OpenCV  4.1.2-pre
Open Source Computer Vision
Classes | Namespaces | Enumerations | Functions
aruco.hpp File Reference
#include <opencv2/core.hpp>
#include <vector>
#include "opencv2/aruco/dictionary.hpp"

Classes

class  cv::aruco::Board
 Board of markers. More...
 
struct  cv::aruco::DetectorParameters
 Parameters for the detectMarker process: More...
 
class  cv::aruco::GridBoard
 Planar board with grid arrangement of markers More common type of board. All markers are placed in the same plane in a grid arrangement. The board can be drawn using drawPlanarBoard() function (. More...
 

Namespaces

 cv
 "black box" representation of the file storage associated with a file on disk.
 
 cv::aruco
 

Enumerations

enum  cv::aruco::CornerRefineMethod {
  cv::aruco::CORNER_REFINE_NONE,
  cv::aruco::CORNER_REFINE_SUBPIX,
  cv::aruco::CORNER_REFINE_CONTOUR,
  cv::aruco::CORNER_REFINE_APRILTAG
}
 

Functions

void cv::aruco::_drawPlanarBoardImpl (Board *board, Size outSize, OutputArray img, int marginSize=0, int borderBits=1)
 Implementation of drawPlanarBoard that accepts a raw Board pointer. More...
 
double cv::aruco::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, TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, DBL_EPSILON))
 Calibrate a camera using aruco markers. More...
 
double cv::aruco::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, TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, DBL_EPSILON))
 It's the same function as calibrateCameraAruco but without calibration error estimation. More...
 
void cv::aruco::detectMarkers (InputArray image, const Ptr< Dictionary > &dictionary, OutputArrayOfArrays corners, OutputArray ids, const Ptr< DetectorParameters > &parameters=DetectorParameters::create(), OutputArrayOfArrays rejectedImgPoints=noArray(), InputArray cameraMatrix=noArray(), InputArray distCoeff=noArray())
 Basic marker detection. More...
 
void cv::aruco::drawAxis (InputOutputArray image, InputArray cameraMatrix, InputArray distCoeffs, InputArray rvec, InputArray tvec, float length)
 Draw coordinate system axis from pose estimation. More...
 
void cv::aruco::drawDetectedMarkers (InputOutputArray image, InputArrayOfArrays corners, InputArray ids=noArray(), Scalar borderColor=Scalar(0, 255, 0))
 Draw detected markers in image. More...
 
void cv::aruco::drawMarker (const Ptr< Dictionary > &dictionary, int id, int sidePixels, OutputArray img, int borderBits=1)
 Draw a canonical marker image. More...
 
void cv::aruco::drawPlanarBoard (const Ptr< Board > &board, Size outSize, OutputArray img, int marginSize=0, int borderBits=1)
 Draw a planar board. More...
 
int cv::aruco::estimatePoseBoard (InputArrayOfArrays corners, InputArray ids, const Ptr< Board > &board, InputArray cameraMatrix, InputArray distCoeffs, InputOutputArray rvec, InputOutputArray tvec, bool useExtrinsicGuess=false)
 Pose estimation for a board of markers. More...
 
void cv::aruco::estimatePoseSingleMarkers (InputArrayOfArrays corners, float markerLength, InputArray cameraMatrix, InputArray distCoeffs, OutputArray rvecs, OutputArray tvecs, OutputArray _objPoints=noArray())
 Pose estimation for single markers. More...
 
void cv::aruco::getBoardObjectAndImagePoints (const Ptr< Board > &board, InputArrayOfArrays detectedCorners, InputArray detectedIds, OutputArray objPoints, OutputArray imgPoints)
 Given a board configuration and a set of detected markers, returns the corresponding image points and object points to call solvePnP. More...
 
void cv::aruco::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=DetectorParameters::create())
 Refind not detected markers based on the already detected and the board layout. More...