OPEN, ker); + auxThresImage = im2; + } + enclosedOffset = thres_param1; + } + __ARUCO_TIMER_EVENT__("thres"); + + + // fastCorners () + + + vector MarkerCanditates; + // calcualte the min_max contour sizes + int thisImageMinSize = int(3.5 * float(_params.lowResMarkerSize)); + // if image is eroded, minSize must be adapted + std::vector hierarchy; + std::vector> contours; + cv::findContours(auxThresImage, contours, cv::noArray(), cv::RETR_LIST, cv::CHAIN_APPROX_NONE); + __ARUCO_TIMER_EVENT__("find-cont"); + vector approxCurve; +//#define _aruco_debug_detectrectangles +#ifdef _aruco_debug_detectrectangles + cv::Mat simage; + cv::cvtColor(input, simage, CV_GRAY2BGR); +#endif + + /// for each contour, analyze if it is a paralelepiped likely to be the marker + for (unsigned int i = 0; i < contours.size(); i++) + { +#ifdef _aruco_debug_detectrectangles + drawContour(simage, contours[i], Scalar(125, 125, 255)); +#endif + // check it is a possible element by first checking that is is large enough + if (thisImageMinSize < int(contours[i].size())) + { + // can approximate to a convex rect? + cv::approxPolyDP(contours[i], approxCurve, double(contours[i].size()) * 0.05, true); + + if (approxCurve.size() == 4 && cv::isContourConvex(approxCurve)) + { +#ifdef _aruco_debug_detectrectangles + drawApproxCurve(simage, approxCurve, Scalar(255, 0, 255), 1); +#endif + // ensure that the distace between consecutive points is large enough + float minDist = std::numeric_limits::max(); + for (int j = 0; j < 4; j++) + { + float d = cv::norm(approxCurve[j] - approxCurve[(j + 1) % 4]); + if (d < minDist) + minDist = d; + } + + // add the points + MarkerCanditates.push_back(MarkerCandidate()); + for (int j = 0; j < 4; j++) + MarkerCanditates.back().push_back(Point2f(static_cast(approxCurve[j].x), + static_cast(approxCurve[j].y))); + // now, if it is eroded, must enalrge 1 bit the corners to go to the real location + // for each opposite pair, take the line joining them and move one pixel apart + // ideally, Bresenham's algorithm should be used + if (enclosed) + { + enlargeMarkerCandidate(MarkerCanditates.back(), float(enclosedOffset) / 2.); + } +#ifdef _aruco_debug_detectrectangles + MarkerCanditates.back().draw(simage, Scalar(255, 255, 0), 1, false); +#endif + MarkerCanditates.back().contourPoints = contours[i]; + } + } + } +#ifdef _aruco_debug_detectrectangles + cv::imshow("contours", simage); +#endif + return MarkerCanditates; +} + + +void MarkerDetector_Impl::thresholdAndDetectRectangles_thread() +{ + while (true) + { + bool enclosed = false; + auto tad = _tasks.pop(); + if (tad.task == EXIT_TASK) + return; + else if (tad.task == ENCLOSE_TASK) + enclosed = true; + _vcandidates[tad.outIdx] = + thresholdAndDetectRectangles(_thres_Images[tad.inIdx], tad.param1, tad.param2, + enclosed, _thres_Images[tad.outIdx]); + }; +} + +vector MarkerDetector_Impl::thresholdAndDetectRectangles( + const cv::Mat &image) +{ + // compute the different values of param1 + + int adaptiveWindowSize = _params.AdaptiveThresWindowSize; + if (_params.AdaptiveThresWindowSize == -1) + adaptiveWindowSize = max(int(3), int(15 * float(image.cols) / 1920.)); + if (adaptiveWindowSize % 2 == 0) + adaptiveWindowSize++; + + // adaptiveWindowSize=15; + + vector p1_values; + for (int i = static_cast( + std::max(3., adaptiveWindowSize - 2. * _params.AdaptiveThresWindowSize_range)); + i <= adaptiveWindowSize + 2 * _params.AdaptiveThresWindowSize_range; i += 2) + p1_values.push_back(i); + + size_t nimages = p1_values.size(); + _tooNearDistance = p1_values.back(); + _vcandidates.resize(nimages); + _thres_Images.resize(nimages + 1); + _thres_Images.back() = image; // add at the end the original image + // first, thresholded images + ThresAndDetectRectTASK tad; + vector vtad; + + + ThreadTasks task = THRESHOLD_TASK; + if (_params.enclosedMarker) + task = ENCLOSE_TASK; + for (size_t i = 0; i < p1_values.size(); i++) + { + tad.inIdx = int(_thres_Images.size() - 1); + tad.param1 = p1_values[i]; + tad.param2 = _params.ThresHold; + tad.outIdx = i; + tad.task = task; + _tasks.push(tad); + vtad.push_back(tad); + } + + + // reserve images + for (size_t i = 0; i < nimages; i++) + _thres_Images[i].create(image.size(), CV_8UC1); + + + // how many threads will be used? + int nthreads = 0; + if (_params.maxThreads <= 0) // if allowed to use all , take max()-1, since the + // buildpyramid must be working at this moment + nthreads = std::thread::hardware_concurrency() - 1; + else + nthreads = max(1, _params.maxThreads - 1); + + tad.task = EXIT_TASK; + for (int i = 0; i < nthreads; i++) + _tasks.push(tad); + + if (nthreads == 1) + { // no threads + ScopeTimer Timer("non-parallel"); + thresholdAndDetectRectangles_thread(); + } + else + { // parallell mode + // add the final task END + ScopeTimer Timer("parallel"); + + // run the tasks (in parallel) + vector threads; + for (int i = 0; i < nthreads; i++) + threads.push_back( + std::thread(&MarkerDetector_Impl::thresholdAndDetectRectangles_thread, this)); + // wait for them to finish + for (auto &th : threads) + th.join(); + } + vector joined; + joinVectors(_vcandidates, joined); + return joined; +} + +vector MarkerDetector_Impl::prefilterCandidates( + vector &MarkerCanditates, cv::Size imgSize) +{ + ///////////////////////////////////////////////////////////////////////////////////// + /// CANDIDATE PREFILTERING- Merge and Remove candidates so that only reliable ones are returned + ////////////////////////////////////////////////////////////////////////////////// + /// sort the points in anti-clockwise order + valarray swapped(false, MarkerCanditates.size()); // used later + for (unsigned int i = 0; i < MarkerCanditates.size(); i++) + { + // trace a line between the first and second point. + // if the thrid point is at the right side, then the points are anti-clockwise + double dx1 = MarkerCanditates[i][1].x - MarkerCanditates[i][0].x; + double dy1 = MarkerCanditates[i][1].y - MarkerCanditates[i][0].y; + double dx2 = MarkerCanditates[i][2].x - MarkerCanditates[i][0].x; + double dy2 = MarkerCanditates[i][2].y - MarkerCanditates[i][0].y; + double o = (dx1 * dy2) - (dy1 * dx2); + + if (o < 0.0) + { // if the third point is in the left side, then sort in anti-clockwise order + swap(MarkerCanditates[i][1], MarkerCanditates[i][3]); + swapped[i] = true; + } + } + + if (0) + { + /// remove these elements which corners are too close to each other + // first detect candidates to be removed + vector> TooNearCandidates; + for (unsigned int i = 0; i < MarkerCanditates.size(); i++) + { + // calculate the average distance of each corner to the nearest corner of the other marker candidate + for (unsigned int j = i + 1; j < MarkerCanditates.size(); j++) + { + valarray vdist(4); + for (int c = 0; c < 4; c++) + vdist[c] = cv::norm(MarkerCanditates[i][c] - MarkerCanditates[j][c]); + // if distance is too small + if (vdist[0] < _tooNearDistance && vdist[1] < _tooNearDistance && + vdist[2] < _tooNearDistance && vdist[3] < _tooNearDistance) + TooNearCandidates.push_back(pair(i, j)); + } + } + + /// mark for removal the element of the pair with smaller perimeter + vector toRemove(MarkerCanditates.size(), false); + for (unsigned int i = 0; i < TooNearCandidates.size(); i++) + { + if (perimeter(MarkerCanditates[TooNearCandidates[i].first]) > + perimeter(MarkerCanditates[TooNearCandidates[i].second])) + toRemove[TooNearCandidates[i].second] = true; + else + toRemove[TooNearCandidates[i].first] = true; + } + + /// find these too near borders and remove them + // remove markers with corners too near the image limits + int borderDistThresX = static_cast(_params.borderDistThres * float(imgSize.width)); + int borderDistThresY = static_cast(_params.borderDistThres * float(imgSize.height)); + for (size_t i = 0; i < MarkerCanditates.size(); i++) + { + // delete if any of the corners is too near image border + for (size_t c = 0; c < MarkerCanditates[i].size(); c++) + { + if (MarkerCanditates[i][c].x < borderDistThresX || + MarkerCanditates[i][c].y < borderDistThresY || + MarkerCanditates[i][c].x > imgSize.width - borderDistThresX || + MarkerCanditates[i][c].y > imgSize.height - borderDistThresY) + { + toRemove[i] = true; + } + } + } + + // move to output only valid ones + vector finalCandidates; + finalCandidates.reserve(MarkerCanditates.size()); + for (size_t i = 0; i < MarkerCanditates.size(); i++) + if (!toRemove[i]) + finalCandidates.push_back(MarkerCanditates[i]); + return finalCandidates; + } + else + return MarkerCanditates; +} + + +void MarkerDetector_Impl::addToImageHist(cv::Mat &im, std::vector &hist) +{ + for (int y = 0; y < im.rows; y++) + { + uchar *ptr = im.ptr(y); + for (int x = 0; x < im.cols; x++) + hist[ptr[x]]++; + } +} + +int MarkerDetector_Impl::Otsu(std::vector &hist) +{ + float sum = 0, invsum; + for (auto c : hist) + sum += c; + invsum = 1. / sum; + for (auto &c : hist) + c *= invsum; + + float maxVar = 0; + int bestT = -1; + for (int t = 1; t < 256; t++) + { + float w0 = 0, w1 = 0, mean0 = 0, mean1 = 0; + for (int v = 0; v < t; v++) + { + w0 += hist[v]; + mean0 += float(v) * hist[v]; + } + for (int v = t; v < 256; v++) + { + w1 += hist[v]; + mean1 += hist[v] * float(v); + } + if (w0 > 1e-4 && w1 > 1e-4) + { + mean0 /= w0; + mean1 /= w1; + float var = w0 * w1 * (mean0 - mean1) * (mean0 - mean1); + // cout< maxVar) + { + maxVar = var; + bestT = t; + } + } + } + return bestT; +} +/************************************ + * Main detection function. Performs all steps + ************************************/ +void MarkerDetector_Impl::detect(const cv::Mat &input, std::vector &detectedMarkers, + cv::Mat camMatrix, cv::Mat distCoeff, cv::Mat extrinsics, + float markerSizeMeters, bool setYPerpendicular, + bool correctFisheye) +{ + // clear input data + detectedMarkers.clear(); + _vcandidates.clear(); + _candidates_wcontour.clear(); + __ARUCO_ADDTIMER__; + + + // it must be a 3 channel image + if (input.type() == CV_8UC3) + cv::cvtColor(input, grey, CV_BGR2GRAY); + // convertToGray(input, grey); + else + grey = input; + __ARUCO_TIMER_EVENT__("ConvertGrey"); + + ////////////////////////////////////////////////////////////////////// + /// CREATE LOW RESOLUTION IMAGE IN WHICH MARKERS WILL BE DETECTED + ////////////////////////////////////////////////////////////////////// + float ResizeFactor = 1; + // use the minimum and markerWarpSize to determine the optimal image size on which to do rectangle detection + cv::Mat imgToBeThresHolded; + cv::Size maxImageSize = grey.size(); + auto minpixsize = + getMinMarkerSizePix(input.size()); // min pixel size of the marker in the original image + if (_params.lowResMarkerSize < minpixsize) + { + ResizeFactor = float(_params.lowResMarkerSize) / float(minpixsize); + if (ResizeFactor < 0.9) + { // do not waste time if smaller than this + _debug_msg("Scale factor=" << ResizeFactor, 1); + maxImageSize.width = float(grey.cols) * ResizeFactor + 0.5; + maxImageSize.height = float(grey.rows) * ResizeFactor + 0.5; + if (maxImageSize.width % 2 != 0) + maxImageSize.width++; + if (maxImageSize.height % 2 != 0) + maxImageSize.height++; + cv::resize(grey, imgToBeThresHolded, maxImageSize, 0, 0, cv::INTER_NEAREST); + // cv::resize(grey,imgToBeThresHolded,maxImageSize,0,0,cv::INTER_LINEAR); + } + } + + if (imgToBeThresHolded.empty()) // if not set in previous step, add original now + imgToBeThresHolded = grey; + + __ARUCO_TIMER_EVENT__("CreateImageToTheshold"); + bool needPyramid = + true; // ResizeFactor< 1/_params.pyrfactor;//only use pyramid if working on a big image. + std::thread buildPyramidThread; + if (needPyramid) + { + if (_params.maxThreads > 1) + buildPyramidThread = + std::thread([&] { buildPyramid(imagePyramid, grey, 2 * getMarkerWarpSize()); }); + else + buildPyramid(imagePyramid, grey, 2 * getMarkerWarpSize()); + __ARUCO_TIMER_EVENT__("BuildPyramid"); + } + else + { + imagePyramid.resize(1); + imagePyramid[0] = grey; + } + + + int nAttemptsAutoFix = 0; + bool keepLookingFor = false; + std::vector hist(256, 0); + do + { + /////////////////////////////////////////////////////////////////////////// + /// THRESHOLD IMAGES AND DETECT INITIAL RECTANGLES + /////////////////////////////////////////////////////////////////////////// + vector MarkerCanditates; + MarkerCanditates = thresholdAndDetectRectangles(imgToBeThresHolded); + thres = _thres_Images[0]; + + // _debug_exec(10, + // {//only executes when compiled in DEBUG mode if debug level is at least 10 + // //show the thresholded images + // for (size_t i = 0; i < _thres_Images.size(); i++) { + // stringstream sstr; sstr << "thres-" << i; + // cv::namedWindow(sstr.str(),cv::WINDOW_NORMAL); + // cv::imshow(sstr.str(),_thres_Images[i]); + // }}); + + + __ARUCO_TIMER_EVENT__("Threshold and Detect rectangles"); + // prefilter candidates + // _debug_exec(10,//only executes when compiled in DEBUG mode if debug level is at least 10 + // //show the thresholded images + // cv::Mat imrect; + // cv::cvtColor(imgToBeThresHolded,imrect,CV_GRAY2BGR); + // for(auto m: MarkerCanditates ) + // m.draw(imrect,cv::Scalar(0,245,0)); + // cv::imshow("rect-nofiltered",imrect); + // ); + + MarkerCanditates = prefilterCandidates(MarkerCanditates, imgToBeThresHolded.size()); + + __ARUCO_TIMER_EVENT__("prefilterCandidates"); + + // _debug_exec(10,//only executes when compiled in DEBUG mode if debug level is at least 10 + // //show the thresholded images + // cv::Mat imrect; + // cv::cvtColor(imgToBeThresHolded,imrect,CV_GRAY2BGR); + // for(auto m: MarkerCanditates) + // m.draw(imrect,cv::Scalar(0,245,0)); + // cv::imshow("rect-filtered",imrect); + // ); + // before going on, make sure the piramid is built + if (buildPyramidThread.joinable()) + buildPyramidThread.join(); + + + /////////////////////////////////////////////////////////////////////////// + /// CANDIDATE CLASSIFICATION: Decide which candidates are really markers + /////////////////////////////////////////////////////////////////////////// + + // Debug::setLevel(10); + auto markerWarpSize = getMarkerWarpSize(); + + detectedMarkers.clear(); + _candidates_wcontour.clear(); + for (auto &b : hist) + b = 0; + float desiredarea = std::pow(static_cast(markerWarpSize), 2.f); + for (size_t i = 0; i < MarkerCanditates.size(); i++) + { + // Find proyective homography + cv::Mat canonicalMarker, canonicalMarkerAux; + + cv::Mat inToWarp = imgToBeThresHolded; + MarkerCandidate points2d_pyr = MarkerCanditates[i]; + if (needPyramid) + { + // warping is one of the most time consuming operations, especially when the + // region is large. To reduce computing time, let us find in the image pyramid, + // the best configuration to save time indicates how much bigger observation is + // wrt to desired patch + size_t imgPyrIdx = 0; + for (size_t p = 1; p < imagePyramid.size(); p++) + { + if (MarkerCanditates[i].getArea() / pow(4, p) >= desiredarea) + imgPyrIdx = p; + else + break; + } + inToWarp = imagePyramid[imgPyrIdx]; + // move points to the image level p + float ratio = float(inToWarp.cols) / float(imgToBeThresHolded.cols); + for (auto &p : points2d_pyr) + p *= ratio; // 1. / pow(2, imgPyrIdx); + } + warp(inToWarp, canonicalMarker, Size(markerWarpSize, markerWarpSize), points2d_pyr); + int id, nRotations; + double min, Max; + cv::minMaxIdx(canonicalMarker, &min, &Max); + canonicalMarker.copyTo(canonicalMarkerAux); + string additionalInfo; + // _debug_exec(10,//only executes when compiled in DEBUG mode if debug + // level is at least 10 + // //show the thresholded images + // stringstream sstr;sstr<<"test-"<detect(canonicalMarkerAux, id, nRotations, additionalInfo)) + { + detectedMarkers.push_back(MarkerCanditates[i]); + detectedMarkers.back().id = id; + detectedMarkers.back().dict_info = additionalInfo; + detectedMarkers.back().contourPoints = MarkerCanditates[i].contourPoints; + // sort the points so that they are always in the same order no matter the camera orientation + std::rotate(detectedMarkers.back().begin(), detectedMarkers.back().begin() + 4 - nRotations, + detectedMarkers.back().end()); + // _debug_exec(10,//only executes when compiled in DEBUG mode if + // debug level is at least 10 + // //show the thresholded images + // stringstream + // sstr;sstr<<"can-"< 0) + _params.ThresHold = float(newThres); + } + +#ifdef debug_lines + cv::imshow("image-lines", image); + cv::waitKey(10); +#endif + // now, move the points to the original image (upsample corners) + if (input.cols != imgToBeThresHolded.cols) + { + cornerUpsample(detectedMarkers, imgToBeThresHolded.size()); + __ARUCO_TIMER_EVENT__("Corner Upsample"); + } + + + + ////////////////////////////////////////////////////////////////////// + /// MARKER Tracking + ////////////////////////////////////////////////////////////////////// + + + if (_params.trackingMinDetections > 0) + { + // update the marker_ndetections + // decrement unseen ones + for (auto &md : marker_ndetections) + { + if (std::find(detectedMarkers.begin(), detectedMarkers.end(), Marker(md.first)) == + detectedMarkers.end()) + md.second = std::max(md.second - 1, 0); + } + + // Identify the markers in the prev frame not yet tracked + std::vector needsTrack; + for (auto m : _prevMarkers) + { + if (std::find(detectedMarkers.begin(), detectedMarkers.end(), Marker(m.id)) == + detectedMarkers.end()) + { + if (marker_ndetections.count(m.id) != 0) + { + if (marker_ndetections.at(m.id) >= _params.trackingMinDetections) + needsTrack.push_back(m); + } + } + } + + // look for them in the candidates + if (needsTrack.size() > 0) + { + struct trackInfo + { + trackInfo(const Marker &m) + { + ma.setParams(m); + } + marker_analyzer ma; + int candidate = -1; + double dist = std::numeric_limits::max(); + }; + std::map marker_trackMatches; + for (auto &mnt : needsTrack) + marker_trackMatches.insert({ mnt.id, trackInfo(mnt) }); + + for (size_t cand = 0; cand < _candidates_wcontour.size(); cand++) + { + auto &mcnd = _candidates_wcontour[cand]; + marker_analyzer can_ma; + can_ma.setParams(mcnd); + for (auto &mtm : marker_trackMatches) + { + if (mtm.second.ma.isInto(can_ma.getCenter())) + { + auto dist = cv::norm(mtm.second.ma.getCenter() - can_ma.getCenter()); + auto sizedif = + fabs(mtm.second.ma.getArea() - can_ma.getArea()) / mtm.second.ma.getArea(); + if (sizedif < 0.3f && dist < mtm.second.dist) + { + mtm.second.candidate = static_cast(cand); + mtm.second.dist = dist; + } + } + } + } + + for (auto &mtm : marker_trackMatches) + { + if (mtm.second.candidate == -1) + continue; + auto it = find(_prevMarkers.begin(), _prevMarkers.end(), Marker(mtm.first)); + assert(it != _prevMarkers.end()); + detectedMarkers.push_back(_candidates_wcontour[mtm.second.candidate]); + detectedMarkers.back().id = mtm.first; + detectedMarkers.back().dict_info = it->dict_info; + detectedMarkers.back().contourPoints = + _candidates_wcontour[mtm.second.candidate].contourPoints; + // find best rotatation + + auto rotError = [](const vector &c1, const vector &c2) + { + cv::Point2f direction1 = c1[1] - c1[0]; + direction1 *= 1. / cv::norm(direction1); + cv::Point2f direction2 = c2[1] - c2[0]; + direction2 *= 1. / cv::norm(direction2); + return direction1.dot(direction2); + }; + auto prev = find(_prevMarkers.begin(), _prevMarkers.end(), Marker(mtm.first)); + pair rot_error(-1, -1); + for (int r = 0; r < 4; r++) + { + vector aux = detectedMarkers.back(); + std::rotate(aux.begin(), aux.begin() + r, aux.end()); + auto err = rotError(*prev, aux); + if (err > rot_error.second) + { + rot_error = { r, err }; + } + } + std::rotate(detectedMarkers.back().begin(), + detectedMarkers.back().begin() + rot_error.first, + detectedMarkers.back().end()); + // mark for removal + _candidates_wcontour[mtm.second.candidate].clear(); + } + // remove the used candidates + _candidates_wcontour.erase( + std::remove_if(_candidates_wcontour.begin(), _candidates_wcontour.end(), + [](const vector &m) { return m.size() == 0; }), + _candidates_wcontour.end()); + } + // update for next + for (auto m : detectedMarkers) + { + if (marker_ndetections.count(m.id) == 0) + marker_ndetections[m.id] = 1; + else + marker_ndetections[m.id]++; + } + } + + + ////////////////////////////////////////////////////////////////////// + /// REMOVAL OF DUPLICATED + ////////////////////////////////////////////////////////////////////// + + if (1) + { + // sort by id + std::sort(detectedMarkers.begin(), detectedMarkers.end()); + + // there might be still the case that a marker is detected twice because of the double + // border indicated earlier, detect and remove these cases + vector toRemove(detectedMarkers.size(), false); + + for (int i = 0; i < int(detectedMarkers.size()) - 1; i++) + { + for (int j = i + 1; j < int(detectedMarkers.size()) && !toRemove[i]; j++) + { + if (detectedMarkers[i].id == detectedMarkers[j].id && + detectedMarkers[i].dict_info == detectedMarkers[j].dict_info) + { + // deletes the one with smaller perimeter + if (perimeter(detectedMarkers[i]) < perimeter(detectedMarkers[j])) + toRemove[i] = true; + else + toRemove[j] = true; + } + } + } + + removeElements(detectedMarkers, toRemove); + } + + + ////////////////////////////////////////////////////////////////////// + /// CORNER REFINEMENT IF REQUIRED + ////////////////////////////////////////////////////////////////////// + /// refine the corner location if enclosed markers and we did not do it via upsampling + if (detectedMarkers.size() > 0 && input.size() == imgToBeThresHolded.size()) + { + if (_params.cornerRefinementM == CORNER_SUBPIX) + { + int halfwsize = 4 * float(input.cols) / float(imgToBeThresHolded.cols) + 0.5; + + vector Corners; + for (unsigned int i = 0; i < detectedMarkers.size(); i++) + for (int c = 0; c < 4; c++) + Corners.push_back(detectedMarkers[i][c]); + cornerSubPix(grey, Corners, cv::Size(halfwsize, halfwsize), cv::Size(-1, -1), + cv::TermCriteria(cv::TermCriteria::MAX_ITER | cv::TermCriteria::EPS, 12, 0.005)); + // copy back + for (unsigned int i = 0; i < detectedMarkers.size(); i++) + for (int c = 0; c < 4; c++) + detectedMarkers[i][c] = Corners[i * 4 + c]; + } + else if (_params.cornerRefinementM == CORNER_LINES) + { + // use the lines method for estimation of the corners + for (unsigned int i = 0; i < detectedMarkers.size(); i++) + refineCornerWithContourLines(detectedMarkers[i]); + } + } + __ARUCO_TIMER_EVENT__("Corner Refinement"); + /// + + + + ////////////////////////////////////////////////////////////////////// + /// MARKER POSE ESTIMATION + ////////////////////////////////////////////////////////////////////// + + /// detect the position of detected markers if desired + if (camMatrix.rows != 0 && markerSizeMeters > 0) + { + for (unsigned int i = 0; i < detectedMarkers.size(); i++) + detectedMarkers[i].calculateExtrinsics(markerSizeMeters, camMatrix, distCoeff, + extrinsics, setYPerpendicular, correctFisheye); + __ARUCO_TIMER_EVENT__("Pose Estimation"); + } + + // compute _markerMinSize + float mlength = std::numeric_limits::max(); + for (const auto &marker : detectedMarkers) + { + float l = 0; + for (int c = 0; c < 4; c++) + l += cv::norm(marker[c] - marker[(c + 1) % 4]); + if (mlength > l) + mlength = l; + } + float markerMinSize; + if (mlength != std::numeric_limits::max()) + markerMinSize = mlength / (4 * std::max(input.cols, input.rows)); + else + markerMinSize = 0; + if (_params.autoSize) + { + _params.minSize = markerMinSize * (1 - _params.ts); + } + + + /// save for tracking + _prevMarkers = detectedMarkers; +} +void MarkerDetector_Impl::refineCornerWithContourLines(aruco::Marker &marker, + cv::Mat camMatrix, cv::Mat distCoeff) +{ + // search corners on the contour vector + + std::vector &contour = marker.contourPoints; + vector cornerIndex(4, -1); + vector dist(4, std::numeric_limits::max()); + for (unsigned int j = 0; j < contour.size(); j++) + { + for (unsigned int k = 0; k < 4; k++) + { + float d = (contour[j].x - marker[k].x) * (contour[j].x - marker[k].x) + + (contour[j].y - marker[k].y) * (contour[j].y - marker[k].y); + if (d < dist[k]) + { + cornerIndex[k] = j; + dist[k] = d; + } + } + } + + // if any cornerIndex + + + // contour pixel in inverse order or not? + bool inverse; + if ((cornerIndex[1] > cornerIndex[0]) && + (cornerIndex[2] > cornerIndex[1] || cornerIndex[2] < cornerIndex[0])) + inverse = false; + else if (cornerIndex[2] > cornerIndex[1] && cornerIndex[2] < cornerIndex[0]) + inverse = false; + else + inverse = true; + + + // get pixel vector for each line of the marker + int inc = 1; + if (inverse) + inc = -1; + + // undistort contour + vector contour2f; + if (!camMatrix.empty() && !distCoeff.empty()) + { + for (unsigned int i = 0; i < contour.size(); i++) + contour2f.push_back(cv::Point2f(contour[i].x, contour[i].y)); + if (!camMatrix.empty() && !distCoeff.empty()) + cv::undistortPoints(contour2f, contour2f, camMatrix, distCoeff, cv::Mat(), camMatrix); + } + else + { + contour2f.reserve(contour.size()); + for (auto p : contour) + contour2f.push_back(cv::Point2f(p.x, p.y)); + } + + vector> contourLines; + contourLines.resize(4); + for (unsigned int l = 0; l < 4; l++) + { + for (int j = (int)cornerIndex[l]; j != (int)cornerIndex[(l + 1) % 4]; j += inc) + { + if (j == (int)contour.size() && !inverse) + j = 0; + else if (j == 0 && inverse) + j = contour.size() - 1; + contourLines[l].push_back(contour2f[j]); + if (j == (int)cornerIndex[(l + 1) % 4]) + break; // this has to be added because of the previous ifs + } + } + + // interpolate marker lines + vector lines; + lines.resize(4); + for (unsigned int j = 0; j < lines.size(); j++) + interpolate2Dline(contourLines[j], lines[j]); + + // get cross points of lines + vector crossPoints; + crossPoints.resize(4); + for (unsigned int i = 0; i < 4; i++) + crossPoints[i] = getCrossPoint(lines[(i - 1) % 4], lines[i]); + + // distort corners again if undistortion was performed + if (!camMatrix.empty() && !distCoeff.empty()) + distortPoints(crossPoints, crossPoints, camMatrix, distCoeff); + + // reassing points + for (unsigned int j = 0; j < 4; j++) + { + // cout< cand[endp].x) + { + swap(startp, endp); + } + const float _180 = 3.14159f; + + const float _22 = 3.14159 / 8.f; + const float _3_22 = 3. * 3.14159f / 8.f; + const float _5_22 = 5.f * 3.14159f / 8.f; + const float _7_22 = 7.f * 3.14159f / 8.f; + + int incx = 0, incy = 0; + // compute the angle + auto v1 = cand[endp] - cand[startp]; + float angle = atan2(v1.y, v1.x); + if (_22 < angle && angle < 3 * _22) + { // a + incx = incy = fact; + } + else if (-_22 < angle && angle < _22) + { // b + incx = fact; + incy = 0; + } + else if (-_3_22 < angle && angle < -_22) + { // c + incx = fact; + incy = -fact; + } + else if (-_5_22 < angle && angle < -_3_22) + { // D + incx = 0; + incy = -fact; + } + else if (-_7_22 < angle && angle < -_5_22) + { // E + incx = -fact; + incy = -fact; + } + else if ((-_180 < angle && angle < -_7_22) || (_7_22 < angle && angle < _180)) + { // f + incx = -fact; + incy = 0; + } + else if ((_5_22 < angle && angle < _7_22)) + { // g + incx = -fact; + incy = fact; + } + else if ((_3_22 < angle && angle < _5_22)) + { // h + incx = fact; + incy = fact; + } + cand[endp].x += incx; + cand[endp].y += incy; + cand[startp].x -= incx; + cand[startp].y -= incy; + } +} + + + +int MarkerDetector_Impl::getMinMarkerSizePix(cv::Size orginput_imageSize) const +{ + if (_params.minSize == -1 && _params.minSize_pix == -1) + return 0; + // calcualte the min_max contour sizes + int maxDim = std::max(orginput_imageSize.width, orginput_imageSize.height); + int minSize = 0; + if (_params.minSize != -1) + minSize = static_cast(_params.minSize) * static_cast(maxDim); + if (_params.minSize_pix != -1) + minSize = std::min(_params.minSize_pix, minSize); + return minSize; +} +/************************************ + * + * + * + * + ************************************/ +bool MarkerDetector_Impl::warp(Mat &in, Mat &out, Size size, vector points) +{ + if (points.size() != 4) + throw cv::Exception(9001, "point.size()!=4", "MarkerDetector_Impl::warp", __FILE__, __LINE__); + // obtain the perspective transform + Point2f pointsRes[4], pointsIn[4]; + for (int i = 0; i < 4; i++) + pointsIn[i] = points[i]; + pointsRes[0] = (Point2f(0, 0)); + pointsRes[1] = Point2f(static_cast(size.width - 1), 0.f); + pointsRes[2] = + Point2f(static_cast(size.width - 1), static_cast(size.height - 1)); + pointsRes[3] = Point2f(0.f, static_cast(size.height - 1)); + Mat M = getPerspectiveTransform(pointsIn, pointsRes); + cv::warpPerspective(in, out, M, size, cv::INTER_LINEAR); + // cv::warpPerspective(in, out, M, size, cv::INTER_NEAREST); + return true; +} + + +/************************************ + * + * + * + * + ************************************/ +int MarkerDetector_Impl::perimeter(const vector &a) +{ + int sum = 0; + for (unsigned int i = 0; i < a.size(); i++) + { + int i2 = (i + 1) % a.size(); + sum += static_cast(sqrt((a[i].x - a[i2].x) * (a[i].x - a[i2].x) + + (a[i].y - a[i2].y) * (a[i].y - a[i2].y))); + } + return sum; +} + + +/** + */ +void MarkerDetector_Impl::interpolate2Dline(const std::vector &inPoints, + cv::Point3f &outLine) +{ + float minX, maxX, minY, maxY; + minX = maxX = inPoints[0].x; + minY = maxY = inPoints[0].y; + for (unsigned int i = 1; i < inPoints.size(); i++) + { + if (inPoints[i].x < minX) + minX = inPoints[i].x; + if (inPoints[i].x > maxX) + maxX = inPoints[i].x; + if (inPoints[i].y < minY) + minY = inPoints[i].y; + if (inPoints[i].y > maxY) + maxY = inPoints[i].y; + } + + // create matrices of equation system + const int pointsCount = static_cast(inPoints.size()); + Mat A(pointsCount, 2, CV_32FC1, Scalar(0)); + Mat B(pointsCount, 1, CV_32FC1, Scalar(0)); + Mat X; + + if (maxX - minX > maxY - minY) + { + // Ax + C = y + for (int i = 0; i < pointsCount; i++) + { + A.at(i, 0) = inPoints[i].x; + A.at(i, 1) = 1.; + B.at(i, 0) = inPoints[i].y; + } + + // solve system + solve(A, B, X, DECOMP_SVD); + // return Ax + By + C + outLine = Point3f(X.at(0, 0), -1., X.at(1, 0)); + } + else + { + // By + C = x + for (int i = 0; i < pointsCount; i++) + { + A.at(i, 0) = inPoints[i].y; + A.at(i, 1) = 1.; + B.at(i, 0) = inPoints[i].x; + } + + // solve system + solve(A, B, X, DECOMP_SVD); + // return Ax + By + C + outLine = Point3f(-1., X.at(0, 0), X.at(1, 0)); + } +} + +/** + */ +Point2f MarkerDetector_Impl::getCrossPoint(const cv::Point3f &line1, const cv::Point3f &line2) +{ + // create matrices of equation system + Mat A(2, 2, CV_32FC1, Scalar(0)); + Mat B(2, 1, CV_32FC1, Scalar(0)); + Mat X; + + A.at(0, 0) = line1.x; + A.at(0, 1) = line1.y; + B.at(0, 0) = -line1.z; + + A.at(1, 0) = line2.x; + A.at(1, 1) = line2.y; + B.at(1, 0) = -line2.z; + + // solve system + solve(A, B, X, DECOMP_SVD); + return Point2f(X.at(0, 0), X.at(1, 0)); +} + +// template +// void MarkerDetector_Impl::cornerUpsample(vector& MarkerCanditates, cv::Size +// lowResImageSize ){ +// cornerUpsample_SUBP(MarkerCanditates,lowResImageSize); +// } + +// template +// void MarkerDetector_Impl::cornerUpsample_SUBP(vector& MarkerCanditates, cv::Size +// lowResImageSize ){ +// if (MarkerCanditates.size()==0)return; +// //first, determine the image in the pyramid nearest to this one +// int startPyrImg=0; + +// for(size_t i=0;i=0;curpyr--){ +// float factor= float(imagePyramid[curpyr].cols)/float(prevLowResSize.width) ; +// //upsample corner locations +// for(auto &m:MarkerCanditates) +// for(auto &point:m) {point*=factor;} +// int halfwsize= 0.5+2.5*factor; +// vector p2d;//p2d.reserve(MarkerCanditates.size()*4); +// for(auto &m:MarkerCanditates) +// for(auto &point:m) { p2d.push_back(point);} +// cv::cornerSubPix( +// imagePyramid[curpyr],p2d,cv::Size(halfwsize,halfwsize),cv::Size(-1,-1),cv::TermCriteria(cv::TermCriteria::MAX_ITER +// , 4,0.5)); +// int cidx=0; +// for(auto &m:MarkerCanditates) +// for(auto &point:m) {point =p2d[cidx++];} + +// prevLowResSize=imagePyramid[curpyr].size(); +// } +//} + + +/************************************ + * + * + * + * + ************************************/ +void MarkerDetector_Impl::drawAllContours(Mat input, std::vector> &contours) +{ + drawContours(input, contours, -1, Scalar(255, 0, 255)); +} + +/************************************ + * + * + * + * + ************************************/ +void MarkerDetector_Impl::drawContour(Mat &in, vector &contour, Scalar color) +{ + for (unsigned int i = 0; i < contour.size(); i++) + { + cv::rectangle(in, contour[i], contour[i], color); + } +} + +void MarkerDetector_Impl::drawApproxCurve(Mat &in, vector &contour, Scalar color, int thickness) +{ + for (unsigned int i = 0; i < contour.size(); i++) + { + cv::line(in, contour[i], contour[(i + 1) % contour.size()], color, thickness); + } +} +/************************************ + * + * + * + * + ************************************/ + +void MarkerDetector_Impl::draw(Mat out, const vector &markers) +{ + for (unsigned int i = 0; i < markers.size(); i++) + { + cv::line(out, markers[i][0], markers[i][1], cv::Scalar(255, 0, 0), 2); + cv::line(out, markers[i][1], markers[i][2], cv::Scalar(255, 0, 0), 2); + cv::line(out, markers[i][2], markers[i][3], cv::Scalar(255, 0, 0), 2); + cv::line(out, markers[i][3], markers[i][0], cv::Scalar(255, 0, 0), 2); + } +} + + +void MarkerDetector_Impl::setMarkerLabeler(cv::Ptr detector) +{ + markerIdDetector = detector; +} + +void MarkerDetector_Impl::setDictionary(int dict_type, float error_correction_rate) +{ + markerIdDetector = + MarkerLabeler::create((Dictionary::DICT_TYPES)dict_type, error_correction_rate); + _params.error_correction_rate = error_correction_rate; + _params.dictionary = aruco::Dictionary::getTypeString((Dictionary::DICT_TYPES)dict_type); +} + + + +void MarkerDetector_Impl::setDictionary(string dict_type, float error_correction_rate) +{ + auto _to_string = [](float i) + { + std::stringstream str; + str << i; + return str.str(); + }; + _params.dictionary = dict_type; + markerIdDetector = MarkerLabeler::create(dict_type, _to_string(error_correction_rate)); + _params.error_correction_rate = error_correction_rate; +} + + +cv::Mat MarkerDetector_Impl::getThresholdedImage(uint32_t idx) +{ + if (_thres_Images.size() == 0) + return cv::Mat(); + if (idx >= _thres_Images.size()) + idx = _thres_Images.size() - 1; // last one is the original image + return _thres_Images[idx]; +} + + + +/** + */ +void MarkerDetector_Impl::distortPoints(vector in, vector &out, + const Mat &camMatrix, const Mat &distCoeff) +{ + // trivial extrinsics + cv::Mat Rvec = cv::Mat(3, 1, CV_32FC1, cv::Scalar::all(0)); + cv::Mat Tvec = Rvec.clone(); + // calculate 3d points and then reproject, so opencv makes the distortion internally + vector cornersPoints3d; + for (unsigned int i = 0; i < in.size(); i++) + cornersPoints3d.push_back( + cv::Point3f((in[i].x - camMatrix.at(0, 2)) / camMatrix.at(0, 0), // x + (in[i].y - camMatrix.at(1, 2)) / camMatrix.at(1, 1), // y + 1)); // z + cv::projectPoints(cornersPoints3d, Rvec, Tvec, camMatrix, distCoeff, out); +} + + +/**Saves the configuration of the detector to a file + */ +void MarkerDetector_Impl::saveParamsToFile(const std::string &path) const +{ + cv::FileStorage fs(path, cv::FileStorage::WRITE); + if (!fs.isOpened()) + throw std::runtime_error("Could not open " + path); + _params.save(fs); +} + +/**Loads the configuration from a file + */ +void MarkerDetector_Impl::loadParamsFromFile(const std::string &path) +{ + cv::FileStorage fs(path, cv::FileStorage::READ); + if (!fs.isOpened()) + throw std::runtime_error("Could not open " + path); + _params.load(fs); + setDictionary(_params.dictionary, _params.error_correction_rate); +} + +void MarkerDetector_Impl::toStream(std::ostream &str) const +{ + uint64_t sig = 13213; + str.write((char *)&sig, sizeof(sig)); + _params.toStream(str); +} + +void MarkerDetector_Impl::fromStream(std::istream &str) +{ + uint64_t sig = 13213; + str.read((char *)&sig, sizeof(sig)); + if (sig != 13213) + throw std::runtime_error("MarkerDetector_Impl::fromStream invalid signature"); + _params.fromStream(str); + setDictionary(_params.dictionary, _params.error_correction_rate); +} + + + +void MarkerDetector_Impl::filter_ambiguous_query(std::vector &matches) +{ + if (matches.size() == 0) + return; + // determine maximum values of queryIdx + int maxT = -1; + for (auto m : matches) + maxT = std::max(maxT, m.queryIdx); + + // now, create the vector with the elements + vector used(maxT + 1, -1); + vector best_matches(maxT); + int idx = 0; + bool needRemove = false; + + for (auto &match : matches) + { + if (used[match.queryIdx] == -1) + { + used[match.queryIdx] = idx; + } + else + { + if (matches[used[match.queryIdx]].distance > match.distance) + { + matches[used[match.queryIdx]].queryIdx = -1; // annulate the other match + used[match.queryIdx] = idx; + needRemove = true; + } + else + { + match.queryIdx = -1; // annulate this match + needRemove = true; + } + } + idx++; + } + + + if (needRemove) + matches.erase(std::remove_if(matches.begin(), matches.end(), + [](const cv::DMatch &m) + { return m.trainIdx == -1 || m.queryIdx == -1; }), + matches.end()); +} + +void MarkerDetector_Impl::cornerUpsample(std::vector &MarkerCanditates, + cv::Size lowResImageSize) +{ + if (MarkerCanditates.size() == 0) + return; + // first, determine the image in the pyramid nearest to this one + int startPyrImg = 0; + + for (size_t i = 0; i < imagePyramid.size(); i++) + { + if (lowResImageSize.width < imagePyramid[i].cols) + startPyrImg = i; + else + break; + } + //#define _aruco_marker_detector_fast + + cv::Size prevLowResSize = lowResImageSize; + for (int curpyr = startPyrImg; curpyr >= 0; curpyr--) + { + float factor = float(imagePyramid[curpyr].cols) / float(prevLowResSize.width); + // upsample corner locations + for (auto &m : MarkerCanditates) + for (auto &point : m) + { + point *= factor; + } + int halfwsize = 0.5 + 2.5 * factor; + std::vector p2d; // p2d.reserve(MarkerCanditates.size()*4); + for (auto &m : MarkerCanditates) + for (auto &point : m) + { + p2d.push_back(point); + } + cv::cornerSubPix(imagePyramid[curpyr], p2d, cv::Size(halfwsize, halfwsize), + cv::Size(-1, -1), cv::TermCriteria(cv::TermCriteria::MAX_ITER, 4, 0.5)); + int cidx = 0; + for (auto &m : MarkerCanditates) + for (auto &point : m) + { + point = p2d[cidx++]; + } + + prevLowResSize = imagePyramid[curpyr].size(); + } +} + + +void MarkerDetector_Impl::cornerUpsample(std::vector> &MarkerCanditates, + cv::Size lowResImageSize) +{ + std::vector markers; + markers.reserve(MarkerCanditates.size()); + std::copy(MarkerCanditates.begin(), MarkerCanditates.end(), std::back_inserter(markers)); + + cornerUpsample(markers, lowResImageSize); + + for (std::size_t i = 0; i < markers.size(); i++) + { + MarkerCanditates[i] = markers[i]; + } +} +}; // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/markerlabeler.cpp b/legacy/aruco_ros/aruco/src/aruco/markerlabeler.cpp new file mode 100755 index 000000000..e30ae1752 --- /dev/null +++ b/legacy/aruco_ros/aruco/src/aruco/markerlabeler.cpp @@ -0,0 +1,43 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ +#include "markerlabeler.h" +#include "dictionary_based.h" +namespace aruco +{ +cv::Ptr MarkerLabeler::create(Dictionary::DICT_TYPES dict_type, + float error_correction_rate) +{ + Dictionary dict = Dictionary::loadPredefined(dict_type); + DictionaryBased* db = new DictionaryBased(); + db->setParams(dict, error_correction_rate); + return db; +} +cv::Ptr MarkerLabeler::create(std::string detector, std::string params) +{ + auto _stof = [](std::string str) + { + float f; + sscanf(str.c_str(), "%f", &f); + return f; + }; + (void)params; + Dictionary dict = Dictionary::load(detector); + // try with one from file + DictionaryBased* db = new DictionaryBased(); + db->setParams(dict, _stof(params)); + return db; +} +} // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/markermap.cpp b/legacy/aruco_ros/aruco/src/aruco/markermap.cpp new file mode 100755 index 000000000..5afc105f6 --- /dev/null +++ b/legacy/aruco_ros/aruco/src/aruco/markermap.cpp @@ -0,0 +1,467 @@ +/** +Copyright 2020 Rafael Muñoz Salinas. All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation version 3 of the License. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#include "markermap.h" +#include "dictionary.h" + +#include +#include + +#include + +using namespace std; +using namespace cv; + +namespace aruco +{ +Marker3DInfo::Marker3DInfo() +{ +} +Marker3DInfo::Marker3DInfo(int _id) : id(_id) +{ +} +/** + * + * + */ +MarkerMap::MarkerMap() +{ + mInfoType = NONE; +} +/** + * + * + */ +MarkerMap::MarkerMap(string filePath) +{ + mInfoType = NONE; + readFromFile(filePath); +} + +/** + * + * + */ +void MarkerMap::saveToFile(string sfile) +{ + cv::FileStorage fs(sfile, cv::FileStorage::WRITE); + saveToFile(fs); +} +/**Saves the board info to a file + */ +void MarkerMap::saveToFile(cv::FileStorage& fs) +{ + fs << "aruco_bc_dict" << dictionary; + fs << "aruco_bc_nmarkers" << (int)size(); + fs << "aruco_bc_mInfoType" << (int)mInfoType; + fs << "aruco_bc_markers" + << "["; + for (size_t i = 0; i < size(); i++) + { + fs << "{:" + << "id" << at(i).id; + + fs << "corners" + << "[:"; + for (size_t c = 0; c < at(i).size(); c++) + fs << at(i)[c]; + fs << "]"; + fs << "}"; + } + fs << "]"; +} + +/** + * + * + */ +void MarkerMap::readFromFile(string sfile) +{ + try + { + cv::FileStorage fs(sfile, cv::FileStorage::READ); + if (!fs.isOpened()) + throw cv::Exception(81818, "MarkerMap::readFromFile", + string(" file not opened ") + sfile, __FILE__, __LINE__); + readFromFile(fs); + } + catch (std::exception& ex) + { + throw cv::Exception(81818, "MarkerMap::readFromFile", + ex.what() + string(" file=)") + sfile, __FILE__, __LINE__); + } +} + +/**Reads board info from a file + */ +void MarkerMap::readFromFile(cv::FileStorage& fs) +{ + int aux = 0; + // look for the nmarkers + if (fs["aruco_bc_nmarkers"].name() != "aruco_bc_nmarkers") + throw cv::Exception(81818, "MarkerMap::readFromFile", "invalid file type", __FILE__, __LINE__); + fs["aruco_bc_nmarkers"] >> aux; + resize(aux); + fs["aruco_bc_mInfoType"] >> mInfoType; + cv::FileNode markers = fs["aruco_bc_markers"]; + int i = 0; + for (FileNodeIterator it = markers.begin(); it != markers.end(); ++it, i++) + { + at(i).id = (*it)["id"]; + FileNode FnCorners = (*it)["corners"]; + for (FileNodeIterator itc = FnCorners.begin(); itc != FnCorners.end(); ++itc) + { + vector coordinates3d; + (*itc) >> coordinates3d; + if (coordinates3d.size() != 3) + throw cv::Exception(81818, "MarkerMap::readFromFile", "invalid file type 3", + __FILE__, __LINE__); + cv::Point3f point(coordinates3d[0], coordinates3d[1], coordinates3d[2]); + at(i).push_back(point); + } + } + + if (fs["aruco_bc_dict"].name() == "aruco_bc_dict") + fs["aruco_bc_dict"] >> dictionary; +} + +/** + */ +int MarkerMap::getIndexOfMarkerId(int id) const +{ + for (size_t i = 0; i < size(); i++) + if (at(i).id == id) + return static_cast(i); + return -1; +} + +/** + */ +const Marker3DInfo& MarkerMap::getMarker3DInfo(int id) const +{ + for (size_t i = 0; i < size(); i++) + if (at(i).id == id) + return at(i); + throw cv::Exception(111, "MarkerMap::getMarker3DInfo", + "Marker with the id given is not found", __FILE__, __LINE__); +} + +void __glGetModelViewMatrix(double modelview_matrix[16], const cv::Mat& Rvec, const cv::Mat& Tvec) +{ + // check if paremeters are valid + bool invalid = false; + for (int i = 0; i < 3 && !invalid; i++) + { + if (Tvec.at(i, 0) != -999999) + invalid |= false; + if (Rvec.at(i, 0) != -999999) + invalid |= false; + } + if (invalid) + throw cv::Exception(9002, "extrinsic parameters are not set", + "Marker::getModelViewMatrix", __FILE__, __LINE__); + Mat Rot(3, 3, CV_32FC1), Jacob; + Rodrigues(Rvec, Rot, Jacob); + + double para[3][4]; + for (int i = 0; i < 3; i++) + for (int j = 0; j < 3; j++) + para[i][j] = Rot.at(i, j); + // now, add the translation + para[0][3] = Tvec.at(0, 0); + para[1][3] = Tvec.at(1, 0); + para[2][3] = Tvec.at(2, 0); + double scale = 1; + + modelview_matrix[0 + 0 * 4] = para[0][0]; + // R1C2 + modelview_matrix[0 + 1 * 4] = para[0][1]; + modelview_matrix[0 + 2 * 4] = para[0][2]; + modelview_matrix[0 + 3 * 4] = para[0][3]; + // R2 + modelview_matrix[1 + 0 * 4] = para[1][0]; + modelview_matrix[1 + 1 * 4] = para[1][1]; + modelview_matrix[1 + 2 * 4] = para[1][2]; + modelview_matrix[1 + 3 * 4] = para[1][3]; + // R3 + modelview_matrix[2 + 0 * 4] = -para[2][0]; + modelview_matrix[2 + 1 * 4] = -para[2][1]; + modelview_matrix[2 + 2 * 4] = -para[2][2]; + modelview_matrix[2 + 3 * 4] = -para[2][3]; + modelview_matrix[3 + 0 * 4] = 0.0; + modelview_matrix[3 + 1 * 4] = 0.0; + modelview_matrix[3 + 2 * 4] = 0.0; + modelview_matrix[3 + 3 * 4] = 1.0; + if (scale != 0.0) + { + modelview_matrix[12] *= scale; + modelview_matrix[13] *= scale; + modelview_matrix[14] *= scale; + } +} + +/**** + * + */ +void __OgreGetPoseParameters(double position[3], double orientation[4], + const cv::Mat& Rvec, const cv::Mat& Tvec) +{ + // check if paremeters are valid + bool invalid = false; + for (int i = 0; i < 3 && !invalid; i++) + { + if (Tvec.at(i, 0) != -999999) + invalid |= false; + if (Rvec.at(i, 0) != -999999) + invalid |= false; + } + if (invalid) + throw cv::Exception(9003, "extrinsic parameters are not set", + "Marker::getModelViewMatrix", __FILE__, __LINE__); + + // calculate position vector + position[0] = -Tvec.ptr(0)[0]; + position[1] = -Tvec.ptr(0)[1]; + position[2] = +Tvec.ptr(0)[2]; + + // now calculare orientation quaternion + cv::Mat Rot(3, 3, CV_32FC1); + cv::Rodrigues(Rvec, Rot); + + // calculate axes for quaternion + double stAxes[3][3]; + // x axis + stAxes[0][0] = -Rot.at(0, 0); + stAxes[0][1] = -Rot.at(1, 0); + stAxes[0][2] = +Rot.at(2, 0); + // y axis + stAxes[1][0] = -Rot.at(0, 1); + stAxes[1][1] = -Rot.at(1, 1); + stAxes[1][2] = +Rot.at(2, 1); + // for z axis, we use cross product + stAxes[2][0] = stAxes[0][1] * stAxes[1][2] - stAxes[0][2] * stAxes[1][1]; + stAxes[2][1] = -stAxes[0][0] * stAxes[1][2] + stAxes[0][2] * stAxes[1][0]; + stAxes[2][2] = stAxes[0][0] * stAxes[1][1] - stAxes[0][1] * stAxes[1][0]; + + // transposed matrix + double axes[3][3]; + axes[0][0] = stAxes[0][0]; + axes[1][0] = stAxes[0][1]; + axes[2][0] = stAxes[0][2]; + + axes[0][1] = stAxes[1][0]; + axes[1][1] = stAxes[1][1]; + axes[2][1] = stAxes[1][2]; + + axes[0][2] = stAxes[2][0]; + axes[1][2] = stAxes[2][1]; + axes[2][2] = stAxes[2][2]; + + // Algorithm in Ken Shoemake's article in 1987 SIGGRAPH course notes + // article "Quaternion Calculus and Fast Animation". + double fTrace = axes[0][0] + axes[1][1] + axes[2][2]; + double fRoot; + + if (fTrace > 0.0) + { + // |w| > 1/2, may as well choose w > 1/2 + fRoot = sqrt(fTrace + 1.0); // 2w + orientation[0] = 0.5 * fRoot; + fRoot = 0.5 / fRoot; // 1/(4w) + orientation[1] = (axes[2][1] - axes[1][2]) * fRoot; + orientation[2] = (axes[0][2] - axes[2][0]) * fRoot; + orientation[3] = (axes[1][0] - axes[0][1]) * fRoot; + } + else + { + // |w| <= 1/2 + static unsigned int s_iNext[3] = { 1, 2, 0 }; + unsigned int i = 0; + if (axes[1][1] > axes[0][0]) + i = 1; + if (axes[2][2] > axes[i][i]) + i = 2; + unsigned int j = s_iNext[i]; + unsigned int k = s_iNext[j]; + + fRoot = sqrt(axes[i][i] - axes[j][j] - axes[k][k] + 1.0); + double* apkQuat[3] = { &orientation[1], &orientation[2], &orientation[3] }; + *apkQuat[i] = 0.5 * fRoot; + fRoot = 0.5 / fRoot; + orientation[0] = (axes[k][j] - axes[j][k]) * fRoot; + *apkQuat[j] = (axes[j][i] + axes[i][j]) * fRoot; + *apkQuat[k] = (axes[k][i] + axes[i][k]) * fRoot; + } +} + +/** + */ +void MarkerMap::getIdList(std::vector& ids, bool append) const +{ + if (!append) + ids.clear(); + for (size_t i = 0; i < size(); i++) + ids.push_back(at(i).id); +} + +MarkerMap MarkerMap::convertToMeters(float markerSize_meters) const +{ + if (!isExpressedInPixels()) + throw cv::Exception(-1, "The board is not expressed in pixels", + "MarkerMap::convertToMeters", __FILE__, __LINE__); + // first, we are assuming all markers are equally sized. So, lets get the size in pixels + int markerSizePix = static_cast(cv::norm(at(0)[0] - at(0)[1])); + MarkerMap BInfo(*this); + BInfo.mInfoType = MarkerMap::METERS; + // now, get the size of a pixel, and change scale + float pixSize = markerSize_meters / float(markerSizePix); + // cout << markerSize_meters << " " << float(markerSizePix) << " " << pixSize << + // endl; + for (size_t i = 0; i < BInfo.size(); i++) + for (int c = 0; c < 4; c++) + { + BInfo[i][c] *= pixSize; + } + return BInfo; +} +cv::Mat MarkerMap::getImage(float METER2PIX) const +{ + if (mInfoType == NONE) + throw cv::Exception(-1, "The board is not valid mInfoType==NONE ", + "MarkerMap::getImage", __FILE__, __LINE__); + if (METER2PIX <= 0 && mInfoType != PIX) + throw cv::Exception(-1, "The board is not expressed in pixels and not METER2PIX indicated", + "MarkerMap::getImage", __FILE__, __LINE__); + + auto Dict = Dictionary::loadPredefined(dictionary); + + // get image limits + cv::Point pmin(std::numeric_limits::max(), std::numeric_limits::max()), + pmax(std::numeric_limits::lowest(), std::numeric_limits::lowest()); + for (auto b : *this) + { + for (auto p : b.points) + { + pmin.x = min(int(p.x), pmin.x); + pmin.y = min(int(p.y), pmin.y); + pmax.x = max(int(p.x + 0.5), pmax.x); + pmax.y = max(int(p.y + 0.5), pmax.y); + assert(p.z == 0); + } + } + + cv::Point psize = pmax - pmin; + cv::Mat image(cv::Size(psize.x, psize.y), CV_8UC1); + image.setTo(cv::Scalar::all(255)); + + vector p3d = *this; + // the points must be moved from a real reference system to image reference sysmte (y + // positive is inverse) + for (auto& m : p3d) + for (auto& p : m.points) + { + p -= cv::Point3f(static_cast(pmin.x), static_cast(pmax.y), 0.f); + // now, use inverse y + p.y = -p.y; + } + for (auto m : p3d) + { + // get size and find size of this + const float size = static_cast(cv::norm(m[0] - m[1])); + auto im1 = Dict.getMarkerImage_id(m.id, int(size / 8)); + cv::Mat im2; + // now resize to fit + cv::resize(im1, im2, cv::Size(static_cast(size), static_cast(size))); + // copy in correct position + auto ry = cv::Range(int(m[0].y), int(m[2].y)); + auto rx = cv::Range(int(m[0].x), int(m[2].x)); + cv::Mat sub = image(ry, rx); + im2.copyTo(sub); + } + return image; +} + +std::vector MarkerMap::getIndices(const vector& markers) const +{ + std::vector indices; + for (size_t i = 0; i < markers.size(); i++) + { + bool found = false; + for (size_t j = 0; j < size() && !found; j++) + { + if (markers[i].id == at(j).id) + { + found = true; + indices.push_back(static_cast(i)); + } + } + } + return indices; +} +void MarkerMap::toStream(std::ostream& str) +{ + str << mInfoType << " " << size() << " "; + for (size_t i = 0; i < size(); i++) + { + at(i).toStream(str); + } + // write dic string info + str << dictionary; +} +void MarkerMap::fromStream(std::istream& str) +{ + int s; + str >> mInfoType >> s; + resize(s); + for (size_t i = 0; i < size(); i++) + at(i).fromStream(str); + str >> dictionary; +} +pair MarkerMap::calculateExtrinsics(const std::vector& markers, + float markerSize, cv::Mat CameraMatrix, + cv::Mat Distorsion) +{ + vector p2d; + MarkerMap m_meters; + if (isExpressedInPixels()) + m_meters = convertToMeters(markerSize); + else + m_meters = *this; + vector p3d; + for (auto marker : markers) + { + auto it = find(m_meters.begin(), m_meters.end(), marker.id); + if (it != m_meters.end()) + { // is the marker part of the map? + for (auto p : marker) + p2d.push_back(p); + for (auto p : it->points) + p3d.push_back(p); + } + } + + cv::Mat rvec, tvec; + if (p2d.size() != 0) + { // no points in the vector + cv::solvePnPRansac(p3d, p2d, CameraMatrix, Distorsion, rvec, tvec); + } + if (rvec.type() == CV_64F) + rvec.convertTo(rvec, CV_64F); + if (tvec.type() == CV_64F) + tvec.convertTo(tvec, CV_64F); + return make_pair(rvec, tvec); +} +}; // namespace aruco diff --git a/legacy/aruco_ros/aruco/src/aruco/posetracker.cpp b/legacy/aruco_ros/aruco/src/aruco/posetracker.cpp new file mode 100755 index 000000000..4cb14f45b --- /dev/null +++ b/legacy/aruco_ros/aruco/src/aruco/posetracker.cpp @@ -0,0 +1,595 @@ +/** + Copyright 2017 Rafael Muñoz Salinas. All rights reserved. + + Redistribution and use in source and binary forms, with or without modification, are + permitted provided that the following conditions are met: + + 1. Redistributions of source code must retain the above copyright notice, this list of + conditions and the following disclaimer. + + 2. Redistributions in binary form must reproduce the above copyright notice, this list + of conditions and the following disclaimer in the documentation and/or other materials + provided with the distribution. + + THIS SOFTWARE IS PROVIDED BY Rafael Muñoz Salinas ''AS IS'' AND ANY EXPRESS OR IMPLIED + WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND + FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Rafael Muñoz Salinas + OR + CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON + ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF + ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + + The views and conclusions contained in the software and documentation are those of the + authors and should not be interpreted as representing official policies, either expressed + or implied, of Rafael Muñoz Salinas. + */ + +#include "posetracker.h" +#include "ippe.h" +#include +#include "levmarq.h" +#include + +namespace aruco +{ +namespace aruco_private +{ +cv::Mat impl__aruco_getRTMatrix(const cv::Mat& _rvec, const cv::Mat& _tvec) +{ + assert(_rvec.type() == CV_32F && _rvec.total() == 3); + assert(_tvec.type() == CV_32F && _tvec.total() == 3); + + cv::Mat Matrix(4, 4, CV_32F); + float* rt_44 = Matrix.ptr(0); + + // makes a fast conversion to the 4x4 array passed + float rx = _rvec.ptr(0)[0]; + float ry = _rvec.ptr(0)[1]; + float rz = _rvec.ptr(0)[2]; + float tx = _tvec.ptr(0)[0]; + float ty = _tvec.ptr(0)[1]; + float tz = _tvec.ptr(0)[2]; + float nsqa = rx * rx + ry * ry + rz * rz; + float a = std::sqrt(nsqa); + float i_a = a ? 1. / a : 0; + float rnx = rx * i_a; + float rny = ry * i_a; + float rnz = rz * i_a; + float cos_a = cos(a); + float sin_a = sin(a); + float _1_cos_a = 1. - cos_a; + rt_44[0] = cos_a + rnx * rnx * _1_cos_a; + rt_44[1] = rnx * rny * _1_cos_a - rnz * sin_a; + rt_44[2] = rny * sin_a + rnx * rnz * _1_cos_a; + rt_44[3] = tx; + rt_44[4] = rnz * sin_a + rnx * rny * _1_cos_a; + rt_44[5] = cos_a + rny * rny * _1_cos_a; + rt_44[6] = -rnx * sin_a + rny * rnz * _1_cos_a; + rt_44[7] = ty; + rt_44[8] = -rny * sin_a + rnx * rnz * _1_cos_a; + rt_44[9] = rnx * sin_a + rny * rnz * _1_cos_a; + rt_44[10] = cos_a + rnz * rnz * _1_cos_a; + rt_44[11] = tz; + rt_44[12] = rt_44[13] = rt_44[14] = 0; + rt_44[15] = 1; + return Matrix; +} + +void impl__aruco_getRTfromMatrix44(const cv::Mat& M, cv::Mat& R, cv::Mat& T) +{ + assert(M.cols == M.rows && M.cols == 4); + assert(M.type() == CV_32F || M.type() == CV_64F); + + // extract the rotation part + cv::Mat r33 = cv::Mat(M, cv::Rect(0, 0, 3, 3)); + cv::SVD svd(r33); + cv::Mat Rpure = svd.u * svd.vt; + cv::Rodrigues(Rpure, R); + T.create(1, 3, M.type()); + if (M.type() == CV_32F) + for (int i = 0; i < 3; i++) + T.ptr(0)[i] = M.at(i, 3); + else + for (int i = 0; i < 3; i++) + T.ptr(0)[i] = M.at(i, 3); +} + +double reprj_error(const std::vector& objPoints, + const std::vector points2d, const CameraParameters& imp, + const cv::Mat& rt44) +{ + std::vector prepj; + cv::Mat rv, tv; + impl__aruco_getRTfromMatrix44(rt44, rv, tv); + cv::projectPoints(objPoints, rv, tv, imp.CameraMatrix, imp.Distorsion, prepj); + double sum = 0; + int nvalid = 0; + for (size_t i = 0; i < prepj.size(); i++) + { + if (!std::isnan(objPoints[i].x)) + { + sum += cv::norm(points2d[i] - prepj[i]); + nvalid++; + } + } + return sum / double(nvalid); +} + +/** + * + * + */ +float rigidBodyTransformation_Horn1987(const std::vector& POrg, + const std::vector& PDst, cv::Mat& RT_4x4) +{ + struct Quaternion + { + Quaternion(float q0, float q1, float q2, float q3) + { + q[0] = q0; + q[1] = q1; + q[2] = q2; + q[3] = q3; + } + cv::Mat getRotation() const + { + cv::Mat R(3, 3, CV_32F); + R.at(0, 0) = q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]; + R.at(0, 1) = 2.f * (q[1] * q[2] - q[0] * q[3]); + R.at(0, 2) = 2.f * (q[1] * q[3] + q[0] * q[2]); + + R.at(1, 0) = 2.f * (q[1] * q[2] + q[0] * q[3]); + R.at(1, 1) = q[0] * q[0] + q[2] * q[2] - q[1] * q[1] - q[3] * q[3]; + R.at(1, 2) = 2.f * (q[2] * q[3] - q[0] * q[1]); + + R.at(2, 0) = 2.f * (q[1] * q[3] - q[0] * q[2]); + R.at(2, 1) = 2.f * (q[2] * q[3] + q[0] * q[1]); + R.at(2, 2) = q[0] * q[0] + q[3] * q[3] - q[1] * q[1] - q[2] * q[2]; + return R; + } + float q[4]; + }; + + assert(POrg.size() == PDst.size()); + + cv::Mat _org(POrg.size(), 3, CV_32F, (float*)&POrg[0]); + cv::Mat _dst(PDst.size(), 3, CV_32F, (float*)&PDst[0]); + + // _org = _org.reshape(1); + // _dst = _dst.reshape(1); + cv::Mat Mu_s = cv::Mat::zeros(1, 3, CV_32F); + cv::Mat Mu_m = cv::Mat::zeros(1, 3, CV_32F); + // cout << _s << endl << _m << endl; + + // calculate means + for (int i = 0; i < _org.rows; i++) + { + Mu_s += _org(cv::Range(i, i + 1), cv::Range(0, 3)); + Mu_m += _dst(cv::Range(i, i + 1), cv::Range(0, 3)); + } + + // now, divide + for (int i = 0; i < 3; i++) + { + Mu_s.ptr(0)[i] /= float(_org.rows); + Mu_m.ptr(0)[i] /= float(_dst.rows); + } + + // cout << "Mu_s = " << Mu_s << endl; + // cout << "Mu_m = " << Mu_m << endl; + + cv::Mat Mu_st = Mu_s.t() * Mu_m; + // cout << "Mu_st = " << Mu_st << endl; + cv::Mat Var_sm = cv::Mat::zeros(3, 3, CV_32F); + for (int i = 0; i < _org.rows; i++) + Var_sm += (_org(cv::Range(i, i + 1), cv::Range(0, 3)).t() * + _dst(cv::Range(i, i + 1), cv::Range(0, 3))) - + Mu_st; + // cout << "Var_sm=" << Var_sm << endl; + for (int i = 0; i < 3; i++) + for (int j = 0; j < 3; j++) + Var_sm.at(i, j) /= float(_org.rows); + // cout << "Var_sm = " << Var_sm << endl; + + cv::Mat AA = Var_sm - Var_sm.t(); + // cout << "AA = " << AA << endl; + cv::Mat A(3, 1, CV_32F); + A.at(0, 0) = AA.at(1, 2); + A.at(1, 0) = AA.at(2, 0); + A.at(2, 0) = AA.at(0, 1); + // cout << "A =" << A << endl; + cv::Mat Q_Var_sm(4, 4, CV_32F); + Q_Var_sm.at(0, 0) = static_cast(trace(Var_sm)[0]); + for (int i = 1; i < 4; i++) + { + Q_Var_sm.at(0, i) = A.ptr(0)[i - 1]; + Q_Var_sm.at(i, 0) = A.ptr(0)[i - 1]; + } + cv::Mat q33 = Var_sm + Var_sm.t() - (trace(Var_sm)[0] * cv::Mat::eye(3, 3, CV_32F)); + + cv::Mat Q33 = Q_Var_sm(cv::Range(1, 4), cv::Range(1, 4)); + q33.copyTo(Q33); + // cout << "Q_Var_sm" << endl << Q_Var_sm << endl; + cv::Mat eigenvalues, eigenvectors; + eigen(Q_Var_sm, eigenvalues, eigenvectors); + // cout << "EEI = " << eigenvalues << endl; + // cout << "V = " << (eigenvectors.type() == CV_32F) << " " << eigenvectors << endl; + + Quaternion rot(eigenvectors.at(0, 0), eigenvectors.at(0, 1), + eigenvectors.at(0, 2), eigenvectors.at(0, 3)); + cv::Mat RR = rot.getRotation(); + // cout << "RESULT = " << endl << RR << endl; + cv::Mat T = Mu_m.t() - RR * Mu_s.t(); + // cout << "T = " << T << endl; + + RT_4x4 = cv::Mat::eye(4, 4, CV_32F); + cv::Mat r33 = RT_4x4(cv::Range(0, 3), cv::Range(0, 3)); + RR.copyTo(r33); + for (int i = 0; i < 3; i++) + RT_4x4.at(i, 3) = T.ptr(0)[i]; + // cout << "RESS = " << RT << endl; + + // compute the average transform error + float err = 0; + float* matrix = RT_4x4.ptr(0); + for (size_t i = 0; i < POrg.size(); i++) + { + cv::Point3f org = POrg[i]; + cv::Point3f dest_est; + dest_est.x = matrix[0] * org.x + matrix[1] * org.y + matrix[2] * org.z + matrix[3]; + dest_est.y = matrix[4] * org.x + matrix[5] * org.y + matrix[6] * org.z + matrix[7]; + dest_est.z = matrix[8] * org.x + matrix[9] * org.y + matrix[10] * org.z + matrix[11]; + cv::Point3f dest_real = PDst[i]; + err += static_cast(cv::norm(dest_est - dest_real)); + } + + return err / float(POrg.size()); + ; +} + +} // namespace aruco_private + +inline double hubber(double e, double _delta) +{ + double dsqr = _delta * _delta; + if (e <= dsqr) + { + // inlier + return e; + } + else + { + // outlier + double sqrte = sqrt(e); // absolute value of the error + return 2 * sqrte * _delta - dsqr; // rho(e) = 2 * delta * e^(1/2) - delta^2 + } +} + +inline double hubberMono(double e) +{ + if (e <= 5.991) + { + // inlier + return e; + } + else + // outlier + return 4.895303872 * sqrt(e) - 5.991; // rho(e) = 2 * delta * e^(1/2) - delta^2 +} + +inline double getHubberMonoWeight(double SqErr, double Information) +{ + return sqrt(hubberMono(Information * SqErr) / SqErr); +} +template +double __aruco_solve_pnp(const std::vector& p3d, + const std::vector& p2d, const cv::Mat& cam_matrix, + const cv::Mat& dist, cv::Mat& r_io, cv::Mat& t_io) +{ + assert(r_io.type() == CV_32F); + assert(t_io.type() == CV_32F); + assert(t_io.total() == r_io.total()); + assert(t_io.total() == 3); + auto toSol = [](const cv::Mat& r, const cv::Mat& t) + { + typename LevMarq::eVector sol(6); + for (int i = 0; i < 3; i++) + { + sol(i) = r.ptr(0)[i]; + sol(i + 3) = t.ptr(0)[i]; + } + return sol; + }; + auto fromSol = [](const typename LevMarq::eVector& sol, cv::Mat& r, cv::Mat& t) + { + r.create(1, 3, CV_32F); + t.create(1, 3, CV_32F); + for (int i = 0; i < 3; i++) + { + r.ptr(0)[i] = sol(i); + t.ptr(0)[i] = sol(i + 3); + } + }; + + cv::Mat Jacb; + auto err_f = [&](const typename LevMarq::eVector& sol, typename LevMarq::eVector& err) + { + std::vector p2d_rej; + cv::Mat r, t; + fromSol(sol, r, t); + cv::projectPoints(p3d, r, t, cam_matrix, dist, p2d_rej, Jacb); + err.resize(p3d.size() * 2); + int err_idx = 0; + for (size_t i = 0; i < p3d.size(); i++) + { + cv::Point2f errP = p2d_rej[i] - p2d[i]; + + double SqErr = (errP.x * errP.x + errP.y * errP.y); + + float robuse_weight = getHubberMonoWeight(SqErr, 1); + err(err_idx++) = robuse_weight * errP.x; // p2d_rej[i].x - p2d[i].x; + err(err_idx++) = robuse_weight * errP.y; // p2d_rej[i].y - p2d[i].y; + } + }; + auto jac_f = [&](const typename LevMarq::eVector& sol, + Eigen::Matrix& J) + { + (void)(sol); + J.resize(p3d.size() * 2, 6); + for (size_t i = 0; i < p3d.size() * 2; i++) + { + double* jacb = Jacb.ptr(i); + for (int j = 0; j < 6; j++) + J(i, j) = jacb[j]; + } + }; + + LevMarq solver; + solver.setParams(100, 0.01, 0.01); + + // solver.verbose() = true; + typename LevMarq::eVector sol = toSol(r_io, t_io); + auto err = solver.solve(sol, err_f, jac_f); + + fromSol(sol, r_io, t_io); + return err; +} + +double __aruco_solve_pnp(const std::vector& p3d, + const std::vector& p2d, const cv::Mat& cam_matrix, + const cv::Mat& dist, cv::Mat& r_io, cv::Mat& t_io) +{ +#ifdef DOUBLE_PRECISION_PNP + return __aruco_solve_pnp(p3d, p2d, cam_matrix, dist, r_io, t_io); +#else + return __aruco_solve_pnp(p3d, p2d, cam_matrix, dist, r_io, t_io); +#endif +} + +bool MarkerPoseTracker::estimatePose(Marker& m, const CameraParameters& _cam_params, + float _msize, float minerrorRatio) +{ + if (_rvec.empty()) + { + // if no previous data, use from scratch + cv::Mat rv, tv; + auto solutions = solvePnP_(Marker::get3DPoints(_msize), m, _cam_params.CameraMatrix, + _cam_params.Distorsion); + double errorRatio = solutions[1].second / solutions[0].second; + if (errorRatio < minerrorRatio) + return false; + + // // is the error ratio big enough + // cv::solvePnP(Marker::get3DPoints(_msize), m, _cam_params.CameraMatrix, + // _cam_params.Distorsion, rv, tv); + // __aruco_solve_pnp(Marker::get3DPoints(_msize), m, _cam_params.CameraMatrix, + // _cam_params.Distorsion, _rvec, _tvec); + // rv.convertTo(_rvec, CV_32F); + // tv.convertTo(_tvec, CV_32F); + // aruco_private::impl__aruco_getRTfromMatrix44(solutions[0].first, _rvec, _tvec); + } + else + { + __aruco_solve_pnp(Marker::get3DPoints(_msize), m, _cam_params.CameraMatrix, + _cam_params.Distorsion, _rvec, _tvec); + } + + _rvec.convertTo(m.Rvec, CV_32F); + _tvec.convertTo(m.Tvec, CV_32F); + m.ssize = _msize; + return true; +} + +MarkerMapPoseTracker::MarkerMapPoseTracker() +{ + _isValid = false; + _initial_err = -1; + aruco_minerrratio_valid = 3; +} + +void MarkerMapPoseTracker::setParams(const CameraParameters& cam_params, + const MarkerMap& msconf, float markerSize) +{ + _msconf = msconf; + _cam_params = cam_params; + if (!cam_params.isValid()) + throw cv::Exception(9001, "Invalid camera parameters", + "MarkerMapPoseTracker::setParams", __FILE__, __LINE__); + if (_msconf.mInfoType == MarkerMap::PIX && markerSize <= 0) + throw cv::Exception(9001, "You should indicate the markersize since the MarkerMap is in pixels", + "MarkerMapPoseTracker::setParams", __FILE__, __LINE__); + if (_msconf.mInfoType == MarkerMap::NONE) + throw cv::Exception(9001, "Invalid MarkerMap", "MarkerMapPoseTracker::setParams", + __FILE__, __LINE__); + if (_msconf.mInfoType == MarkerMap::PIX) + _msconf = _msconf.convertToMeters(markerSize); + + _isValid = true; + + // create a map for fast access to elements + _map_mm.clear(); + for (auto m : msconf) + _map_mm.insert(std::make_pair(m.id, m)); + + // now, compute the marker_m2g map + for (auto m : _map_mm) + { + const Marker3DInfo& m3dinfo = m.second; + auto p3d_marker = Marker::get3DPoints(m3dinfo.getMarkerSize()); + + // compute the transform going from global to marker to using Horn + cv::Mat RT; + aruco_private::rigidBodyTransformation_Horn1987(m3dinfo.points, p3d_marker, RT); + marker_m2g[m.first] = RT; + } +} + +cv::Mat MarkerMapPoseTracker::relocalization(const std::vector& v_m) +{ + // get the markers in v_m that are in the map + std::vector mapMarkers; + for (auto marker : v_m) + { + if (_map_mm.find(marker.id) != _map_mm.end()) + mapMarkers.push_back(marker); + } + + if (mapMarkers.size() == 0) + return cv::Mat(); + struct minfo + { + int id; + cv::Mat rt_f2m; + double err; + }; + struct se3 + { + float rt[6]; + }; + + cv::Mat pose_f2g_out; // result + + // estimate the markers locations and see if there is at least one good enough + std::vector good_marker_locations; + std::vector all_marker_locations; + + for (const Marker& marker : mapMarkers) + { + // for each visible marker + auto mpi = solvePnP_(_map_mm[marker.id].getMarkerSize(), marker, + _cam_params.CameraMatrix, _cam_params.Distorsion); + minfo mi; + mi.id = marker.id; + mi.err = mpi[0].second; + mi.rt_f2m = mpi[0].first; + all_marker_locations.push_back(mi); + if (mpi[1].second / mpi[0].second > aruco_minerrratio_valid) + good_marker_locations.push_back(mi); + mi.rt_f2m = mpi[1].first; + mi.err = mpi[1].second; + all_marker_locations.push_back(mi); + } + + // try using more than one marker approach + if (mapMarkers.size() >= 2) + { + // collect all the markers 3D locations + std::vector markerPoints2d; + std::vector markerPoints3d; + for (const Marker& marker : mapMarkers) + { + markerPoints2d.insert(markerPoints2d.end(), marker.begin(), marker.end()); + auto p3d = _map_mm[marker.id].points; + markerPoints3d.insert(markerPoints3d.end(), p3d.begin(), p3d.end()); + } + + // take the all poses and select the one that minimizes the global reproj error + for (auto& ml : all_marker_locations) + { + auto pose = ml.rt_f2m * marker_m2g[ml.id]; + // now, compute the repj error of all markers using this info + ml.err = aruco_private::reprj_error(markerPoints3d, markerPoints2d, _cam_params, pose); + } + // sort and get the best + std::sort(all_marker_locations.begin(), all_marker_locations.end(), + [](const minfo& a, const minfo& b) { return a.err < b.err; }); + _initial_err = all_marker_locations.front().err; + auto& best = all_marker_locations.front(); + pose_f2g_out = best.rt_f2m * marker_m2g[best.id]; + } + + if (pose_f2g_out.empty() && good_marker_locations.size() > 0) + { + std::sort(good_marker_locations.begin(), good_marker_locations.end(), + [](const minfo& a, const minfo& b) { return a.err < b.err; }); + auto best = good_marker_locations[0]; + + // estimate current location + pose_f2g_out = best.rt_f2m * marker_m2g[best.id]; + } + return pose_f2g_out; +} + +bool MarkerMapPoseTracker::estimatePose(const std::vector& v_m) +{ + std::vector p2d; + std::vector p3d; + for (auto marker : v_m) + { + if (_map_mm.find(marker.id) != _map_mm.end()) + { + // is the marker part of the map? + for (auto p : marker) + p2d.push_back(p); + for (auto p : _map_mm[marker.id].points) + p3d.push_back(p); + } + } + + if (p2d.size() == 0) + { + // no points in the vector + _rvec = cv::Mat(); + _tvec = cv::Mat(); + return false; + } + else + { + if (_rvec.empty()) + { + // requires relocalization since past pose is ALL_DICTS + // relocalization provides an initial position that will be further refined + auto InitialPose = relocalization(v_m); + if (InitialPose.empty()) + { + return false; + } + + aruco_private::impl__aruco_getRTfromMatrix44(InitialPose, _rvec, _tvec); + } + + // refine + __aruco_solve_pnp(p3d, p2d, _cam_params.CameraMatrix, _cam_params.Distorsion, _rvec, _tvec); + + return true; + } +} + +cv::Mat MarkerMapPoseTracker::getRTMatrix() const +{ + if (_rvec.empty() || _tvec.empty()) + return cv::Mat(); + return aruco_private::impl__aruco_getRTMatrix(_rvec, _tvec); +} + +cv::Mat MarkerPoseTracker::getRTMatrix() const +{ + if (_rvec.empty() || _tvec.empty()) + return cv::Mat(); + return aruco_private::impl__aruco_getRTMatrix(_rvec, _tvec); +} + +} // namespace aruco diff --git a/legacy/aruco_ros/aruco_msgs/CHANGELOG.rst b/legacy/aruco_ros/aruco_msgs/CHANGELOG.rst new file mode 100644 index 000000000..30abf5109 --- /dev/null +++ b/legacy/aruco_ros/aruco_msgs/CHANGELOG.rst @@ -0,0 +1,60 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package aruco_msgs +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.0.0 (2019-09-27) +------------------ +* Merge branch 'indigo-devel' into kinetic-devel +* Contributors: Victor Lopez + +2.2.2 (2022-11-23) +------------------ + +2.2.1 (2022-11-10) +------------------ + +2.2.0 (2022-11-07) +------------------ + +2.1.4 (2022-05-16) +------------------ + +2.1.3 (2022-04-05) +------------------ +* Make Sai maintainer of all +* Update license tags in the package.xml +* Contributors: Bence Magyar, Sai Kishor Kothakota + +2.1.2 (2022-02-10) +------------------ + +2.1.1 (2020-09-17) +------------------ + +2.1.0 (2020-01-21) +------------------ + +2.0.2 (2019-11-09) +------------------ + +2.0.1 (2019-09-27) +------------------ + +0.2.2 (2017-07-25) +------------------ + +0.2.1 (2017-07-21) +------------------ + +0.2.0 (2016-10-19) +------------------ + +0.1.0 (2015-08-10) +------------------ +* Update changelogs and maintainer email +* Contributors: Bence Magyar + +0.0.1 (2015-05-20) +------------------ +* Reorganize aruco_ros into 3 packages +* Contributors: Bence Magyar diff --git a/legacy/aruco_ros/aruco_msgs/CMakeLists.txt b/legacy/aruco_ros/aruco_msgs/CMakeLists.txt new file mode 100644 index 000000000..f7ca91a94 --- /dev/null +++ b/legacy/aruco_ros/aruco_msgs/CMakeLists.txt @@ -0,0 +1,17 @@ +cmake_minimum_required(VERSION 2.8.3) +project(aruco_msgs) + +find_package(catkin REQUIRED COMPONENTS + message_generation + geometry_msgs + std_msgs) + +add_message_files( FILES Marker.msg MarkerArray.msg ) +generate_messages( DEPENDENCIES std_msgs geometry_msgs ) + +catkin_package( + CATKIN_DEPENDS + message_runtime + geometry_msgs + std_msgs +) diff --git a/legacy/aruco_ros/aruco_msgs/msg/Marker.msg b/legacy/aruco_ros/aruco_msgs/msg/Marker.msg new file mode 100644 index 000000000..e4e77c274 --- /dev/null +++ b/legacy/aruco_ros/aruco_msgs/msg/Marker.msg @@ -0,0 +1,4 @@ +Header header +uint32 id +geometry_msgs/PoseWithCovariance pose +float64 confidence diff --git a/legacy/aruco_ros/aruco_msgs/msg/MarkerArray.msg b/legacy/aruco_ros/aruco_msgs/msg/MarkerArray.msg new file mode 100644 index 000000000..f3c2e06ae --- /dev/null +++ b/legacy/aruco_ros/aruco_msgs/msg/MarkerArray.msg @@ -0,0 +1,2 @@ +Header header +aruco_msgs/Marker[] markers diff --git a/legacy/aruco_ros/aruco_msgs/package.xml b/legacy/aruco_ros/aruco_msgs/package.xml new file mode 100644 index 000000000..197db7d9f --- /dev/null +++ b/legacy/aruco_ros/aruco_msgs/package.xml @@ -0,0 +1,18 @@ + + + aruco_msgs + 2.2.2 + The aruco_msgs package + Sai Kishor Kothakota + Bence Magyar + MIT + + catkin + + geometry_msgs + std_msgs + + message_generation + message_runtime + + diff --git a/legacy/aruco_ros/aruco_ros/CHANGELOG.rst b/legacy/aruco_ros/aruco_ros/CHANGELOG.rst new file mode 100644 index 000000000..eec4ae7ab --- /dev/null +++ b/legacy/aruco_ros/aruco_ros/CHANGELOG.rst @@ -0,0 +1,129 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package aruco_ros +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.0.0 (2019-09-27) +------------------ +* Merge pull request `#68 `_ from aPonza/ros_format + Autoformatting as per CppStyleGuide +* removed using namespace declarations +* autoformatting as per CppStyleGuide +* Merge pull request `#58 `_ from jrgnicho/aruco-3.0.4 + Sets the 'useRectifiedImages' member from a parameter before it uses it +* sets the 'useRectifiedImages' member from a parameter before it uses it +* Update readme for new coordinates +* Fix orientation changes in aruco 3.0.0 +* Migration to aruco 3.0.4 +* Merge branch 'indigo-devel' into kinetic-devel +* Merge pull request `#41 `_ from Voidminded/kinetic-devel + Fixed OpenCV Calib3D link error on ROS Kinetic +* Fixed OpenCV Calib3D link error on ROS Kinetic +* Merge pull request `#36 `_ from pal-robotics/add-aruco-ros-utils + Add aruco_ros_utils lib and fix some missing dependencies +* Add aruco_ros_utils lib and fix some missing dependencies +* Merge pull request `#35 `_ from ugnelis/kinetic-devel + Removed duplicated line. +* Removed duplicated line. +* Merge pull request `#27 `_ from cehberlin/assert_fix + Replace assert by error message to keep library functional +* Improved camera_frame\_ assert and removed unecessary opencv includes +* Replace assert by error message to keep library functional +* Contributors: Andrea Ponza, Bence Magyar, Christopher Hrabia, Jordi Pages, Jorge Nicho, Ugnius MalÅ«kas, Victor Lopez, Voidminded + +2.2.2 (2022-11-23) +------------------ + +2.2.1 (2022-11-10) +------------------ + +2.2.0 (2022-11-07) +------------------ +* Merge branch 'feat/aruco-3.1.5-migration' into 'ferrum-devel' + ArUCO 3.1.5 migration + See merge request ros-overlays/aruco_ros!4 +* Add correct fisheye distortion functionality +* migrate to 3.1.5 +* Contributors: josegarcia, saikishor + +2.1.4 (2022-05-16) +------------------ +* added the missing catkin_EXPORTED_TARGETS dependency +* Contributors: Sai Kishor Kothakota + +2.1.3 (2022-04-05) +------------------ +* Make Sai maintainer of all +* Update license tags in the package.xml +* Contributors: Bence Magyar, Sai Kishor Kothakota + +2.1.2 (2022-02-10) +------------------ +* Merge branch 'fix_camera_matrix' into 'ferrum-devel' + fix the issue with the improper camera matrix with non rectified images + See merge request ros-overlays/aruco_ros!1 +* fix the issue with the improper camera matrix with non rectified images +* Contributors: Sai Kishor Kothakota, saikishor + +2.1.1 (2020-09-17) +------------------ +* Use time stamps from image messages +* Contributors: Markus Vieth + +2.1.0 (2020-01-21) +------------------ +* Migrate to tf2 and add utilities +* Add support for camera extrinsics when dealing with stereo cameras +* Contributors: Victor Lopez + +2.0.2 (2019-11-09) +------------------ +* Add SYSTEM to external include dirs +* Contributors: Victor Lopez + +2.0.1 (2019-09-27) +------------------ + +0.2.2 (2017-07-25) +------------------ +* only look for aruco if someone is looking for them +* Contributors: Victor Lopez + +0.2.1 (2017-07-21) +------------------ +* Change default threshold to match defaults of aruco marker detector +* Add dynamic reconfigure to simple_single +* Contributors: Victor Lopez + +0.2.0 (2016-10-19) +------------------ +* only proccesses images if there are subscribers +* add rviz marker and add corner param +* use double precision to improve accuracy +* Contributors: Jordi Pages, ProcĂ³pio Stein + +0.1.0 (2015-08-10) +------------------ +* Update changelogs and maintainer email +* Frame parameters only checked when using camera info +* Add marker list publisher +* Remove unused broadcaster +* Only do 3d when there is camera info +* Use waitForMessage for camerainfo +* Remove nonsense assert +* Reorganize and allow no camera_info +* Fix crash when distortion vector is 0 long (usb_cam) +* Contributors: Bence Magyar + +0.0.1 (2015-05-20) +------------------ +* More accurate ROS timestamps (callback triggering time) + This commit ensures that: + - all published msgs in a callback have the same timestamp + - the time is as close as possible to the frame grabbing time (as fast as the marker detection may be, the delay might affect TF interpolation in an unacceptable way for applications like visual servoing) +* Install marker_publisher executable + This target was missing in the installation rule +* Finished some renaming +* changes to finish branch merge +* aruco_ros: Fixing superfluous (and broken) linker arg to -laruco +* Reorganize aruco_ros into 3 packages +* Contributors: Bence Magyar, Jordi Pages, Josh Langsfeld, ObiWan, Steve Vozar diff --git a/legacy/aruco_ros/aruco_ros/CMakeLists.txt b/legacy/aruco_ros/aruco_ros/CMakeLists.txt new file mode 100644 index 000000000..98c260978 --- /dev/null +++ b/legacy/aruco_ros/aruco_ros/CMakeLists.txt @@ -0,0 +1,76 @@ +cmake_minimum_required(VERSION 2.8.3) +project(aruco_ros) + +find_package(OpenCV REQUIRED) + +find_package(catkin REQUIRED COMPONENTS + cv_bridge + dynamic_reconfigure + geometry_msgs + image_transport + roscpp + rospy + tf + aruco + aruco_msgs + sensor_msgs + visualization_msgs +) + +generate_dynamic_reconfigure_options( + cfg/ArucoThreshold.cfg +) + +add_compile_options(-std=c++11) + +catkin_package( + INCLUDE_DIRS include + LIBRARIES aruco_ros_utils + CATKIN_DEPENDS aruco sensor_msgs tf +) + +include_directories( + include) +include_directories( + SYSTEM + ${catkin_INCLUDE_DIRS} + ${OpenCV_INCLUDE_DIRS} +) + add_library(aruco_ros_utils src/aruco_ros_utils.cpp) + target_link_libraries(aruco_ros_utils ${catkin_LIBRARIES}) + + add_executable(single src/simple_single.cpp + src/aruco_ros_utils.cpp) + add_dependencies(single ${PROJECT_NAME}_gencfg) + target_link_libraries(single ${catkin_LIBRARIES} ${OpenCV_LIBRARIES}) + + add_executable(double src/simple_double.cpp + src/aruco_ros_utils.cpp) + add_dependencies(double ${PROJECT_NAME}_gencfg) + target_link_libraries(double ${catkin_LIBRARIES} ${OpenCV_LIBRARIES}) + + add_executable(marker_publisher src/marker_publish.cpp + src/aruco_ros_utils.cpp) + add_dependencies(marker_publisher ${PROJECT_NAME}_gencfg ${catkin_EXPORTED_TARGETS}) + target_link_libraries(marker_publisher ${catkin_LIBRARIES} ${OpenCV_LIBRARIES}) + +############# +## Install ## +############# + + install(TARGETS single double marker_publisher aruco_ros_utils + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) + +install(DIRECTORY include/ + DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" +) + +foreach(dir etc launch) + install(DIRECTORY ${dir}/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir}) +endforeach(dir) + diff --git a/legacy/aruco_ros/aruco_ros/cfg/ArucoThreshold.cfg b/legacy/aruco_ros/aruco_ros/cfg/ArucoThreshold.cfg new file mode 100755 index 000000000..c625589e5 --- /dev/null +++ b/legacy/aruco_ros/aruco_ros/cfg/ArucoThreshold.cfg @@ -0,0 +1,18 @@ +#!/usr/bin/env python +PACKAGE = "aruco_ros" + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() + +gen.add("min_image_size", double_t, 0, "minimum size of marker as a % of image area", 0.02, 0.0, 1.0) +gen.add("normalizeImage", bool_t, 0, "normalizeImage", True) +gen.add("dctComponentsToRemove", int_t, 0, "DCT components to remove", 2, 1, 4) +gen.add("degree", int_t, 0, "Degree to rotate", 0, 0, 360) +detection_mode_enum = gen.enum([ gen.const("Normal", int_t, 0, ""), + gen.const("Fast", int_t, 1, ""), + gen.const("Video_Fast", int_t, 2, "")], + "detection_mode enum") + +gen.add("detection_mode", int_t, 0, "The detection mode , affects speed and reliability", 1, 0, 2, edit_method=detection_mode_enum) +exit(gen.generate(PACKAGE, "double", "ArucoThreshold")) diff --git a/legacy/aruco_ros/aruco_ros/etc/marker26_5cm.jpg b/legacy/aruco_ros/aruco_ros/etc/marker26_5cm.jpg new file mode 100644 index 0000000000000000000000000000000000000000..53f5215ac0d7f90996ddd06e5d9beee477834560 GIT binary patch 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ztPb4Nf4gF@`OT;MrMnpyMD#quV5XMoqWxYPK5q0ie#rb!>eFrN)WpQWDzK)aBBE}S z@b-9h(#L-3*t!L?ZWQT`N8c)pLvivdSaI_Tn0m?+MeFxRX;6oK7H4F7=6`iH^_n)g z0{FWdk(1Vc6A>A==`4ypbY(*k&?ac&8ogJ z^8OmPPAdpZ;nTu(KP1}w^(+Kf=5L<6>a?lE!n?MMM;zK{rKNljZfr8fp&$1T*Fn1Ha4@bGvqhrAl*^)O5(Q`r&$m;Ywi6YBpk=TU!Jpu{zGAS|YK zUeRMljmu5Dr%V|#q^26^H4ZxCm&TJa)N_Om=Toz5ydGZ(pMOuhPc4vl4`=Q}Yy{z6 zZQVc4>VQzd+{4AiMf&OCinf?qe^^C%9BjFWd0dILxDkq43_}5yb;GmQ$;xi9>xH%t zi%3*G5$oS6g;(Z$c2t0jJ_MDuyGwC=4Q9`9MIbjeR)c~zX;KL(G2VMk$OwpAHywY! zy8?BzUDNlw{}ro!seNy_g|jdXxCnqD-!DgZ5T9B-FrIF3gFMXc?(X+D{yKZI=$20P z@2)L)ALp(Ntu2wLcH7qOFwOpwbz8%OXCA;~9eQ$XZdsBCRF`I;*++3<4c0-+GW5cKS;Ll=F(m42Hc2w*ss!(;JVjEb1Zfll|iNi8RS)9K_o3f}J!x&&q>uL;1;?9#h%=zT}n{YNXn@8USHeZKCu3G+UjLG(SL zfGLhVi3;wo;PV=ac!u#xWAo1iA;BIOqsGUYlyJ4&oBJ<-ZSBrK`0c6cV;CzR>V}Yd R +#include +#include +#include +#include +#include +#include + +namespace aruco_ros +{ +/** + * @brief rosCameraInfo2ArucoCamParams gets the camera intrinsics from a CameraInfo message and copies them + * to aruco_ros own data structure + * @param cam_info + * @param useRectifiedParameters if true, the intrinsics are taken from cam_info.P and the distortion parameters + * are set to 0. Otherwise, cam_info.K and cam_info.D are taken. + * @return + */ +aruco::CameraParameters rosCameraInfo2ArucoCamParams(const sensor_msgs::CameraInfo& cam_info, + bool useRectifiedParameters); + +tf::Transform arucoMarker2Tf(const aruco::Marker& marker); +tf2::Transform arucoMarker2Tf2(const aruco::Marker& marker); + +std::vector detectMarkers(const cv::Mat& img, + const aruco::CameraParameters& cam_params, + float marker_size, + aruco::MarkerDetector* detector = nullptr, + bool normalize_ilumination = false, bool correct_fisheye = false); + +visualization_msgs::Marker visMarkerFromPose(const geometry_msgs::PoseStamped& pose, + double marker_size, int marker_id = 1); + +} +#endif // ARUCO_ROS_UTILS_H diff --git a/legacy/aruco_ros/aruco_ros/launch/double.launch b/legacy/aruco_ros/aruco_ros/launch/double.launch new file mode 100644 index 000000000..5bccf6def --- /dev/null +++ b/legacy/aruco_ros/aruco_ros/launch/double.launch @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/legacy/aruco_ros/aruco_ros/launch/marker_publisher.launch b/legacy/aruco_ros/aruco_ros/launch/marker_publisher.launch new file mode 100644 index 000000000..383561baa --- /dev/null +++ b/legacy/aruco_ros/aruco_ros/launch/marker_publisher.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/legacy/aruco_ros/aruco_ros/launch/single.launch b/legacy/aruco_ros/aruco_ros/launch/single.launch new file mode 100644 index 000000000..373e44d3e --- /dev/null +++ b/legacy/aruco_ros/aruco_ros/launch/single.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/legacy/aruco_ros/aruco_ros/launch/singleTiago.launch b/legacy/aruco_ros/aruco_ros/launch/singleTiago.launch new file mode 100644 index 000000000..580939ed2 --- /dev/null +++ b/legacy/aruco_ros/aruco_ros/launch/singleTiago.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/legacy/aruco_ros/aruco_ros/package.xml b/legacy/aruco_ros/aruco_ros/package.xml new file mode 100644 index 000000000..d1848bd40 --- /dev/null +++ b/legacy/aruco_ros/aruco_ros/package.xml @@ -0,0 +1,27 @@ + + + aruco_ros + 2.2.2 + + The ARUCO Library has been developed by the Ava group of the Univeristy of Cordoba(Spain). + It provides real-time marker based 3D pose estimation using AR markers. + + Sai Kishor Kothakota + MIT + http://www.uco.es/investiga/grupos/ava/node/26 + Rafael Muñoz Salinas + Bence Magyar + + catkin + + cv_bridge + dynamic_reconfigure + geometry_msgs + image_transport + roscpp + tf + aruco + aruco_msgs + sensor_msgs + visualization_msgs + diff --git a/legacy/aruco_ros/aruco_ros/src/aruco_ros_utils.cpp b/legacy/aruco_ros/aruco_ros/src/aruco_ros_utils.cpp new file mode 100644 index 000000000..60e6e9fb8 --- /dev/null +++ b/legacy/aruco_ros/aruco_ros/src/aruco_ros_utils.cpp @@ -0,0 +1,142 @@ +#include +#include +#include +#include +#include +#include +#include + +aruco::CameraParameters aruco_ros::rosCameraInfo2ArucoCamParams(const sensor_msgs::CameraInfo& cam_info, + bool useRectifiedParameters) +{ + cv::Mat cameraMatrix(3, 4, CV_64FC1, 0.0); + cv::Mat distorsionCoeff(4, 1, CV_64FC1); + cv::Size size(cam_info.width, cam_info.height); + + if (useRectifiedParameters) + { + cameraMatrix.setTo(0); + cameraMatrix.at(0, 0) = cam_info.P[0]; + cameraMatrix.at(0, 1) = cam_info.P[1]; + cameraMatrix.at(0, 2) = cam_info.P[2]; + cameraMatrix.at(0, 3) = cam_info.P[3]; + cameraMatrix.at(1, 0) = cam_info.P[4]; + cameraMatrix.at(1, 1) = cam_info.P[5]; + cameraMatrix.at(1, 2) = cam_info.P[6]; + cameraMatrix.at(1, 3) = cam_info.P[7]; + cameraMatrix.at(2, 0) = cam_info.P[8]; + cameraMatrix.at(2, 1) = cam_info.P[9]; + cameraMatrix.at(2, 2) = cam_info.P[10]; + cameraMatrix.at(2, 3) = cam_info.P[11]; + + for (int i = 0; i < 4; ++i) + distorsionCoeff.at(i, 0) = 0; + } + else + { + cv::Mat cameraMatrixFromK(3, 3, CV_64FC1, 0.0); + for (int i = 0; i < 9; ++i) + cameraMatrixFromK.at(i % 3, i - (i % 3) * 3) = cam_info.K[i]; + cameraMatrixFromK.copyTo(cameraMatrix(cv::Rect(0, 0, 3, 3))); + + + if (cam_info.D.size() == 4) + { + for (int i = 0; i < 4; ++i) + distorsionCoeff.at(i, 0) = cam_info.D[i]; + } + else + { + ROS_WARN("length of camera_info D vector is not 4, assuming zero distortion..."); + for (int i = 0; i < 4; ++i) + distorsionCoeff.at(i, 0) = 0; + } + } + + return aruco::CameraParameters(cameraMatrix, distorsionCoeff, size); +} + +tf::Transform aruco_ros::arucoMarker2Tf(const aruco::Marker &marker) +{ + tf2::Transform tf2_tf = arucoMarker2Tf2(marker); + return tf::Transform( + tf::Matrix3x3(tf::Quaternion(tf2_tf.getRotation().x(), + tf2_tf.getRotation().y(), + tf2_tf.getRotation().z(), + tf2_tf.getRotation().w())), + tf::Vector3(tf2_tf.getOrigin().x(), + tf2_tf.getOrigin().y(), + tf2_tf.getOrigin().z())); +} +tf2::Transform aruco_ros::arucoMarker2Tf2(const aruco::Marker &marker) +{ + cv::Mat rot(3, 3, CV_64FC1); + cv::Mat Rvec64; + marker.Rvec.convertTo(Rvec64, CV_64FC1); + cv::Rodrigues(Rvec64, rot); + cv::Mat tran64; + marker.Tvec.convertTo(tran64, CV_64FC1); + + tf2::Matrix3x3 tf_rot(rot.at(0, 0), rot.at(0, 1), rot.at(0, 2), rot.at(1, 0), + rot.at(1, 1), rot.at(1, 2), rot.at(2, 0), rot.at(2, 1), + rot.at(2, 2)); + + tf2::Vector3 tf_orig(tran64.at(0, 0), tran64.at(1, 0), tran64.at(2, 0)); + + return tf2::Transform(tf_rot, tf_orig); +} + + +std::vector aruco_ros::detectMarkers(const cv::Mat &img, const aruco::CameraParameters &cam_params, float marker_size, aruco::MarkerDetector *detector, bool normalize_ilumination, bool correct_fisheye) +{ + std::vector markers; + try + { + if (normalize_ilumination) + { + ROS_WARN("normalizeImageIllumination is unimplemented!"); + // cv::Mat inImageNorm; + // pal_vision_util::dctNormalization(inImage, inImageNorm, + // dctComponentsToRemove); inImage = inImageNorm; + } + + // detection results will go into "markers" + markers.clear(); + // ok, let's detect + if (detector) + { + detector->detect(img, markers, cam_params, marker_size, false, correct_fisheye); + } + else + { + aruco::MarkerDetector default_detector; + default_detector.detect(img, markers, cam_params, marker_size, false, correct_fisheye); + } + return markers; + } + catch (cv_bridge::Exception& e) + { + ROS_ERROR("cv_bridge exception: %s", e.what()); + return markers; + } +} + + +visualization_msgs::Marker aruco_ros::visMarkerFromPose(const geometry_msgs::PoseStamped &pose, double marker_size, int marker_id) +{ + visualization_msgs::Marker visMarker; + visMarker.header = pose.header; + visMarker.id = marker_id; + visMarker.type = visualization_msgs::Marker::CUBE; + visMarker.action = visualization_msgs::Marker::ADD; + visMarker.pose = pose.pose; + visMarker.scale.x = marker_size; + visMarker.scale.y = marker_size; + visMarker.scale.z = 0.001; + visMarker.color.r = 1.0; + visMarker.color.g = 0; + visMarker.color.b = 0; + visMarker.color.a = 1.0; + visMarker.lifetime = ros::Duration(3.0); + return visMarker; +} diff --git a/legacy/aruco_ros/aruco_ros/src/marker_publish.cpp b/legacy/aruco_ros/aruco_ros/src/marker_publish.cpp new file mode 100644 index 000000000..ad0f0b698 --- /dev/null +++ b/legacy/aruco_ros/aruco_ros/src/marker_publish.cpp @@ -0,0 +1,269 @@ +/***************************** + Copyright 2011 Rafael Muñoz Salinas. All rights reserved. + + Redistribution and use in source and binary forms, with or without modification, are + permitted provided that the following conditions are met: + + 1. Redistributions of source code must retain the above copyright notice, this list of + conditions and the following disclaimer. + + 2. Redistributions in binary form must reproduce the above copyright notice, this list + of conditions and the following disclaimer in the documentation and/or other materials + provided with the distribution. + + THIS SOFTWARE IS PROVIDED BY Rafael Muñoz Salinas ''AS IS'' AND ANY EXPRESS OR IMPLIED + WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND + FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Rafael Muñoz Salinas OR + CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON + ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF + ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + + The views and conclusions contained in the software and documentation are those of the + authors and should not be interpreted as representing official policies, either expressed + or implied, of Rafael Muñoz Salinas. + ********************************/ +/** + * @file marker_publish.cpp + * @author Bence Magyar + * @date June 2014 + * @brief Modified copy of simple_single.cpp to publish all markers visible + * (modified by Josh Langsfeld, 2014) + */ + +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +class ArucoMarkerPublisher +{ +private: + // ArUco stuff + aruco::MarkerDetector mDetector_; + aruco::CameraParameters camParam_; + std::vector markers_; + + // node params + bool useRectifiedImages_; + std::string marker_frame_; + std::string camera_frame_; + std::string reference_frame_; + double marker_size_; + + // ROS pub-sub + ros::NodeHandle nh_; + image_transport::ImageTransport it_; + image_transport::Subscriber image_sub_; + + image_transport::Publisher image_pub_; + image_transport::Publisher debug_pub_; + ros::Publisher marker_pub_; + ros::Publisher marker_list_pub_; + tf::TransformListener tfListener_; + + ros::Subscriber cam_info_sub_; + aruco_msgs::MarkerArray::Ptr marker_msg_; + cv::Mat inImage_; + bool useCamInfo_; + std_msgs::UInt32MultiArray marker_list_msg_; + +public: + ArucoMarkerPublisher() : + nh_("~"), it_(nh_), useCamInfo_(true) + { + image_sub_ = it_.subscribe("/image", 1, &ArucoMarkerPublisher::image_callback, this); + + nh_.param("use_camera_info", useCamInfo_, true); + if (useCamInfo_) + { + sensor_msgs::CameraInfoConstPtr msg = ros::topic::waitForMessage("/camera_info", nh_); //, 10.0); + + nh_.param("marker_size", marker_size_, 0.05); + nh_.param("image_is_rectified", useRectifiedImages_, true); + nh_.param("reference_frame", reference_frame_, ""); + nh_.param("camera_frame", camera_frame_, ""); + camParam_ = aruco_ros::rosCameraInfo2ArucoCamParams(*msg, useRectifiedImages_); + ROS_ASSERT(not (camera_frame_.empty() and not reference_frame_.empty())); + if (reference_frame_.empty()) + reference_frame_ = camera_frame_; + } + else + { + camParam_ = aruco::CameraParameters(); + } + + image_pub_ = it_.advertise("result", 1); + debug_pub_ = it_.advertise("debug", 1); + marker_pub_ = nh_.advertise("markers", 100); + marker_list_pub_ = nh_.advertise("markers_list", 10); + + marker_msg_ = aruco_msgs::MarkerArray::Ptr(new aruco_msgs::MarkerArray()); + marker_msg_->header.frame_id = reference_frame_; + marker_msg_->header.seq = 0; + } + + bool getTransform(const std::string& refFrame, const std::string& childFrame, tf::StampedTransform& transform) + { + std::string errMsg; + + if (!tfListener_.waitForTransform(refFrame, childFrame, ros::Time(0), ros::Duration(0.5), ros::Duration(0.01), + &errMsg)) + { + ROS_ERROR_STREAM("Unable to get pose from TF: " << errMsg); + return false; + } + else + { + try + { + tfListener_.lookupTransform(refFrame, childFrame, ros::Time(0), // get latest available + transform); + } + catch (const tf::TransformException& e) + { + ROS_ERROR_STREAM("Error in lookupTransform of " << childFrame << " in " << refFrame); + return false; + } + + } + return true; + } + + void image_callback(const sensor_msgs::ImageConstPtr& msg) + { + bool publishMarkers = marker_pub_.getNumSubscribers() > 0; + bool publishMarkersList = marker_list_pub_.getNumSubscribers() > 0; + bool publishImage = image_pub_.getNumSubscribers() > 0; + bool publishDebug = debug_pub_.getNumSubscribers() > 0; + + if (!publishMarkers && !publishMarkersList && !publishImage && !publishDebug) + return; + + ros::Time curr_stamp = msg->header.stamp; + cv_bridge::CvImagePtr cv_ptr; + try + { + cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::RGB8); + inImage_ = cv_ptr->image; + + // clear out previous detection results + markers_.clear(); + + // ok, let's detect + mDetector_.detect(inImage_, markers_, camParam_, marker_size_, false); + + // marker array publish + if (publishMarkers) + { + marker_msg_->markers.clear(); + marker_msg_->markers.resize(markers_.size()); + marker_msg_->header.stamp = curr_stamp; + marker_msg_->header.seq++; + + for (std::size_t i = 0; i < markers_.size(); ++i) + { + aruco_msgs::Marker & marker_i = marker_msg_->markers.at(i); + marker_i.header.stamp = curr_stamp; + marker_i.id = markers_.at(i).id; + marker_i.confidence = 1.0; + } + + // if there is camera info let's do 3D stuff + if (useCamInfo_) + { + // get the current transform from the camera frame to output ref frame + tf::StampedTransform cameraToReference; + cameraToReference.setIdentity(); + + if (reference_frame_ != camera_frame_) + { + getTransform(reference_frame_, camera_frame_, cameraToReference); + } + + // now find the transform for each detected marker + for (std::size_t i = 0; i < markers_.size(); ++i) + { + aruco_msgs::Marker & marker_i = marker_msg_->markers.at(i); + tf::Transform transform = aruco_ros::arucoMarker2Tf(markers_[i]); + transform = static_cast(cameraToReference) * transform; + tf::poseTFToMsg(transform, marker_i.pose.pose); + marker_i.header.frame_id = reference_frame_; + } + } + + // publish marker array + if (marker_msg_->markers.size() > 0) + marker_pub_.publish(marker_msg_); + } + + if (publishMarkersList) + { + marker_list_msg_.data.resize(markers_.size()); + for (std::size_t i = 0; i < markers_.size(); ++i) + marker_list_msg_.data[i] = markers_[i].id; + + marker_list_pub_.publish(marker_list_msg_); + } + + // draw detected markers on the image for visualization + for (std::size_t i = 0; i < markers_.size(); ++i) + { + markers_[i].draw(inImage_, cv::Scalar(0, 0, 255), 2); + } + + // draw a 3D cube in each marker if there is 3D info + if (camParam_.isValid() && marker_size_ != -1) + { + for (std::size_t i = 0; i < markers_.size(); ++i) + aruco::CvDrawingUtils::draw3dAxis(inImage_, markers_[i], camParam_); + } + + // publish input image with markers drawn on it + if (publishImage) + { + // show input with augmented information + cv_bridge::CvImage out_msg; + out_msg.header.stamp = curr_stamp; + out_msg.encoding = sensor_msgs::image_encodings::RGB8; + out_msg.image = inImage_; + image_pub_.publish(out_msg.toImageMsg()); + } + + // publish image after internal image processing + if (publishDebug) + { + // show also the internal image resulting from the threshold operation + cv_bridge::CvImage debug_msg; + debug_msg.header.stamp = curr_stamp; + debug_msg.encoding = sensor_msgs::image_encodings::MONO8; + debug_msg.image = mDetector_.getThresholdedImage(); + debug_pub_.publish(debug_msg.toImageMsg()); + } + + } + catch (cv_bridge::Exception& e) + { + ROS_ERROR("cv_bridge exception: %s", e.what()); + } + } +}; + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "aruco_marker_publisher"); + + ArucoMarkerPublisher node; + + ros::spin(); +} diff --git a/legacy/aruco_ros/aruco_ros/src/simple_double.cpp b/legacy/aruco_ros/aruco_ros/src/simple_double.cpp new file mode 100644 index 000000000..bb2d6c604 --- /dev/null +++ b/legacy/aruco_ros/aruco_ros/src/simple_double.cpp @@ -0,0 +1,269 @@ +/***************************** + Copyright 2011 Rafael Muñoz Salinas. All rights reserved. + + Redistribution and use in source and binary forms, with or without modification, are + permitted provided that the following conditions are met: + + 1. Redistributions of source code must retain the above copyright notice, this list of + conditions and the following disclaimer. + + 2. Redistributions in binary form must reproduce the above copyright notice, this list + of conditions and the following disclaimer in the documentation and/or other materials + provided with the distribution. + + THIS SOFTWARE IS PROVIDED BY Rafael Muñoz Salinas ''AS IS'' AND ANY EXPRESS OR IMPLIED + WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND + FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Rafael Muñoz Salinas OR + CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON + ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF + ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + + The views and conclusions contained in the software and documentation are those of the + authors and should not be interpreted as representing official policies, either expressed + or implied, of Rafael Muñoz Salinas. + ********************************/ + +/** + * @file simple_double.cpp + * @author Bence Magyar + * @date June 2012 + * @version 0.1 + * @brief ROS version of the example named "simple" in the ArUco software package. + */ + +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +cv::Mat inImage; +aruco::CameraParameters camParam; +bool useRectifiedImages, normalizeImageIllumination; +int dctComponentsToRemove; +aruco::MarkerDetector mDetector; +std::vector markers; +ros::Subscriber cam_info_sub; +bool cam_info_received; +image_transport::Publisher image_pub; +image_transport::Publisher debug_pub; +ros::Publisher pose_pub1; +ros::Publisher pose_pub2; +std::string child_name1; +std::string parent_name; +std::string child_name2; + +double marker_size; +int marker_id1; +int marker_id2; + +void image_callback(const sensor_msgs::ImageConstPtr& msg) +{ + double ticksBefore = cv::getTickCount(); + static tf::TransformBroadcaster br; + if (cam_info_received) + { + ros::Time curr_stamp = msg->header.stamp; + cv_bridge::CvImagePtr cv_ptr; + try + { + cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::RGB8); + inImage = cv_ptr->image; + + if (normalizeImageIllumination) + { + ROS_WARN("normalizeImageIllumination is unimplemented!"); +// cv::Mat inImageNorm; +// pal_vision_util::dctNormalization(inImage, inImageNorm, dctComponentsToRemove); +// inImage = inImageNorm; + } + + // detection results will go into "markers" + markers.clear(); + // ok, let's detect + mDetector.detect(inImage, markers, camParam, marker_size, false); + // for each marker, draw info and its boundaries in the image + for (unsigned int i = 0; i < markers.size(); ++i) + { + // only publishing the selected marker + if (markers[i].id == marker_id1) + { + tf::Transform transform = aruco_ros::arucoMarker2Tf(markers[i]); + br.sendTransform(tf::StampedTransform(transform, curr_stamp, parent_name, child_name1)); + geometry_msgs::Pose poseMsg; + tf::poseTFToMsg(transform, poseMsg); + pose_pub1.publish(poseMsg); + } + else if (markers[i].id == marker_id2) + { + tf::Transform transform = aruco_ros::arucoMarker2Tf(markers[i]); + br.sendTransform(tf::StampedTransform(transform, curr_stamp, parent_name, child_name2)); + geometry_msgs::Pose poseMsg; + tf::poseTFToMsg(transform, poseMsg); + pose_pub2.publish(poseMsg); + } + + // but drawing all the detected markers + markers[i].draw(inImage, cv::Scalar(0, 0, 255), 2); + } + + // paint a circle in the center of the image + cv::circle(inImage, cv::Point(inImage.cols / 2, inImage.rows / 2), 4, cv::Scalar(0, 255, 0), 1); + + if (markers.size() == 2) + { + float x[2], y[2], u[2], v[2]; + for (unsigned int i = 0; i < 2; ++i) + { + ROS_DEBUG_STREAM( + "Marker(" << i << ") at camera coordinates = (" << markers[i].Tvec.at(0,0) << ", " << markers[i].Tvec.at(1,0) << ", " << markers[i].Tvec.at(2,0)); + // normalized coordinates of the marker + x[i] = markers[i].Tvec.at(0, 0) / markers[i].Tvec.at(2, 0); + y[i] = markers[i].Tvec.at(1, 0) / markers[i].Tvec.at(2, 0); + // undistorted pixel + u[i] = x[i] * camParam.CameraMatrix.at(0, 0) + camParam.CameraMatrix.at(0, 2); + v[i] = y[i] * camParam.CameraMatrix.at(1, 1) + camParam.CameraMatrix.at(1, 2); + } + + ROS_DEBUG_STREAM( + "Mid point between the two markers in the image = (" << (x[0]+x[1])/2 << ", " << (y[0]+y[1])/2 << ")"); + +// // paint a circle in the mid point of the normalized coordinates of both markers +// cv::circle(inImage, cv::Point((u[0] + u[1]) / 2, (v[0] + v[1]) / 2), 3, cv::Scalar(0, 0, 255), CV_FILLED); + + // compute the midpoint in 3D: + float midPoint3D[3]; // 3D point + for (unsigned int i = 0; i < 3; ++i) + midPoint3D[i] = (markers[0].Tvec.at(i, 0) + markers[1].Tvec.at(i, 0)) / 2; + // now project the 3D mid point to normalized coordinates + float midPointNormalized[2]; + midPointNormalized[0] = midPoint3D[0] / midPoint3D[2]; //x + midPointNormalized[1] = midPoint3D[1] / midPoint3D[2]; //y + u[0] = midPointNormalized[0] * camParam.CameraMatrix.at(0, 0) + camParam.CameraMatrix.at(0, 2); + v[0] = midPointNormalized[1] * camParam.CameraMatrix.at(1, 1) + camParam.CameraMatrix.at(1, 2); + + ROS_DEBUG_STREAM( + "3D Mid point between the two markers in undistorted pixel coordinates = (" << u[0] << ", " << v[0] << ")"); + + // paint a circle in the mid point of the normalized coordinates of both markers + + ROS_WARN("Skipping circle fill, see https://github.com/LASR-at-Home/Base/pull/24"); + // cv::circle(inImage, cv::Point(u[0], v[0]), 3, cv::Scalar(0, 0, 255), CV_FILLED); + + } + + // draw a 3D cube in each marker if there is 3D info + if (camParam.isValid() && marker_size != -1) + { + for (unsigned int i = 0; i < markers.size(); ++i) + { + aruco::CvDrawingUtils::draw3dCube(inImage, markers[i], camParam); + } + } + + if (image_pub.getNumSubscribers() > 0) + { + // show input with augmented information + cv_bridge::CvImage out_msg; + out_msg.header.stamp = curr_stamp; + out_msg.encoding = sensor_msgs::image_encodings::RGB8; + out_msg.image = inImage; + image_pub.publish(out_msg.toImageMsg()); + } + + if (debug_pub.getNumSubscribers() > 0) + { + // show also the internal image resulting from the threshold operation + cv_bridge::CvImage debug_msg; + debug_msg.header.stamp = curr_stamp; + debug_msg.encoding = sensor_msgs::image_encodings::MONO8; + debug_msg.image = mDetector.getThresholdedImage(); + debug_pub.publish(debug_msg.toImageMsg()); + } + + ROS_DEBUG("runtime: %f ms", 1000 * (cv::getTickCount() - ticksBefore) / cv::getTickFrequency()); + } + catch (cv_bridge::Exception& e) + { + ROS_ERROR("cv_bridge exception: %s", e.what()); + return; + } + } +} + +// wait for one camerainfo, then shut down that subscriber +void cam_info_callback(const sensor_msgs::CameraInfo &msg) +{ + camParam = aruco_ros::rosCameraInfo2ArucoCamParams(msg, useRectifiedImages); + cam_info_received = true; + cam_info_sub.shutdown(); +} + +void reconf_callback(aruco_ros::ArucoThresholdConfig &config, std::uint32_t level) +{ + mDetector.setDetectionMode(aruco::DetectionMode(config.detection_mode), config.min_image_size); + normalizeImageIllumination = config.normalizeImage; + dctComponentsToRemove = config.dctComponentsToRemove; +} + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "aruco_simple"); + ros::NodeHandle nh("~"); + image_transport::ImageTransport it(nh); + + dynamic_reconfigure::Server server; + dynamic_reconfigure::Server::CallbackType f_; + f_ = boost::bind(&reconf_callback, _1, _2); + server.setCallback(f_); + + normalizeImageIllumination = false; + + nh.param("image_is_rectified", useRectifiedImages, true); + ROS_INFO_STREAM("Image is rectified: " << useRectifiedImages); + + image_transport::Subscriber image_sub = it.subscribe("/image", 1, &image_callback); + cam_info_sub = nh.subscribe("/camera_info", 1, &cam_info_callback); + + cam_info_received = false; + image_pub = it.advertise("result", 1); + debug_pub = it.advertise("debug", 1); + pose_pub1 = nh.advertise("pose", 100); + pose_pub2 = nh.advertise("pose2", 100); + + nh.param("marker_size", marker_size, 0.05); + nh.param("marker_id1", marker_id1, 582); + nh.param("marker_id2", marker_id2, 26); + nh.param("normalizeImage", normalizeImageIllumination, true); + nh.param("dct_components_to_remove", dctComponentsToRemove, 2); + if (dctComponentsToRemove == 0) + normalizeImageIllumination = false; + nh.param("parent_name", parent_name, ""); + nh.param("child_name1", child_name1, ""); + nh.param("child_name2", child_name2, ""); + + if (parent_name == "" || child_name1 == "" || child_name2 == "") + { + ROS_ERROR("parent_name and/or child_name was not set!"); + return -1; + } + + ROS_INFO("ArUco node started with marker size of %f meters and marker ids to track: %d, %d", marker_size, marker_id1, + marker_id2); + ROS_INFO("ArUco node will publish pose to TF with (%s, %s) and (%s, %s) as (parent,child).", parent_name.c_str(), + child_name1.c_str(), parent_name.c_str(), child_name2.c_str()); + + ros::spin(); +} diff --git a/legacy/aruco_ros/aruco_ros/src/simple_single.cpp b/legacy/aruco_ros/aruco_ros/src/simple_single.cpp new file mode 100644 index 000000000..4453d5581 --- /dev/null +++ b/legacy/aruco_ros/aruco_ros/src/simple_single.cpp @@ -0,0 +1,342 @@ +/***************************** + Copyright 2011 Rafael Muñoz Salinas. All rights reserved. + + Redistribution and use in source and binary forms, with or without modification, are + permitted provided that the following conditions are met: + + 1. Redistributions of source code must retain the above copyright notice, this list of + conditions and the following disclaimer. + + 2. Redistributions in binary form must reproduce the above copyright notice, this list + of conditions and the following disclaimer in the documentation and/or other materials + provided with the distribution. + + THIS SOFTWARE IS PROVIDED BY Rafael Muñoz Salinas ''AS IS'' AND ANY EXPRESS OR IMPLIED + WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND + FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Rafael Muñoz Salinas OR + CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON + ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF + ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + + The views and conclusions contained in the software and documentation are those of the + authors and should not be interpreted as representing official policies, either expressed + or implied, of Rafael Muñoz Salinas. + ********************************/ +/** + * @file simple_single.cpp + * @author Bence Magyar + * @date June 2012 + * @version 0.1 + * @brief ROS version of the example named "simple" in the ArUco software package. + */ + +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +class ArucoSimple +{ +private: + cv::Mat inImage; + aruco::CameraParameters camParam; + tf::StampedTransform rightToLeft; + bool useRectifiedImages; + aruco::MarkerDetector mDetector; + std::vector markers; + ros::Subscriber cam_info_sub; + bool cam_info_received; + image_transport::Publisher image_pub; + image_transport::Publisher debug_pub; + ros::Publisher pose_pub; + ros::Publisher transform_pub; + ros::Publisher position_pub; + ros::Publisher marker_pub; // rviz visualization marker + ros::Publisher pixel_pub; + std::string marker_frame; + std::string camera_frame; + std::string reference_frame; + + double marker_size; + int marker_id; + + ros::NodeHandle nh; + image_transport::ImageTransport it; + image_transport::Subscriber image_sub; + + tf::TransformListener _tfListener; + + dynamic_reconfigure::Server dyn_rec_server; + +public: + ArucoSimple() : + cam_info_received(false), nh("~"), it(nh) + { + + if (nh.hasParam("corner_refinement")) + ROS_WARN( + "Corner refinement options have been removed in ArUco 3.0.0, corner_refinement ROS parameter is deprecated"); + + aruco::MarkerDetector::Params params = mDetector.getParameters(); + std::string thresh_method; + switch (params.thresMethod) + { + case aruco::MarkerDetector::ThresMethod::THRES_ADAPTIVE: + thresh_method = "THRESH_ADAPTIVE"; + break; + case aruco::MarkerDetector::ThresMethod::THRES_AUTO_FIXED: + thresh_method = "THRESH_AUTO_FIXED"; + break; + default: + thresh_method = "UNKNOWN"; + break; + } + + // Print parameters of ArUco marker detector: + ROS_INFO_STREAM("Threshold method: " << thresh_method); + + float min_marker_size; // percentage of image area + nh.param("min_marker_size", min_marker_size, 0.02); + + std::string detection_mode; + nh.param("detection_mode", detection_mode, "DM_FAST"); + if (detection_mode == "DM_FAST") + mDetector.setDetectionMode(aruco::DM_FAST, min_marker_size); + else if (detection_mode == "DM_VIDEO_FAST") + mDetector.setDetectionMode(aruco::DM_VIDEO_FAST, min_marker_size); + else + // Aruco version 2 mode + mDetector.setDetectionMode(aruco::DM_NORMAL, min_marker_size); + + ROS_INFO_STREAM("Marker size min: " << min_marker_size << "% of image area"); + ROS_INFO_STREAM("Detection mode: " << detection_mode); + + image_sub = it.subscribe("/image", 1, &ArucoSimple::image_callback, this); + cam_info_sub = nh.subscribe("/camera_info", 1, &ArucoSimple::cam_info_callback, this); + + image_pub = it.advertise("result", 1); + debug_pub = it.advertise("debug", 1); + pose_pub = nh.advertise("pose", 100); + transform_pub = nh.advertise("transform", 100); + position_pub = nh.advertise("position", 100); + marker_pub = nh.advertise("marker", 10); + pixel_pub = nh.advertise("pixel", 10); + + nh.param("marker_size", marker_size, 0.05); + nh.param("marker_id", marker_id, 300); + nh.param("reference_frame", reference_frame, ""); + nh.param("camera_frame", camera_frame, ""); + nh.param("marker_frame", marker_frame, ""); + nh.param("image_is_rectified", useRectifiedImages, true); + + ROS_ASSERT(camera_frame != "" && marker_frame != ""); + + if (reference_frame.empty()) + reference_frame = camera_frame; + + ROS_INFO("ArUco node started with marker size of %f m and marker id to track: %d", marker_size, marker_id); + ROS_INFO("ArUco node will publish pose to TF with %s as parent and %s as child.", reference_frame.c_str(), + marker_frame.c_str()); + + dyn_rec_server.setCallback(boost::bind(&ArucoSimple::reconf_callback, this, _1, _2)); + } + + bool getTransform(const std::string& refFrame, const std::string& childFrame, tf::StampedTransform& transform) + { + std::string errMsg; + + if (!_tfListener.waitForTransform(refFrame, childFrame, ros::Time(0), ros::Duration(0.5), ros::Duration(0.01), + &errMsg)) + { + ROS_ERROR_STREAM("Unable to get pose from TF: " << errMsg); + return false; + } + else + { + try + { + _tfListener.lookupTransform(refFrame, childFrame, ros::Time(0), // get latest available + transform); + } + catch (const tf::TransformException& e) + { + ROS_ERROR_STREAM("Error in lookupTransform of " << childFrame << " in " << refFrame); + return false; + } + + } + return true; + } + + void image_callback(const sensor_msgs::ImageConstPtr& msg) + { + if ((image_pub.getNumSubscribers() == 0) && (debug_pub.getNumSubscribers() == 0) + && (pose_pub.getNumSubscribers() == 0) && (transform_pub.getNumSubscribers() == 0) + && (position_pub.getNumSubscribers() == 0) && (marker_pub.getNumSubscribers() == 0) + && (pixel_pub.getNumSubscribers() == 0)) + { + ROS_DEBUG("No subscribers, not looking for ArUco markers"); + return; + } + + static tf::TransformBroadcaster br; + if (cam_info_received) + { + ros::Time curr_stamp = msg->header.stamp; + cv_bridge::CvImagePtr cv_ptr; + try + { + cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::RGB8); + inImage = cv_ptr->image; + + // detection results will go into "markers" + markers.clear(); + // ok, let's detect + mDetector.detect(inImage, markers, camParam, marker_size, false); + // for each marker, draw info and its boundaries in the image + for (std::size_t i = 0; i < markers.size(); ++i) + { + // only publishing the selected marker + if (markers[i].id == marker_id) + { + tf::Transform transform = aruco_ros::arucoMarker2Tf(markers[i]); + tf::StampedTransform cameraToReference; + cameraToReference.setIdentity(); + + if (reference_frame != camera_frame) + { + getTransform(reference_frame, camera_frame, cameraToReference); + } + + transform = static_cast(cameraToReference) * static_cast(rightToLeft) + * transform; + + tf::StampedTransform stampedTransform(transform, curr_stamp, reference_frame, marker_frame); + br.sendTransform(stampedTransform); + geometry_msgs::PoseStamped poseMsg; + tf::poseTFToMsg(transform, poseMsg.pose); + poseMsg.header.frame_id = reference_frame; + poseMsg.header.stamp = curr_stamp; + pose_pub.publish(poseMsg); + + geometry_msgs::TransformStamped transformMsg; + tf::transformStampedTFToMsg(stampedTransform, transformMsg); + transform_pub.publish(transformMsg); + + geometry_msgs::Vector3Stamped positionMsg; + positionMsg.header = transformMsg.header; + positionMsg.vector = transformMsg.transform.translation; + position_pub.publish(positionMsg); + + geometry_msgs::PointStamped pixelMsg; + pixelMsg.header = transformMsg.header; + pixelMsg.point.x = markers[i].getCenter().x; + pixelMsg.point.y = markers[i].getCenter().y; + pixelMsg.point.z = 0; + pixel_pub.publish(pixelMsg); + + // publish rviz marker representing the ArUco marker patch + visualization_msgs::Marker visMarker; + visMarker.header = transformMsg.header; + visMarker.id = 1; + visMarker.type = visualization_msgs::Marker::CUBE; + visMarker.action = visualization_msgs::Marker::ADD; + visMarker.pose = poseMsg.pose; + visMarker.scale.x = marker_size; + visMarker.scale.y = marker_size; + visMarker.scale.z = 0.001; + visMarker.color.r = 1.0; + visMarker.color.g = 0; + visMarker.color.b = 0; + visMarker.color.a = 1.0; + visMarker.lifetime = ros::Duration(3.0); + marker_pub.publish(visMarker); + + } + // but drawing all the detected markers + markers[i].draw(inImage, cv::Scalar(0, 0, 255), 2); + } + + // draw a 3d cube in each marker if there is 3d info + if (camParam.isValid() && marker_size != -1) + { + for (std::size_t i = 0; i < markers.size(); ++i) + { + aruco::CvDrawingUtils::draw3dAxis(inImage, markers[i], camParam); + } + } + + if (image_pub.getNumSubscribers() > 0) + { + // show input with augmented information + cv_bridge::CvImage out_msg; + out_msg.header.stamp = curr_stamp; + out_msg.encoding = sensor_msgs::image_encodings::RGB8; + out_msg.image = inImage; + image_pub.publish(out_msg.toImageMsg()); + } + + if (debug_pub.getNumSubscribers() > 0) + { + // show also the internal image resulting from the threshold operation + cv_bridge::CvImage debug_msg; + debug_msg.header.stamp = curr_stamp; + debug_msg.encoding = sensor_msgs::image_encodings::MONO8; + debug_msg.image = mDetector.getThresholdedImage(); + debug_pub.publish(debug_msg.toImageMsg()); + } + } + catch (cv_bridge::Exception& e) + { + ROS_ERROR("cv_bridge exception: %s", e.what()); + return; + } + } + } + + // wait for one camerainfo, then shut down that subscriber + void cam_info_callback(const sensor_msgs::CameraInfo &msg) + { + camParam = aruco_ros::rosCameraInfo2ArucoCamParams(msg, useRectifiedImages); + + // handle cartesian offset between stereo pairs + // see the sensor_msgs/CameraInfo documentation for details + rightToLeft.setIdentity(); + rightToLeft.setOrigin(tf::Vector3(-msg.P[3] / msg.P[0], -msg.P[7] / msg.P[5], 0.0)); + + cam_info_received = true; + cam_info_sub.shutdown(); + } + + void reconf_callback(aruco_ros::ArucoThresholdConfig &config, uint32_t level) + { + mDetector.setDetectionMode(aruco::DetectionMode(config.detection_mode), config.min_image_size); + if (config.normalizeImage) + { + ROS_WARN("normalizeImageIllumination is unimplemented!"); + } + } +}; + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "aruco_simple"); + + ArucoSimple node; + + ros::spin(); +} diff --git a/tasks/lift/debug_lift/dilation292.jpg b/tasks/lift/debug_lift/dilation292.jpg new file mode 100644 index 0000000000000000000000000000000000000000..fd0cffdcc52ee61e131894a4b4c1613017064ff2 GIT binary patch literal 9624 zcmeHMdt6N09$(Wm(~CQLQ)*Kvd7UUpG#;mtkP4M#JjzHqUC%m+ZA$2kZ0{&8o|=eK6|Uca?Izwh_A)^F|k z{fGua3`Q)rceDo-3I+I(A3!vLg+PJ4rBH@ig`rE4I@Hn>6{(7J8lC<@lvI@IN-9cp zy0V(Git5ls{u-vHI&A1>Xp*0YD$uA@nyM0A>4VB2YKS7Bu1patgixKXU_T7!(6v0;0dimHz8$WeOZCzzN{G_$arX*J7w_QG%N>>U<4E_Pe7 za+SM>=jx3AFJHNu znU$TBn|Je8{+*K2yJdoV_aD^OJ$n44zM)YlX>NJ(vbC-K)$8t_-oAIz_h|pX5H1R! z{tSz3e+Kq%xYS8p3PV0n8p1_U2qJ~5u1FhePS=?4qO^XSrqT5M%32FzF5DTO zK!8vJWL1U-G;^Z~pg+f095B77W3_OL?Kj=yGvX9`V`4NMcNk5w1}75Rj-Re~FM_g_ zFjE)}X^Rka#t}fd3NvOQ4>JjHCxrk9yYAuTcmv)PJIL-Jz!q73Q^0LVn*CXk3roA0!VbD*p1tI zWU+W~NBS;*XU|# 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