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)

Classes

Enumerations

Functions