org.opencv.objdetect

Class Dictionary

java.lang.Object

org.opencv.objdetect.Dictionary

public class Dictionary
extends java.lang.Object

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: - bytesList.rows is the dictionary size - each marker is encoded using nbytes = ceil(markerSize*markerSize/8.) bytes - each row contains all 4 rotations of the marker, so its length is 4*nbytes - the byte order in the bytesList[i] row: //bytes without rotation/bytes with rotation 1/bytes with rotation 2/bytes with rotation 3// So bytesList.ptr(i)[k*nbytes + j] is the j-th byte of i-th marker, in its k-th rotation. Note: Python bindings generate matrix with shape of bytesList dictionary_size x nbytes x 4, but it should be indexed like C++ version. Python example for j-th byte of i-th marker, in its k-th rotation: aruco_dict.bytesList[id].ravel()[k*nbytes + j]

Constructor Summary

Constructors

Constructor and Description
Dictionary()
Dictionary(Mat bytesList, int _markerSize) Basic ArUco dictionary constructor
Dictionary(Mat bytesList, int _markerSize, int maxcorr) Basic ArUco dictionary constructor

Method Summary

Modifier and Type	Method and Description
static Dictionary	__fromPtr__(long addr)
void	generateImageMarker(int id, int sidePixels, Mat _img) Generate a canonical marker image
void	generateImageMarker(int id, int sidePixels, Mat _img, int borderBits) Generate a canonical marker image
Mat	get_bytesList()
int	get_markerSize()
int	get_maxCorrectionBits()
static Mat	getBitsFromByteList(Mat byteList, int markerSize) Transform list of bytes to matrix of bits
static Mat	getByteListFromBits(Mat bits) Transform matrix of bits to list of bytes with 4 marker rotations
int	getDistanceToId(Mat bits, int id) Returns Hamming distance of the input bits to the specific id.
int	getDistanceToId(Mat bits, int id, boolean allRotations) Returns Hamming distance of the input bits to the specific id.
long	getNativeObjAddr()
boolean	identify(Mat onlyBits, int[] idx, int[] rotation, double maxCorrectionRate) Given a matrix of bits.
void	set_bytesList(Mat bytesList)
void	set_markerSize(int markerSize)
void	set_maxCorrectionBits(int maxCorrectionBits)

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

Dictionary

public Dictionary()

Dictionary

public Dictionary(Mat bytesList,
                  int _markerSize)

Basic ArUco dictionary constructor

Parameters:

bytesList - bits for all ArUco markers in dictionary see memory layout in the class description

_markerSize - ArUco marker size in units

Dictionary

public Dictionary(Mat bytesList,
                  int _markerSize,
                  int maxcorr)

Basic ArUco dictionary constructor

Parameters:

bytesList - bits for all ArUco markers in dictionary see memory layout in the class description

_markerSize - ArUco marker size in units

maxcorr - maximum number of bits that can be corrected

Method Detail

__fromPtr__

public static Dictionary __fromPtr__(long addr)

generateImageMarker

public void generateImageMarker(int id,
                                int sidePixels,
                                Mat _img)

Generate a canonical marker image

Parameters:

id - automatically generated

sidePixels - automatically generated

_img - automatically generated

generateImageMarker

public void generateImageMarker(int id,
                                int sidePixels,
                                Mat _img,
                                int borderBits)

Generate a canonical marker image

Parameters:

id - automatically generated

sidePixels - automatically generated

_img - automatically generated

borderBits - automatically generated

get_bytesList

public Mat get_bytesList()

get_markerSize

public int get_markerSize()

get_maxCorrectionBits

public int get_maxCorrectionBits()

getBitsFromByteList

public static Mat getBitsFromByteList(Mat byteList,
                                      int markerSize)

Transform list of bytes to matrix of bits

Parameters:

byteList - automatically generated

markerSize - automatically generated

Returns:

automatically generated

getByteListFromBits

public static Mat getByteListFromBits(Mat bits)

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

Parameters:

bits - automatically generated

Returns:

automatically generated

getDistanceToId

public int getDistanceToId(Mat bits,
                           int id)

Returns Hamming distance of the input bits to the specific id. If allRotations flag is set, the four posible marker rotations are considered

Parameters:

bits - automatically generated

id - automatically generated

Returns:

automatically generated

getDistanceToId

public int getDistanceToId(Mat bits,
                           int id,
                           boolean allRotations)

Returns Hamming distance of the input bits to the specific id. If allRotations flag is set, the four posible marker rotations are considered

Parameters:

bits - automatically generated

id - automatically generated

allRotations - automatically generated

Returns:

automatically generated

getNativeObjAddr

public long getNativeObjAddr()

identify

public boolean identify(Mat onlyBits,
                        int[] idx,
                        int[] rotation,
                        double maxCorrectionRate)

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.

Parameters:

onlyBits - automatically generated

idx - automatically generated

rotation - automatically generated

maxCorrectionRate - automatically generated

Returns:

automatically generated

set_bytesList

public void set_bytesList(Mat bytesList)

set_markerSize

public void set_markerSize(int markerSize)

set_maxCorrectionBits

public void set_maxCorrectionBits(int maxCorrectionBits)