aruco.hpp File Reference

#include <opencv2/core.hpp>
#include <opencv2/calib3d.hpp>
#include <vector>
#include "opencv2/aruco/dictionary.hpp"

Classes
class	cv::aruco::Board
	Board of markers. More...
struct	cv::aruco::DetectorParameters
	Parameters for the detectMarker process: More...
struct	cv::aruco::EstimateParameters
	Pose estimation parameters. More...
class	cv::aruco::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...

Namespaces
	cv
	cv::aruco

Enumerations
enum	cv::aruco::CornerRefineMethod {   cv::aruco::CORNER_REFINE_NONE,   cv::aruco::CORNER_REFINE_SUBPIX,   cv::aruco::CORNER_REFINE_CONTOUR,   cv::aruco::CORNER_REFINE_APRILTAG }
enum	cv::aruco::PatternPos {   cv::aruco::CCW_center,   cv::aruco::CW_top_left_corner }
	rvec/tvec define the right handed coordinate system of the marker. PatternPos defines center this system and axes direction. Axis X (red color) - first coordinate, axis Y (green color) - second coordinate, axis Z (blue color) - third coordinate. More...

Functions
void	cv::aruco::_drawPlanarBoardImpl (Board *board, Size outSize, OutputArray img, int marginSize=0, int borderBits=1)
	Implementation of drawPlanarBoard that accepts a raw Board pointer. More...
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=0, TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, DBL_EPSILON))
	Calibrate a camera using aruco markers. More...
double	cv::aruco::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...
void	cv::aruco::detectMarkers (InputArray image, const Ptr< Dictionary > &dictionary, OutputArrayOfArrays corners, OutputArray ids, const Ptr< DetectorParameters > &parameters=DetectorParameters::create(), OutputArrayOfArrays rejectedImgPoints=noArray())
	Basic marker detection. More...
void	cv::aruco::drawDetectedMarkers (InputOutputArray image, InputArrayOfArrays corners, InputArray ids=noArray(), Scalar borderColor=Scalar(0, 255, 0))
	Draw detected markers in image. More...
void	cv::aruco::drawMarker (const Ptr< Dictionary > &dictionary, int id, int sidePixels, OutputArray img, int borderBits=1)
	Draw a canonical marker image. More...
void	cv::aruco::drawPlanarBoard (const Ptr< Board > &board, Size outSize, OutputArray img, int marginSize=0, int borderBits=1)
	Draw a planar board. More...
int	cv::aruco::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...
void	cv::aruco::estimatePoseSingleMarkers (InputArrayOfArrays corners, float markerLength, InputArray cameraMatrix, InputArray distCoeffs, OutputArray rvecs, OutputArray tvecs, OutputArray _objPoints=noArray(), Ptr< EstimateParameters > estimateParameters=EstimateParameters::create())
	Pose estimation for single markers. More...
void	cv::aruco::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...
void	cv::aruco::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...