cv::aruco Namespace Reference

Classes
class	Board
	Board of markers. More...
class	CharucoBoard
	ChArUco board Specific class for ChArUco boards. A ChArUco board is a planar board where the markers are placed inside the white squares of a chessboard. The benefits of ChArUco boards is that they provide both, ArUco markers versatility and chessboard corner precision, which is important for calibration and pose estimation. This class also allows the easy creation and drawing of ChArUco boards. More...
class	CharucoSubpixelParallel
class	DetectInitialCandidatesParallel
struct	DetectorParameters
	Parameters for the detectMarker process: More...
class	Dictionary
	Dictionary/Set of markers. It contains the inner codification. More...
class	GridBoard
	Planar board with grid arrangement of markers More common type of board. All markers are placed in the same plane in a grid arrangement. The board can be drawn using drawPlanarBoard() function (. More...
class	IdentifyCandidatesParallel
struct	line_fit_pt
class	MarkerContourParallel
class	MarkerSubpixelParallel
struct	pt
struct	remove_vertex
struct	segment
class	SinglePoseEstimationParallel
struct	sQuad
struct	ufrec
struct	uint64_zarray_entry
struct	unionfind
struct	zarray
struct	zmaxheap
struct	zmaxheap_iterator

Typedefs
typedef struct unionfind	unionfind_t
typedef struct zarray	zarray_t
typedef struct zmaxheap_iterator	zmaxheap_iterator_t
typedef struct zmaxheap	zmaxheap_t

Enumerations
enum	CornerRefineMethod { CORNER_REFINE_NONE, CORNER_REFINE_SUBPIX, CORNER_REFINE_CONTOUR, CORNER_REFINE_APRILTAG }
enum	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, DICT_APRILTAG_16h5, DICT_APRILTAG_25h9, DICT_APRILTAG_36h10,   DICT_APRILTAG_36h11 }
	Predefined markers dictionaries/sets Each dictionary indicates the number of bits and the number of markers contained. More...

Functions
static void	_apriltag (Mat im_orig, const Ptr< DetectorParameters > &_params, std::vector< std::vector< Point2f > > &candidates, std::vector< std::vector< Point > > &contours)
static bool	_arePointsEnoughForPoseEstimation (const vector< Point3f > &points)
static void	_convertToGrey (InputArray _in, OutputArray _out)
	Convert input image to gray if it is a 3-channels image. More...
static void	_copyVector2Output (vector< vector< Point2f > > &vec, OutputArrayOfArrays out)
	Copy the contents of a corners vector to an OutputArray, settings its size. More...
static void	_detectCandidates (InputArray _image, vector< vector< Point2f > > &candidatesOut, vector< vector< Point > > &contoursOut, const Ptr< DetectorParameters > &_params)
	Detect square candidates in the input image. More...
static void	_detectInitialCandidates (const Mat &grey, vector< vector< Point2f > > &candidates, vector< vector< Point > > &contours, const Ptr< DetectorParameters > &params)
	Initial steps on finding square candidates. More...
static void	_distortPoints (vector< cv::Point2f > &in, const Mat &camMatrix, const Mat &distCoeff)
void	_drawPlanarBoardImpl (Board *board, Size outSize, OutputArray img, int marginSize=0, int borderBits=1)
	Implementation of drawPlanarBoard that accepts a raw Board pointer. More...
static Mat	_extractBits (InputArray _image, InputArray _corners, int markerSize, int markerBorderBits, int cellSize, double cellMarginRate, double minStdDevOtsu)
	Given an input image and candidate corners, extract the bits of the candidate, including the border bits. More...
static int	_filterCornersWithoutMinMarkers (const Ptr< CharucoBoard > &_board, InputArray _allCharucoCorners, InputArray _allCharucoIds, InputArray _allArucoIds, int minMarkers, OutputArray _filteredCharucoCorners, OutputArray _filteredCharucoIds)
static void	_filterDetectedMarkers (vector< vector< Point2f > > &_corners, vector< int > &_ids, vector< vector< Point > > &_contours)
	Final filter of markers after its identification. More...
static void	_filterTooCloseCandidates (const vector< vector< Point2f > > &candidatesIn, vector< vector< Point2f > > &candidatesOut, const vector< vector< Point > > &contoursIn, vector< vector< Point > > &contoursOut, double minMarkerDistanceRate)
	Check candidates that are too close to each other and remove the smaller one. More...
static void	_findMarkerContours (InputArray _in, vector< vector< Point2f > > &candidates, vector< vector< Point > > &contoursOut, double minPerimeterRate, double maxPerimeterRate, double accuracyRate, double minCornerDistanceRate, int minDistanceToBorder)
	Given a tresholded image, find the contours, calculate their polygonal approximation and take those that accomplish some conditions. More...
static Mat	_generateRandomMarker (int markerSize, RNG &rng)
	Generates a random marker Mat of size markerSize x markerSize. More...
static int	_getBorderErrors (const Mat &bits, int markerSize, int borderSize)
	Return number of erroneous bits in border, i.e. number of white bits in border. More...
static Point2f	_getCrossPoint (Point3f nLine1, Point3f nLine2)
static void	_getMaximumSubPixWindowSizes (InputArrayOfArrays markerCorners, InputArray markerIds, InputArray charucoCorners, const Ptr< CharucoBoard > &board, vector< Size > &sizes)
static int	_getSelfDistance (const Mat &marker)
	Calculate selfDistance of the codification of a marker Mat. Self distance is the Hamming distance of the marker to itself in the other rotations. See S. Garrido-Jurado, R. Muñoz-Salinas, F. J. Madrid-Cuevas, and M. J. Marín-Jiménez. 2014. "Automatic generation and detection of highly reliable fiducial markers under occlusion". Pattern Recogn. 47, 6 (June 2014), 2280-2292. DOI=10.1016/j.patcog.2014.01.005. More...
static void	_getSingleMarkerObjectPoints (float markerLength, OutputArray _objPoints)
	Return object points for the system centered in a single marker, given the marker length. More...
static void	_identifyCandidates (InputArray _image, vector< vector< Point2f > > &_candidates, vector< vector< Point > > &_contours, const Ptr< Dictionary > &_dictionary, vector< vector< Point2f > > &_accepted, vector< int > &ids, const Ptr< DetectorParameters > &params, OutputArrayOfArrays _rejected=noArray())
	Identify square candidates according to a marker dictionary. More...
static bool	_identifyOneCandidate (const Ptr< Dictionary > &dictionary, InputArray _image, vector< Point2f > &_corners, int &idx, const Ptr< DetectorParameters > &params)
	Tries to identify one candidate given the dictionary. More...
static Point3f	_interpolate2Dline (const std::vector< cv::Point2f > &nContours)
static int	_interpolateCornersCharucoApproxCalib (InputArrayOfArrays _markerCorners, InputArray _markerIds, InputArray _image, const Ptr< CharucoBoard > &_board, InputArray _cameraMatrix, InputArray _distCoeffs, OutputArray _charucoCorners, OutputArray _charucoIds)
static int	_interpolateCornersCharucoLocalHom (InputArrayOfArrays _markerCorners, InputArray _markerIds, InputArray _image, const Ptr< CharucoBoard > &_board, OutputArray _charucoCorners, OutputArray _charucoIds)
static void	_projectUndetectedMarkers (const Ptr< Board > &_board, InputOutputArrayOfArrays _detectedCorners, InputOutputArray _detectedIds, InputArray _cameraMatrix, InputArray _distCoeffs, vector< vector< Point2f > > &_undetectedMarkersProjectedCorners, OutputArray _undetectedMarkersIds)
static void	_projectUndetectedMarkers (const Ptr< Board > &_board, InputOutputArrayOfArrays _detectedCorners, InputOutputArray _detectedIds, vector< vector< Point2f > > &_undetectedMarkersProjectedCorners, OutputArray _undetectedMarkersIds)
static void	_refineCandidateLines (std::vector< Point > &nContours, std::vector< Point2f > &nCorners, const Mat &camMatrix, const Mat &distCoeff)
static void	_reorderCandidatesCorners (vector< vector< Point2f > > &candidates)
	Assure order of candidate corners is clockwise direction. More...
static int	_selectAndRefineChessboardCorners (InputArray _allCorners, InputArray _image, OutputArray _selectedCorners, OutputArray _selectedIds, const vector< Size > &winSizes)
	From all projected chessboard corners, select those inside the image and apply subpixel refinement. Returns number of valid corners. More...
static void	_swap_default (zmaxheap_t *heap, int a, int b)
static void	_swap_pointer (zmaxheap_t *heap, int a, int b)
static void	_threshold (InputArray _in, OutputArray _out, int winSize, double constant)
	Threshold input image using adaptive thresholding. More...
static void	_zarray_add (zarray_t *za, const void *p)
static zarray_t *	_zarray_create (size_t el_sz)
static void	_zarray_destroy (zarray_t *za)
static void	_zarray_ensure_capacity (zarray_t *za, int capacity)
static void	_zarray_get (const zarray_t *za, int idx, void *p)
static void	_zarray_get_volatile (const zarray_t *za, int idx, void *p)
static void	_zarray_set (zarray_t *za, int idx, const void *p, void *outp)
static int	_zarray_size (const zarray_t *za)
static void	_zarray_truncate (zarray_t *za, int sz)
static void	_zmaxheap_ensure_capacity (zmaxheap_t *heap, int capacity)
zarray_t *	apriltag_quad_thresh (const Ptr< DetectorParameters > &parameters, const Mat &mImg, std::vector< std::vector< Point > > &contours)
CV_EXPORTS_W double	calibrateCameraAruco (InputArrayOfArrays corners, InputArray ids, InputArray counter, const Ptr< Board > &board, Size imageSize, InputOutputArray cameraMatrix, InputOutputArray distCoeffs, OutputArrayOfArrays rvecs=noArray(), OutputArrayOfArrays tvecs=noArray(), int flags=0, TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, DBL_EPSILON))
	It's the same function as calibrateCameraAruco but without calibration error estimation. More...
double	calibrateCameraAruco (InputArrayOfArrays _corners, InputArray _ids, InputArray _counter, const Ptr< Board > &board, Size imageSize, InputOutputArray _cameraMatrix, InputOutputArray _distCoeffs, OutputArrayOfArrays _rvecs, OutputArrayOfArrays _tvecs, OutputArray _stdDeviationsIntrinsics, OutputArray _stdDeviationsExtrinsics, OutputArray _perViewErrors, int flags, TermCriteria criteria)
CV_EXPORTS_W double	calibrateCameraCharuco (InputArrayOfArrays charucoCorners, InputArrayOfArrays charucoIds, const Ptr< CharucoBoard > &board, Size imageSize, InputOutputArray cameraMatrix, InputOutputArray distCoeffs, OutputArrayOfArrays rvecs=noArray(), OutputArrayOfArrays tvecs=noArray(), int flags=0, TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, DBL_EPSILON))
	It's the same function as calibrateCameraCharuco but without calibration error estimation. More...
double	calibrateCameraCharuco (InputArrayOfArrays _charucoCorners, InputArrayOfArrays _charucoIds, const Ptr< CharucoBoard > &_board, Size imageSize, InputOutputArray _cameraMatrix, InputOutputArray _distCoeffs, OutputArrayOfArrays _rvecs, OutputArrayOfArrays _tvecs, OutputArray _stdDeviationsIntrinsics, OutputArray _stdDeviationsExtrinsics, OutputArray _perViewErrors, int flags, TermCriteria criteria)
	CV_EXPORTS_AS (custom_dictionary) Ptr< Dictionary > generateCustomDictionary(int nMarkers
	CV_EXPORTS_AS (custom_dictionary_from) Ptr< Dictionary > generateCustomDictionary(int nMarkers
	Generates a new customizable marker dictionary. More...
	CV_EXPORTS_AS (calibrateCameraCharucoExtended) double calibrateCameraCharuco(InputArrayOfArrays charucoCorners
	Calibrate a camera using Charuco corners. More...
	CV_EXPORTS_AS (calibrateCameraArucoExtended) double calibrateCameraAruco(InputArrayOfArrays corners
	Calibrate a camera using aruco markers. More...
CV_EXPORTS_W void	detectCharucoDiamond (InputArray image, InputArrayOfArrays markerCorners, InputArray markerIds, float squareMarkerLengthRate, OutputArrayOfArrays diamondCorners, OutputArray diamondIds, InputArray cameraMatrix=noArray(), InputArray distCoeffs=noArray())
	Detect ChArUco Diamond markers. More...
CV_EXPORTS_W void	detectMarkers (InputArray image, const Ptr< Dictionary > &dictionary, OutputArrayOfArrays corners, OutputArray ids, const Ptr< DetectorParameters > &parameters=DetectorParameters::create(), OutputArrayOfArrays rejectedImgPoints=noArray(), InputArray cameraMatrix=noArray(), InputArray distCoeff=noArray())
	Basic marker detection. More...
void	detectMarkers (InputArray _image, const Ptr< Dictionary > &_dictionary, OutputArrayOfArrays _corners, OutputArray _ids, const Ptr< DetectorParameters > &_params, OutputArrayOfArrays _rejectedImgPoints, InputArrayOfArrays camMatrix, InputArrayOfArrays distCoeff)
static void	do_quad (int nCidx0, int nCidx1, zarray_t &nClusters, int nW, int nH, zarray_t *nquads, const Ptr< DetectorParameters > &td, const Mat im)
static void	do_unionfind_line (unionfind_t *uf, Mat &im, int w, int s, int y)
CV_EXPORTS_W void	drawAxis (InputOutputArray image, InputArray cameraMatrix, InputArray distCoeffs, InputArray rvec, InputArray tvec, float length)
	Draw coordinate system axis from pose estimation. More...
CV_EXPORTS void	drawCharucoDiamond (const Ptr< Dictionary > &dictionary, Vec4i ids, int squareLength, int markerLength, OutputArray img, int marginSize=0, int borderBits=1)
	Draw a ChArUco Diamond marker. More...
CV_EXPORTS_W void	drawDetectedCornersCharuco (InputOutputArray image, InputArray charucoCorners, InputArray charucoIds=noArray(), Scalar cornerColor=Scalar(255, 0, 0))
	Draws a set of Charuco corners. More...
CV_EXPORTS_W void	drawDetectedDiamonds (InputOutputArray image, InputArrayOfArrays diamondCorners, InputArray diamondIds=noArray(), Scalar borderColor=Scalar(0, 0, 255))
	Draw a set of detected ChArUco Diamond markers. More...
CV_EXPORTS_W void	drawDetectedMarkers (InputOutputArray image, InputArrayOfArrays corners, InputArray ids=noArray(), Scalar borderColor=Scalar(0, 255, 0))
	Draw detected markers in image. More...
CV_EXPORTS_W void	drawMarker (const Ptr< Dictionary > &dictionary, int id, int sidePixels, OutputArray img, int borderBits=1)
	Draw a canonical marker image. More...
CV_EXPORTS_W void	drawPlanarBoard (const Ptr< Board > &board, Size outSize, OutputArray img, int marginSize=0, int borderBits=1)
	Draw a planar board. More...
int	err_compare_descending (const void *_a, const void *_b)
CV_EXPORTS_W int	estimatePoseBoard (InputArrayOfArrays corners, InputArray ids, const Ptr< Board > &board, InputArray cameraMatrix, InputArray distCoeffs, OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess=false)
	Pose estimation for a board of markers. More...
CV_EXPORTS_W bool	estimatePoseCharucoBoard (InputArray charucoCorners, InputArray charucoIds, const Ptr< CharucoBoard > &board, InputArray cameraMatrix, InputArray distCoeffs, OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess=false)
	Pose estimation for a ChArUco board given some of their corners. More...
CV_EXPORTS_W void	estimatePoseSingleMarkers (InputArrayOfArrays corners, float markerLength, InputArray cameraMatrix, InputArray distCoeffs, OutputArray rvecs, OutputArray tvecs, OutputArray _objPoints=noArray())
	Pose estimation for single markers. More...
void	fit_line (struct line_fit_pt *lfps, int sz, int i0, int i1, double *lineparm, double *err, double *mse)
int	fit_quad (const Ptr< DetectorParameters > &_params, const Mat im, zarray_t *cluster, struct sQuad *quad)
Ptr< Dictionary >	generateCustomDictionary (int nMarkers, int markerSize, const Ptr< Dictionary > &baseDictionary, int randomSeed)
Ptr< Dictionary >	generateCustomDictionary (int nMarkers, int markerSize, int randomSeed)
CV_EXPORTS_W void	getBoardObjectAndImagePoints (const Ptr< Board > &board, InputArrayOfArrays detectedCorners, InputArray detectedIds, OutputArray objPoints, OutputArray imgPoints)
	Given a board configuration and a set of detected markers, returns the corresponding image points and object points to call solvePnP. More...
CV_EXPORTS Ptr< Dictionary >	getPredefinedDictionary (PREDEFINED_DICTIONARY_NAME name)
	Returns one of the predefined dictionaries defined in PREDEFINED_DICTIONARY_NAME. More...
CV_EXPORTS_W Ptr< Dictionary >	getPredefinedDictionary (int dict)
	Returns one of the predefined dictionaries referenced by DICT_*. More...
CV_EXPORTS_W int	interpolateCornersCharuco (InputArrayOfArrays markerCorners, InputArray markerIds, InputArray image, const Ptr< CharucoBoard > &board, OutputArray charucoCorners, OutputArray charucoIds, InputArray cameraMatrix=noArray(), InputArray distCoeffs=noArray(), int minMarkers=2)
	Interpolate position of ChArUco board corners. More...
static void	ptsort (struct pt *pts, int sz)
static void	ptsort_ (struct pt *pts, int sz)
int	quad_segment_agg (int sz, struct line_fit_pt *lfps, int indices[4])
int	quad_segment_maxima (const Ptr< DetectorParameters > &td, int sz, struct line_fit_pt *lfps, int indices[4])
CV_EXPORTS_W void	refineDetectedMarkers (InputArray image, const Ptr< Board > &board, InputOutputArrayOfArrays detectedCorners, InputOutputArray detectedIds, InputOutputArrayOfArrays rejectedCorners, InputArray cameraMatrix=noArray(), InputArray distCoeffs=noArray(), float minRepDistance=10.f, float errorCorrectionRate=3.f, bool checkAllOrders=true, OutputArray recoveredIdxs=noArray(), const Ptr< DetectorParameters > &parameters=DetectorParameters::create())
	Refind not detected markers based on the already detected and the board layout. More...
void	threshold (const Mat mIm, const Ptr< DetectorParameters > &parameters, Mat &mThresh)
static uint32_t	u64hash_2 (uint64_t x)
static uint32_t	unionfind_connect (unionfind_t *uf, uint32_t aid, uint32_t bid)
static unionfind_t *	unionfind_create (uint32_t maxid)
static void	unionfind_destroy (unionfind_t *uf)
static uint32_t	unionfind_get_representative (unionfind_t *uf, uint32_t id)
static uint32_t	unionfind_get_set_size (unionfind_t *uf, uint32_t id)
void	zmaxheap_add (zmaxheap_t *heap, void *p, float v)
zmaxheap_t *	zmaxheap_create (size_t el_sz)
void	zmaxheap_destroy (zmaxheap_t *heap)
static int	zmaxheap_remove_index (zmaxheap_t *heap, int idx, void *p, float *v)
int	zmaxheap_remove_max (zmaxheap_t *heap, void *p, float *v)

Variables
int const Ptr< Dictionary > &	baseDictionary
InputArrayOfArrays const Ptr< CharucoBoard > &	board
InputArrayOfArrays const Ptr< CharucoBoard > Size InputOutputArray	cameraMatrix
InputArrayOfArrays	charucoIds
InputArray InputArray	counter
InputArrayOfArrays const Ptr< CharucoBoard > Size InputOutputArray InputOutputArray OutputArrayOfArrays OutputArrayOfArrays OutputArray OutputArray OutputArray int TermCriteria	criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 30, DBL_EPSILON))
const Dictionary	DICT_4X4_1000_DATA = Dictionary(Mat(1000, (4*4 + 7)/8, CV_8UC4, (uchar*)DICT_4X4_1000_BYTES), 4, 0)
const Dictionary	DICT_4X4_100_DATA = Dictionary(Mat(100, (4*4 + 7)/8, CV_8UC4, (uchar*)DICT_4X4_1000_BYTES), 4, 1)
const Dictionary	DICT_4X4_250_DATA = Dictionary(Mat(250, (4*4 + 7)/8, CV_8UC4, (uchar*)DICT_4X4_1000_BYTES), 4, 1)
const Dictionary	DICT_4X4_50_DATA = Dictionary(Mat(50, (4*4 + 7)/8, CV_8UC4, (uchar*)DICT_4X4_1000_BYTES), 4, 1)
const Dictionary	DICT_5X5_1000_DATA = Dictionary(Mat(1000, (5*5 + 7)/8, CV_8UC4, (uchar*)DICT_5X5_1000_BYTES), 5, 2)
const Dictionary	DICT_5X5_100_DATA = Dictionary(Mat(100, (5*5 + 7)/8, CV_8UC4, (uchar*)DICT_5X5_1000_BYTES), 5, 3)
const Dictionary	DICT_5X5_250_DATA = Dictionary(Mat(250, (5*5 + 7)/8, CV_8UC4, (uchar*)DICT_5X5_1000_BYTES), 5, 2)
const Dictionary	DICT_5X5_50_DATA = Dictionary(Mat(50, (5*5 + 7)/8, CV_8UC4, (uchar*)DICT_5X5_1000_BYTES), 5, 3)
const Dictionary	DICT_6X6_1000_DATA = Dictionary(Mat(1000, (6*6 + 7)/8 ,CV_8UC4, (uchar*)DICT_6X6_1000_BYTES), 6, 4)
const Dictionary	DICT_6X6_100_DATA = Dictionary(Mat(100, (6*6 + 7)/8 ,CV_8UC4, (uchar*)DICT_6X6_1000_BYTES), 6, 5)
const Dictionary	DICT_6X6_250_DATA = Dictionary(Mat(250, (6*6 + 7)/8 ,CV_8UC4, (uchar*)DICT_6X6_1000_BYTES), 6, 5)
const Dictionary	DICT_6X6_50_DATA = Dictionary(Mat(50, (6*6 + 7)/8 ,CV_8UC4, (uchar*)DICT_6X6_1000_BYTES), 6, 6)
const Dictionary	DICT_7X7_1000_DATA = Dictionary(Mat(1000, (7*7 + 7)/8 ,CV_8UC4, (uchar*)DICT_7X7_1000_BYTES), 7, 6)
const Dictionary	DICT_7X7_100_DATA = Dictionary(Mat(100, (7*7 + 7)/8 ,CV_8UC4, (uchar*)DICT_7X7_1000_BYTES), 7, 8)
const Dictionary	DICT_7X7_250_DATA = Dictionary(Mat(250, (7*7 + 7)/8 ,CV_8UC4, (uchar*)DICT_7X7_1000_BYTES), 7, 8)
const Dictionary	DICT_7X7_50_DATA = Dictionary(Mat(50, (7*7 + 7)/8 ,CV_8UC4, (uchar*)DICT_7X7_1000_BYTES), 7, 9)
const Dictionary	DICT_APRILTAG_16h5_DATA = Dictionary(Mat(30, (4*4 + 7)/8, CV_8UC4, (uchar*)DICT_APRILTAG_16h5_BYTES), 4, 0)
const Dictionary	DICT_APRILTAG_25h9_DATA = Dictionary(Mat(35, (5*5 + 7)/8, CV_8UC4, (uchar*)DICT_APRILTAG_25h9_BYTES), 5, 0)
const Dictionary	DICT_APRILTAG_36h10_DATA = Dictionary(Mat(2320, (6*6 + 7)/8, CV_8UC4, (uchar*)DICT_APRILTAG_36h10_BYTES), 6, 0)
const Dictionary	DICT_APRILTAG_36h11_DATA = Dictionary(Mat(587, (6*6 + 7)/8, CV_8UC4, (uchar*)DICT_APRILTAG_36h11_BYTES), 6, 0)
const Dictionary	DICT_ARUCO_DATA = Dictionary(Mat(1024, (5*5 + 7)/8, CV_8UC4, (uchar*)DICT_ARUCO_BYTES), 5, 0)
InputArrayOfArrays const Ptr< CharucoBoard > Size InputOutputArray InputOutputArray	distCoeffs
InputArrayOfArrays const Ptr< CharucoBoard > Size InputOutputArray InputOutputArray OutputArrayOfArrays OutputArrayOfArrays OutputArray OutputArray OutputArray int	flags = 0
InputArray	ids
InputArrayOfArrays const Ptr< CharucoBoard > Size	imageSize
int	markerSize
InputArrayOfArrays const Ptr< CharucoBoard > Size InputOutputArray InputOutputArray OutputArrayOfArrays OutputArrayOfArrays OutputArray OutputArray OutputArray	perViewErrors
int int	randomSeed =0)
InputArrayOfArrays const Ptr< CharucoBoard > Size InputOutputArray InputOutputArray OutputArrayOfArrays	rvecs
InputArrayOfArrays const Ptr< CharucoBoard > Size InputOutputArray InputOutputArray OutputArrayOfArrays OutputArrayOfArrays OutputArray OutputArray	stdDeviationsExtrinsics
InputArrayOfArrays const Ptr< CharucoBoard > Size InputOutputArray InputOutputArray OutputArrayOfArrays OutputArrayOfArrays OutputArray	stdDeviationsIntrinsics
InputArrayOfArrays const Ptr< CharucoBoard > Size InputOutputArray InputOutputArray OutputArrayOfArrays OutputArrayOfArrays	tvecs

Typedef Documentation

unionfind_t

typedef struct unionfind cv::aruco::unionfind_t

Definition at line 22 of file unionfind.hpp.

zarray_t

typedef struct zarray cv::aruco::zarray_t

Defines a structure which acts as a resize-able array ala Java's ArrayList.

Definition at line 31 of file zarray.hpp.

zmaxheap_iterator_t

typedef struct zmaxheap_iterator cv::aruco::zmaxheap_iterator_t

Definition at line 25 of file zmaxheap.hpp.

zmaxheap_t

typedef struct zmaxheap cv::aruco::zmaxheap_t

Definition at line 23 of file zmaxheap.hpp.

Function Documentation

_apriltag()

static void cv::aruco::_apriltag ( Mat  im_orig, const Ptr< DetectorParameters > &  _params, std::vector< std::vector< Point2f > > &  candidates, std::vector< std::vector< Point > > &  contours  )

static

Parameters

im_orig
_params
candidates
contours

Step 1. Detect quads according to requested image decimation and blurring parameters.

Step 2. do the Threshold :: get the set of candidate quads

Step 3. Save the output :: candidate corners

Definition at line 998 of file aruco.cpp.

_arePointsEnoughForPoseEstimation()

static bool cv::aruco::_arePointsEnoughForPoseEstimation ( const vector< Point3f > &  points )

static

Check if a set of 3d points are enough for calibration. Z coordinate is ignored. Only axis paralel lines are considered

Definition at line 622 of file charuco.cpp.

_convertToGrey()

static void cv::aruco::_convertToGrey ( InputArray  _in, OutputArray  _out  )

static

Convert input image to gray if it is a 3-channels image.

Definition at line 105 of file aruco.cpp.

_copyVector2Output()

static void cv::aruco::_copyVector2Output ( vector< vector< Point2f > > &  vec, OutputArrayOfArrays  out  )

static

Copy the contents of a corners vector to an OutputArray, settings its size.

Definition at line 591 of file aruco.cpp.

_detectCandidates()

static void cv::aruco::_detectCandidates ( InputArray  _image, vector< vector< Point2f > > &  candidatesOut, vector< vector< Point > > &  contoursOut, const Ptr< DetectorParameters > &  _params  )

static

Detect square candidates in the input image.

1. CONVERT TO GRAY
2. DETECT FIRST SET OF CANDIDATES
3. SORT CORNERS
4. FILTER OUT NEAR CANDIDATE PAIRS

Definition at line 373 of file aruco.cpp.

_detectInitialCandidates()

static void cv::aruco::_detectInitialCandidates ( const Mat &  grey, vector< vector< Point2f > > &  candidates, vector< vector< Point > > &  contours, const Ptr< DetectorParameters > &  params  )

static

Initial steps on finding square candidates.

Definition at line 328 of file aruco.cpp.

_distortPoints()

static void cv::aruco::_distortPoints ( vector< cv::Point2f > &  in, const Mat &  camMatrix, const Mat &  distCoeff  )

static

Definition at line 864 of file aruco.cpp.

_extractBits()

static Mat cv::aruco::_extractBits ( InputArray  _image, InputArray  _corners, int  markerSize, int  markerBorderBits, int  cellSize, double  cellMarginRate, double  minStdDevOtsu  )

static

Given an input image and candidate corners, extract the bits of the candidate, including the border bits.

Definition at line 401 of file aruco.cpp.

_filterCornersWithoutMinMarkers()

static int cv::aruco::_filterCornersWithoutMinMarkers ( const Ptr< CharucoBoard > &  _board, InputArray  _allCharucoCorners, InputArray  _allCharucoIds, InputArray  _allArucoIds, int  minMarkers, OutputArray  _filteredCharucoCorners, OutputArray  _filteredCharucoIds  )

static

Remove charuco corners if any of their minMarkers closest markers has not been detected

Definition at line 234 of file charuco.cpp.

_filterDetectedMarkers()

static void cv::aruco::_filterDetectedMarkers ( vector< vector< Point2f > > &  _corners, vector< int > &  _ids, vector< vector< Point > > &  _contours  )

static

Final filter of markers after its identification.

Definition at line 688 of file aruco.cpp.

_filterTooCloseCandidates()

static void cv::aruco::_filterTooCloseCandidates ( const vector< vector< Point2f > > &  candidatesIn, vector< vector< Point2f > > &  candidatesOut, const vector< vector< Point > > &  contoursIn, vector< vector< Point > > &  contoursOut, double  minMarkerDistanceRate  )

static

Check candidates that are too close to each other and remove the smaller one.

Definition at line 217 of file aruco.cpp.

_findMarkerContours()

static void cv::aruco::_findMarkerContours ( InputArray  _in, vector< vector< Point2f > > &  candidates, vector< vector< Point > > &  contoursOut, double  minPerimeterRate, double  maxPerimeterRate, double  accuracyRate, double  minCornerDistanceRate, int  minDistanceToBorder  )

static

Given a tresholded image, find the contours, calculate their polygonal approximation and take those that accomplish some conditions.

Definition at line 131 of file aruco.cpp.

_generateRandomMarker()

static Mat cv::aruco::_generateRandomMarker ( int  markerSize, RNG &  rng  )

static

Generates a random marker Mat of size markerSize x markerSize.

Definition at line 365 of file dictionary.cpp.

_getBorderErrors()

static int cv::aruco::_getBorderErrors ( const Mat &  bits, int  markerSize, int  borderSize  )

static

Return number of erroneous bits in border, i.e. number of white bits in border.

Definition at line 471 of file aruco.cpp.

_getCrossPoint()

static Point2f cv::aruco::_getCrossPoint ( Point3f  nLine1, Point3f  nLine2  )

static

Find the Point where the lines crosses :: Called from function refineCandidateLines

Parameters

nLine1
nLine2

Returns

Crossed Point

Definition at line 858 of file aruco.cpp.

_getMaximumSubPixWindowSizes()

static void cv::aruco::_getMaximumSubPixWindowSizes ( InputArrayOfArrays  markerCorners, InputArray  markerIds, InputArray  charucoCorners, const Ptr< CharucoBoard > &  board, vector< Size > &  sizes  )

static

Calculate the maximum window sizes for corner refinement for each charuco corner based on the distance to their closest markers

Definition at line 386 of file charuco.cpp.

_getSelfDistance()

static int cv::aruco::_getSelfDistance ( const Mat &  marker )

static

Calculate selfDistance of the codification of a marker Mat. Self distance is the Hamming distance of the marker to itself in the other rotations. See S. Garrido-Jurado, R. Muñoz-Salinas, F. J. Madrid-Cuevas, and M. J. Marín-Jiménez. 2014. "Automatic generation and detection of highly reliable fiducial markers under occlusion". Pattern Recogn. 47, 6 (June 2014), 2280-2292. DOI=10.1016/j.patcog.2014.01.005.

Definition at line 383 of file dictionary.cpp.

_getSingleMarkerObjectPoints()

static void cv::aruco::_getSingleMarkerObjectPoints ( float  markerLength, OutputArray  _objPoints  )

static

Return object points for the system centered in a single marker, given the marker length.

Definition at line 762 of file aruco.cpp.

_identifyCandidates()

static void cv::aruco::_identifyCandidates ( InputArray  _image, vector< vector< Point2f > > &  _candidates, vector< vector< Point > > &  _contours, const Ptr< Dictionary > &  _dictionary, vector< vector< Point2f > > &  _accepted, vector< int > &  ids, const Ptr< DetectorParameters > &  params, OutputArrayOfArrays  _rejected = noArray()  )

static

Identify square candidates according to a marker dictionary.

Definition at line 626 of file aruco.cpp.

_identifyOneCandidate()

static bool cv::aruco::_identifyOneCandidate ( const Ptr< Dictionary > &  dictionary, InputArray  _image, vector< Point2f > &  _corners, int &  idx, const Ptr< DetectorParameters > &  params  )

static

Tries to identify one candidate given the dictionary.

Definition at line 497 of file aruco.cpp.

_interpolate2Dline()

static Point3f cv::aruco::_interpolate2Dline ( const std::vector< cv::Point2f > &  nContours )

static

Line fitting A * B = C :: Called from function refineCandidateLines

Parameters

nContours,contour-container

Definition at line 813 of file aruco.cpp.

_interpolateCornersCharucoApproxCalib()

static int cv::aruco::_interpolateCornersCharucoApproxCalib ( InputArrayOfArrays  _markerCorners, InputArray  _markerIds, InputArray  _image, const Ptr< CharucoBoard > &  _board, InputArray  _cameraMatrix, InputArray  _distCoeffs, OutputArray  _charucoCorners, OutputArray  _charucoIds  )

static

Interpolate charuco corners using approximated pose estimation

Definition at line 439 of file charuco.cpp.

_interpolateCornersCharucoLocalHom()

static int cv::aruco::_interpolateCornersCharucoLocalHom ( InputArrayOfArrays  _markerCorners, InputArray  _markerIds, InputArray  _image, const Ptr< CharucoBoard > &  _board, OutputArray  _charucoCorners, OutputArray  _charucoIds  )

static

Interpolate charuco corners using local homography

Definition at line 483 of file charuco.cpp.

_projectUndetectedMarkers() [1/2]

static void cv::aruco::_projectUndetectedMarkers ( const Ptr< Board > &  _board, InputOutputArrayOfArrays  _detectedCorners, InputOutputArray  _detectedIds, InputArray  _cameraMatrix, InputArray  _distCoeffs, vector< vector< Point2f > > &  _undetectedMarkersProjectedCorners, OutputArray  _undetectedMarkersIds  )

static

Project board markers that are not included in the list of detected markers

Definition at line 1290 of file aruco.cpp.

_projectUndetectedMarkers() [2/2]

static void cv::aruco::_projectUndetectedMarkers ( const Ptr< Board > &  _board, InputOutputArrayOfArrays  _detectedCorners, InputOutputArray  _detectedIds, vector< vector< Point2f > > &  _undetectedMarkersProjectedCorners, OutputArray  _undetectedMarkersIds  )

static

Interpolate board markers that are not included in the list of detected markers using global homography

Definition at line 1338 of file aruco.cpp.

_refineCandidateLines()

static void cv::aruco::_refineCandidateLines ( std::vector< Point > &  nContours, std::vector< Point2f > &  nCorners, const Mat &  camMatrix, const Mat &  distCoeff  )

static

Refine Corners using the contour vector :: Called from function detectMarkers

Parameters

nContours,contour-container
nCorners,candidate	Corners
camMatrix,cameraMatrix	input 3x3 floating-point camera matrix
distCoeff,distCoeffs	vector of distortion coefficient

Definition at line 886 of file aruco.cpp.

_reorderCandidatesCorners()

static void cv::aruco::_reorderCandidatesCorners ( vector< vector< Point2f > > &  candidates )

static

Assure order of candidate corners is clockwise direction.

Definition at line 198 of file aruco.cpp.

_selectAndRefineChessboardCorners()

static int cv::aruco::_selectAndRefineChessboardCorners ( InputArray  _allCorners, InputArray  _image, OutputArray  _selectedCorners, OutputArray  _selectedIds, const vector< Size > &  winSizes  )

static

From all projected chessboard corners, select those inside the image and apply subpixel refinement. Returns number of valid corners.

Definition at line 322 of file charuco.cpp.

_swap_default()

static void cv::aruco::_swap_default ( zmaxheap_t *  heap, int  a, int  b  )

inlinestatic

Definition at line 45 of file zmaxheap.cpp.

_swap_pointer()

static void cv::aruco::_swap_pointer ( zmaxheap_t *  heap, int  a, int  b  )

inlinestatic

Definition at line 58 of file zmaxheap.cpp.

_threshold()

static void cv::aruco::_threshold ( InputArray  _in, OutputArray  _out, int  winSize, double  constant  )

static

Threshold input image using adaptive thresholding.

Definition at line 119 of file aruco.cpp.

_zarray_add()

static void cv::aruco::_zarray_add ( zarray_t *  za, const void *  p  )

inlinestatic

Adds a new element to the end of the supplied array, and sets its value (by copying) from the data pointed to by the supplied pointer 'p'. Automatically ensures that enough storage space is available for the new element.

Definition at line 96 of file zarray.hpp.

_zarray_create()

static zarray_t* cv::aruco::_zarray_create ( size_t  el_sz )

inlinestatic

Creates and returns a variable array structure capable of holding elements of the specified size. It is the caller's responsibility to call zarray_destroy() on the returned array when it is no longer needed.

Definition at line 45 of file zarray.hpp.

_zarray_destroy()

static void cv::aruco::_zarray_destroy ( zarray_t *  za )

inlinestatic

Frees all resources associated with the variable array structure which was created by zarray_create(). After calling, 'za' will no longer be valid for storage.

Definition at line 55 of file zarray.hpp.

_zarray_ensure_capacity()

static void cv::aruco::_zarray_ensure_capacity ( zarray_t *  za, int  capacity  )

inlinestatic

Allocates enough internal storage in the supplied variable array structure to guarantee that the supplied number of elements (capacity) can be safely stored.

Definition at line 78 of file zarray.hpp.

_zarray_get()

static void cv::aruco::_zarray_get ( const zarray_t *  za, int  idx, void *  p  )

inlinestatic

Retrieves the element from the supplied array located at the zero-based index of 'idx' and copies its value into the variable pointed to by the pointer 'p'.

Definition at line 108 of file zarray.hpp.

_zarray_get_volatile()

static void cv::aruco::_zarray_get_volatile ( const zarray_t *  za, int  idx, void *  p  )

inlinestatic

Similar to zarray_get(), but returns a "live" pointer to the internal storage, avoiding a memcpy. This pointer is not valid across operations which might move memory around (i.e. zarray_remove_value(), zarray_remove_index(), zarray_insert(), zarray_sort(), zarray_clear()). 'p' should be a pointer to the pointer which will be set to the internal address.

Definition at line 122 of file zarray.hpp.

_zarray_set()

static void cv::aruco::_zarray_set ( zarray_t *  za, int  idx, const void *  p, void *  outp  )

inlinestatic

Sets the value of the current element at index 'idx' by copying its value from the data pointed to by 'p'. The previous value of the changed element will be copied into the data pointed to by 'outp' if it is not null.

Definition at line 138 of file zarray.hpp.

_zarray_size()

static int cv::aruco::_zarray_size ( const zarray_t *  za )

inlinestatic

Retrieves the number of elements currently being contained by the passed array, which may be different from its capacity. The index of the last element in the array will be one less than the returned value.

Definition at line 70 of file zarray.hpp.

_zarray_truncate()

static void cv::aruco::_zarray_truncate ( zarray_t *  za, int  sz  )

inlinestatic

Definition at line 129 of file zarray.hpp.

_zmaxheap_ensure_capacity()

static void cv::aruco::_zmaxheap_ensure_capacity ( zmaxheap_t *  heap, int  capacity  )

static

Definition at line 92 of file zmaxheap.cpp.

apriltag_quad_thresh()

zarray_t * cv::aruco::apriltag_quad_thresh	(	const Ptr< DetectorParameters > &	parameters,
		const Mat &	mImg,
		std::vector< std::vector< Point > > &	contours
	)

Parameters

parameters
mImg
contours

Returns

Definition at line 1316 of file apriltag_quad_thresh.cpp.

calibrateCameraAruco()

double cv::aruco::calibrateCameraAruco	(	InputArrayOfArrays	_corners,
		InputArray	_ids,
		InputArray	_counter,
		const Ptr< Board > &	board,
		Size	imageSize,
		InputOutputArray	_cameraMatrix,
		InputOutputArray	_distCoeffs,
		OutputArrayOfArrays	_rvecs,
		OutputArrayOfArrays	_tvecs,
		OutputArray	_stdDeviationsIntrinsics,
		OutputArray	_stdDeviationsExtrinsics,
		OutputArray	_perViewErrors,
		int	flags,
		TermCriteria	criteria
	)

Definition at line 1861 of file aruco.cpp.

calibrateCameraCharuco()

double cv::aruco::calibrateCameraCharuco	(	InputArrayOfArrays	_charucoCorners,
		InputArrayOfArrays	_charucoIds,
		const Ptr< CharucoBoard > &	_board,
		Size	imageSize,
		InputOutputArray	_cameraMatrix,
		InputOutputArray	_distCoeffs,
		OutputArrayOfArrays	_rvecs,
		OutputArrayOfArrays	_tvecs,
		OutputArray	_stdDeviationsIntrinsics,
		OutputArray	_stdDeviationsExtrinsics,
		OutputArray	_perViewErrors,
		int	flags,
		TermCriteria	criteria
	)

Definition at line 688 of file charuco.cpp.

detectMarkers()

void cv::aruco::detectMarkers	(	InputArray	_image,
		const Ptr< Dictionary > &	_dictionary,
		OutputArrayOfArrays	_corners,
		OutputArray	_ids,
		const Ptr< DetectorParameters > &	_params,
		OutputArrayOfArrays	_rejectedImgPoints,
		InputArrayOfArrays	camMatrix,
		InputArrayOfArrays	distCoeff
	)

STEP 1: Detect marker candidates

STEP 1.a Detect marker candidates :: using AprilTag

STEP 1.b Detect marker candidates :: traditional way

STEP 2: Check candidate codification (identify markers)

STEP 3: Filter detected markers;

STEP 4: Corner refinement :: use corner subpix

STEP 4, Optional : Corner refinement :: use contour container

Definition at line 1118 of file aruco.cpp.

do_quad()

static void cv::aruco::do_quad ( int  nCidx0, int  nCidx1, zarray_t &  nClusters, int  nW, int  nH, zarray_t *  nquads, const Ptr< DetectorParameters > &  td, const Mat  im  )

static

Parameters

nCidx0
nCidx1
nClusters
nW
nH
nquads
td
im

Definition at line 1042 of file apriltag_quad_thresh.cpp.

do_unionfind_line()

static void cv::aruco::do_unionfind_line ( unionfind_t *  uf, Mat &  im, int  w, int  s, int  y  )

static

Definition at line 575 of file apriltag_quad_thresh.cpp.

err_compare_descending()

int cv::aruco::err_compare_descending	(	const void *	_a,
		const void *	_b
	)

Definition at line 263 of file apriltag_quad_thresh.cpp.

fit_line()

void cv::aruco::fit_line	(	struct line_fit_pt *	lfps,
		int	sz,
		int	i0,
		int	i1,
		double *	lineparm,
		double *	err,
		double *	mse
	)

lfps contains cumulative moments for N points, with index j reflecting points [0,j] (inclusive). fit a line to the points [i0, i1] (inclusive). i0, i1 are both (0, sz) if i1 < i0, we treat this as a wrap around.

Definition at line 138 of file apriltag_quad_thresh.cpp.

fit_quad()

int cv::aruco::fit_quad	(	const Ptr< DetectorParameters > &	_params,
		const Mat	im,
		zarray_t *	cluster,
		struct sQuad *	quad
	)

return 1 if the quad looks okay, 0 if it should be discarded quad

Definition at line 603 of file apriltag_quad_thresh.cpp.

generateCustomDictionary() [1/2]

Ptr<Dictionary> cv::aruco::generateCustomDictionary	(	int	nMarkers,
		int	markerSize,
		const Ptr< Dictionary > &	baseDictionary,
		int	randomSeed
	)

Definition at line 395 of file dictionary.cpp.

generateCustomDictionary() [2/2]

Ptr<Dictionary> cv::aruco::generateCustomDictionary	(	int	nMarkers,
		int	markerSize,
		int	randomSeed
	)

Definition at line 487 of file dictionary.cpp.

ptsort()

static void cv::aruco::ptsort ( struct pt *  pts, int  sz  )

inlinestatic

Definition at line 34 of file apriltag_quad_thresh.cpp.

ptsort_()

void cv::aruco::ptsort_ ( struct pt *  pts, int  sz  )

static

Definition at line 91 of file apriltag_quad_thresh.cpp.

quad_segment_agg()

int cv::aruco::quad_segment_agg	(	int	sz,
		struct line_fit_pt *	lfps,
		int	indices[4]
	)

returns 0 if the cluster looks bad.

Definition at line 459 of file apriltag_quad_thresh.cpp.

quad_segment_maxima()

int cv::aruco::quad_segment_maxima	(	const Ptr< DetectorParameters > &	td,
		int	sz,
		struct line_fit_pt *	lfps,
		int	indices[4]
	)

1. Identify A) white points near a black point and B) black points near a white point.
2. Find the connected components within each of the classes above, yielding clusters of "white-near-black" and "black-near-white". (These two classes are kept separate). Each segment has a unique id.
3. For every pair of "white-near-black" and "black-near-white" clusters, find the set of points that are in one and adjacent to the other. In other words, a "boundary" layer between the two clusters. (This is actually performed by iterating over the pixels, rather than pairs of clusters.) Critically, this helps keep nearby edges from becoming connected.

Definition at line 285 of file apriltag_quad_thresh.cpp.

threshold()

void cv::aruco::threshold	(	const Mat	mIm,
		const Ptr< DetectorParameters > &	parameters,
		Mat &	mThresh
	)

Parameters

mIm
parameters
mThresh

Definition at line 1087 of file apriltag_quad_thresh.cpp.

u64hash_2()

static uint32_t cv::aruco::u64hash_2 ( uint64_t  x )

inlinestatic

Definition at line 30 of file apriltag_quad_thresh.hpp.

unionfind_connect()

static uint32_t cv::aruco::unionfind_connect ( unionfind_t *  uf, uint32_t  aid, uint32_t  bid  )

inlinestatic

Definition at line 100 of file unionfind.hpp.

unionfind_create()

static unionfind_t* cv::aruco::unionfind_create ( uint32_t  maxid )

inlinestatic

Definition at line 38 of file unionfind.hpp.

unionfind_destroy()

static void cv::aruco::unionfind_destroy ( unionfind_t *  uf )

inlinestatic

Definition at line 49 of file unionfind.hpp.

unionfind_get_representative()

static uint32_t cv::aruco::unionfind_get_representative ( unionfind_t *  uf, uint32_t  id  )

inlinestatic

Definition at line 73 of file unionfind.hpp.

unionfind_get_set_size()

static uint32_t cv::aruco::unionfind_get_set_size ( unionfind_t *  uf, uint32_t  id  )

inlinestatic

Definition at line 95 of file unionfind.hpp.

zmaxheap_add()

void cv::aruco::zmaxheap_add	(	zmaxheap_t *	heap,
		void *	p,
		float	v
	)

Definition at line 113 of file zmaxheap.cpp.

zmaxheap_create()

zmaxheap_t * cv::aruco::zmaxheap_create

(

size_t

el_sz

)

Definition at line 71 of file zmaxheap.cpp.

zmaxheap_destroy()

void cv::aruco::zmaxheap_destroy

(

zmaxheap_t *

heap

)

Definition at line 84 of file zmaxheap.cpp.

zmaxheap_remove_index()

static int cv::aruco::zmaxheap_remove_index ( zmaxheap_t *  heap, int  idx, void *  p, float *  v  )

static

Definition at line 141 of file zmaxheap.cpp.

zmaxheap_remove_max()

int cv::aruco::zmaxheap_remove_max	(	zmaxheap_t *	heap,
		void *	p,
		float *	v
	)

Definition at line 203 of file zmaxheap.cpp.

Variable Documentation

DICT_4X4_1000_DATA

const Dictionary cv::aruco::DICT_4X4_1000_DATA = Dictionary(Mat(1000, (4*4 + 7)/8, CV_8UC4, (uchar*)DICT_4X4_1000_BYTES), 4, 0)

Definition at line 278 of file dictionary.cpp.

DICT_4X4_100_DATA

const Dictionary cv::aruco::DICT_4X4_100_DATA = Dictionary(Mat(100, (4*4 + 7)/8, CV_8UC4, (uchar*)DICT_4X4_1000_BYTES), 4, 1)

Definition at line 276 of file dictionary.cpp.

DICT_4X4_250_DATA

const Dictionary cv::aruco::DICT_4X4_250_DATA = Dictionary(Mat(250, (4*4 + 7)/8, CV_8UC4, (uchar*)DICT_4X4_1000_BYTES), 4, 1)

Definition at line 277 of file dictionary.cpp.

DICT_4X4_50_DATA

const Dictionary cv::aruco::DICT_4X4_50_DATA = Dictionary(Mat(50, (4*4 + 7)/8, CV_8UC4, (uchar*)DICT_4X4_1000_BYTES), 4, 1)

Definition at line 275 of file dictionary.cpp.

DICT_5X5_1000_DATA

const Dictionary cv::aruco::DICT_5X5_1000_DATA = Dictionary(Mat(1000, (5*5 + 7)/8, CV_8UC4, (uchar*)DICT_5X5_1000_BYTES), 5, 2)

Definition at line 283 of file dictionary.cpp.

DICT_5X5_100_DATA

const Dictionary cv::aruco::DICT_5X5_100_DATA = Dictionary(Mat(100, (5*5 + 7)/8, CV_8UC4, (uchar*)DICT_5X5_1000_BYTES), 5, 3)

Definition at line 281 of file dictionary.cpp.

DICT_5X5_250_DATA

const Dictionary cv::aruco::DICT_5X5_250_DATA = Dictionary(Mat(250, (5*5 + 7)/8, CV_8UC4, (uchar*)DICT_5X5_1000_BYTES), 5, 2)

Definition at line 282 of file dictionary.cpp.

DICT_5X5_50_DATA

const Dictionary cv::aruco::DICT_5X5_50_DATA = Dictionary(Mat(50, (5*5 + 7)/8, CV_8UC4, (uchar*)DICT_5X5_1000_BYTES), 5, 3)

Definition at line 280 of file dictionary.cpp.

DICT_6X6_1000_DATA

const Dictionary cv::aruco::DICT_6X6_1000_DATA = Dictionary(Mat(1000, (6*6 + 7)/8 ,CV_8UC4, (uchar*)DICT_6X6_1000_BYTES), 6, 4)

Definition at line 288 of file dictionary.cpp.

DICT_6X6_100_DATA

const Dictionary cv::aruco::DICT_6X6_100_DATA = Dictionary(Mat(100, (6*6 + 7)/8 ,CV_8UC4, (uchar*)DICT_6X6_1000_BYTES), 6, 5)

Definition at line 286 of file dictionary.cpp.

DICT_6X6_250_DATA

const Dictionary cv::aruco::DICT_6X6_250_DATA = Dictionary(Mat(250, (6*6 + 7)/8 ,CV_8UC4, (uchar*)DICT_6X6_1000_BYTES), 6, 5)

Definition at line 287 of file dictionary.cpp.

DICT_6X6_50_DATA

const Dictionary cv::aruco::DICT_6X6_50_DATA = Dictionary(Mat(50, (6*6 + 7)/8 ,CV_8UC4, (uchar*)DICT_6X6_1000_BYTES), 6, 6)

Definition at line 285 of file dictionary.cpp.

DICT_7X7_1000_DATA

const Dictionary cv::aruco::DICT_7X7_1000_DATA = Dictionary(Mat(1000, (7*7 + 7)/8 ,CV_8UC4, (uchar*)DICT_7X7_1000_BYTES), 7, 6)

Definition at line 293 of file dictionary.cpp.

DICT_7X7_100_DATA

const Dictionary cv::aruco::DICT_7X7_100_DATA = Dictionary(Mat(100, (7*7 + 7)/8 ,CV_8UC4, (uchar*)DICT_7X7_1000_BYTES), 7, 8)

Definition at line 291 of file dictionary.cpp.

DICT_7X7_250_DATA

const Dictionary cv::aruco::DICT_7X7_250_DATA = Dictionary(Mat(250, (7*7 + 7)/8 ,CV_8UC4, (uchar*)DICT_7X7_1000_BYTES), 7, 8)

Definition at line 292 of file dictionary.cpp.

DICT_7X7_50_DATA

const Dictionary cv::aruco::DICT_7X7_50_DATA = Dictionary(Mat(50, (7*7 + 7)/8 ,CV_8UC4, (uchar*)DICT_7X7_1000_BYTES), 7, 9)

Definition at line 290 of file dictionary.cpp.

DICT_APRILTAG_16h5_DATA

const Dictionary cv::aruco::DICT_APRILTAG_16h5_DATA = Dictionary(Mat(30, (4*4 + 7)/8, CV_8UC4, (uchar*)DICT_APRILTAG_16h5_BYTES), 4, 0)

Definition at line 295 of file dictionary.cpp.

DICT_APRILTAG_25h9_DATA

const Dictionary cv::aruco::DICT_APRILTAG_25h9_DATA = Dictionary(Mat(35, (5*5 + 7)/8, CV_8UC4, (uchar*)DICT_APRILTAG_25h9_BYTES), 5, 0)

Definition at line 296 of file dictionary.cpp.

DICT_APRILTAG_36h10_DATA

const Dictionary cv::aruco::DICT_APRILTAG_36h10_DATA = Dictionary(Mat(2320, (6*6 + 7)/8, CV_8UC4, (uchar*)DICT_APRILTAG_36h10_BYTES), 6, 0)

Definition at line 297 of file dictionary.cpp.

DICT_APRILTAG_36h11_DATA

const Dictionary cv::aruco::DICT_APRILTAG_36h11_DATA = Dictionary(Mat(587, (6*6 + 7)/8, CV_8UC4, (uchar*)DICT_APRILTAG_36h11_BYTES), 6, 0)

Definition at line 298 of file dictionary.cpp.

DICT_ARUCO_DATA

const Dictionary cv::aruco::DICT_ARUCO_DATA = Dictionary(Mat(1024, (5*5 + 7)/8, CV_8UC4, (uchar*)DICT_ARUCO_BYTES), 5, 0)

Definition at line 273 of file dictionary.cpp.