OpenCV  4.10.0-pre
Open Source Computer Vision
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Classes | Enumerations | Functions
cv::aruco Namespace Reference

Classes

class  ArucoDetector
 The main functionality of ArucoDetector class is detection of markers in an image with detectMarkers() method. More...
 
class  Board
 Board of ArUco markers. More...
 
class  CharucoBoard
 ChArUco board is a planar chessboard where the markers are placed inside the white squares of a chessboard. More...
 
class  CharucoDetector
 
struct  CharucoParameters
 
struct  DetectorParameters
 struct DetectorParameters is used by ArucoDetector More...
 
class  Dictionary
 Dictionary is a set of unique ArUco markers of the same size. More...
 
struct  EstimateParameters
 Pose estimation parameters. More...
 
class  GridBoard
 Planar board with grid arrangement of markers. More...
 
struct  RefineParameters
 struct RefineParameters is used by ArucoDetector More...
 

Enumerations

enum  CornerRefineMethod {
  CORNER_REFINE_NONE ,
  CORNER_REFINE_SUBPIX ,
  CORNER_REFINE_CONTOUR ,
  CORNER_REFINE_APRILTAG
}
 
enum  PatternPositionType {
  ARUCO_CCW_CENTER ,
  ARUCO_CW_TOP_LEFT_CORNER
}
 rvec/tvec define the right handed coordinate system of the marker. More...
 
enum  PredefinedDictionaryType {
  DICT_4X4_50 = 0 ,
  DICT_4X4_100 ,
  DICT_4X4_250 ,
  DICT_4X4_1000 ,
  DICT_5X5_50 ,
  DICT_5X5_100 ,
  DICT_5X5_250 ,
  DICT_5X5_1000 ,
  DICT_6X6_50 ,
  DICT_6X6_100 ,
  DICT_6X6_250 ,
  DICT_6X6_1000 ,
  DICT_7X7_50 ,
  DICT_7X7_100 ,
  DICT_7X7_250 ,
  DICT_7X7_1000 ,
  DICT_ARUCO_ORIGINAL ,
  DICT_APRILTAG_16h5 ,
  DICT_APRILTAG_25h9 ,
  DICT_APRILTAG_36h10 ,
  DICT_APRILTAG_36h11 ,
  DICT_ARUCO_MIP_36h12
}
 Predefined markers dictionaries/sets. More...
 

Functions

double calibrateCameraAruco (InputArrayOfArrays corners, InputArray ids, InputArray counter, const Ptr< Board > &board, Size imageSize, InputOutputArray cameraMatrix, InputOutputArray distCoeffs, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, OutputArray stdDeviationsIntrinsics, OutputArray stdDeviationsExtrinsics, OutputArray perViewErrors, int flags=0, const TermCriteria &criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, DBL_EPSILON))
 Calibrate a camera using aruco markers.
 
double calibrateCameraAruco (InputArrayOfArrays corners, InputArray ids, InputArray counter, const Ptr< Board > &board, Size imageSize, InputOutputArray cameraMatrix, InputOutputArray distCoeffs, OutputArrayOfArrays rvecs=noArray(), OutputArrayOfArrays tvecs=noArray(), int flags=0, const TermCriteria &criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, DBL_EPSILON))
 It's the same function as calibrateCameraAruco but without calibration error estimation.
 
double calibrateCameraCharuco (InputArrayOfArrays charucoCorners, InputArrayOfArrays charucoIds, const Ptr< CharucoBoard > &board, Size imageSize, InputOutputArray cameraMatrix, InputOutputArray distCoeffs, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, OutputArray stdDeviationsIntrinsics, OutputArray stdDeviationsExtrinsics, OutputArray perViewErrors, int flags=0, const TermCriteria &criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, DBL_EPSILON))
 Calibrate a camera using Charuco corners.
 
double calibrateCameraCharuco (InputArrayOfArrays charucoCorners, InputArrayOfArrays charucoIds, const Ptr< CharucoBoard > &board, Size imageSize, InputOutputArray cameraMatrix, InputOutputArray distCoeffs, OutputArrayOfArrays rvecs=noArray(), OutputArrayOfArrays tvecs=noArray(), int flags=0, const TermCriteria &criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, DBL_EPSILON))
 It's the same function as calibrateCameraCharuco but without calibration error estimation.
 
void detectCharucoDiamond (InputArray image, InputArrayOfArrays markerCorners, InputArray markerIds, float squareMarkerLengthRate, OutputArrayOfArrays diamondCorners, OutputArray diamondIds, InputArray cameraMatrix=noArray(), InputArray distCoeffs=noArray(), Ptr< Dictionary > dictionary=makePtr< Dictionary >(getPredefinedDictionary(PredefinedDictionaryType::DICT_4X4_50)))
 Detect ChArUco Diamond markers.
 
void detectMarkers (InputArray image, const Ptr< Dictionary > &dictionary, OutputArrayOfArrays corners, OutputArray ids, const Ptr< DetectorParameters > &parameters=makePtr< DetectorParameters >(), OutputArrayOfArrays rejectedImgPoints=noArray())
 detect markers
 
void drawCharucoDiamond (const Ptr< Dictionary > &dictionary, Vec4i ids, int squareLength, int markerLength, OutputArray img, int marginSize=0, int borderBits=1)
 Draw a ChArUco Diamond marker.
 
void drawDetectedCornersCharuco (InputOutputArray image, InputArray charucoCorners, InputArray charucoIds=noArray(), Scalar cornerColor=Scalar(255, 0, 0))
 Draws a set of Charuco corners.
 
void drawDetectedDiamonds (InputOutputArray image, InputArrayOfArrays diamondCorners, InputArray diamondIds=noArray(), Scalar borderColor=Scalar(0, 0, 255))
 Draw a set of detected ChArUco Diamond markers.
 
void drawDetectedMarkers (InputOutputArray image, InputArrayOfArrays corners, InputArray ids=noArray(), Scalar borderColor=Scalar(0, 255, 0))
 Draw detected markers in image.
 
void drawPlanarBoard (const Ptr< Board > &board, Size outSize, OutputArray img, int marginSize, int borderBits)
 draw planar board
 
int estimatePoseBoard (InputArrayOfArrays corners, InputArray ids, const Ptr< Board > &board, InputArray cameraMatrix, InputArray distCoeffs, InputOutputArray rvec, InputOutputArray tvec, bool useExtrinsicGuess=false)
 
bool estimatePoseCharucoBoard (InputArray charucoCorners, InputArray charucoIds, const Ptr< CharucoBoard > &board, InputArray cameraMatrix, InputArray distCoeffs, InputOutputArray rvec, InputOutputArray tvec, bool useExtrinsicGuess=false)
 Pose estimation for a ChArUco board given some of their corners.
 
void estimatePoseSingleMarkers (InputArrayOfArrays corners, float markerLength, InputArray cameraMatrix, InputArray distCoeffs, OutputArray rvecs, OutputArray tvecs, OutputArray objPoints=noArray(), const Ptr< EstimateParameters > &estimateParameters=makePtr< EstimateParameters >())
 
Dictionary extendDictionary (int nMarkers, int markerSize, const Dictionary &baseDictionary=Dictionary(), int randomSeed=0)
 Extend base dictionary by new nMarkers.
 
void generateImageMarker (const Dictionary &dictionary, int id, int sidePixels, OutputArray img, int borderBits=1)
 Generate a canonical marker image.
 
void getBoardObjectAndImagePoints (const Ptr< Board > &board, InputArrayOfArrays detectedCorners, InputArray detectedIds, OutputArray objPoints, OutputArray imgPoints)
 get board object and image points
 
Dictionary getPredefinedDictionary (int dict)
 Returns one of the predefined dictionaries referenced by DICT_*.
 
Dictionary getPredefinedDictionary (PredefinedDictionaryType name)
 Returns one of the predefined dictionaries defined in PredefinedDictionaryType.
 
int interpolateCornersCharuco (InputArrayOfArrays markerCorners, InputArray markerIds, InputArray image, const Ptr< CharucoBoard > &board, OutputArray charucoCorners, OutputArray charucoIds, InputArray cameraMatrix=noArray(), InputArray distCoeffs=noArray(), int minMarkers=2)
 Interpolate position of ChArUco board corners.
 
void refineDetectedMarkers (InputArray image, const Ptr< Board > &board, InputOutputArrayOfArrays detectedCorners, InputOutputArray detectedIds, InputOutputArrayOfArrays rejectedCorners, InputArray cameraMatrix=noArray(), InputArray distCoeffs=noArray(), float minRepDistance=10.f, float errorCorrectionRate=3.f, bool checkAllOrders=true, OutputArray recoveredIdxs=noArray(), const Ptr< DetectorParameters > &parameters=makePtr< DetectorParameters >())
 refine detected markers
 
bool testCharucoCornersCollinear (const Ptr< CharucoBoard > &board, InputArray charucoIds)