bool DictionaryBased::detect(const cv::Mat &in, int & marker_id,int &nRotations) {
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::vector<uint64_t> ids;
//get the ids in the four rotations (if possible)
if ( !getInnerCode( grey,_dic.nbits(),ids)) return false;
//find the best one
for(int i=0;i<4;i++){
if ( _dic.is(ids[i])){//is in the set?
nRotations=i;//how many rotations are and its id
marker_id=_dic[ids[i]];
return true;//bye bye
}
}
//you get here, no valid id :(
//lets try error correction
if(_maxCorrectionAllowed>0){//find distance to map elements
for(auto ci:_dic.getMapCode()){
for(int i=0;i<4;i++){
if (hamm_distance(ci.first,ids[i])<_maxCorrectionAllowed){
marker_id=ci.second;
nRotations=i;
return true;
}
}
}
}
else return false;
}
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<uint32_t,std::vector<uint64_t> > nbits_ids;
//for each
for(auto &bitsids:nbits_dict){
int nbits=bitsids.first;
std::vector<uint64_t> 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:"<<dic->getName()<<" "<<ids[rot]<<std::endl;
nRotations = rot; // how many rotations are and its id
marker_id = dic->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<int>( static_cast<float>(dic->tau()) * _max_correction_rate);
for (auto ci : dic->getMapCode())
{
for (int i = 0; i < 4; i++)
{
if (hamm_distance(ci.first, ids[i]) < _maxCorrectionAllowed)
{
marker_id = ci.second;
nRotations = i;
additionalInfo=dic->getName();
return true;
}
}
}
}
}
}
return false;
}
