Package org.opencv.objdetect

Class CharucoDetector

  • public class CharucoDetector
extends Algorithm

    • Constructor Detail

      • CharucoDetector

        protected CharucoDetector​(long addr)

      • CharucoDetector

        public CharucoDetector​(CharucoBoard board,
                       CharucoParameters charucoParams,
                       DetectorParameters detectorParams,
                       RefineParameters refineParams)
        Basic CharucoDetector constructor
        Parameters:
        board - ChAruco board
        charucoParams - charuco detection parameters
        detectorParams - marker detection parameters
        refineParams - marker refine detection parameters

      • CharucoDetector

        public CharucoDetector​(CharucoBoard board,
                       CharucoParameters charucoParams,
                       DetectorParameters detectorParams)
        Basic CharucoDetector constructor
        Parameters:
        board - ChAruco board
        charucoParams - charuco detection parameters
        detectorParams - marker detection parameters

      • CharucoDetector

        public CharucoDetector​(CharucoBoard board,
                       CharucoParameters charucoParams)
        Basic CharucoDetector constructor
        Parameters:
        board - ChAruco board
        charucoParams - charuco detection parameters

      • CharucoDetector

        public CharucoDetector​(CharucoBoard board)
        Basic CharucoDetector constructor
        Parameters:
        board - ChAruco board

    • Method Detail

      • setCharucoParameters

        public void setCharucoParameters​(CharucoParameters charucoParameters)

      • setDetectorParameters

        public void setDetectorParameters​(DetectorParameters detectorParameters)

      • setRefineParameters

        public void setRefineParameters​(RefineParameters refineParameters)

      • detectBoard

        public void detectBoard​(Mat image,
                        Mat charucoCorners,
                        Mat charucoIds,
                        java.util.List<Mat> markerCorners,
                        Mat markerIds)
        detect aruco markers and interpolate position of ChArUco board corners
        Parameters:
        image - input image necesary for corner refinement. Note that markers are not detected and should be sent in corners and ids parameters.
        charucoCorners - interpolated chessboard corners.
        charucoIds - interpolated chessboard corners identifiers.
        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. If markerCorners and markerCorners are empty, the function detect aruco markers and ids.
        markerIds - list of identifiers for each marker in corners. If markerCorners and markerCorners are empty, the function detect aruco markers and ids. 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 markerCorners and markerCorners are empty, the detectMarkers() will run and detect aruco markers and ids. 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. SEE: findChessboardCorners Note: After OpenCV 4.6.0, there was an incompatible change in the ChArUco pattern generation algorithm for even row counts. Use cv::aruco::CharucoBoard::setLegacyPattern() to ensure compatibility with patterns created using OpenCV versions prior to 4.6.0. For more information, see the issue: https://github.com/opencv/opencv/issues/23152

      • detectBoard

        public void detectBoard​(Mat image,
                        Mat charucoCorners,
                        Mat charucoIds,
                        java.util.List<Mat> markerCorners)
        detect aruco markers and interpolate position of ChArUco board corners
        Parameters:
        image - input image necesary for corner refinement. Note that markers are not detected and should be sent in corners and ids parameters.
        charucoCorners - interpolated chessboard corners.
        charucoIds - interpolated chessboard corners identifiers.
        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. If markerCorners and markerCorners are empty, the function detect aruco markers and ids. If markerCorners and markerCorners are empty, the function detect aruco markers and ids. 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 markerCorners and markerCorners are empty, the detectMarkers() will run and detect aruco markers and ids. 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. SEE: findChessboardCorners Note: After OpenCV 4.6.0, there was an incompatible change in the ChArUco pattern generation algorithm for even row counts. Use cv::aruco::CharucoBoard::setLegacyPattern() to ensure compatibility with patterns created using OpenCV versions prior to 4.6.0. For more information, see the issue: https://github.com/opencv/opencv/issues/23152

      • detectBoard

        public void detectBoard​(Mat image,
                        Mat charucoCorners,
                        Mat charucoIds)
        detect aruco markers and interpolate position of ChArUco board corners
        Parameters:
        image - input image necesary for corner refinement. Note that markers are not detected and should be sent in corners and ids parameters.
        charucoCorners - interpolated chessboard corners.
        charucoIds - interpolated chessboard corners identifiers. 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. If markerCorners and markerCorners are empty, the function detect aruco markers and ids. If markerCorners and markerCorners are empty, the function detect aruco markers and ids. 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 markerCorners and markerCorners are empty, the detectMarkers() will run and detect aruco markers and ids. 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. SEE: findChessboardCorners Note: After OpenCV 4.6.0, there was an incompatible change in the ChArUco pattern generation algorithm for even row counts. Use cv::aruco::CharucoBoard::setLegacyPattern() to ensure compatibility with patterns created using OpenCV versions prior to 4.6.0. For more information, see the issue: https://github.com/opencv/opencv/issues/23152

      • detectDiamonds

        public void detectDiamonds​(Mat image,
                           java.util.List<Mat> diamondCorners,
                           Mat diamondIds,
                           java.util.List<Mat> markerCorners,
                           Mat markerIds)
        Detect ChArUco Diamond markers
        Parameters:
        image - input image necessary for corner subpixel.
        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.
        markerCorners - list of detected marker corners from detectMarkers function. If markerCorners and markerCorners are empty, the function detect aruco markers and ids.
        markerIds - list of marker ids in markerCorners. If markerCorners and markerCorners are empty, the function detect aruco markers and ids. 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.

      • detectDiamonds

        public void detectDiamonds​(Mat image,
                           java.util.List<Mat> diamondCorners,
                           Mat diamondIds,
                           java.util.List<Mat> markerCorners)
        Detect ChArUco Diamond markers
        Parameters:
        image - input image necessary for corner subpixel.
        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.
        markerCorners - list of detected marker corners from detectMarkers function. If markerCorners and markerCorners are empty, the function detect aruco markers and ids. If markerCorners and markerCorners are empty, the function detect aruco markers and ids. 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.

      • detectDiamonds

        public void detectDiamonds​(Mat image,
                           java.util.List<Mat> diamondCorners,
                           Mat diamondIds)
        Detect ChArUco Diamond markers
        Parameters:
        image - input image necessary for corner subpixel.
        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. If markerCorners and markerCorners are empty, the function detect aruco markers and ids. If markerCorners and markerCorners are empty, the function detect aruco markers and ids. 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.

      • finalize

        protected void finalize()
                 throws java.lang.Throwable
        Overrides:
        finalize in class Algorithm
        Throws:
        java.lang.Throwable