OpenCVForUnity.ObjdetectModule.Dictionary Class Reference

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

Public Member Functions
	Dictionary ()
	Dictionary (Mat bytesList, int _markerSize)
	Basic ArUco dictionary constructor.
	Dictionary (Mat bytesList, int _markerSize, int maxcorr)
	Basic ArUco dictionary constructor.
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 ()
int	getDistanceToId (Mat bits, int id)
	Returns Hamming distance of the input bits to the specific id.
int	getDistanceToId (Mat bits, int id, bool allRotations)
	Returns Hamming distance of the input bits to the specific id.
IntPtr	getNativeObjAddr ()
bool	identify (Mat onlyBits, int[] idx, int[] rotation, double maxCorrectionRate)
	Given a matrix of bits. Returns whether if marker is identified or not.
void	set_bytesList (Mat bytesList)
void	set_markerSize (int markerSize)
void	set_maxCorrectionBits (int maxCorrectionBits)
Public Member Functions inherited from OpenCVForUnity.DisposableObject
void	Dispose ()
void	ThrowIfDisposed ()

Static Public Member Functions
static Dictionary	__fromPtr__ (IntPtr addr)
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.
Static Public Member Functions inherited from OpenCVForUnity.DisposableObject
static IntPtr	ThrowIfNullIntPtr (IntPtr ptr)

Protected Member Functions
override void	Dispose (bool disposing)
Protected Member Functions inherited from OpenCVForUnity.DisposableOpenCVObject
	DisposableOpenCVObject ()
	DisposableOpenCVObject (bool isEnabledDispose)
	DisposableOpenCVObject (IntPtr ptr)
	DisposableOpenCVObject (IntPtr ptr, bool isEnabledDispose)
override void	Dispose (bool disposing)
Protected Member Functions inherited from OpenCVForUnity.DisposableObject
	DisposableObject ()
	DisposableObject (bool isEnabledDispose)

Additional Inherited Members
Package Attributes inherited from OpenCVForUnity.DisposableOpenCVObject
Properties inherited from OpenCVForUnity.DisposableObject
bool	IsDisposed [get, protected set]
bool	IsEnabledDispose [get, set]

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:

• 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 & Destructor Documentation

Dictionary() [1/3]

OpenCVForUnity.ObjdetectModule.Dictionary.Dictionary

(

)

Dictionary() [2/3]

OpenCVForUnity.ObjdetectModule.Dictionary.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

Dictionary() [3/3]

OpenCVForUnity.ObjdetectModule.Dictionary.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
maxcorr	maximum number of bits that can be corrected

Member Function Documentation

__fromPtr__()

static Dictionary OpenCVForUnity.ObjdetectModule.Dictionary.__fromPtr__ ( IntPtr addr )

static

Dispose()

override void OpenCVForUnity.ObjdetectModule.Dictionary.Dispose ( bool disposing )

protectedvirtual

Reimplemented from OpenCVForUnity.DisposableObject.

generateImageMarker() [1/2]

void OpenCVForUnity.ObjdetectModule.Dictionary.generateImageMarker	(	int	id,
		int	sidePixels,
		Mat	_img )

Generate a canonical marker image.

generateImageMarker() [2/2]

void OpenCVForUnity.ObjdetectModule.Dictionary.generateImageMarker	(	int	id,
		int	sidePixels,
		Mat	_img,
		int	borderBits )

Generate a canonical marker image.

get_bytesList()

Mat OpenCVForUnity.ObjdetectModule.Dictionary.get_bytesList

(

)

get_markerSize()

int OpenCVForUnity.ObjdetectModule.Dictionary.get_markerSize

(

)

get_maxCorrectionBits()

int OpenCVForUnity.ObjdetectModule.Dictionary.get_maxCorrectionBits

(

)

getBitsFromByteList()

static Mat OpenCVForUnity.ObjdetectModule.Dictionary.getBitsFromByteList ( Mat byteList, int markerSize )

static

Transform list of bytes to matrix of bits.

getByteListFromBits()

static Mat OpenCVForUnity.ObjdetectModule.Dictionary.getByteListFromBits ( Mat bits )

static

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

getDistanceToId() [1/2]

int OpenCVForUnity.ObjdetectModule.Dictionary.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

getDistanceToId() [2/2]

int OpenCVForUnity.ObjdetectModule.Dictionary.getDistanceToId	(	Mat	bits,
		int	id,
		bool	allRotations )

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

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

getNativeObjAddr()

IntPtr OpenCVForUnity.ObjdetectModule.Dictionary.getNativeObjAddr

(

)

identify()

bool OpenCVForUnity.ObjdetectModule.Dictionary.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.

set_bytesList()

void OpenCVForUnity.ObjdetectModule.Dictionary.set_bytesList

(

Mat

bytesList

)

set_markerSize()

void OpenCVForUnity.ObjdetectModule.Dictionary.set_markerSize

(

int

markerSize

)

set_maxCorrectionBits()

void OpenCVForUnity.ObjdetectModule.Dictionary.set_maxCorrectionBits

(

int

maxCorrectionBits

)

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

• OpenCVForUnity/Assets/OpenCVForUnity/org/opencv/objdetect/Dictionary.cs