@spec dictionary() :: t() | {:error, String.t()}

Dictionary

Return

• self: Dictionary

Python prototype (for reference only):

Dictionary() -> <aruco_Dictionary object>

@spec dictionary(Evision.Mat.maybe_mat_in(), integer()) :: t() | {:error, String.t()}

Basic ArUco dictionary constructor

Positional Arguments

• bytesList: Evision.Mat.

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

• markerSize: integer().

  ArUco marker size in units

Keyword Arguments

• maxcorr: integer().

  maximum number of bits that can be corrected

Return

• self: Dictionary

Python prototype (for reference only):

Dictionary(bytesList, _markerSize[, maxcorr]) -> <aruco_Dictionary object>

@spec dictionary(Evision.Mat.maybe_mat_in(), integer(), [{:maxcorr, term()}] | nil) ::
  t() | {:error, String.t()}

Basic ArUco dictionary constructor

Positional Arguments

• bytesList: Evision.Mat.

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

• markerSize: integer().

  ArUco marker size in units

Keyword Arguments

• maxcorr: integer().

  maximum number of bits that can be corrected

Return

• self: Dictionary

Python prototype (for reference only):

Dictionary(bytesList, _markerSize[, maxcorr]) -> <aruco_Dictionary object>

@spec generateImageMarker(t(), integer(), integer()) ::
  Evision.Mat.t() | {:error, String.t()}

Generate a canonical marker image

Positional Arguments

• self: Evision.ArUco.Dictionary.t()
• id: integer()
• sidePixels: integer()

Keyword Arguments

• borderBits: integer().

Return

• img: Evision.Mat.t().

Python prototype (for reference only):

generateImageMarker(id, sidePixels[, _img[, borderBits]]) -> _img

@spec generateImageMarker(t(), integer(), integer(), [{:borderBits, term()}] | nil) ::
  Evision.Mat.t() | {:error, String.t()}

Generate a canonical marker image

Positional Arguments

• self: Evision.ArUco.Dictionary.t()
• id: integer()
• sidePixels: integer()

Keyword Arguments

• borderBits: integer().

Return

• img: Evision.Mat.t().

Python prototype (for reference only):

generateImageMarker(id, sidePixels[, _img[, borderBits]]) -> _img

@spec getBitsFromByteList(Evision.Mat.maybe_mat_in(), integer()) ::
  Evision.Mat.t() | {:error, String.t()}

Transform list of bytes to matrix of bits

Positional Arguments

• byteList: Evision.Mat
• markerSize: integer()

Keyword Arguments

• rotationId: integer().

Return

• retval: Evision.Mat.t()

Python prototype (for reference only):

getBitsFromByteList(byteList, markerSize[, rotationId]) -> retval

@spec getBitsFromByteList(
  Evision.Mat.maybe_mat_in(),
  integer(),
  [{:rotationId, term()}] | nil
) ::
  Evision.Mat.t() | {:error, String.t()}

Transform list of bytes to matrix of bits

Positional Arguments

• byteList: Evision.Mat
• markerSize: integer()

Keyword Arguments

• rotationId: integer().

Return

• retval: Evision.Mat.t()

Python prototype (for reference only):

getBitsFromByteList(byteList, markerSize[, rotationId]) -> retval

@spec getByteListFromBits(Keyword.t()) :: any() | {:error, String.t()}

@spec getByteListFromBits(Evision.Mat.maybe_mat_in()) ::
  Evision.Mat.t() | {:error, String.t()}

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

Positional Arguments

• bits: Evision.Mat

Return

• retval: Evision.Mat.t()

Python prototype (for reference only):

getByteListFromBits(bits) -> retval

@spec getDistanceToId(t(), Evision.Mat.maybe_mat_in(), integer()) ::
  integer() | {:error, String.t()}

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

Positional Arguments

• self: Evision.ArUco.Dictionary.t()
• bits: Evision.Mat
• id: integer()

Keyword Arguments

• allRotations: bool.

Return

• retval: integer()

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

Python prototype (for reference only):

getDistanceToId(bits, id[, allRotations]) -> retval

@spec getDistanceToId(
  t(),
  Evision.Mat.maybe_mat_in(),
  integer(),
  [{:allRotations, term()}] | nil
) ::
  integer() | {:error, String.t()}

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

Positional Arguments

• self: Evision.ArUco.Dictionary.t()
• bits: Evision.Mat
• id: integer()

Keyword Arguments

• allRotations: bool.

Return

• retval: integer()

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

Python prototype (for reference only):

getDistanceToId(bits, id[, allRotations]) -> retval

@spec getMarkerBits(t(), integer()) :: Evision.Mat.t() | {:error, String.t()}

Get ground truth bits float

Positional Arguments

• self: Evision.ArUco.Dictionary.t()
• markerId: integer()

Keyword Arguments

• rotationId: integer().

Return

• retval: Evision.Mat.t()

Python prototype (for reference only):

getMarkerBits(markerId[, rotationId]) -> retval

@spec getMarkerBits(t(), integer(), [{:rotationId, term()}] | nil) ::
  Evision.Mat.t() | {:error, String.t()}

Get ground truth bits float

Positional Arguments

• self: Evision.ArUco.Dictionary.t()
• markerId: integer()

Keyword Arguments

• rotationId: integer().

Return

• retval: Evision.Mat.t()

Python prototype (for reference only):

getMarkerBits(markerId[, rotationId]) -> retval

@spec identify(t(), Evision.Mat.maybe_mat_in(), number()) ::
  {integer(), integer()} | false | {:error, String.t()}

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

Positional Arguments

• self: Evision.ArUco.Dictionary.t()
• onlyBits: Evision.Mat
• maxCorrectionRate: double

Return

• retval: bool
• idx: integer()
• rotation: integer()

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

Python prototype (for reference only):

identify(onlyBits, maxCorrectionRate) -> retval, idx, rotation

@spec identify(t(), Evision.Mat.maybe_mat_in(), number(), number()) ::
  {integer(), integer()} | false | {:error, String.t()}

Given a matrix of pixel ratio raging from 0 to 1. Returns whether if marker is identified or not.

Positional Arguments

• self: Evision.ArUco.Dictionary.t()
• onlyCellPixelRatio: Evision.Mat
• maxCorrectionRate: double
• validBitIdThreshold: float

Return

• retval: bool
• idx: integer()
• rotation: integer()

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

Python prototype (for reference only):

identify(onlyCellPixelRatio, maxCorrectionRate, validBitIdThreshold) -> retval, idx, rotation

@spec readDictionary(t(), Evision.FileNode.t()) :: boolean() | {:error, String.t()}

Read a new dictionary from FileNode.

Positional Arguments

• self: Evision.ArUco.Dictionary.t()
• func: Evision.FileNode

Return

• retval: bool

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

Python prototype (for reference only):

readDictionary(fn) -> retval

@spec writeDictionary(t(), Evision.FileStorage.t()) :: t() | {:error, String.t()}

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

Positional Arguments

• self: Evision.ArUco.Dictionary.t()
• fs: Evision.FileStorage

Keyword Arguments

• name: String.

Python prototype (for reference only):

writeDictionary(fs[, name]) -> None

@spec writeDictionary(t(), Evision.FileStorage.t(), [{:name, term()}] | nil) ::
  t() | {:error, String.t()}

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

Positional Arguments

• self: Evision.ArUco.Dictionary.t()
• fs: Evision.FileStorage

Keyword Arguments

• name: String.

Python prototype (for reference only):

writeDictionary(fs[, name]) -> None