OpenCV  4.9.0
Open Source Computer Vision
Public Member Functions | Static Public Member Functions | Public Attributes | List of all members

Dictionary is a set of unique ArUco markers of the same size. More...

#include <opencv2/objdetect/aruco_dictionary.hpp>

Public Member Functions

 Dictionary ()
 
 Dictionary (const Mat &bytesList, int _markerSize, int maxcorr=0)
 Basic ArUco dictionary constructor. More...
 
void generateImageMarker (int id, int sidePixels, OutputArray _img, int borderBits=1) const
 Generate a canonical marker image. More...
 
int getDistanceToId (InputArray bits, int id, bool allRotations=true) const
 Returns Hamming distance of the input bits to the specific id. More...
 
bool identify (const Mat &onlyBits, int &idx, int &rotation, double maxCorrectionRate) const
 Given a matrix of bits. Returns whether if marker is identified or not. More...
 
bool readDictionary (const cv::FileNode &fn)
 Read a new dictionary from FileNode. More...
 
void writeDictionary (FileStorage &fs, const String &name=String())
 Write a dictionary to FileStorage, format is the same as in readDictionary(). More...
 

Static Public Member Functions

static Mat getBitsFromByteList (const Mat &byteList, int markerSize)
 Transform list of bytes to matrix of bits. More...
 
static Mat getByteListFromBits (const Mat &bits)
 Transform matrix of bits to list of bytes with 4 marker rotations. More...
 

Public Attributes

Mat bytesList
 marker code information. See class description for more details More...
 
int markerSize
 number of bits per dimension More...
 
int maxCorrectionBits
 maximum number of bits that can be corrected More...
 

Detailed Description

Dictionary is a set of unique ArUco markers of the same size.

bytesList storing as 2-dimensions Mat with 4-th channels (CV_8UC4 type was used) and contains the marker codewords where:

Constructor & Destructor Documentation

◆ Dictionary() [1/2]

cv::aruco::Dictionary::Dictionary ( )
Python:
cv.aruco.Dictionary() -> <aruco_Dictionary object>
cv.aruco.Dictionary(bytesList, _markerSize[, maxcorr]) -> <aruco_Dictionary object>

◆ Dictionary() [2/2]

cv::aruco::Dictionary::Dictionary ( const Mat bytesList,
int  _markerSize,
int  maxcorr = 0 
)
Python:
cv.aruco.Dictionary() -> <aruco_Dictionary object>
cv.aruco.Dictionary(bytesList, _markerSize[, maxcorr]) -> <aruco_Dictionary object>

Basic ArUco dictionary constructor.

Parameters
bytesListbits for all ArUco markers in dictionary see memory layout in the class description
_markerSizeArUco marker size in units
maxcorrmaximum number of bits that can be corrected

Member Function Documentation

◆ generateImageMarker()

void cv::aruco::Dictionary::generateImageMarker ( int  id,
int  sidePixels,
OutputArray  _img,
int  borderBits = 1 
) const
Python:
cv.aruco.Dictionary.generateImageMarker(id, sidePixels[, _img[, borderBits]]) -> _img

Generate a canonical marker image.

◆ getBitsFromByteList()

static Mat cv::aruco::Dictionary::getBitsFromByteList ( const Mat byteList,
int  markerSize 
)
static
Python:
cv.aruco.Dictionary.getBitsFromByteList(byteList, markerSize) -> retval
cv.aruco.Dictionary_getBitsFromByteList(byteList, markerSize) -> retval

Transform list of bytes to matrix of bits.

◆ getByteListFromBits()

static Mat cv::aruco::Dictionary::getByteListFromBits ( const Mat bits)
static
Python:
cv.aruco.Dictionary.getByteListFromBits(bits) -> retval
cv.aruco.Dictionary_getByteListFromBits(bits) -> retval

Transform matrix of bits to list of bytes with 4 marker rotations.

◆ getDistanceToId()

int cv::aruco::Dictionary::getDistanceToId ( InputArray  bits,
int  id,
bool  allRotations = true 
) const
Python:
cv.aruco.Dictionary.getDistanceToId(bits, id[, allRotations]) -> retval

Returns Hamming distance of the input bits to the specific id.

If allRotations flag is set, the four posible marker rotations are considered

◆ identify()

bool cv::aruco::Dictionary::identify ( const Mat onlyBits,
int &  idx,
int &  rotation,
double  maxCorrectionRate 
) const
Python:
cv.aruco.Dictionary.identify(onlyBits, maxCorrectionRate) -> retval, idx, rotation

Given a matrix of bits. Returns whether if marker is identified or not.

Returns reference to the marker id in the dictionary (if any) and its rotation.

◆ readDictionary()

bool cv::aruco::Dictionary::readDictionary ( const cv::FileNode fn)
Python:
cv.aruco.Dictionary.readDictionary(fn) -> retval

Read a new dictionary from FileNode.

Dictionary example in YAML format:
nmarkers: 35
markersize: 6
maxCorrectionBits: 5
marker_0: "101011111011111001001001101100000000"
...
marker_34: "011111010000111011111110110101100101"

◆ writeDictionary()

void cv::aruco::Dictionary::writeDictionary ( FileStorage fs,
const String name = String() 
)
Python:
cv.aruco.Dictionary.writeDictionary(fs[, name]) -> None

Write a dictionary to FileStorage, format is the same as in readDictionary().

Member Data Documentation

◆ bytesList

Mat cv::aruco::Dictionary::bytesList

marker code information. See class description for more details

◆ markerSize

int cv::aruco::Dictionary::markerSize

number of bits per dimension

◆ maxCorrectionBits

int cv::aruco::Dictionary::maxCorrectionBits

maximum number of bits that can be corrected


The documentation for this class was generated from the following file: