java.lang.Object
- org.opencv.aruco.Aruco

public class Aruco
extends java.lang.Object

Field Summary

Fields
Modifier and Type Field Description

static int ARUCO_CCW_CENTER

static int ARUCO_CW_TOP_LEFT_CORNER

Constructor Summary

Constructors
Constructor Description

Aruco()

Method Summary

All Methods Static Methods Concrete Methods Deprecated Methods
Modifier and Type	Method	Description
`static double`	`calibrateCameraAruco(java.util.List<Mat> corners, Mat ids, Mat counter, Board board, Size imageSize, Mat cameraMatrix, Mat distCoeffs)`	It's the same function as #calibrateCameraAruco but without calibration error estimation.
`static double`	`calibrateCameraAruco(java.util.List<Mat> corners, Mat ids, Mat counter, Board board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, java.util.List<Mat> rvecs)`	It's the same function as #calibrateCameraAruco but without calibration error estimation.
`static double`	`calibrateCameraAruco(java.util.List<Mat> corners, Mat ids, Mat counter, Board board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, java.util.List<Mat> rvecs, java.util.List<Mat> tvecs)`	It's the same function as #calibrateCameraAruco but without calibration error estimation.
`static double`	`calibrateCameraAruco(java.util.List<Mat> corners, Mat ids, Mat counter, Board board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, java.util.List<Mat> rvecs, java.util.List<Mat> tvecs, int flags)`	It's the same function as #calibrateCameraAruco but without calibration error estimation.
`static double`	`calibrateCameraAruco(java.util.List<Mat> corners, Mat ids, Mat counter, Board board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, java.util.List<Mat> rvecs, java.util.List<Mat> tvecs, int flags, TermCriteria criteria)`	It's the same function as #calibrateCameraAruco but without calibration error estimation.
`static double`	`calibrateCameraArucoExtended(java.util.List<Mat> corners, Mat ids, Mat counter, Board board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, java.util.List<Mat> rvecs, java.util.List<Mat> tvecs, Mat stdDeviationsIntrinsics, Mat stdDeviationsExtrinsics, Mat perViewErrors)`	Calibrate a camera using aruco markers
`static double`	`calibrateCameraArucoExtended(java.util.List<Mat> corners, Mat ids, Mat counter, Board board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, java.util.List<Mat> rvecs, java.util.List<Mat> tvecs, Mat stdDeviationsIntrinsics, Mat stdDeviationsExtrinsics, Mat perViewErrors, int flags)`	Calibrate a camera using aruco markers
`static double`	`calibrateCameraArucoExtended(java.util.List<Mat> corners, Mat ids, Mat counter, Board board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, java.util.List<Mat> rvecs, java.util.List<Mat> tvecs, Mat stdDeviationsIntrinsics, Mat stdDeviationsExtrinsics, Mat perViewErrors, int flags, TermCriteria criteria)`	Calibrate a camera using aruco markers
`static double`	`calibrateCameraCharuco(java.util.List<Mat> charucoCorners, java.util.List<Mat> charucoIds, CharucoBoard board, Size imageSize, Mat cameraMatrix, Mat distCoeffs)`	It's the same function as #calibrateCameraCharuco but without calibration error estimation.
`static double`	`calibrateCameraCharuco(java.util.List<Mat> charucoCorners, java.util.List<Mat> charucoIds, CharucoBoard board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, java.util.List<Mat> rvecs)`	It's the same function as #calibrateCameraCharuco but without calibration error estimation.
`static double`	`calibrateCameraCharuco(java.util.List<Mat> charucoCorners, java.util.List<Mat> charucoIds, CharucoBoard board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, java.util.List<Mat> rvecs, java.util.List<Mat> tvecs)`	It's the same function as #calibrateCameraCharuco but without calibration error estimation.
`static double`	`calibrateCameraCharuco(java.util.List<Mat> charucoCorners, java.util.List<Mat> charucoIds, CharucoBoard board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, java.util.List<Mat> rvecs, java.util.List<Mat> tvecs, int flags)`	It's the same function as #calibrateCameraCharuco but without calibration error estimation.
`static double`	`calibrateCameraCharuco(java.util.List<Mat> charucoCorners, java.util.List<Mat> charucoIds, CharucoBoard board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, java.util.List<Mat> rvecs, java.util.List<Mat> tvecs, int flags, TermCriteria criteria)`	It's the same function as #calibrateCameraCharuco but without calibration error estimation.
`static double`	`calibrateCameraCharucoExtended(java.util.List<Mat> charucoCorners, java.util.List<Mat> charucoIds, CharucoBoard board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, java.util.List<Mat> rvecs, java.util.List<Mat> tvecs, Mat stdDeviationsIntrinsics, Mat stdDeviationsExtrinsics, Mat perViewErrors)`	Calibrate a camera using Charuco corners
`static double`	`calibrateCameraCharucoExtended(java.util.List<Mat> charucoCorners, java.util.List<Mat> charucoIds, CharucoBoard board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, java.util.List<Mat> rvecs, java.util.List<Mat> tvecs, Mat stdDeviationsIntrinsics, Mat stdDeviationsExtrinsics, Mat perViewErrors, int flags)`	Calibrate a camera using Charuco corners
`static double`	`calibrateCameraCharucoExtended(java.util.List<Mat> charucoCorners, java.util.List<Mat> charucoIds, CharucoBoard board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, java.util.List<Mat> rvecs, java.util.List<Mat> tvecs, Mat stdDeviationsIntrinsics, Mat stdDeviationsExtrinsics, Mat perViewErrors, int flags, TermCriteria criteria)`	Calibrate a camera using Charuco corners
`static void`	`detectCharucoDiamond(Mat image, java.util.List<Mat> markerCorners, Mat markerIds, float squareMarkerLengthRate, java.util.List<Mat> diamondCorners, Mat diamondIds)`	Deprecated. Use CharucoDetector::detectDiamonds
`static void`	`detectCharucoDiamond(Mat image, java.util.List<Mat> markerCorners, Mat markerIds, float squareMarkerLengthRate, java.util.List<Mat> diamondCorners, Mat diamondIds, Mat cameraMatrix)`	Deprecated. Use CharucoDetector::detectDiamonds
`static void`	`detectCharucoDiamond(Mat image, java.util.List<Mat> markerCorners, Mat markerIds, float squareMarkerLengthRate, java.util.List<Mat> diamondCorners, Mat diamondIds, Mat cameraMatrix, Mat distCoeffs)`	Deprecated. Use CharucoDetector::detectDiamonds
`static void`	`detectCharucoDiamond(Mat image, java.util.List<Mat> markerCorners, Mat markerIds, float squareMarkerLengthRate, java.util.List<Mat> diamondCorners, Mat diamondIds, Mat cameraMatrix, Mat distCoeffs, Dictionary dictionary)`	Deprecated. Use CharucoDetector::detectDiamonds
`static void`	`detectMarkers(Mat image, Dictionary dictionary, java.util.List<Mat> corners, Mat ids)`	Deprecated. Use class ArucoDetector::detectMarkers
`static void`	`detectMarkers(Mat image, Dictionary dictionary, java.util.List<Mat> corners, Mat ids, DetectorParameters parameters)`	Deprecated. Use class ArucoDetector::detectMarkers
`static void`	`detectMarkers(Mat image, Dictionary dictionary, java.util.List<Mat> corners, Mat ids, DetectorParameters parameters, java.util.List<Mat> rejectedImgPoints)`	Deprecated. Use class ArucoDetector::detectMarkers
`static void`	`drawPlanarBoard(Board board, Size outSize, Mat img, int marginSize, int borderBits)`	Deprecated. Use Board::generateImage
`static int`	`estimatePoseBoard(java.util.List<Mat> corners, Mat ids, Board board, Mat cameraMatrix, Mat distCoeffs, Mat rvec, Mat tvec)`	Deprecated. Use cv::solvePnP
`static int`	`estimatePoseBoard(java.util.List<Mat> corners, Mat ids, Board board, Mat cameraMatrix, Mat distCoeffs, Mat rvec, Mat tvec, boolean useExtrinsicGuess)`	Deprecated. Use cv::solvePnP
`static boolean`	`estimatePoseCharucoBoard(Mat charucoCorners, Mat charucoIds, CharucoBoard board, Mat cameraMatrix, Mat distCoeffs, Mat rvec, Mat tvec)`	Pose estimation for a ChArUco board given some of their corners
`static boolean`	`estimatePoseCharucoBoard(Mat charucoCorners, Mat charucoIds, CharucoBoard board, Mat cameraMatrix, Mat distCoeffs, Mat rvec, Mat tvec, boolean useExtrinsicGuess)`	Pose estimation for a ChArUco board given some of their corners
`static void`	`estimatePoseSingleMarkers(java.util.List<Mat> corners, float markerLength, Mat cameraMatrix, Mat distCoeffs, Mat rvecs, Mat tvecs)`	Deprecated. Use cv::solvePnP
`static void`	`estimatePoseSingleMarkers(java.util.List<Mat> corners, float markerLength, Mat cameraMatrix, Mat distCoeffs, Mat rvecs, Mat tvecs, Mat objPoints)`	Deprecated. Use cv::solvePnP
`static void`	`estimatePoseSingleMarkers(java.util.List<Mat> corners, float markerLength, Mat cameraMatrix, Mat distCoeffs, Mat rvecs, Mat tvecs, Mat objPoints, EstimateParameters estimateParameters)`	Deprecated. Use cv::solvePnP
`static void`	`getBoardObjectAndImagePoints(Board board, java.util.List<Mat> detectedCorners, Mat detectedIds, Mat objPoints, Mat imgPoints)`	Deprecated. Use Board::matchImagePoints
`static int`	`interpolateCornersCharuco(java.util.List<Mat> markerCorners, Mat markerIds, Mat image, CharucoBoard board, Mat charucoCorners, Mat charucoIds)`	Deprecated. Use CharucoDetector::detectBoard
`static int`	`interpolateCornersCharuco(java.util.List<Mat> markerCorners, Mat markerIds, Mat image, CharucoBoard board, Mat charucoCorners, Mat charucoIds, Mat cameraMatrix)`	Deprecated. Use CharucoDetector::detectBoard
`static int`	`interpolateCornersCharuco(java.util.List<Mat> markerCorners, Mat markerIds, Mat image, CharucoBoard board, Mat charucoCorners, Mat charucoIds, Mat cameraMatrix, Mat distCoeffs)`	Deprecated. Use CharucoDetector::detectBoard
`static int`	`interpolateCornersCharuco(java.util.List<Mat> markerCorners, Mat markerIds, Mat image, CharucoBoard board, Mat charucoCorners, Mat charucoIds, Mat cameraMatrix, Mat distCoeffs, int minMarkers)`	Deprecated. Use CharucoDetector::detectBoard
`static void`	`refineDetectedMarkers(Mat image, Board board, java.util.List<Mat> detectedCorners, Mat detectedIds, java.util.List<Mat> rejectedCorners)`	Deprecated. Use class ArucoDetector::refineDetectedMarkers
`static void`	`refineDetectedMarkers(Mat image, Board board, java.util.List<Mat> detectedCorners, Mat detectedIds, java.util.List<Mat> rejectedCorners, Mat cameraMatrix)`	Deprecated. Use class ArucoDetector::refineDetectedMarkers
`static void`	`refineDetectedMarkers(Mat image, Board board, java.util.List<Mat> detectedCorners, Mat detectedIds, java.util.List<Mat> rejectedCorners, Mat cameraMatrix, Mat distCoeffs)`	Deprecated. Use class ArucoDetector::refineDetectedMarkers
`static void`	`refineDetectedMarkers(Mat image, Board board, java.util.List<Mat> detectedCorners, Mat detectedIds, java.util.List<Mat> rejectedCorners, Mat cameraMatrix, Mat distCoeffs, float minRepDistance)`	Deprecated. Use class ArucoDetector::refineDetectedMarkers
`static void`	`refineDetectedMarkers(Mat image, Board board, java.util.List<Mat> detectedCorners, Mat detectedIds, java.util.List<Mat> rejectedCorners, Mat cameraMatrix, Mat distCoeffs, float minRepDistance, float errorCorrectionRate)`	Deprecated. Use class ArucoDetector::refineDetectedMarkers
`static void`	`refineDetectedMarkers(Mat image, Board board, java.util.List<Mat> detectedCorners, Mat detectedIds, java.util.List<Mat> rejectedCorners, Mat cameraMatrix, Mat distCoeffs, float minRepDistance, float errorCorrectionRate, boolean checkAllOrders)`	Deprecated. Use class ArucoDetector::refineDetectedMarkers
`static void`	`refineDetectedMarkers(Mat image, Board board, java.util.List<Mat> detectedCorners, Mat detectedIds, java.util.List<Mat> rejectedCorners, Mat cameraMatrix, Mat distCoeffs, float minRepDistance, float errorCorrectionRate, boolean checkAllOrders, Mat recoveredIdxs)`	Deprecated. Use class ArucoDetector::refineDetectedMarkers
`static void`	`refineDetectedMarkers(Mat image, Board board, java.util.List<Mat> detectedCorners, Mat detectedIds, java.util.List<Mat> rejectedCorners, Mat cameraMatrix, Mat distCoeffs, float minRepDistance, float errorCorrectionRate, boolean checkAllOrders, Mat recoveredIdxs, DetectorParameters parameters)`	Deprecated. Use class ArucoDetector::refineDetectedMarkers
`static boolean`	`testCharucoCornersCollinear(CharucoBoard board, Mat charucoIds)`	Deprecated. Use CharucoBoard::checkCharucoCornersCollinear

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - ARUCO_CCW_CENTER
```
public static final int ARUCO_CCW_CENTER
```
    See Also:
    
    Constant Field Values
  - ARUCO_CW_TOP_LEFT_CORNER
```
public static final int ARUCO_CW_TOP_LEFT_CORNER
```
    See Also:
    
    Constant Field Values
- Constructor Detail
  - Aruco
```
public Aruco()
```
- Method Detail
  - detectMarkers
```
@Deprecated
public static void detectMarkers(Mat image,
                                 Dictionary dictionary,
                                 java.util.List<Mat> corners,
                                 Mat ids,
                                 DetectorParameters parameters,
                                 java.util.List<Mat> rejectedImgPoints)
```
    Deprecated.
    Use class ArucoDetector::detectMarkers
    
    detect markers
    
    Parameters:
    
    image - automatically generated
    
    dictionary - automatically generated
    
    corners - automatically generated
    
    ids - automatically generated
    
    parameters - automatically generated
    
    rejectedImgPoints - automatically generated
  - detectMarkers
```
@Deprecated
public static void detectMarkers(Mat image,
                                 Dictionary dictionary,
                                 java.util.List<Mat> corners,
                                 Mat ids,
                                 DetectorParameters parameters)
```
    Deprecated.
    Use class ArucoDetector::detectMarkers
    
    detect markers
    
    Parameters:
    
    image - automatically generated
    
    dictionary - automatically generated
    
    corners - automatically generated
    
    ids - automatically generated
    
    parameters - automatically generated
  - detectMarkers
```
@Deprecated
public static void detectMarkers(Mat image,
                                 Dictionary dictionary,
                                 java.util.List<Mat> corners,
                                 Mat ids)
```
    Deprecated.
    Use class ArucoDetector::detectMarkers
    
    detect markers
    
    Parameters:
    
    image - automatically generated
    
    dictionary - automatically generated
    
    corners - automatically generated
    
    ids - automatically generated
  - refineDetectedMarkers
```
@Deprecated
public static void refineDetectedMarkers(Mat image,
                                         Board board,
                                         java.util.List<Mat> detectedCorners,
                                         Mat detectedIds,
                                         java.util.List<Mat> rejectedCorners,
                                         Mat cameraMatrix,
                                         Mat distCoeffs,
                                         float minRepDistance,
                                         float errorCorrectionRate,
                                         boolean checkAllOrders,
                                         Mat recoveredIdxs,
                                         DetectorParameters parameters)
```
    Deprecated.
    Use class ArucoDetector::refineDetectedMarkers
    
    refine detected markers
    
    Parameters:
    
    image - automatically generated
    
    board - automatically generated
    
    detectedCorners - automatically generated
    
    detectedIds - automatically generated
    
    rejectedCorners - automatically generated
    
    cameraMatrix - automatically generated
    
    distCoeffs - automatically generated
    
    minRepDistance - automatically generated
    
    errorCorrectionRate - automatically generated
    
    checkAllOrders - automatically generated
    
    recoveredIdxs - automatically generated
    
    parameters - automatically generated
  - refineDetectedMarkers
```
@Deprecated
public static void refineDetectedMarkers(Mat image,
                                         Board board,
                                         java.util.List<Mat> detectedCorners,
                                         Mat detectedIds,
                                         java.util.List<Mat> rejectedCorners,
                                         Mat cameraMatrix,
                                         Mat distCoeffs,
                                         float minRepDistance,
                                         float errorCorrectionRate,
                                         boolean checkAllOrders,
                                         Mat recoveredIdxs)
```
    Deprecated.
    Use class ArucoDetector::refineDetectedMarkers
    
    refine detected markers
    
    Parameters:
    
    image - automatically generated
    
    board - automatically generated
    
    detectedCorners - automatically generated
    
    detectedIds - automatically generated
    
    rejectedCorners - automatically generated
    
    cameraMatrix - automatically generated
    
    distCoeffs - automatically generated
    
    minRepDistance - automatically generated
    
    errorCorrectionRate - automatically generated
    
    checkAllOrders - automatically generated
    
    recoveredIdxs - automatically generated
  - refineDetectedMarkers
```
@Deprecated
public static void refineDetectedMarkers(Mat image,
                                         Board board,
                                         java.util.List<Mat> detectedCorners,
                                         Mat detectedIds,
                                         java.util.List<Mat> rejectedCorners,
                                         Mat cameraMatrix,
                                         Mat distCoeffs,
                                         float minRepDistance,
                                         float errorCorrectionRate,
                                         boolean checkAllOrders)
```
    Deprecated.
    Use class ArucoDetector::refineDetectedMarkers
    
    refine detected markers
    
    Parameters:
    
    image - automatically generated
    
    board - automatically generated
    
    detectedCorners - automatically generated
    
    detectedIds - automatically generated
    
    rejectedCorners - automatically generated
    
    cameraMatrix - automatically generated
    
    distCoeffs - automatically generated
    
    minRepDistance - automatically generated
    
    errorCorrectionRate - automatically generated
    
    checkAllOrders - automatically generated
  - refineDetectedMarkers
```
@Deprecated
public static void refineDetectedMarkers(Mat image,
                                         Board board,
                                         java.util.List<Mat> detectedCorners,
                                         Mat detectedIds,
                                         java.util.List<Mat> rejectedCorners,
                                         Mat cameraMatrix,
                                         Mat distCoeffs,
                                         float minRepDistance,
                                         float errorCorrectionRate)
```
    Deprecated.
    Use class ArucoDetector::refineDetectedMarkers
    
    refine detected markers
    
    Parameters:
    
    image - automatically generated
    
    board - automatically generated
    
    detectedCorners - automatically generated
    
    detectedIds - automatically generated
    
    rejectedCorners - automatically generated
    
    cameraMatrix - automatically generated
    
    distCoeffs - automatically generated
    
    minRepDistance - automatically generated
    
    errorCorrectionRate - automatically generated
  - refineDetectedMarkers
```
@Deprecated
public static void refineDetectedMarkers(Mat image,
                                         Board board,
                                         java.util.List<Mat> detectedCorners,
                                         Mat detectedIds,
                                         java.util.List<Mat> rejectedCorners,
                                         Mat cameraMatrix,
                                         Mat distCoeffs,
                                         float minRepDistance)
```
    Deprecated.
    Use class ArucoDetector::refineDetectedMarkers
    
    refine detected markers
    
    Parameters:
    
    image - automatically generated
    
    board - automatically generated
    
    detectedCorners - automatically generated
    
    detectedIds - automatically generated
    
    rejectedCorners - automatically generated
    
    cameraMatrix - automatically generated
    
    distCoeffs - automatically generated
    
    minRepDistance - automatically generated
  - refineDetectedMarkers
```
@Deprecated
public static void refineDetectedMarkers(Mat image,
                                         Board board,
                                         java.util.List<Mat> detectedCorners,
                                         Mat detectedIds,
                                         java.util.List<Mat> rejectedCorners,
                                         Mat cameraMatrix,
                                         Mat distCoeffs)
```
    Deprecated.
    Use class ArucoDetector::refineDetectedMarkers
    
    refine detected markers
    
    Parameters:
    
    image - automatically generated
    
    board - automatically generated
    
    detectedCorners - automatically generated
    
    detectedIds - automatically generated
    
    rejectedCorners - automatically generated
    
    cameraMatrix - automatically generated
    
    distCoeffs - automatically generated
  - refineDetectedMarkers
```
@Deprecated
public static void refineDetectedMarkers(Mat image,
                                         Board board,
                                         java.util.List<Mat> detectedCorners,
                                         Mat detectedIds,
                                         java.util.List<Mat> rejectedCorners,
                                         Mat cameraMatrix)
```
    Deprecated.
    Use class ArucoDetector::refineDetectedMarkers
    
    refine detected markers
    
    Parameters:
    
    image - automatically generated
    
    board - automatically generated
    
    detectedCorners - automatically generated
    
    detectedIds - automatically generated
    
    rejectedCorners - automatically generated
    
    cameraMatrix - automatically generated
  - refineDetectedMarkers
```
@Deprecated
public static void refineDetectedMarkers(Mat image,
                                         Board board,
                                         java.util.List<Mat> detectedCorners,
                                         Mat detectedIds,
                                         java.util.List<Mat> rejectedCorners)
```
    Deprecated.
    Use class ArucoDetector::refineDetectedMarkers
    
    refine detected markers
    
    Parameters:
    
    image - automatically generated
    
    board - automatically generated
    
    detectedCorners - automatically generated
    
    detectedIds - automatically generated
    
    rejectedCorners - automatically generated
  - drawPlanarBoard
```
@Deprecated
public static void drawPlanarBoard(Board board,
                                   Size outSize,
                                   Mat img,
                                   int marginSize,
                                   int borderBits)
```
    Deprecated.
    Use Board::generateImage
    
    draw planar board
    
    Parameters:
    
    board - automatically generated
    
    outSize - automatically generated
    
    img - automatically generated
    
    marginSize - automatically generated
    
    borderBits - automatically generated
  - getBoardObjectAndImagePoints
```
@Deprecated
public static void getBoardObjectAndImagePoints(Board board,
                                                java.util.List<Mat> detectedCorners,
                                                Mat detectedIds,
                                                Mat objPoints,
                                                Mat imgPoints)
```
    Deprecated.
    Use Board::matchImagePoints
    
    get board object and image points
    
    Parameters:
    
    board - automatically generated
    
    detectedCorners - automatically generated
    
    detectedIds - automatically generated
    
    objPoints - automatically generated
    
    imgPoints - automatically generated
  - estimatePoseBoard
```
@Deprecated
public static int estimatePoseBoard(java.util.List<Mat> corners,
                                    Mat ids,
                                    Board board,
                                    Mat cameraMatrix,
                                    Mat distCoeffs,
                                    Mat rvec,
                                    Mat tvec,
                                    boolean useExtrinsicGuess)
```
    Deprecated.
    Use cv::solvePnP
    
    Parameters:
    
    corners - automatically generated
    
    ids - automatically generated
    
    board - automatically generated
    
    cameraMatrix - automatically generated
    
    distCoeffs - automatically generated
    
    rvec - automatically generated
    
    tvec - automatically generated
    
    useExtrinsicGuess - automatically generated
    
    Returns:
    
    automatically generated
  - estimatePoseBoard
```
@Deprecated
public static int estimatePoseBoard(java.util.List<Mat> corners,
                                    Mat ids,
                                    Board board,
                                    Mat cameraMatrix,
                                    Mat distCoeffs,
                                    Mat rvec,
                                    Mat tvec)
```
    Deprecated.
    Use cv::solvePnP
    
    Parameters:
    
    corners - automatically generated
    
    ids - automatically generated
    
    board - automatically generated
    
    cameraMatrix - automatically generated
    
    distCoeffs - automatically generated
    
    rvec - automatically generated
    
    tvec - automatically generated
    
    Returns:
    
    automatically generated
  - estimatePoseCharucoBoard
```
public static boolean estimatePoseCharucoBoard(Mat charucoCorners,
                                               Mat charucoIds,
                                               CharucoBoard board,
                                               Mat cameraMatrix,
                                               Mat distCoeffs,
                                               Mat rvec,
                                               Mat tvec,
                                               boolean useExtrinsicGuess)
```
    Pose estimation for a ChArUco board given some of their corners
    
    Parameters:
    
    charucoCorners - vector of detected charuco corners
    
    charucoIds - list of identifiers for each corner in charucoCorners
    
    board - layout of ChArUco board.
    
    cameraMatrix - input 3x3 floating-point camera matrix \(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\)
    
    distCoeffs - vector of distortion coefficients \((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\) of 4, 5, 8 or 12 elements
    
    rvec - Output vector (e.g. cv::Mat) corresponding to the rotation vector of the board (see cv::Rodrigues).
    
    tvec - Output vector (e.g. cv::Mat) corresponding to the translation vector of the board.
    
    useExtrinsicGuess - defines whether initial guess for \b rvec and \b tvec will be used or not. This function estimates a Charuco board pose from some detected corners. The function checks if the input corners are enough and valid to perform pose estimation. If pose estimation is valid, returns true, else returns false. SEE: use cv::drawFrameAxes to get world coordinate system axis for object points
    
    Returns:
    
    automatically generated
  - estimatePoseCharucoBoard
```
public static boolean estimatePoseCharucoBoard(Mat charucoCorners,
                                               Mat charucoIds,
                                               CharucoBoard board,
                                               Mat cameraMatrix,
                                               Mat distCoeffs,
                                               Mat rvec,
                                               Mat tvec)
```
    Pose estimation for a ChArUco board given some of their corners
    
    Parameters:
    
    charucoCorners - vector of detected charuco corners
    
    charucoIds - list of identifiers for each corner in charucoCorners
    
    board - layout of ChArUco board.
    
    cameraMatrix - input 3x3 floating-point camera matrix \(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\)
    
    distCoeffs - vector of distortion coefficients \((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\) of 4, 5, 8 or 12 elements
    
    rvec - Output vector (e.g. cv::Mat) corresponding to the rotation vector of the board (see cv::Rodrigues).
    
    tvec - Output vector (e.g. cv::Mat) corresponding to the translation vector of the board. This function estimates a Charuco board pose from some detected corners. The function checks if the input corners are enough and valid to perform pose estimation. If pose estimation is valid, returns true, else returns false. SEE: use cv::drawFrameAxes to get world coordinate system axis for object points
    
    Returns:
    
    automatically generated
  - estimatePoseSingleMarkers
```
@Deprecated
public static void estimatePoseSingleMarkers(java.util.List<Mat> corners,
                                             float markerLength,
                                             Mat cameraMatrix,
                                             Mat distCoeffs,
                                             Mat rvecs,
                                             Mat tvecs,
                                             Mat objPoints,
                                             EstimateParameters estimateParameters)
```
    Deprecated.
    Use cv::solvePnP
    
    Parameters:
    
    corners - automatically generated
    
    markerLength - automatically generated
    
    cameraMatrix - automatically generated
    
    distCoeffs - automatically generated
    
    rvecs - automatically generated
    
    tvecs - automatically generated
    
    objPoints - automatically generated
    
    estimateParameters - automatically generated
  - estimatePoseSingleMarkers
```
@Deprecated
public static void estimatePoseSingleMarkers(java.util.List<Mat> corners,
                                             float markerLength,
                                             Mat cameraMatrix,
                                             Mat distCoeffs,
                                             Mat rvecs,
                                             Mat tvecs,
                                             Mat objPoints)
```
    Deprecated.
    Use cv::solvePnP
    
    Parameters:
    
    corners - automatically generated
    
    markerLength - automatically generated
    
    cameraMatrix - automatically generated
    
    distCoeffs - automatically generated
    
    rvecs - automatically generated
    
    tvecs - automatically generated
    
    objPoints - automatically generated
  - estimatePoseSingleMarkers
```
@Deprecated
public static void estimatePoseSingleMarkers(java.util.List<Mat> corners,
                                             float markerLength,
                                             Mat cameraMatrix,
                                             Mat distCoeffs,
                                             Mat rvecs,
                                             Mat tvecs)
```
    Deprecated.
    Use cv::solvePnP
    
    Parameters:
    
    corners - automatically generated
    
    markerLength - automatically generated
    
    cameraMatrix - automatically generated
    
    distCoeffs - automatically generated
    
    rvecs - automatically generated
    
    tvecs - automatically generated
  - testCharucoCornersCollinear
```
@Deprecated
public static boolean testCharucoCornersCollinear(CharucoBoard board,
                                                  Mat charucoIds)
```
    Deprecated.
    Use CharucoBoard::checkCharucoCornersCollinear
    
    Parameters:
    
    board - automatically generated
    
    charucoIds - automatically generated
    
    Returns:
    
    automatically generated
  - interpolateCornersCharuco
```
@Deprecated
public static int interpolateCornersCharuco(java.util.List<Mat> markerCorners,
                                            Mat markerIds,
                                            Mat image,
                                            CharucoBoard board,
                                            Mat charucoCorners,
                                            Mat charucoIds,
                                            Mat cameraMatrix,
                                            Mat distCoeffs,
                                            int minMarkers)
```
    Deprecated.
    Use CharucoDetector::detectBoard
    
    Interpolate position of ChArUco board corners
    
    Parameters:
    
    markerCorners - vector of already detected markers corners. For each marker, its four corners are provided, (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.
    
    markerIds - list of identifiers for each marker in corners
    
    image - input image necesary for corner refinement. Note that markers are not detected and should be sent in corners and ids parameters.
    
    board - layout of ChArUco board.
    
    charucoCorners - interpolated chessboard corners
    
    charucoIds - interpolated chessboard corners identifiers
    
    cameraMatrix - optional 3x3 floating-point camera matrix \(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\)
    
    distCoeffs - optional vector of distortion coefficients \((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\) of 4, 5, 8 or 12 elements
    
    minMarkers - number of adjacent markers that must be detected to return a charuco corner This function receives the detected markers and returns the 2D position of the chessboard corners from a ChArUco board using the detected Aruco markers. If camera parameters are provided, the process is based in an approximated pose estimation, else it is based on local homography. Only visible corners are returned. For each corner, its corresponding identifier is also returned in charucoIds. The function returns the number of interpolated corners.
    
    Returns:
    
    automatically generated
  - interpolateCornersCharuco
```
@Deprecated
public static int interpolateCornersCharuco(java.util.List<Mat> markerCorners,
                                            Mat markerIds,
                                            Mat image,
                                            CharucoBoard board,
                                            Mat charucoCorners,
                                            Mat charucoIds,
                                            Mat cameraMatrix,
                                            Mat distCoeffs)
```
    Deprecated.
    Use CharucoDetector::detectBoard
    
    Interpolate position of ChArUco board corners
    
    Parameters:
    
    markerCorners - vector of already detected markers corners. For each marker, its four corners are provided, (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.
    
    markerIds - list of identifiers for each marker in corners
    
    image - input image necesary for corner refinement. Note that markers are not detected and should be sent in corners and ids parameters.
    
    board - layout of ChArUco board.
    
    charucoCorners - interpolated chessboard corners
    
    charucoIds - interpolated chessboard corners identifiers
    
    cameraMatrix - optional 3x3 floating-point camera matrix \(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\)
    
    distCoeffs - optional vector of distortion coefficients \((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\) of 4, 5, 8 or 12 elements This function receives the detected markers and returns the 2D position of the chessboard corners from a ChArUco board using the detected Aruco markers. If camera parameters are provided, the process is based in an approximated pose estimation, else it is based on local homography. Only visible corners are returned. For each corner, its corresponding identifier is also returned in charucoIds. The function returns the number of interpolated corners.
    
    Returns:
    
    automatically generated
  - interpolateCornersCharuco
```
@Deprecated
public static int interpolateCornersCharuco(java.util.List<Mat> markerCorners,
                                            Mat markerIds,
                                            Mat image,
                                            CharucoBoard board,
                                            Mat charucoCorners,
                                            Mat charucoIds,
                                            Mat cameraMatrix)
```
    Deprecated.
    Use CharucoDetector::detectBoard
    
    Interpolate position of ChArUco board corners
    
    Parameters:
    
    markerCorners - vector of already detected markers corners. For each marker, its four corners are provided, (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.
    
    markerIds - list of identifiers for each marker in corners
    
    image - input image necesary for corner refinement. Note that markers are not detected and should be sent in corners and ids parameters.
    
    board - layout of ChArUco board.
    
    charucoCorners - interpolated chessboard corners
    
    charucoIds - interpolated chessboard corners identifiers
    
    cameraMatrix - optional 3x3 floating-point camera matrix \(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) \((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\) of 4, 5, 8 or 12 elements This function receives the detected markers and returns the 2D position of the chessboard corners from a ChArUco board using the detected Aruco markers. If camera parameters are provided, the process is based in an approximated pose estimation, else it is based on local homography. Only visible corners are returned. For each corner, its corresponding identifier is also returned in charucoIds. The function returns the number of interpolated corners.
    
    Returns:
    
    automatically generated
  - interpolateCornersCharuco
```
@Deprecated
public static int interpolateCornersCharuco(java.util.List<Mat> markerCorners,
                                            Mat markerIds,
                                            Mat image,
                                            CharucoBoard board,
                                            Mat charucoCorners,
                                            Mat charucoIds)
```
    Deprecated.
    Use CharucoDetector::detectBoard
    
    Interpolate position of ChArUco board corners
    
    Parameters:
    
    markerCorners - vector of already detected markers corners. For each marker, its four corners are provided, (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.
    
    markerIds - list of identifiers for each marker in corners
    
    image - input image necesary for corner refinement. Note that markers are not detected and should be sent in corners and ids parameters.
    
    board - layout of ChArUco board.
    
    charucoCorners - interpolated chessboard corners
    
    charucoIds - interpolated chessboard corners identifiers \(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) \((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\) of 4, 5, 8 or 12 elements This function receives the detected markers and returns the 2D position of the chessboard corners from a ChArUco board using the detected Aruco markers. If camera parameters are provided, the process is based in an approximated pose estimation, else it is based on local homography. Only visible corners are returned. For each corner, its corresponding identifier is also returned in charucoIds. The function returns the number of interpolated corners.
    
    Returns:
    
    automatically generated
  - detectCharucoDiamond
```
@Deprecated
public static void detectCharucoDiamond(Mat image,
                                        java.util.List<Mat> markerCorners,
                                        Mat markerIds,
                                        float squareMarkerLengthRate,
                                        java.util.List<Mat> diamondCorners,
                                        Mat diamondIds,
                                        Mat cameraMatrix,
                                        Mat distCoeffs,
                                        Dictionary dictionary)
```
    Deprecated.
    Use CharucoDetector::detectDiamonds
    
    Detect ChArUco Diamond markers
    
    Parameters:
    
    image - input image necessary for corner subpixel.
    
    markerCorners - list of detected marker corners from detectMarkers function.
    
    markerIds - list of marker ids in markerCorners.
    
    squareMarkerLengthRate - rate between square and marker length: squareMarkerLengthRate = squareLength/markerLength. The real units are not necessary.
    
    diamondCorners - output list of detected diamond corners (4 corners per diamond). The order is the same than in marker corners: top left, top right, bottom right and bottom left. Similar format than the corners returned by detectMarkers (e.g std::vector<std::vector<cv::Point2f> > ).
    
    diamondIds - ids of the diamonds in diamondCorners. The id of each diamond is in fact of type Vec4i, so each diamond has 4 ids, which are the ids of the aruco markers composing the diamond.
    
    cameraMatrix - Optional camera calibration matrix.
    
    distCoeffs - Optional camera distortion coefficients.
    
    dictionary - dictionary of markers indicating the type of markers. This function detects Diamond markers from the previous detected ArUco markers. The diamonds are returned in the diamondCorners and diamondIds parameters. If camera calibration parameters are provided, the diamond search is based on reprojection. If not, diamond search is based on homography. Homography is faster than reprojection, but less accurate.
  - detectCharucoDiamond
```
@Deprecated
public static void detectCharucoDiamond(Mat image,
                                        java.util.List<Mat> markerCorners,
                                        Mat markerIds,
                                        float squareMarkerLengthRate,
                                        java.util.List<Mat> diamondCorners,
                                        Mat diamondIds,
                                        Mat cameraMatrix,
                                        Mat distCoeffs)
```
    Deprecated.
    Use CharucoDetector::detectDiamonds
    
    Detect ChArUco Diamond markers
    
    Parameters:
    
    image - input image necessary for corner subpixel.
    
    markerCorners - list of detected marker corners from detectMarkers function.
    
    markerIds - list of marker ids in markerCorners.
    
    squareMarkerLengthRate - rate between square and marker length: squareMarkerLengthRate = squareLength/markerLength. The real units are not necessary.
    
    diamondCorners - output list of detected diamond corners (4 corners per diamond). The order is the same than in marker corners: top left, top right, bottom right and bottom left. Similar format than the corners returned by detectMarkers (e.g std::vector<std::vector<cv::Point2f> > ).
    
    diamondIds - ids of the diamonds in diamondCorners. The id of each diamond is in fact of type Vec4i, so each diamond has 4 ids, which are the ids of the aruco markers composing the diamond.
    
    cameraMatrix - Optional camera calibration matrix.
    
    distCoeffs - Optional camera distortion coefficients. This function detects Diamond markers from the previous detected ArUco markers. The diamonds are returned in the diamondCorners and diamondIds parameters. If camera calibration parameters are provided, the diamond search is based on reprojection. If not, diamond search is based on homography. Homography is faster than reprojection, but less accurate.
  - detectCharucoDiamond
```
@Deprecated
public static void detectCharucoDiamond(Mat image,
                                        java.util.List<Mat> markerCorners,
                                        Mat markerIds,
                                        float squareMarkerLengthRate,
                                        java.util.List<Mat> diamondCorners,
                                        Mat diamondIds,
                                        Mat cameraMatrix)
```
    Deprecated.
    Use CharucoDetector::detectDiamonds
    
    Detect ChArUco Diamond markers
    
    Parameters:
    
    image - input image necessary for corner subpixel.
    
    markerCorners - list of detected marker corners from detectMarkers function.
    
    markerIds - list of marker ids in markerCorners.
    
    squareMarkerLengthRate - rate between square and marker length: squareMarkerLengthRate = squareLength/markerLength. The real units are not necessary.
    
    diamondCorners - output list of detected diamond corners (4 corners per diamond). The order is the same than in marker corners: top left, top right, bottom right and bottom left. Similar format than the corners returned by detectMarkers (e.g std::vector<std::vector<cv::Point2f> > ).
    
    diamondIds - ids of the diamonds in diamondCorners. The id of each diamond is in fact of type Vec4i, so each diamond has 4 ids, which are the ids of the aruco markers composing the diamond.
    
    cameraMatrix - Optional camera calibration matrix. This function detects Diamond markers from the previous detected ArUco markers. The diamonds are returned in the diamondCorners and diamondIds parameters. If camera calibration parameters are provided, the diamond search is based on reprojection. If not, diamond search is based on homography. Homography is faster than reprojection, but less accurate.
  - detectCharucoDiamond
```
@Deprecated
public static void detectCharucoDiamond(Mat image,
                                        java.util.List<Mat> markerCorners,
                                        Mat markerIds,
                                        float squareMarkerLengthRate,
                                        java.util.List<Mat> diamondCorners,
                                        Mat diamondIds)
```
    Deprecated.
    Use CharucoDetector::detectDiamonds
    
    Detect ChArUco Diamond markers
    
    Parameters:
    
    image - input image necessary for corner subpixel.
    
    markerCorners - list of detected marker corners from detectMarkers function.
    
    markerIds - list of marker ids in markerCorners.
    
    squareMarkerLengthRate - rate between square and marker length: squareMarkerLengthRate = squareLength/markerLength. The real units are not necessary.
    
    diamondCorners - output list of detected diamond corners (4 corners per diamond). The order is the same than in marker corners: top left, top right, bottom right and bottom left. Similar format than the corners returned by detectMarkers (e.g std::vector<std::vector<cv::Point2f> > ).
    
    diamondIds - ids of the diamonds in diamondCorners. The id of each diamond is in fact of type Vec4i, so each diamond has 4 ids, which are the ids of the aruco markers composing the diamond. This function detects Diamond markers from the previous detected ArUco markers. The diamonds are returned in the diamondCorners and diamondIds parameters. If camera calibration parameters are provided, the diamond search is based on reprojection. If not, diamond search is based on homography. Homography is faster than reprojection, but less accurate.
  - calibrateCameraArucoExtended
```
public static double calibrateCameraArucoExtended(java.util.List<Mat> corners,
                                                  Mat ids,
                                                  Mat counter,
                                                  Board board,
                                                  Size imageSize,
                                                  Mat cameraMatrix,
                                                  Mat distCoeffs,
                                                  java.util.List<Mat> rvecs,
                                                  java.util.List<Mat> tvecs,
                                                  Mat stdDeviationsIntrinsics,
                                                  Mat stdDeviationsExtrinsics,
                                                  Mat perViewErrors,
                                                  int flags,
                                                  TermCriteria criteria)
```
    Calibrate a camera using aruco markers
    
    Parameters:
    
    corners - vector of detected marker corners in all frames. The corners should have the same format returned by detectMarkers (see #detectMarkers).
    
    ids - list of identifiers for each marker in corners
    
    counter - number of markers in each frame so that corners and ids can be split
    
    board - Marker Board layout
    
    imageSize - Size of the image used only to initialize the intrinsic camera matrix.
    
    cameraMatrix - Output 3x3 floating-point camera matrix \(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) . If CV\_CALIB\_USE\_INTRINSIC\_GUESS and/or CV_CALIB_FIX_ASPECT_RATIO are specified, some or all of fx, fy, cx, cy must be initialized before calling the function.
    
    distCoeffs - Output vector of distortion coefficients \((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\) of 4, 5, 8 or 12 elements
    
    rvecs - Output vector of rotation vectors (see Rodrigues ) estimated for each board view (e.g. std::vector<cv::Mat>>). That is, each k-th rotation vector together with the corresponding k-th translation vector (see the next output parameter description) brings the board pattern from the model coordinate space (in which object points are specified) to the world coordinate space, that is, a real position of the board pattern in the k-th pattern view (k=0.. *M* -1).
    
    tvecs - Output vector of translation vectors estimated for each pattern view.
    
    stdDeviationsIntrinsics - Output vector of standard deviations estimated for intrinsic parameters. Order of deviations values: \((f_x, f_y, c_x, c_y, k_1, k_2, p_1, p_2, k_3, k_4, k_5, k_6 , s_1, s_2, s_3, s_4, \tau_x, \tau_y)\) If one of parameters is not estimated, it's deviation is equals to zero.
    
    stdDeviationsExtrinsics - Output vector of standard deviations estimated for extrinsic parameters. Order of deviations values: \((R_1, T_1, \dotsc , R_M, T_M)\) where M is number of pattern views, \(R_i, T_i\) are concatenated 1x3 vectors.
    
    perViewErrors - Output vector of average re-projection errors estimated for each pattern view.
    
    flags - flags Different flags for the calibration process (see #calibrateCamera for details).
    
    criteria - Termination criteria for the iterative optimization algorithm. This function calibrates a camera using an Aruco Board. The function receives a list of detected markers from several views of the Board. The process is similar to the chessboard calibration in calibrateCamera(). The function returns the final re-projection error.
    
    Returns:
    
    automatically generated
  - calibrateCameraArucoExtended
```
public static double calibrateCameraArucoExtended(java.util.List<Mat> corners,
                                                  Mat ids,
                                                  Mat counter,
                                                  Board board,
                                                  Size imageSize,
                                                  Mat cameraMatrix,
                                                  Mat distCoeffs,
                                                  java.util.List<Mat> rvecs,
                                                  java.util.List<Mat> tvecs,
                                                  Mat stdDeviationsIntrinsics,
                                                  Mat stdDeviationsExtrinsics,
                                                  Mat perViewErrors,
                                                  int flags)
```
    Calibrate a camera using aruco markers
    
    Parameters:
    
    corners - vector of detected marker corners in all frames. The corners should have the same format returned by detectMarkers (see #detectMarkers).
    
    ids - list of identifiers for each marker in corners
    
    counter - number of markers in each frame so that corners and ids can be split
    
    board - Marker Board layout
    
    imageSize - Size of the image used only to initialize the intrinsic camera matrix.
    
    cameraMatrix - Output 3x3 floating-point camera matrix \(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) . If CV\_CALIB\_USE\_INTRINSIC\_GUESS and/or CV_CALIB_FIX_ASPECT_RATIO are specified, some or all of fx, fy, cx, cy must be initialized before calling the function.
    
    distCoeffs - Output vector of distortion coefficients \((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\) of 4, 5, 8 or 12 elements
    
    rvecs - Output vector of rotation vectors (see Rodrigues ) estimated for each board view (e.g. std::vector<cv::Mat>>). That is, each k-th rotation vector together with the corresponding k-th translation vector (see the next output parameter description) brings the board pattern from the model coordinate space (in which object points are specified) to the world coordinate space, that is, a real position of the board pattern in the k-th pattern view (k=0.. *M* -1).
    
    tvecs - Output vector of translation vectors estimated for each pattern view.
    
    stdDeviationsIntrinsics - Output vector of standard deviations estimated for intrinsic parameters. Order of deviations values: \((f_x, f_y, c_x, c_y, k_1, k_2, p_1, p_2, k_3, k_4, k_5, k_6 , s_1, s_2, s_3, s_4, \tau_x, \tau_y)\) If one of parameters is not estimated, it's deviation is equals to zero.
    
    stdDeviationsExtrinsics - Output vector of standard deviations estimated for extrinsic parameters. Order of deviations values: \((R_1, T_1, \dotsc , R_M, T_M)\) where M is number of pattern views, \(R_i, T_i\) are concatenated 1x3 vectors.
    
    perViewErrors - Output vector of average re-projection errors estimated for each pattern view.
    
    flags - flags Different flags for the calibration process (see #calibrateCamera for details). This function calibrates a camera using an Aruco Board. The function receives a list of detected markers from several views of the Board. The process is similar to the chessboard calibration in calibrateCamera(). The function returns the final re-projection error.
    
    Returns:
    
    automatically generated
  - calibrateCameraArucoExtended
```
public static double calibrateCameraArucoExtended(java.util.List<Mat> corners,
                                                  Mat ids,
                                                  Mat counter,
                                                  Board board,
                                                  Size imageSize,
                                                  Mat cameraMatrix,
                                                  Mat distCoeffs,
                                                  java.util.List<Mat> rvecs,
                                                  java.util.List<Mat> tvecs,
                                                  Mat stdDeviationsIntrinsics,
                                                  Mat stdDeviationsExtrinsics,
                                                  Mat perViewErrors)
```
    Calibrate a camera using aruco markers
    
    Parameters:
    
    corners - vector of detected marker corners in all frames. The corners should have the same format returned by detectMarkers (see #detectMarkers).
    
    ids - list of identifiers for each marker in corners
    
    counter - number of markers in each frame so that corners and ids can be split
    
    board - Marker Board layout
    
    imageSize - Size of the image used only to initialize the intrinsic camera matrix.
    
    cameraMatrix - Output 3x3 floating-point camera matrix \(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) . If CV\_CALIB\_USE\_INTRINSIC\_GUESS and/or CV_CALIB_FIX_ASPECT_RATIO are specified, some or all of fx, fy, cx, cy must be initialized before calling the function.
    
    distCoeffs - Output vector of distortion coefficients \((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\) of 4, 5, 8 or 12 elements
    
    rvecs - Output vector of rotation vectors (see Rodrigues ) estimated for each board view (e.g. std::vector<cv::Mat>>). That is, each k-th rotation vector together with the corresponding k-th translation vector (see the next output parameter description) brings the board pattern from the model coordinate space (in which object points are specified) to the world coordinate space, that is, a real position of the board pattern in the k-th pattern view (k=0.. *M* -1).
    
    tvecs - Output vector of translation vectors estimated for each pattern view.
    
    stdDeviationsIntrinsics - Output vector of standard deviations estimated for intrinsic parameters. Order of deviations values: \((f_x, f_y, c_x, c_y, k_1, k_2, p_1, p_2, k_3, k_4, k_5, k_6 , s_1, s_2, s_3, s_4, \tau_x, \tau_y)\) If one of parameters is not estimated, it's deviation is equals to zero.
    
    stdDeviationsExtrinsics - Output vector of standard deviations estimated for extrinsic parameters. Order of deviations values: \((R_1, T_1, \dotsc , R_M, T_M)\) where M is number of pattern views, \(R_i, T_i\) are concatenated 1x3 vectors.
    
    perViewErrors - Output vector of average re-projection errors estimated for each pattern view. This function calibrates a camera using an Aruco Board. The function receives a list of detected markers from several views of the Board. The process is similar to the chessboard calibration in calibrateCamera(). The function returns the final re-projection error.
    
    Returns:
    
    automatically generated
  - calibrateCameraAruco
```
public static double calibrateCameraAruco(java.util.List<Mat> corners,
                                          Mat ids,
                                          Mat counter,
                                          Board board,
                                          Size imageSize,
                                          Mat cameraMatrix,
                                          Mat distCoeffs,
                                          java.util.List<Mat> rvecs,
                                          java.util.List<Mat> tvecs,
                                          int flags,
                                          TermCriteria criteria)
```
    It's the same function as #calibrateCameraAruco but without calibration error estimation.
    
    Parameters:
    
    corners - automatically generated
    
    ids - automatically generated
    
    counter - automatically generated
    
    board - automatically generated
    
    imageSize - automatically generated
    
    cameraMatrix - automatically generated
    
    distCoeffs - automatically generated
    
    rvecs - automatically generated
    
    tvecs - automatically generated
    
    flags - automatically generated
    
    criteria - automatically generated
    
    Returns:
    
    automatically generated
  - calibrateCameraAruco
```
public static double calibrateCameraAruco(java.util.List<Mat> corners,
                                          Mat ids,
                                          Mat counter,
                                          Board board,
                                          Size imageSize,
                                          Mat cameraMatrix,
                                          Mat distCoeffs,
                                          java.util.List<Mat> rvecs,
                                          java.util.List<Mat> tvecs,
                                          int flags)
```
    It's the same function as #calibrateCameraAruco but without calibration error estimation.
    
    Parameters:
    
    corners - automatically generated
    
    ids - automatically generated
    
    counter - automatically generated
    
    board - automatically generated
    
    imageSize - automatically generated
    
    cameraMatrix - automatically generated
    
    distCoeffs - automatically generated
    
    rvecs - automatically generated
    
    tvecs - automatically generated
    
    flags - automatically generated
    
    Returns:
    
    automatically generated
  - calibrateCameraAruco
```
public static double calibrateCameraAruco(java.util.List<Mat> corners,
                                          Mat ids,
                                          Mat counter,
                                          Board board,
                                          Size imageSize,
                                          Mat cameraMatrix,
                                          Mat distCoeffs,
                                          java.util.List<Mat> rvecs,
                                          java.util.List<Mat> tvecs)
```
    It's the same function as #calibrateCameraAruco but without calibration error estimation.
    
    Parameters:
    
    corners - automatically generated
    
    ids - automatically generated
    
    counter - automatically generated
    
    board - automatically generated
    
    imageSize - automatically generated
    
    cameraMatrix - automatically generated
    
    distCoeffs - automatically generated
    
    rvecs - automatically generated
    
    tvecs - automatically generated
    
    Returns:
    
    automatically generated
  - calibrateCameraAruco
```
public static double calibrateCameraAruco(java.util.List<Mat> corners,
                                          Mat ids,
                                          Mat counter,
                                          Board board,
                                          Size imageSize,
                                          Mat cameraMatrix,
                                          Mat distCoeffs,
                                          java.util.List<Mat> rvecs)
```
    It's the same function as #calibrateCameraAruco but without calibration error estimation.
    
    Parameters:
    
    corners - automatically generated
    
    ids - automatically generated
    
    counter - automatically generated
    
    board - automatically generated
    
    imageSize - automatically generated
    
    cameraMatrix - automatically generated
    
    distCoeffs - automatically generated
    
    rvecs - automatically generated
    
    Returns:
    
    automatically generated
  - calibrateCameraAruco
```
public static double calibrateCameraAruco(java.util.List<Mat> corners,
                                          Mat ids,
                                          Mat counter,
                                          Board board,
                                          Size imageSize,
                                          Mat cameraMatrix,
                                          Mat distCoeffs)
```
    It's the same function as #calibrateCameraAruco but without calibration error estimation.
    
    Parameters:
    
    corners - automatically generated
    
    ids - automatically generated
    
    counter - automatically generated
    
    board - automatically generated
    
    imageSize - automatically generated
    
    cameraMatrix - automatically generated
    
    distCoeffs - automatically generated
    
    Returns:
    
    automatically generated
  - calibrateCameraCharucoExtended
```
public static double calibrateCameraCharucoExtended(java.util.List<Mat> charucoCorners,
                                                    java.util.List<Mat> charucoIds,
                                                    CharucoBoard board,
                                                    Size imageSize,
                                                    Mat cameraMatrix,
                                                    Mat distCoeffs,
                                                    java.util.List<Mat> rvecs,
                                                    java.util.List<Mat> tvecs,
                                                    Mat stdDeviationsIntrinsics,
                                                    Mat stdDeviationsExtrinsics,
                                                    Mat perViewErrors,
                                                    int flags,
                                                    TermCriteria criteria)
```
    Calibrate a camera using Charuco corners
    
    Parameters:
    
    charucoCorners - vector of detected charuco corners per frame
    
    charucoIds - list of identifiers for each corner in charucoCorners per frame
    
    board - Marker Board layout
    
    imageSize - input image size
    
    cameraMatrix - Output 3x3 floating-point camera matrix \(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) . If CV\_CALIB\_USE\_INTRINSIC\_GUESS and/or CV_CALIB_FIX_ASPECT_RATIO are specified, some or all of fx, fy, cx, cy must be initialized before calling the function.
    
    distCoeffs - Output vector of distortion coefficients \((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\) of 4, 5, 8 or 12 elements
    
    rvecs - Output vector of rotation vectors (see Rodrigues ) estimated for each board view (e.g. std::vector<cv::Mat>>). That is, each k-th rotation vector together with the corresponding k-th translation vector (see the next output parameter description) brings the board pattern from the model coordinate space (in which object points are specified) to the world coordinate space, that is, a real position of the board pattern in the k-th pattern view (k=0.. *M* -1).
    
    tvecs - Output vector of translation vectors estimated for each pattern view.
    
    stdDeviationsIntrinsics - Output vector of standard deviations estimated for intrinsic parameters. Order of deviations values: \((f_x, f_y, c_x, c_y, k_1, k_2, p_1, p_2, k_3, k_4, k_5, k_6 , s_1, s_2, s_3, s_4, \tau_x, \tau_y)\) If one of parameters is not estimated, it's deviation is equals to zero.
    
    stdDeviationsExtrinsics - Output vector of standard deviations estimated for extrinsic parameters. Order of deviations values: \((R_1, T_1, \dotsc , R_M, T_M)\) where M is number of pattern views, \(R_i, T_i\) are concatenated 1x3 vectors.
    
    perViewErrors - Output vector of average re-projection errors estimated for each pattern view.
    
    flags - flags Different flags for the calibration process (see #calibrateCamera for details).
    
    criteria - Termination criteria for the iterative optimization algorithm. This function calibrates a camera using a set of corners of a Charuco Board. The function receives a list of detected corners and its identifiers from several views of the Board. The function returns the final re-projection error.
    
    Returns:
    
    automatically generated
  - calibrateCameraCharucoExtended
```
public static double calibrateCameraCharucoExtended(java.util.List<Mat> charucoCorners,
                                                    java.util.List<Mat> charucoIds,
                                                    CharucoBoard board,
                                                    Size imageSize,
                                                    Mat cameraMatrix,
                                                    Mat distCoeffs,
                                                    java.util.List<Mat> rvecs,
                                                    java.util.List<Mat> tvecs,
                                                    Mat stdDeviationsIntrinsics,
                                                    Mat stdDeviationsExtrinsics,
                                                    Mat perViewErrors,
                                                    int flags)
```
    Calibrate a camera using Charuco corners
    
    Parameters:
    
    charucoCorners - vector of detected charuco corners per frame
    
    charucoIds - list of identifiers for each corner in charucoCorners per frame
    
    board - Marker Board layout
    
    imageSize - input image size
    
    cameraMatrix - Output 3x3 floating-point camera matrix \(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) . If CV\_CALIB\_USE\_INTRINSIC\_GUESS and/or CV_CALIB_FIX_ASPECT_RATIO are specified, some or all of fx, fy, cx, cy must be initialized before calling the function.
    
    distCoeffs - Output vector of distortion coefficients \((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\) of 4, 5, 8 or 12 elements
    
    rvecs - Output vector of rotation vectors (see Rodrigues ) estimated for each board view (e.g. std::vector<cv::Mat>>). That is, each k-th rotation vector together with the corresponding k-th translation vector (see the next output parameter description) brings the board pattern from the model coordinate space (in which object points are specified) to the world coordinate space, that is, a real position of the board pattern in the k-th pattern view (k=0.. *M* -1).
    
    tvecs - Output vector of translation vectors estimated for each pattern view.
    
    stdDeviationsIntrinsics - Output vector of standard deviations estimated for intrinsic parameters. Order of deviations values: \((f_x, f_y, c_x, c_y, k_1, k_2, p_1, p_2, k_3, k_4, k_5, k_6 , s_1, s_2, s_3, s_4, \tau_x, \tau_y)\) If one of parameters is not estimated, it's deviation is equals to zero.
    
    stdDeviationsExtrinsics - Output vector of standard deviations estimated for extrinsic parameters. Order of deviations values: \((R_1, T_1, \dotsc , R_M, T_M)\) where M is number of pattern views, \(R_i, T_i\) are concatenated 1x3 vectors.
    
    perViewErrors - Output vector of average re-projection errors estimated for each pattern view.
    
    flags - flags Different flags for the calibration process (see #calibrateCamera for details). This function calibrates a camera using a set of corners of a Charuco Board. The function receives a list of detected corners and its identifiers from several views of the Board. The function returns the final re-projection error.
    
    Returns:
    
    automatically generated
  - calibrateCameraCharucoExtended
```
public static double calibrateCameraCharucoExtended(java.util.List<Mat> charucoCorners,
                                                    java.util.List<Mat> charucoIds,
                                                    CharucoBoard board,
                                                    Size imageSize,
                                                    Mat cameraMatrix,
                                                    Mat distCoeffs,
                                                    java.util.List<Mat> rvecs,
                                                    java.util.List<Mat> tvecs,
                                                    Mat stdDeviationsIntrinsics,
                                                    Mat stdDeviationsExtrinsics,
                                                    Mat perViewErrors)
```
    Calibrate a camera using Charuco corners
    
    Parameters:
    
    charucoCorners - vector of detected charuco corners per frame
    
    charucoIds - list of identifiers for each corner in charucoCorners per frame
    
    board - Marker Board layout
    
    imageSize - input image size
    
    cameraMatrix - Output 3x3 floating-point camera matrix \(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) . If CV\_CALIB\_USE\_INTRINSIC\_GUESS and/or CV_CALIB_FIX_ASPECT_RATIO are specified, some or all of fx, fy, cx, cy must be initialized before calling the function.
    
    distCoeffs - Output vector of distortion coefficients \((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\) of 4, 5, 8 or 12 elements
    
    rvecs - Output vector of rotation vectors (see Rodrigues ) estimated for each board view (e.g. std::vector<cv::Mat>>). That is, each k-th rotation vector together with the corresponding k-th translation vector (see the next output parameter description) brings the board pattern from the model coordinate space (in which object points are specified) to the world coordinate space, that is, a real position of the board pattern in the k-th pattern view (k=0.. *M* -1).
    
    tvecs - Output vector of translation vectors estimated for each pattern view.
    
    stdDeviationsIntrinsics - Output vector of standard deviations estimated for intrinsic parameters. Order of deviations values: \((f_x, f_y, c_x, c_y, k_1, k_2, p_1, p_2, k_3, k_4, k_5, k_6 , s_1, s_2, s_3, s_4, \tau_x, \tau_y)\) If one of parameters is not estimated, it's deviation is equals to zero.
    
    stdDeviationsExtrinsics - Output vector of standard deviations estimated for extrinsic parameters. Order of deviations values: \((R_1, T_1, \dotsc , R_M, T_M)\) where M is number of pattern views, \(R_i, T_i\) are concatenated 1x3 vectors.
    
    perViewErrors - Output vector of average re-projection errors estimated for each pattern view. This function calibrates a camera using a set of corners of a Charuco Board. The function receives a list of detected corners and its identifiers from several views of the Board. The function returns the final re-projection error.
    
    Returns:
    
    automatically generated
  - calibrateCameraCharuco
```
public static double calibrateCameraCharuco(java.util.List<Mat> charucoCorners,
                                            java.util.List<Mat> charucoIds,
                                            CharucoBoard board,
                                            Size imageSize,
                                            Mat cameraMatrix,
                                            Mat distCoeffs,
                                            java.util.List<Mat> rvecs,
                                            java.util.List<Mat> tvecs,
                                            int flags,
                                            TermCriteria criteria)
```
    It's the same function as #calibrateCameraCharuco but without calibration error estimation.
    
    Parameters:
    
    charucoCorners - automatically generated
    
    charucoIds - automatically generated
    
    board - automatically generated
    
    imageSize - automatically generated
    
    cameraMatrix - automatically generated
    
    distCoeffs - automatically generated
    
    rvecs - automatically generated
    
    tvecs - automatically generated
    
    flags - automatically generated
    
    criteria - automatically generated
    
    Returns:
    
    automatically generated
  - calibrateCameraCharuco
```
public static double calibrateCameraCharuco(java.util.List<Mat> charucoCorners,
                                            java.util.List<Mat> charucoIds,
                                            CharucoBoard board,
                                            Size imageSize,
                                            Mat cameraMatrix,
                                            Mat distCoeffs,
                                            java.util.List<Mat> rvecs,
                                            java.util.List<Mat> tvecs,
                                            int flags)
```
    It's the same function as #calibrateCameraCharuco but without calibration error estimation.
    
    Parameters:
    
    charucoCorners - automatically generated
    
    charucoIds - automatically generated
    
    board - automatically generated
    
    imageSize - automatically generated
    
    cameraMatrix - automatically generated
    
    distCoeffs - automatically generated
    
    rvecs - automatically generated
    
    tvecs - automatically generated
    
    flags - automatically generated
    
    Returns:
    
    automatically generated
  - calibrateCameraCharuco
```
public static double calibrateCameraCharuco(java.util.List<Mat> charucoCorners,
                                            java.util.List<Mat> charucoIds,
                                            CharucoBoard board,
                                            Size imageSize,
                                            Mat cameraMatrix,
                                            Mat distCoeffs,
                                            java.util.List<Mat> rvecs,
                                            java.util.List<Mat> tvecs)
```
    It's the same function as #calibrateCameraCharuco but without calibration error estimation.
    
    Parameters:
    
    charucoCorners - automatically generated
    
    charucoIds - automatically generated
    
    board - automatically generated
    
    imageSize - automatically generated
    
    cameraMatrix - automatically generated
    
    distCoeffs - automatically generated
    
    rvecs - automatically generated
    
    tvecs - automatically generated
    
    Returns:
    
    automatically generated
  - calibrateCameraCharuco
```
public static double calibrateCameraCharuco(java.util.List<Mat> charucoCorners,
                                            java.util.List<Mat> charucoIds,
                                            CharucoBoard board,
                                            Size imageSize,
                                            Mat cameraMatrix,
                                            Mat distCoeffs,
                                            java.util.List<Mat> rvecs)
```
    It's the same function as #calibrateCameraCharuco but without calibration error estimation.
    
    Parameters:
    
    charucoCorners - automatically generated
    
    charucoIds - automatically generated
    
    board - automatically generated
    
    imageSize - automatically generated
    
    cameraMatrix - automatically generated
    
    distCoeffs - automatically generated
    
    rvecs - automatically generated
    
    Returns:
    
    automatically generated
  - calibrateCameraCharuco
```
public static double calibrateCameraCharuco(java.util.List<Mat> charucoCorners,
                                            java.util.List<Mat> charucoIds,
                                            CharucoBoard board,
                                            Size imageSize,
                                            Mat cameraMatrix,
                                            Mat distCoeffs)
```
    It's the same function as #calibrateCameraCharuco but without calibration error estimation.
    
    Parameters:
    
    charucoCorners - automatically generated
    
    charucoIds - automatically generated
    
    board - automatically generated
    
    imageSize - automatically generated
    
    cameraMatrix - automatically generated
    
    distCoeffs - automatically generated
    
    Returns:
    
    automatically generated

Modifier and Type	Field	Description
`static int`	`ARUCO_CCW_CENTER`
`static int`	`ARUCO_CW_TOP_LEFT_CORNER`

Class Aruco

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

ARUCO_CCW_CENTER

ARUCO_CW_TOP_LEFT_CORNER

Constructor Detail

Aruco

Method Detail

detectMarkers

detectMarkers

detectMarkers

refineDetectedMarkers

refineDetectedMarkers

refineDetectedMarkers

refineDetectedMarkers

refineDetectedMarkers

refineDetectedMarkers

refineDetectedMarkers

refineDetectedMarkers

drawPlanarBoard

getBoardObjectAndImagePoints

estimatePoseBoard

estimatePoseBoard

estimatePoseCharucoBoard

estimatePoseCharucoBoard

estimatePoseSingleMarkers

estimatePoseSingleMarkers

estimatePoseSingleMarkers

testCharucoCornersCollinear

interpolateCornersCharuco

interpolateCornersCharuco

interpolateCornersCharuco

interpolateCornersCharuco

detectCharucoDiamond

detectCharucoDiamond

detectCharucoDiamond

detectCharucoDiamond

calibrateCameraArucoExtended

calibrateCameraArucoExtended

calibrateCameraArucoExtended

calibrateCameraAruco

calibrateCameraAruco

calibrateCameraAruco

calibrateCameraAruco

calibrateCameraAruco

calibrateCameraCharucoExtended

calibrateCameraCharucoExtended

calibrateCameraCharucoExtended

calibrateCameraCharuco

calibrateCameraCharuco

calibrateCameraCharuco

calibrateCameraCharuco

calibrateCameraCharuco