org.opencv.objdetect

Class Objdetect

java.lang.Object

org.opencv.objdetect.Objdetect

public class Objdetect
extends Object

Field Summary

Fields

Modifier and Type	Field and Description
static int	CASCADE_DO_CANNY_PRUNING
static int	CASCADE_DO_ROUGH_SEARCH
static int	CASCADE_FIND_BIGGEST_OBJECT
static int	CASCADE_SCALE_IMAGE
static int	CORNER_REFINE_APRILTAG
static int	CORNER_REFINE_CONTOUR
static int	CORNER_REFINE_NONE
static int	CORNER_REFINE_SUBPIX
static int	DetectionBasedTracker_DETECTED
static int	DetectionBasedTracker_DETECTED_NOT_SHOWN_YET
static int	DetectionBasedTracker_DETECTED_TEMPORARY_LOST
static int	DetectionBasedTracker_WRONG_OBJECT
static int	DICT_4X4_100
static int	DICT_4X4_1000
static int	DICT_4X4_250
static int	DICT_4X4_50
static int	DICT_5X5_100
static int	DICT_5X5_1000
static int	DICT_5X5_250
static int	DICT_5X5_50
static int	DICT_6X6_100
static int	DICT_6X6_1000
static int	DICT_6X6_250
static int	DICT_6X6_50
static int	DICT_7X7_100
static int	DICT_7X7_1000
static int	DICT_7X7_250
static int	DICT_7X7_50
static int	DICT_APRILTAG_16h5
static int	DICT_APRILTAG_25h9
static int	DICT_APRILTAG_36h10
static int	DICT_APRILTAG_36h11
static int	DICT_ARUCO_MIP_36h12
static int	DICT_ARUCO_ORIGINAL

Constructor Summary

Constructors

Constructor and Description
Objdetect()

Method Summary

Modifier and Type	Method and Description
static void	drawDetectedCornersCharuco(Mat image, Mat charucoCorners) Draws a set of Charuco corners
static void	drawDetectedCornersCharuco(Mat image, Mat charucoCorners, Mat charucoIds) Draws a set of Charuco corners
static void	drawDetectedCornersCharuco(Mat image, Mat charucoCorners, Mat charucoIds, Scalar cornerColor) Draws a set of Charuco corners
static void	drawDetectedDiamonds(Mat image, List<Mat> diamondCorners) Draw a set of detected ChArUco Diamond markers
static void	drawDetectedDiamonds(Mat image, List<Mat> diamondCorners, Mat diamondIds) Draw a set of detected ChArUco Diamond markers
static void	drawDetectedDiamonds(Mat image, List<Mat> diamondCorners, Mat diamondIds, Scalar borderColor) Draw a set of detected ChArUco Diamond markers
static void	drawDetectedMarkers(Mat image, List<Mat> corners) Draw detected markers in image
static void	drawDetectedMarkers(Mat image, List<Mat> corners, Mat ids) Draw detected markers in image
static void	drawDetectedMarkers(Mat image, List<Mat> corners, Mat ids, Scalar borderColor) Draw detected markers in image
static Dictionary	extendDictionary(int nMarkers, int markerSize) Extend base dictionary by new nMarkers
static Dictionary	extendDictionary(int nMarkers, int markerSize, Dictionary baseDictionary) Extend base dictionary by new nMarkers
static Dictionary	extendDictionary(int nMarkers, int markerSize, Dictionary baseDictionary, int randomSeed) Extend base dictionary by new nMarkers
static void	generateImageMarker(Dictionary dictionary, int id, int sidePixels, Mat img) Generate a canonical marker image
static void	generateImageMarker(Dictionary dictionary, int id, int sidePixels, Mat img, int borderBits) Generate a canonical marker image
static Dictionary	getPredefinedDictionary(int dict) Returns one of the predefined dictionaries referenced by DICT_*.
static void	groupRectangles(MatOfRect rectList, MatOfInt weights, int groupThreshold)
static void	groupRectangles(MatOfRect rectList, MatOfInt weights, int groupThreshold, double eps)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

CASCADE_DO_CANNY_PRUNING

public static final int CASCADE_DO_CANNY_PRUNING

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Constant Field Values

CASCADE_SCALE_IMAGE

public static final int CASCADE_SCALE_IMAGE

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CASCADE_FIND_BIGGEST_OBJECT

public static final int CASCADE_FIND_BIGGEST_OBJECT

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CASCADE_DO_ROUGH_SEARCH

public static final int CASCADE_DO_ROUGH_SEARCH

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DetectionBasedTracker_DETECTED_NOT_SHOWN_YET

public static final int DetectionBasedTracker_DETECTED_NOT_SHOWN_YET

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DetectionBasedTracker_DETECTED

public static final int DetectionBasedTracker_DETECTED

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DetectionBasedTracker_DETECTED_TEMPORARY_LOST

public static final int DetectionBasedTracker_DETECTED_TEMPORARY_LOST

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DetectionBasedTracker_WRONG_OBJECT

public static final int DetectionBasedTracker_WRONG_OBJECT

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CORNER_REFINE_NONE

public static final int CORNER_REFINE_NONE

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CORNER_REFINE_SUBPIX

public static final int CORNER_REFINE_SUBPIX

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CORNER_REFINE_CONTOUR

public static final int CORNER_REFINE_CONTOUR

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CORNER_REFINE_APRILTAG

public static final int CORNER_REFINE_APRILTAG

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DICT_4X4_50

public static final int DICT_4X4_50

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DICT_4X4_100

public static final int DICT_4X4_100

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DICT_4X4_250

public static final int DICT_4X4_250

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DICT_4X4_1000

public static final int DICT_4X4_1000

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DICT_5X5_50

public static final int DICT_5X5_50

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DICT_5X5_100

public static final int DICT_5X5_100

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DICT_5X5_250

public static final int DICT_5X5_250

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DICT_5X5_1000

public static final int DICT_5X5_1000

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DICT_6X6_50

public static final int DICT_6X6_50

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DICT_6X6_100

public static final int DICT_6X6_100

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DICT_6X6_250

public static final int DICT_6X6_250

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DICT_6X6_1000

public static final int DICT_6X6_1000

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DICT_7X7_50

public static final int DICT_7X7_50

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DICT_7X7_100

public static final int DICT_7X7_100

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DICT_7X7_250

public static final int DICT_7X7_250

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DICT_7X7_1000

public static final int DICT_7X7_1000

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DICT_ARUCO_ORIGINAL

public static final int DICT_ARUCO_ORIGINAL

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DICT_APRILTAG_16h5

public static final int DICT_APRILTAG_16h5

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DICT_APRILTAG_25h9

public static final int DICT_APRILTAG_25h9

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DICT_APRILTAG_36h10

public static final int DICT_APRILTAG_36h10

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DICT_APRILTAG_36h11

public static final int DICT_APRILTAG_36h11

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DICT_ARUCO_MIP_36h12

public static final int DICT_ARUCO_MIP_36h12

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Constructor Detail

Objdetect

public Objdetect()

Method Detail

groupRectangles

public static void groupRectangles(MatOfRect rectList,
                                   MatOfInt weights,
                                   int groupThreshold,
                                   double eps)

groupRectangles

public static void groupRectangles(MatOfRect rectList,
                                   MatOfInt weights,
                                   int groupThreshold)

drawDetectedMarkers

public static void drawDetectedMarkers(Mat image,
                                       List<Mat> corners,
                                       Mat ids,
                                       Scalar borderColor)

Draw detected markers in image

Parameters:

image - input/output image. It must have 1 or 3 channels. The number of channels is not altered.

corners - positions of marker corners on input image. (e.g std::vector<std::vector<cv::Point2f> > ). For N detected markers, the dimensions of this array should be Nx4. The order of the corners should be clockwise.

ids - vector of identifiers for markers in markersCorners . Optional, if not provided, ids are not painted.

borderColor - color of marker borders. Rest of colors (text color and first corner color) are calculated based on this one to improve visualization. Given an array of detected marker corners and its corresponding ids, this functions draws the markers in the image. The marker borders are painted and the markers identifiers if provided. Useful for debugging purposes.

drawDetectedMarkers

public static void drawDetectedMarkers(Mat image,
                                       List<Mat> corners,
                                       Mat ids)

Draw detected markers in image

Parameters:

image - input/output image. It must have 1 or 3 channels. The number of channels is not altered.

corners - positions of marker corners on input image. (e.g std::vector<std::vector<cv::Point2f> > ). For N detected markers, the dimensions of this array should be Nx4. The order of the corners should be clockwise.

ids - vector of identifiers for markers in markersCorners . Optional, if not provided, ids are not painted. are calculated based on this one to improve visualization. Given an array of detected marker corners and its corresponding ids, this functions draws the markers in the image. The marker borders are painted and the markers identifiers if provided. Useful for debugging purposes.

drawDetectedMarkers

public static void drawDetectedMarkers(Mat image,
                                       List<Mat> corners)

Draw detected markers in image

Parameters:

image - input/output image. It must have 1 or 3 channels. The number of channels is not altered.

corners - positions of marker corners on input image. (e.g std::vector<std::vector<cv::Point2f> > ). For N detected markers, the dimensions of this array should be Nx4. The order of the corners should be clockwise. Optional, if not provided, ids are not painted. are calculated based on this one to improve visualization. Given an array of detected marker corners and its corresponding ids, this functions draws the markers in the image. The marker borders are painted and the markers identifiers if provided. Useful for debugging purposes.

generateImageMarker

public static void generateImageMarker(Dictionary dictionary,
                                       int id,
                                       int sidePixels,
                                       Mat img,
                                       int borderBits)

Generate a canonical marker image

Parameters:

dictionary - dictionary of markers indicating the type of markers

id - identifier of the marker that will be returned. It has to be a valid id in the specified dictionary.

sidePixels - size of the image in pixels

img - output image with the marker

borderBits - width of the marker border. This function returns a marker image in its canonical form (i.e. ready to be printed)

generateImageMarker

public static void generateImageMarker(Dictionary dictionary,
                                       int id,
                                       int sidePixels,
                                       Mat img)

Generate a canonical marker image

Parameters:

dictionary - dictionary of markers indicating the type of markers

id - identifier of the marker that will be returned. It has to be a valid id in the specified dictionary.

sidePixels - size of the image in pixels

img - output image with the marker This function returns a marker image in its canonical form (i.e. ready to be printed)

getPredefinedDictionary

public static Dictionary getPredefinedDictionary(int dict)

Returns one of the predefined dictionaries referenced by DICT_*.

Parameters:

dict - automatically generated

Returns:

automatically generated

extendDictionary

public static Dictionary extendDictionary(int nMarkers,
                                          int markerSize,
                                          Dictionary baseDictionary,
                                          int randomSeed)

Extend base dictionary by new nMarkers

Parameters:

nMarkers - number of markers in the dictionary

markerSize - number of bits per dimension of each markers

baseDictionary - Include the markers in this dictionary at the beginning (optional)

randomSeed - a user supplied seed for theRNG() 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.

Returns:

automatically generated

extendDictionary

public static Dictionary extendDictionary(int nMarkers,
                                          int markerSize,
                                          Dictionary baseDictionary)

Extend base dictionary by new nMarkers

Parameters:

nMarkers - number of markers in the dictionary

markerSize - number of bits per dimension of each markers

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.

Returns:

automatically generated

extendDictionary

public static Dictionary extendDictionary(int nMarkers,
                                          int markerSize)

Extend base dictionary by new nMarkers

Parameters:

nMarkers - number of markers in the dictionary

markerSize - number of bits per dimension of each markers 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.

Returns:

automatically generated

drawDetectedCornersCharuco

public static void drawDetectedCornersCharuco(Mat image,
                                              Mat charucoCorners,
                                              Mat charucoIds,
                                              Scalar cornerColor)

Draws a set of Charuco corners

Parameters:

image - input/output image. It must have 1 or 3 channels. The number of channels is not altered.

charucoCorners - vector of detected charuco corners

charucoIds - list of identifiers for each corner in charucoCorners

cornerColor - color of the square surrounding each corner This function draws a set of detected Charuco corners. If identifiers vector is provided, it also draws the id of each corner.

drawDetectedCornersCharuco

public static void drawDetectedCornersCharuco(Mat image,
                                              Mat charucoCorners,
                                              Mat charucoIds)

Draws a set of Charuco corners

Parameters:

image - input/output image. It must have 1 or 3 channels. The number of channels is not altered.

charucoCorners - vector of detected charuco corners

charucoIds - list of identifiers for each corner in charucoCorners This function draws a set of detected Charuco corners. If identifiers vector is provided, it also draws the id of each corner.

drawDetectedCornersCharuco

public static void drawDetectedCornersCharuco(Mat image,
                                              Mat charucoCorners)

Draws a set of Charuco corners

Parameters:

image - input/output image. It must have 1 or 3 channels. The number of channels is not altered.

charucoCorners - vector of detected charuco corners This function draws a set of detected Charuco corners. If identifiers vector is provided, it also draws the id of each corner.

drawDetectedDiamonds

public static void drawDetectedDiamonds(Mat image,
                                        List<Mat> diamondCorners,
                                        Mat diamondIds,
                                        Scalar borderColor)

Draw a set of detected ChArUco Diamond markers

Parameters:

image - input/output image. It must have 1 or 3 channels. The number of channels is not altered.

diamondCorners - positions of diamond corners in the same format returned by detectCharucoDiamond(). (e.g std::vector<std::vector<cv::Point2f> > ). For N detected markers, the dimensions of this array should be Nx4. The order of the corners should be clockwise.

diamondIds - vector of identifiers for diamonds in diamondCorners, in the same format returned by detectCharucoDiamond() (e.g. std::vector<Vec4i>). Optional, if not provided, ids are not painted.

borderColor - color of marker borders. Rest of colors (text color and first corner color) are calculated based on this one. Given an array of detected diamonds, this functions draws them in the image. The marker borders are painted and the markers identifiers if provided. Useful for debugging purposes.

drawDetectedDiamonds

public static void drawDetectedDiamonds(Mat image,
                                        List<Mat> diamondCorners,
                                        Mat diamondIds)

Draw a set of detected ChArUco Diamond markers

Parameters:

image - input/output image. It must have 1 or 3 channels. The number of channels is not altered.

diamondCorners - positions of diamond corners in the same format returned by detectCharucoDiamond(). (e.g std::vector<std::vector<cv::Point2f> > ). For N detected markers, the dimensions of this array should be Nx4. The order of the corners should be clockwise.

diamondIds - vector of identifiers for diamonds in diamondCorners, in the same format returned by detectCharucoDiamond() (e.g. std::vector<Vec4i>). Optional, if not provided, ids are not painted. are calculated based on this one. Given an array of detected diamonds, this functions draws them in the image. The marker borders are painted and the markers identifiers if provided. Useful for debugging purposes.

drawDetectedDiamonds

public static void drawDetectedDiamonds(Mat image,
                                        List<Mat> diamondCorners)

Draw a set of detected ChArUco Diamond markers

Parameters:

image - input/output image. It must have 1 or 3 channels. The number of channels is not altered.

diamondCorners - positions of diamond corners in the same format returned by detectCharucoDiamond(). (e.g std::vector<std::vector<cv::Point2f> > ). For N detected markers, the dimensions of this array should be Nx4. The order of the corners should be clockwise. returned by detectCharucoDiamond() (e.g. std::vector<Vec4i>). Optional, if not provided, ids are not painted. are calculated based on this one. Given an array of detected diamonds, this functions draws them in the image. The marker borders are painted and the markers identifiers if provided. Useful for debugging purposes.