Class cv::aruco::CharucoDetector#

#include <opencv2/objdetect/charuco_detector.hpp>

Collaboration diagram for cv::aruco::CharucoDetector:

cv::aruco::CharucoDetector Node1 cv::aruco::CharucoDetector   + CharucoDetector() + detectBoard() + detectDiamonds() + getBoard() + getCharucoParameters() + getDetectorParameters() + getRefineParameters() + setBoard() + setCharucoParameters() + setDetectorParameters() + setRefineParameters() Node2 cv::Algorithm   + Algorithm() + ~Algorithm() + clear() + empty() + getDefaultName() + read() + save() + write() + write() + load() + loadFromString() + read() # writeFormat() Node2->Node1 Node3 Ptr< CharucoDetectorImpl >     Node3->Node1 #charucoDetectorImpl

cv::aruco::CharucoDetector Node1 cv::aruco::CharucoDetector   + CharucoDetector() + detectBoard() + detectDiamonds() + getBoard() + getCharucoParameters() + getDetectorParameters() + getRefineParameters() + setBoard() + setCharucoParameters() + setDetectorParameters() + setRefineParameters() Node2 cv::Algorithm   + Algorithm() + ~Algorithm() + clear() + empty() + getDefaultName() + read() + save() + write() + write() + load() + loadFromString() + read() # writeFormat() Node2->Node1 Node3 Ptr< CharucoDetectorImpl >     Node3->Node1 #charucoDetectorImpl

Public Member Functions#

Public Member Functions inherited from cv::Algorithm

Return

Name

Description

Algorithm()

~Algorithm()

void

clear()

Clears the algorithm state.

bool

empty()

Returns true if the Algorithm is empty (e.g. in the very beginning or after unsuccessful read.

String

getDefaultName()

void

read(const FileNode & fn)

Reads algorithm parameters from a file storage.

void

save(const String & filename)

void

write(
    const Ptr< FileStorage > & fs,
    const String & name = String() )

void

write(FileStorage & fs)

Stores algorithm parameters in a file storage.

void

write(
    FileStorage & fs,
    const String & name )

Static Public Member Functions#

Static Public Member Functions inherited from cv::Algorithm

Return

Name

Description

static Ptr< _Tp >

load(
    const String & filename,
    const String & objname = String() )

Loads algorithm from the file.

static Ptr< _Tp >

loadFromString(
    const String & strModel,
    const String & objname = String() )

Loads algorithm from a String.

static Ptr< _Tp >

read(const FileNode & fn)

Reads algorithm from the file node.

Additional Inherited Members#

Protected Member Functions inherited from cv::Algorithm

Return

Name

Description

void

writeFormat(FileStorage & fs)

Constructor & Destructor Documentation#

CharucoDetector()#

cv::aruco::CharucoDetector::CharucoDetector(
const CharucoBoard & board,
const CharucoParameters & charucoParams = CharucoParameters(),
const DetectorParameters & detectorParams = DetectorParameters(),
const RefineParameters & refineParams = RefineParameters() )

Python:

cv.aruco.CharucoDetector(board[, charucoParams[, detectorParams[, refineParams]]]) -> <aruco_CharucoDetector object>

Basic CharucoDetector constructor.

Parameters

  • board — ChAruco board

  • charucoParams — charuco detection parameters

  • detectorParams — marker detection parameters

  • refineParams — marker refine detection parameters

Member Function Documentation#

detectBoard()#

void cv::aruco::CharucoDetector::detectBoard(
InputArray image,
OutputArray charucoCorners,
OutputArray charucoIds,
InputOutputArrayOfArrays markerCorners = noArray(),
InputOutputArray markerIds = noArray() )

Python:

cv.aruco.CharucoDetector.detectBoard(image[, charucoCorners[, charucoIds[, markerCorners[, markerIds]]]]) -> charucoCorners, charucoIds, markerCorners, markerIds

detect aruco markers and interpolate position of ChArUco board corners

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 also

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: opencv/opencv#23152

Parameters

  • image — input image necessary 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.

Here is the call graph for this function:

cv::aruco::CharucoDetector::detectBoard Node1 cv::aruco::CharucoDetector ::detectBoard Node2 cv::noArray Node1->Node2

cv::aruco::CharucoDetector::detectBoard Node1 cv::aruco::CharucoDetector ::detectBoard Node2 cv::noArray Node1->Node2

detectDiamonds()#

void cv::aruco::CharucoDetector::detectDiamonds(
InputArray image,
OutputArrayOfArrays diamondCorners,
OutputArray diamondIds,
InputOutputArrayOfArrays markerCorners = noArray(),
InputOutputArray markerIds = noArray() )

Python:

cv.aruco.CharucoDetector.detectDiamonds(image[, diamondCorners[, diamondIds[, markerCorners[, markerIds]]]]) -> diamondCorners, diamondIds, markerCorners, markerIds

Detect ChArUco Diamond 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.

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.

Here is the call graph for this function:

cv::aruco::CharucoDetector::detectDiamonds Node1 cv::aruco::CharucoDetector ::detectDiamonds Node2 cv::noArray Node1->Node2

cv::aruco::CharucoDetector::detectDiamonds Node1 cv::aruco::CharucoDetector ::detectDiamonds Node2 cv::noArray Node1->Node2

getBoard()#

const CharucoBoard & cv::aruco::CharucoDetector::getBoard()

Python:

cv.aruco.CharucoDetector.getBoard() -> retval

getCharucoParameters()#

const CharucoParameters & cv::aruco::CharucoDetector::getCharucoParameters()

Python:

cv.aruco.CharucoDetector.getCharucoParameters() -> retval

getDetectorParameters()#

const DetectorParameters & cv::aruco::CharucoDetector::getDetectorParameters()

Python:

cv.aruco.CharucoDetector.getDetectorParameters() -> retval

getRefineParameters()#

const RefineParameters & cv::aruco::CharucoDetector::getRefineParameters()

Python:

cv.aruco.CharucoDetector.getRefineParameters() -> retval

setBoard()#

void cv::aruco::CharucoDetector::setBoard(const CharucoBoard & board)

Python:

cv.aruco.CharucoDetector.setBoard(board)

setCharucoParameters()#

void cv::aruco::CharucoDetector::setCharucoParameters(CharucoParameters & charucoParameters)

Python:

cv.aruco.CharucoDetector.setCharucoParameters(charucoParameters)

setDetectorParameters()#

void cv::aruco::CharucoDetector::setDetectorParameters(const DetectorParameters & detectorParameters)

Python:

cv.aruco.CharucoDetector.setDetectorParameters(detectorParameters)

setRefineParameters()#

void cv::aruco::CharucoDetector::setRefineParameters(const RefineParameters & refineParameters)

Python:

cv.aruco.CharucoDetector.setRefineParameters(refineParameters)

Member Data Documentation#

charucoDetectorImpl#

Ptr< CharucoDetectorImpl > cv::aruco::CharucoDetector::charucoDetectorImpl

Source file#

The documentation for this class was generated from the following file: