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OpenCV
3.4.20
Open Source Computer Vision
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#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 > ¶meters=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 > ¶meters=DetectorParameters::create()) |
Refind not detected markers based on the already detected and the board layout. More... | |