Struct Dictionary

pub struct Dictionary { /* private fields */ }

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]

Implementations

impl Dictionary

pub fn default() -> Result<Dictionary>

pub fn new( bytes_list: &impl MatTraitConst, _marker_size: i32, maxcorr: i32, ) -> Result<Dictionary>

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

C++ default parameters

• maxcorr: 0

pub fn new_def( bytes_list: &impl MatTraitConst, _marker_size: i32, ) -> Result<Dictionary>

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

Note

This alternative version of [new] function uses the following default values for its arguments:

• maxcorr: 0

pub fn get_byte_list_from_bits(bits: &impl MatTraitConst) -> Result<Mat>

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

pub fn get_bits_from_byte_list( byte_list: &impl MatTraitConst, marker_size: i32, ) -> Result<Mat>

Transform list of bytes to matrix of bits

Trait Implementations

impl Boxed for Dictionary

unsafe fn from_raw(ptr: <Dictionary as OpenCVFromExtern>::ExternReceive) -> Self

Wrap the specified raw pointer

fn into_raw(self) -> <Dictionary as OpenCVTypeExternContainer>::ExternSendMut

Return the underlying raw pointer while consuming this wrapper.

fn as_raw(&self) -> <Dictionary as OpenCVTypeExternContainer>::ExternSend

Return the underlying raw pointer.

fn as_raw_mut( &mut self, ) -> <Dictionary as OpenCVTypeExternContainer>::ExternSendMut

Return the underlying mutable raw pointer

impl Clone for Dictionary

fn clone(&self) -> Self

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for Dictionary

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl DictionaryTrait for Dictionary

fn as_raw_mut_Dictionary(&mut self) -> *mut c_void

fn set_bytes_list(&mut self, val: Mat)

marker code information. See class description for more details

fn set_marker_size(&mut self, val: i32)

number of bits per dimension

fn set_max_correction_bits(&mut self, val: i32)

maximum number of bits that can be corrected

fn read_dictionary(&mut self, fn_: &impl FileNodeTraitConst) -> Result<bool>

Read a new dictionary from FileNode.

fn write_dictionary( &mut self, fs: &mut impl FileStorageTrait, name: &str, ) -> Result<()>

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

fn write_dictionary_def(&mut self, fs: &mut impl FileStorageTrait) -> Result<()>

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

impl DictionaryTraitConst for Dictionary

fn as_raw_Dictionary(&self) -> *const c_void

fn bytes_list(&self) -> Mat

marker code information. See class description for more details

fn marker_size(&self) -> i32

number of bits per dimension

fn max_correction_bits(&self) -> i32

maximum number of bits that can be corrected

fn identify( &self, only_bits: &impl MatTraitConst, idx: &mut i32, rotation: &mut i32, max_correction_rate: f64, ) -> Result<bool>

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

fn get_distance_to_id( &self, bits: &impl ToInputArray, id: i32, all_rotations: bool, ) -> Result<i32>

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

fn get_distance_to_id_def( &self, bits: &impl ToInputArray, id: i32, ) -> Result<i32>

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

fn generate_image_marker( &self, id: i32, side_pixels: i32, _img: &mut impl ToOutputArray, border_bits: i32, ) -> Result<()>

Generate a canonical marker image

fn generate_image_marker_def( &self, id: i32, side_pixels: i32, _img: &mut impl ToOutputArray, ) -> Result<()>

Generate a canonical marker image

impl Drop for Dictionary

fn drop(&mut self)

Executes the destructor for this type.

impl Send for Dictionary