/usr/include/opencv2/aruco/dictionary.hpp is in libopencv-contrib-dev 3.2.0+dfsg-4build2.
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#ifndef __OPENCV_DICTIONARY_HPP__
#define __OPENCV_DICTIONARY_HPP__
#include <opencv2/core.hpp>
namespace cv {
namespace aruco {
//! @addtogroup aruco
//! @{
/**
* @brief Dictionary/Set of markers. It contains the inner codification
*
* bytesList contains the marker codewords where
* - bytesList.rows is the dictionary size
* - each marker is encoded using `nbytes = ceil(markerSize*markerSize/8.)`
* - each row contains all 4 rotations of the marker, so its length is `4*nbytes`
*
* `bytesList.ptr(i)[k*nbytes + j]` is then the j-th byte of i-th marker, in its k-th rotation.
*/
class CV_EXPORTS_W Dictionary {
public:
CV_PROP Mat bytesList; // marker code information
CV_PROP int markerSize; // number of bits per dimension
CV_PROP int maxCorrectionBits; // maximum number of bits that can be corrected
/**
*/
Dictionary(const Mat &_bytesList = Mat(), int _markerSize = 0, int _maxcorr = 0);
/**
Dictionary(const Dictionary &_dictionary);
*/
/**
*/
Dictionary(const Ptr<Dictionary> &_dictionary);
/**
* @see generateCustomDictionary
*/
CV_WRAP_AS(create) static Ptr<Dictionary> create(int nMarkers, int markerSize);
/**
* @see generateCustomDictionary
*/
CV_WRAP_AS(create_from) static Ptr<Dictionary> create(int nMarkers, int markerSize,
const Ptr<Dictionary> &baseDictionary);
/**
* @see getPredefinedDictionary
*/
CV_WRAP static Ptr<Dictionary> get(int dict);
/**
* @brief Given a matrix of bits. Returns whether if marker is identified or not.
* It returns by reference the correct id (if any) and the correct rotation
*/
bool identify(const Mat &onlyBits, int &idx, int &rotation, double maxCorrectionRate) const;
/**
* @brief Returns the distance of the input bits to the specific id. If allRotations is true,
* the four posible bits rotation are considered
*/
int getDistanceToId(InputArray bits, int id, bool allRotations = true) const;
/**
* @brief Draw a canonical marker image
*/
CV_WRAP void drawMarker(int id, int sidePixels, OutputArray _img, int borderBits = 1) const;
/**
* @brief Transform matrix of bits to list of bytes in the 4 rotations
*/
static Mat getByteListFromBits(const Mat &bits);
/**
* @brief Transform list of bytes to matrix of bits
*/
static Mat getBitsFromByteList(const Mat &byteList, int markerSize);
};
/**
* @brief Predefined markers dictionaries/sets
* Each dictionary indicates the number of bits and the number of markers contained
* - DICT_ARUCO_ORIGINAL: standard ArUco Library Markers. 1024 markers, 5x5 bits, 0 minimum
distance
*/
enum CV_EXPORTS_W_SIMPLE PREDEFINED_DICTIONARY_NAME {
DICT_4X4_50 = 0,
DICT_4X4_100,
DICT_4X4_250,
DICT_4X4_1000,
DICT_5X5_50,
DICT_5X5_100,
DICT_5X5_250,
DICT_5X5_1000,
DICT_6X6_50,
DICT_6X6_100,
DICT_6X6_250,
DICT_6X6_1000,
DICT_7X7_50,
DICT_7X7_100,
DICT_7X7_250,
DICT_7X7_1000,
DICT_ARUCO_ORIGINAL
};
/**
* @brief Returns one of the predefined dictionaries defined in PREDEFINED_DICTIONARY_NAME
*/
CV_EXPORTS Ptr<Dictionary> getPredefinedDictionary(PREDEFINED_DICTIONARY_NAME name);
/**
* @brief Returns one of the predefined dictionaries referenced by DICT_*.
*/
CV_EXPORTS_W Ptr<Dictionary> getPredefinedDictionary(int dict);
/**
* @see generateCustomDictionary
*/
CV_EXPORTS_AS(custom_dictionary) Ptr<Dictionary> generateCustomDictionary(
int nMarkers,
int markerSize);
/**
* @brief Generates a new customizable marker dictionary
*
* @param nMarkers number of markers in the dictionary
* @param markerSize number of bits per dimension of each markers
* @param baseDictionary Include the markers in this dictionary at the beginning (optional)
*
* This function creates a new dictionary composed by nMarkers markers and each markers composed
* by markerSize x markerSize bits. If baseDictionary is provided, its markers are directly
* included and the rest are generated based on them. If the size of baseDictionary is higher
* than nMarkers, only the first nMarkers in baseDictionary are taken and no new marker is added.
*/
CV_EXPORTS_AS(custom_dictionary_from) Ptr<Dictionary> generateCustomDictionary(
int nMarkers,
int markerSize,
const Ptr<Dictionary> &baseDictionary);
//! @}
}
}
#endif
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