Package org.opencv.objdetect
Class ArucoDetector
- java.lang.Object
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- org.opencv.core.Algorithm
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- org.opencv.objdetect.ArucoDetector
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public class ArucoDetector extends Algorithm
The main functionality of ArucoDetector class is detection of markers in an image with detectMarkers() method. After detecting some markers in the image, you can try to find undetected markers from this dictionary with refineDetectedMarkers() method. SEE: DetectorParameters, RefineParameters
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Constructor Summary
Constructors Modifier Constructor Description ArucoDetector()
Basic ArucoDetector constructorprotected
ArucoDetector(long addr)
ArucoDetector(Dictionary dictionary)
Basic ArucoDetector constructorArucoDetector(Dictionary dictionary, DetectorParameters detectorParams)
Basic ArucoDetector constructorArucoDetector(Dictionary dictionary, DetectorParameters detectorParams, RefineParameters refineParams)
Basic ArucoDetector constructor
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description static ArucoDetector
__fromPtr__(long addr)
void
detectMarkers(Mat image, java.util.List<Mat> corners, Mat ids)
Basic marker detectionvoid
detectMarkers(Mat image, java.util.List<Mat> corners, Mat ids, java.util.List<Mat> rejectedImgPoints)
Basic marker detectionprotected void
finalize()
DetectorParameters
getDetectorParameters()
Dictionary
getDictionary()
RefineParameters
getRefineParameters()
void
refineDetectedMarkers(Mat image, Board board, java.util.List<Mat> detectedCorners, Mat detectedIds, java.util.List<Mat> rejectedCorners)
Refine not detected markers based on the already detected and the board layoutvoid
refineDetectedMarkers(Mat image, Board board, java.util.List<Mat> detectedCorners, Mat detectedIds, java.util.List<Mat> rejectedCorners, Mat cameraMatrix)
Refine not detected markers based on the already detected and the board layoutvoid
refineDetectedMarkers(Mat image, Board board, java.util.List<Mat> detectedCorners, Mat detectedIds, java.util.List<Mat> rejectedCorners, Mat cameraMatrix, Mat distCoeffs)
Refine not detected markers based on the already detected and the board layoutvoid
refineDetectedMarkers(Mat image, Board board, java.util.List<Mat> detectedCorners, Mat detectedIds, java.util.List<Mat> rejectedCorners, Mat cameraMatrix, Mat distCoeffs, Mat recoveredIdxs)
Refine not detected markers based on the already detected and the board layoutvoid
setDetectorParameters(DetectorParameters detectorParameters)
void
setDictionary(Dictionary dictionary)
void
setRefineParameters(RefineParameters refineParameters)
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Methods inherited from class org.opencv.core.Algorithm
clear, empty, getDefaultName, getNativeObjAddr, save
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Constructor Detail
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ArucoDetector
protected ArucoDetector(long addr)
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ArucoDetector
public ArucoDetector(Dictionary dictionary, DetectorParameters detectorParams, RefineParameters refineParams)
Basic ArucoDetector constructor- Parameters:
dictionary
- indicates the type of markers that will be searcheddetectorParams
- marker detection parametersrefineParams
- marker refine detection parameters
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ArucoDetector
public ArucoDetector(Dictionary dictionary, DetectorParameters detectorParams)
Basic ArucoDetector constructor- Parameters:
dictionary
- indicates the type of markers that will be searcheddetectorParams
- marker detection parameters
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ArucoDetector
public ArucoDetector(Dictionary dictionary)
Basic ArucoDetector constructor- Parameters:
dictionary
- indicates the type of markers that will be searched
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ArucoDetector
public ArucoDetector()
Basic ArucoDetector constructor
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Method Detail
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__fromPtr__
public static ArucoDetector __fromPtr__(long addr)
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detectMarkers
public void detectMarkers(Mat image, java.util.List<Mat> corners, Mat ids, java.util.List<Mat> rejectedImgPoints)
Basic marker detection- Parameters:
image
- input imagecorners
- vector of detected marker 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 is Nx4. The order of the corners is clockwise.ids
- vector of identifiers of the detected markers. The identifier is of type int (e.g. std::vector<int>). For N detected markers, the size of ids is also N. The identifiers have the same order than the markers in the imgPoints array.rejectedImgPoints
- contains the imgPoints of those squares whose inner code has not a correct codification. Useful for debugging purposes. Performs marker detection in the input image. Only markers included in the specific dictionary are searched. For each detected marker, it returns the 2D position of its corner in the image and its corresponding identifier. Note that this function does not perform pose estimation. Note: The function does not correct lens distortion or takes it into account. It's recommended to undistort input image with corresponding camera model, if camera parameters are known SEE: undistort, estimatePoseSingleMarkers, estimatePoseBoard
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detectMarkers
public void detectMarkers(Mat image, java.util.List<Mat> corners, Mat ids)
Basic marker detection- Parameters:
image
- input imagecorners
- vector of detected marker 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 is Nx4. The order of the corners is clockwise.ids
- vector of identifiers of the detected markers. The identifier is of type int (e.g. std::vector<int>). For N detected markers, the size of ids is also N. The identifiers have the same order than the markers in the imgPoints array. correct codification. Useful for debugging purposes. Performs marker detection in the input image. Only markers included in the specific dictionary are searched. For each detected marker, it returns the 2D position of its corner in the image and its corresponding identifier. Note that this function does not perform pose estimation. Note: The function does not correct lens distortion or takes it into account. It's recommended to undistort input image with corresponding camera model, if camera parameters are known SEE: undistort, estimatePoseSingleMarkers, estimatePoseBoard
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refineDetectedMarkers
public void refineDetectedMarkers(Mat image, Board board, java.util.List<Mat> detectedCorners, Mat detectedIds, java.util.List<Mat> rejectedCorners, Mat cameraMatrix, Mat distCoeffs, Mat recoveredIdxs)
Refine not detected markers based on the already detected and the board layout- Parameters:
image
- input imageboard
- layout of markers in the board.detectedCorners
- vector of already detected marker corners.detectedIds
- vector of already detected marker identifiers.rejectedCorners
- vector of rejected candidates during the marker detection process.cameraMatrix
- optional input 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 elementsrecoveredIdxs
- Optional array to returns the indexes of the recovered candidates in the original rejectedCorners array. This function tries to find markers that were not detected in the basic detecMarkers function. First, based on the current detected marker and the board layout, the function interpolates the position of the missing markers. Then it tries to find correspondence between the reprojected markers and the rejected candidates based on the minRepDistance and errorCorrectionRate parameters. If camera parameters and distortion coefficients are provided, missing markers are reprojected using projectPoint function. If not, missing marker projections are interpolated using global homography, and all the marker corners in the board must have the same Z coordinate.
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refineDetectedMarkers
public void refineDetectedMarkers(Mat image, Board board, java.util.List<Mat> detectedCorners, Mat detectedIds, java.util.List<Mat> rejectedCorners, Mat cameraMatrix, Mat distCoeffs)
Refine not detected markers based on the already detected and the board layout- Parameters:
image
- input imageboard
- layout of markers in the board.detectedCorners
- vector of already detected marker corners.detectedIds
- vector of already detected marker identifiers.rejectedCorners
- vector of rejected candidates during the marker detection process.cameraMatrix
- optional input 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 original rejectedCorners array. This function tries to find markers that were not detected in the basic detecMarkers function. First, based on the current detected marker and the board layout, the function interpolates the position of the missing markers. Then it tries to find correspondence between the reprojected markers and the rejected candidates based on the minRepDistance and errorCorrectionRate parameters. If camera parameters and distortion coefficients are provided, missing markers are reprojected using projectPoint function. If not, missing marker projections are interpolated using global homography, and all the marker corners in the board must have the same Z coordinate.
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refineDetectedMarkers
public void refineDetectedMarkers(Mat image, Board board, java.util.List<Mat> detectedCorners, Mat detectedIds, java.util.List<Mat> rejectedCorners, Mat cameraMatrix)
Refine not detected markers based on the already detected and the board layout- Parameters:
image
- input imageboard
- layout of markers in the board.detectedCorners
- vector of already detected marker corners.detectedIds
- vector of already detected marker identifiers.rejectedCorners
- vector of rejected candidates during the marker detection process.cameraMatrix
- optional input 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 original rejectedCorners array. This function tries to find markers that were not detected in the basic detecMarkers function. First, based on the current detected marker and the board layout, the function interpolates the position of the missing markers. Then it tries to find correspondence between the reprojected markers and the rejected candidates based on the minRepDistance and errorCorrectionRate parameters. If camera parameters and distortion coefficients are provided, missing markers are reprojected using projectPoint function. If not, missing marker projections are interpolated using global homography, and all the marker corners in the board must have the same Z coordinate.
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refineDetectedMarkers
public void refineDetectedMarkers(Mat image, Board board, java.util.List<Mat> detectedCorners, Mat detectedIds, java.util.List<Mat> rejectedCorners)
Refine not detected markers based on the already detected and the board layout- Parameters:
image
- input imageboard
- layout of markers in the board.detectedCorners
- vector of already detected marker corners.detectedIds
- vector of already detected marker identifiers.rejectedCorners
- vector of rejected candidates during the marker detection process. \(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) \((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\) of 4, 5, 8 or 12 elements original rejectedCorners array. This function tries to find markers that were not detected in the basic detecMarkers function. First, based on the current detected marker and the board layout, the function interpolates the position of the missing markers. Then it tries to find correspondence between the reprojected markers and the rejected candidates based on the minRepDistance and errorCorrectionRate parameters. If camera parameters and distortion coefficients are provided, missing markers are reprojected using projectPoint function. If not, missing marker projections are interpolated using global homography, and all the marker corners in the board must have the same Z coordinate.
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getDictionary
public Dictionary getDictionary()
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setDictionary
public void setDictionary(Dictionary dictionary)
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getDetectorParameters
public DetectorParameters getDetectorParameters()
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setDetectorParameters
public void setDetectorParameters(DetectorParameters detectorParameters)
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getRefineParameters
public RefineParameters getRefineParameters()
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setRefineParameters
public void setRefineParameters(RefineParameters refineParameters)
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