Class Aruco


  • public class Aruco
    extends java.lang.Object
    • Constructor Summary

      Constructors 
      Constructor Description
      Aruco()  
    • Method Summary

      All Methods Static Methods Concrete Methods Deprecated Methods 
      Modifier and Type Method Description
      static double calibrateCameraAruco​(java.util.List<Mat> corners, Mat ids, Mat counter, Board board, Size imageSize, Mat cameraMatrix, Mat distCoeffs)
      It's the same function as #calibrateCameraAruco but without calibration error estimation.
      static double calibrateCameraAruco​(java.util.List<Mat> corners, Mat ids, Mat counter, Board board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, java.util.List<Mat> rvecs)
      It's the same function as #calibrateCameraAruco but without calibration error estimation.
      static double calibrateCameraAruco​(java.util.List<Mat> corners, Mat ids, Mat counter, Board board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, java.util.List<Mat> rvecs, java.util.List<Mat> tvecs)
      It's the same function as #calibrateCameraAruco but without calibration error estimation.
      static double calibrateCameraAruco​(java.util.List<Mat> corners, Mat ids, Mat counter, Board board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, java.util.List<Mat> rvecs, java.util.List<Mat> tvecs, int flags)
      It's the same function as #calibrateCameraAruco but without calibration error estimation.
      static double calibrateCameraAruco​(java.util.List<Mat> corners, Mat ids, Mat counter, Board board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, java.util.List<Mat> rvecs, java.util.List<Mat> tvecs, int flags, TermCriteria criteria)
      It's the same function as #calibrateCameraAruco but without calibration error estimation.
      static double calibrateCameraArucoExtended​(java.util.List<Mat> corners, Mat ids, Mat counter, Board board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, java.util.List<Mat> rvecs, java.util.List<Mat> tvecs, Mat stdDeviationsIntrinsics, Mat stdDeviationsExtrinsics, Mat perViewErrors)
      Calibrate a camera using aruco markers
      static double calibrateCameraArucoExtended​(java.util.List<Mat> corners, Mat ids, Mat counter, Board board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, java.util.List<Mat> rvecs, java.util.List<Mat> tvecs, Mat stdDeviationsIntrinsics, Mat stdDeviationsExtrinsics, Mat perViewErrors, int flags)
      Calibrate a camera using aruco markers
      static double calibrateCameraArucoExtended​(java.util.List<Mat> corners, Mat ids, Mat counter, Board board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, java.util.List<Mat> rvecs, java.util.List<Mat> tvecs, Mat stdDeviationsIntrinsics, Mat stdDeviationsExtrinsics, Mat perViewErrors, int flags, TermCriteria criteria)
      Calibrate a camera using aruco markers
      static double calibrateCameraCharuco​(java.util.List<Mat> charucoCorners, java.util.List<Mat> charucoIds, CharucoBoard board, Size imageSize, Mat cameraMatrix, Mat distCoeffs)
      It's the same function as #calibrateCameraCharuco but without calibration error estimation.
      static double calibrateCameraCharuco​(java.util.List<Mat> charucoCorners, java.util.List<Mat> charucoIds, CharucoBoard board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, java.util.List<Mat> rvecs)
      It's the same function as #calibrateCameraCharuco but without calibration error estimation.
      static double calibrateCameraCharuco​(java.util.List<Mat> charucoCorners, java.util.List<Mat> charucoIds, CharucoBoard board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, java.util.List<Mat> rvecs, java.util.List<Mat> tvecs)
      It's the same function as #calibrateCameraCharuco but without calibration error estimation.
      static double calibrateCameraCharuco​(java.util.List<Mat> charucoCorners, java.util.List<Mat> charucoIds, CharucoBoard board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, java.util.List<Mat> rvecs, java.util.List<Mat> tvecs, int flags)
      It's the same function as #calibrateCameraCharuco but without calibration error estimation.
      static double calibrateCameraCharuco​(java.util.List<Mat> charucoCorners, java.util.List<Mat> charucoIds, CharucoBoard board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, java.util.List<Mat> rvecs, java.util.List<Mat> tvecs, int flags, TermCriteria criteria)
      It's the same function as #calibrateCameraCharuco but without calibration error estimation.
      static double calibrateCameraCharucoExtended​(java.util.List<Mat> charucoCorners, java.util.List<Mat> charucoIds, CharucoBoard board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, java.util.List<Mat> rvecs, java.util.List<Mat> tvecs, Mat stdDeviationsIntrinsics, Mat stdDeviationsExtrinsics, Mat perViewErrors)
      Calibrate a camera using Charuco corners
      static double calibrateCameraCharucoExtended​(java.util.List<Mat> charucoCorners, java.util.List<Mat> charucoIds, CharucoBoard board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, java.util.List<Mat> rvecs, java.util.List<Mat> tvecs, Mat stdDeviationsIntrinsics, Mat stdDeviationsExtrinsics, Mat perViewErrors, int flags)
      Calibrate a camera using Charuco corners
      static double calibrateCameraCharucoExtended​(java.util.List<Mat> charucoCorners, java.util.List<Mat> charucoIds, CharucoBoard board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, java.util.List<Mat> rvecs, java.util.List<Mat> tvecs, Mat stdDeviationsIntrinsics, Mat stdDeviationsExtrinsics, Mat perViewErrors, int flags, TermCriteria criteria)
      Calibrate a camera using Charuco corners
      static void detectCharucoDiamond​(Mat image, java.util.List<Mat> markerCorners, Mat markerIds, float squareMarkerLengthRate, java.util.List<Mat> diamondCorners, Mat diamondIds)
      Deprecated.
      Use CharucoDetector::detectDiamonds
      static void detectCharucoDiamond​(Mat image, java.util.List<Mat> markerCorners, Mat markerIds, float squareMarkerLengthRate, java.util.List<Mat> diamondCorners, Mat diamondIds, Mat cameraMatrix)
      Deprecated.
      Use CharucoDetector::detectDiamonds
      static void detectCharucoDiamond​(Mat image, java.util.List<Mat> markerCorners, Mat markerIds, float squareMarkerLengthRate, java.util.List<Mat> diamondCorners, Mat diamondIds, Mat cameraMatrix, Mat distCoeffs)
      Deprecated.
      Use CharucoDetector::detectDiamonds
      static void detectCharucoDiamond​(Mat image, java.util.List<Mat> markerCorners, Mat markerIds, float squareMarkerLengthRate, java.util.List<Mat> diamondCorners, Mat diamondIds, Mat cameraMatrix, Mat distCoeffs, Dictionary dictionary)
      Deprecated.
      Use CharucoDetector::detectDiamonds
      static void detectMarkers​(Mat image, Dictionary dictionary, java.util.List<Mat> corners, Mat ids)
      Deprecated.
      Use class ArucoDetector::detectMarkers
      static void detectMarkers​(Mat image, Dictionary dictionary, java.util.List<Mat> corners, Mat ids, DetectorParameters parameters)
      Deprecated.
      Use class ArucoDetector::detectMarkers
      static void detectMarkers​(Mat image, Dictionary dictionary, java.util.List<Mat> corners, Mat ids, DetectorParameters parameters, java.util.List<Mat> rejectedImgPoints)
      Deprecated.
      Use class ArucoDetector::detectMarkers
      static void drawPlanarBoard​(Board board, Size outSize, Mat img, int marginSize, int borderBits)
      Deprecated.
      Use Board::generateImage
      static int estimatePoseBoard​(java.util.List<Mat> corners, Mat ids, Board board, Mat cameraMatrix, Mat distCoeffs, Mat rvec, Mat tvec)
      Deprecated.
      Use cv::solvePnP
      static int estimatePoseBoard​(java.util.List<Mat> corners, Mat ids, Board board, Mat cameraMatrix, Mat distCoeffs, Mat rvec, Mat tvec, boolean useExtrinsicGuess)
      Deprecated.
      Use cv::solvePnP
      static boolean estimatePoseCharucoBoard​(Mat charucoCorners, Mat charucoIds, CharucoBoard board, Mat cameraMatrix, Mat distCoeffs, Mat rvec, Mat tvec)
      Pose estimation for a ChArUco board given some of their corners
      static boolean estimatePoseCharucoBoard​(Mat charucoCorners, Mat charucoIds, CharucoBoard board, Mat cameraMatrix, Mat distCoeffs, Mat rvec, Mat tvec, boolean useExtrinsicGuess)
      Pose estimation for a ChArUco board given some of their corners
      static void estimatePoseSingleMarkers​(java.util.List<Mat> corners, float markerLength, Mat cameraMatrix, Mat distCoeffs, Mat rvecs, Mat tvecs)
      Deprecated.
      Use cv::solvePnP
      static void estimatePoseSingleMarkers​(java.util.List<Mat> corners, float markerLength, Mat cameraMatrix, Mat distCoeffs, Mat rvecs, Mat tvecs, Mat objPoints)
      Deprecated.
      Use cv::solvePnP
      static void estimatePoseSingleMarkers​(java.util.List<Mat> corners, float markerLength, Mat cameraMatrix, Mat distCoeffs, Mat rvecs, Mat tvecs, Mat objPoints, EstimateParameters estimateParameters)
      Deprecated.
      Use cv::solvePnP
      static void getBoardObjectAndImagePoints​(Board board, java.util.List<Mat> detectedCorners, Mat detectedIds, Mat objPoints, Mat imgPoints)
      Deprecated.
      Use Board::matchImagePoints
      static int interpolateCornersCharuco​(java.util.List<Mat> markerCorners, Mat markerIds, Mat image, CharucoBoard board, Mat charucoCorners, Mat charucoIds)
      Deprecated.
      Use CharucoDetector::detectBoard
      static int interpolateCornersCharuco​(java.util.List<Mat> markerCorners, Mat markerIds, Mat image, CharucoBoard board, Mat charucoCorners, Mat charucoIds, Mat cameraMatrix)
      Deprecated.
      Use CharucoDetector::detectBoard
      static int interpolateCornersCharuco​(java.util.List<Mat> markerCorners, Mat markerIds, Mat image, CharucoBoard board, Mat charucoCorners, Mat charucoIds, Mat cameraMatrix, Mat distCoeffs)
      Deprecated.
      Use CharucoDetector::detectBoard
      static int interpolateCornersCharuco​(java.util.List<Mat> markerCorners, Mat markerIds, Mat image, CharucoBoard board, Mat charucoCorners, Mat charucoIds, Mat cameraMatrix, Mat distCoeffs, int minMarkers)
      Deprecated.
      Use CharucoDetector::detectBoard
      static void refineDetectedMarkers​(Mat image, Board board, java.util.List<Mat> detectedCorners, Mat detectedIds, java.util.List<Mat> rejectedCorners)
      Deprecated.
      Use class ArucoDetector::refineDetectedMarkers
      static void refineDetectedMarkers​(Mat image, Board board, java.util.List<Mat> detectedCorners, Mat detectedIds, java.util.List<Mat> rejectedCorners, Mat cameraMatrix)
      Deprecated.
      Use class ArucoDetector::refineDetectedMarkers
      static void refineDetectedMarkers​(Mat image, Board board, java.util.List<Mat> detectedCorners, Mat detectedIds, java.util.List<Mat> rejectedCorners, Mat cameraMatrix, Mat distCoeffs)
      Deprecated.
      Use class ArucoDetector::refineDetectedMarkers
      static void refineDetectedMarkers​(Mat image, Board board, java.util.List<Mat> detectedCorners, Mat detectedIds, java.util.List<Mat> rejectedCorners, Mat cameraMatrix, Mat distCoeffs, float minRepDistance)
      Deprecated.
      Use class ArucoDetector::refineDetectedMarkers
      static void refineDetectedMarkers​(Mat image, Board board, java.util.List<Mat> detectedCorners, Mat detectedIds, java.util.List<Mat> rejectedCorners, Mat cameraMatrix, Mat distCoeffs, float minRepDistance, float errorCorrectionRate)
      Deprecated.
      Use class ArucoDetector::refineDetectedMarkers
      static void refineDetectedMarkers​(Mat image, Board board, java.util.List<Mat> detectedCorners, Mat detectedIds, java.util.List<Mat> rejectedCorners, Mat cameraMatrix, Mat distCoeffs, float minRepDistance, float errorCorrectionRate, boolean checkAllOrders)
      Deprecated.
      Use class ArucoDetector::refineDetectedMarkers
      static void refineDetectedMarkers​(Mat image, Board board, java.util.List<Mat> detectedCorners, Mat detectedIds, java.util.List<Mat> rejectedCorners, Mat cameraMatrix, Mat distCoeffs, float minRepDistance, float errorCorrectionRate, boolean checkAllOrders, Mat recoveredIdxs)
      Deprecated.
      Use class ArucoDetector::refineDetectedMarkers
      static void refineDetectedMarkers​(Mat image, Board board, java.util.List<Mat> detectedCorners, Mat detectedIds, java.util.List<Mat> rejectedCorners, Mat cameraMatrix, Mat distCoeffs, float minRepDistance, float errorCorrectionRate, boolean checkAllOrders, Mat recoveredIdxs, DetectorParameters parameters)
      Deprecated.
      Use class ArucoDetector::refineDetectedMarkers
      static boolean testCharucoCornersCollinear​(CharucoBoard board, Mat charucoIds)
      Deprecated.
      Use CharucoBoard::checkCharucoCornersCollinear
      • Methods inherited from class java.lang.Object

        clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
    • Constructor Detail

      • Aruco

        public Aruco()
    • Method Detail

      • detectMarkers

        @Deprecated
        public static void detectMarkers​(Mat image,
                                         Dictionary dictionary,
                                         java.util.List<Mat> corners,
                                         Mat ids,
                                         DetectorParameters parameters,
                                         java.util.List<Mat> rejectedImgPoints)
        Deprecated.
        Use class ArucoDetector::detectMarkers
        detect markers
        Parameters:
        image - automatically generated
        dictionary - automatically generated
        corners - automatically generated
        ids - automatically generated
        parameters - automatically generated
        rejectedImgPoints - automatically generated
      • detectMarkers

        @Deprecated
        public static void detectMarkers​(Mat image,
                                         Dictionary dictionary,
                                         java.util.List<Mat> corners,
                                         Mat ids,
                                         DetectorParameters parameters)
        Deprecated.
        Use class ArucoDetector::detectMarkers
        detect markers
        Parameters:
        image - automatically generated
        dictionary - automatically generated
        corners - automatically generated
        ids - automatically generated
        parameters - automatically generated
      • detectMarkers

        @Deprecated
        public static void detectMarkers​(Mat image,
                                         Dictionary dictionary,
                                         java.util.List<Mat> corners,
                                         Mat ids)
        Deprecated.
        Use class ArucoDetector::detectMarkers
        detect markers
        Parameters:
        image - automatically generated
        dictionary - automatically generated
        corners - automatically generated
        ids - automatically generated
      • refineDetectedMarkers

        @Deprecated
        public static void refineDetectedMarkers​(Mat image,
                                                 Board board,
                                                 java.util.List<Mat> detectedCorners,
                                                 Mat detectedIds,
                                                 java.util.List<Mat> rejectedCorners,
                                                 Mat cameraMatrix,
                                                 Mat distCoeffs,
                                                 float minRepDistance,
                                                 float errorCorrectionRate,
                                                 boolean checkAllOrders,
                                                 Mat recoveredIdxs,
                                                 DetectorParameters parameters)
        Deprecated.
        Use class ArucoDetector::refineDetectedMarkers
        refine detected markers
        Parameters:
        image - automatically generated
        board - automatically generated
        detectedCorners - automatically generated
        detectedIds - automatically generated
        rejectedCorners - automatically generated
        cameraMatrix - automatically generated
        distCoeffs - automatically generated
        minRepDistance - automatically generated
        errorCorrectionRate - automatically generated
        checkAllOrders - automatically generated
        recoveredIdxs - automatically generated
        parameters - automatically generated
      • refineDetectedMarkers

        @Deprecated
        public static void refineDetectedMarkers​(Mat image,
                                                 Board board,
                                                 java.util.List<Mat> detectedCorners,
                                                 Mat detectedIds,
                                                 java.util.List<Mat> rejectedCorners,
                                                 Mat cameraMatrix,
                                                 Mat distCoeffs,
                                                 float minRepDistance,
                                                 float errorCorrectionRate,
                                                 boolean checkAllOrders,
                                                 Mat recoveredIdxs)
        Deprecated.
        Use class ArucoDetector::refineDetectedMarkers
        refine detected markers
        Parameters:
        image - automatically generated
        board - automatically generated
        detectedCorners - automatically generated
        detectedIds - automatically generated
        rejectedCorners - automatically generated
        cameraMatrix - automatically generated
        distCoeffs - automatically generated
        minRepDistance - automatically generated
        errorCorrectionRate - automatically generated
        checkAllOrders - automatically generated
        recoveredIdxs - automatically generated
      • refineDetectedMarkers

        @Deprecated
        public static void refineDetectedMarkers​(Mat image,
                                                 Board board,
                                                 java.util.List<Mat> detectedCorners,
                                                 Mat detectedIds,
                                                 java.util.List<Mat> rejectedCorners,
                                                 Mat cameraMatrix,
                                                 Mat distCoeffs,
                                                 float minRepDistance,
                                                 float errorCorrectionRate,
                                                 boolean checkAllOrders)
        Deprecated.
        Use class ArucoDetector::refineDetectedMarkers
        refine detected markers
        Parameters:
        image - automatically generated
        board - automatically generated
        detectedCorners - automatically generated
        detectedIds - automatically generated
        rejectedCorners - automatically generated
        cameraMatrix - automatically generated
        distCoeffs - automatically generated
        minRepDistance - automatically generated
        errorCorrectionRate - automatically generated
        checkAllOrders - automatically generated
      • refineDetectedMarkers

        @Deprecated
        public static void refineDetectedMarkers​(Mat image,
                                                 Board board,
                                                 java.util.List<Mat> detectedCorners,
                                                 Mat detectedIds,
                                                 java.util.List<Mat> rejectedCorners,
                                                 Mat cameraMatrix,
                                                 Mat distCoeffs,
                                                 float minRepDistance,
                                                 float errorCorrectionRate)
        Deprecated.
        Use class ArucoDetector::refineDetectedMarkers
        refine detected markers
        Parameters:
        image - automatically generated
        board - automatically generated
        detectedCorners - automatically generated
        detectedIds - automatically generated
        rejectedCorners - automatically generated
        cameraMatrix - automatically generated
        distCoeffs - automatically generated
        minRepDistance - automatically generated
        errorCorrectionRate - automatically generated
      • refineDetectedMarkers

        @Deprecated
        public static void refineDetectedMarkers​(Mat image,
                                                 Board board,
                                                 java.util.List<Mat> detectedCorners,
                                                 Mat detectedIds,
                                                 java.util.List<Mat> rejectedCorners,
                                                 Mat cameraMatrix,
                                                 Mat distCoeffs,
                                                 float minRepDistance)
        Deprecated.
        Use class ArucoDetector::refineDetectedMarkers
        refine detected markers
        Parameters:
        image - automatically generated
        board - automatically generated
        detectedCorners - automatically generated
        detectedIds - automatically generated
        rejectedCorners - automatically generated
        cameraMatrix - automatically generated
        distCoeffs - automatically generated
        minRepDistance - automatically generated
      • refineDetectedMarkers

        @Deprecated
        public static void refineDetectedMarkers​(Mat image,
                                                 Board board,
                                                 java.util.List<Mat> detectedCorners,
                                                 Mat detectedIds,
                                                 java.util.List<Mat> rejectedCorners,
                                                 Mat cameraMatrix,
                                                 Mat distCoeffs)
        Deprecated.
        Use class ArucoDetector::refineDetectedMarkers
        refine detected markers
        Parameters:
        image - automatically generated
        board - automatically generated
        detectedCorners - automatically generated
        detectedIds - automatically generated
        rejectedCorners - automatically generated
        cameraMatrix - automatically generated
        distCoeffs - automatically generated
      • refineDetectedMarkers

        @Deprecated
        public static void refineDetectedMarkers​(Mat image,
                                                 Board board,
                                                 java.util.List<Mat> detectedCorners,
                                                 Mat detectedIds,
                                                 java.util.List<Mat> rejectedCorners,
                                                 Mat cameraMatrix)
        Deprecated.
        Use class ArucoDetector::refineDetectedMarkers
        refine detected markers
        Parameters:
        image - automatically generated
        board - automatically generated
        detectedCorners - automatically generated
        detectedIds - automatically generated
        rejectedCorners - automatically generated
        cameraMatrix - automatically generated
      • refineDetectedMarkers

        @Deprecated
        public static void refineDetectedMarkers​(Mat image,
                                                 Board board,
                                                 java.util.List<Mat> detectedCorners,
                                                 Mat detectedIds,
                                                 java.util.List<Mat> rejectedCorners)
        Deprecated.
        Use class ArucoDetector::refineDetectedMarkers
        refine detected markers
        Parameters:
        image - automatically generated
        board - automatically generated
        detectedCorners - automatically generated
        detectedIds - automatically generated
        rejectedCorners - automatically generated
      • drawPlanarBoard

        @Deprecated
        public static void drawPlanarBoard​(Board board,
                                           Size outSize,
                                           Mat img,
                                           int marginSize,
                                           int borderBits)
        Deprecated.
        Use Board::generateImage
        draw planar board
        Parameters:
        board - automatically generated
        outSize - automatically generated
        img - automatically generated
        marginSize - automatically generated
        borderBits - automatically generated
      • getBoardObjectAndImagePoints

        @Deprecated
        public static void getBoardObjectAndImagePoints​(Board board,
                                                        java.util.List<Mat> detectedCorners,
                                                        Mat detectedIds,
                                                        Mat objPoints,
                                                        Mat imgPoints)
        Deprecated.
        Use Board::matchImagePoints
        get board object and image points
        Parameters:
        board - automatically generated
        detectedCorners - automatically generated
        detectedIds - automatically generated
        objPoints - automatically generated
        imgPoints - automatically generated
      • estimatePoseBoard

        @Deprecated
        public static int estimatePoseBoard​(java.util.List<Mat> corners,
                                            Mat ids,
                                            Board board,
                                            Mat cameraMatrix,
                                            Mat distCoeffs,
                                            Mat rvec,
                                            Mat tvec,
                                            boolean useExtrinsicGuess)
        Deprecated.
        Use cv::solvePnP
        Parameters:
        corners - automatically generated
        ids - automatically generated
        board - automatically generated
        cameraMatrix - automatically generated
        distCoeffs - automatically generated
        rvec - automatically generated
        tvec - automatically generated
        useExtrinsicGuess - automatically generated
        Returns:
        automatically generated
      • estimatePoseBoard

        @Deprecated
        public static int estimatePoseBoard​(java.util.List<Mat> corners,
                                            Mat ids,
                                            Board board,
                                            Mat cameraMatrix,
                                            Mat distCoeffs,
                                            Mat rvec,
                                            Mat tvec)
        Deprecated.
        Use cv::solvePnP
        Parameters:
        corners - automatically generated
        ids - automatically generated
        board - automatically generated
        cameraMatrix - automatically generated
        distCoeffs - automatically generated
        rvec - automatically generated
        tvec - automatically generated
        Returns:
        automatically generated
      • estimatePoseCharucoBoard

        public static boolean estimatePoseCharucoBoard​(Mat charucoCorners,
                                                       Mat charucoIds,
                                                       CharucoBoard board,
                                                       Mat cameraMatrix,
                                                       Mat distCoeffs,
                                                       Mat rvec,
                                                       Mat tvec,
                                                       boolean useExtrinsicGuess)
        Pose estimation for a ChArUco board given some of their corners
        Parameters:
        charucoCorners - vector of detected charuco corners
        charucoIds - list of identifiers for each corner in charucoCorners
        board - layout of ChArUco board.
        cameraMatrix - input 3x3 floating-point camera matrix \(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\)
        distCoeffs - 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
        rvec - Output vector (e.g. cv::Mat) corresponding to the rotation vector of the board (see cv::Rodrigues).
        tvec - Output vector (e.g. cv::Mat) corresponding to the translation vector of the board.
        useExtrinsicGuess - defines whether initial guess for \b rvec and \b tvec will be used or not. This function estimates a Charuco board pose from some detected corners. The function checks if the input corners are enough and valid to perform pose estimation. If pose estimation is valid, returns true, else returns false. SEE: use cv::drawFrameAxes to get world coordinate system axis for object points
        Returns:
        automatically generated
      • estimatePoseCharucoBoard

        public static boolean estimatePoseCharucoBoard​(Mat charucoCorners,
                                                       Mat charucoIds,
                                                       CharucoBoard board,
                                                       Mat cameraMatrix,
                                                       Mat distCoeffs,
                                                       Mat rvec,
                                                       Mat tvec)
        Pose estimation for a ChArUco board given some of their corners
        Parameters:
        charucoCorners - vector of detected charuco corners
        charucoIds - list of identifiers for each corner in charucoCorners
        board - layout of ChArUco board.
        cameraMatrix - input 3x3 floating-point camera matrix \(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\)
        distCoeffs - 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
        rvec - Output vector (e.g. cv::Mat) corresponding to the rotation vector of the board (see cv::Rodrigues).
        tvec - Output vector (e.g. cv::Mat) corresponding to the translation vector of the board. This function estimates a Charuco board pose from some detected corners. The function checks if the input corners are enough and valid to perform pose estimation. If pose estimation is valid, returns true, else returns false. SEE: use cv::drawFrameAxes to get world coordinate system axis for object points
        Returns:
        automatically generated
      • estimatePoseSingleMarkers

        @Deprecated
        public static void estimatePoseSingleMarkers​(java.util.List<Mat> corners,
                                                     float markerLength,
                                                     Mat cameraMatrix,
                                                     Mat distCoeffs,
                                                     Mat rvecs,
                                                     Mat tvecs,
                                                     Mat objPoints,
                                                     EstimateParameters estimateParameters)
        Deprecated.
        Use cv::solvePnP
        Parameters:
        corners - automatically generated
        markerLength - automatically generated
        cameraMatrix - automatically generated
        distCoeffs - automatically generated
        rvecs - automatically generated
        tvecs - automatically generated
        objPoints - automatically generated
        estimateParameters - automatically generated
      • estimatePoseSingleMarkers

        @Deprecated
        public static void estimatePoseSingleMarkers​(java.util.List<Mat> corners,
                                                     float markerLength,
                                                     Mat cameraMatrix,
                                                     Mat distCoeffs,
                                                     Mat rvecs,
                                                     Mat tvecs,
                                                     Mat objPoints)
        Deprecated.
        Use cv::solvePnP
        Parameters:
        corners - automatically generated
        markerLength - automatically generated
        cameraMatrix - automatically generated
        distCoeffs - automatically generated
        rvecs - automatically generated
        tvecs - automatically generated
        objPoints - automatically generated
      • estimatePoseSingleMarkers

        @Deprecated
        public static void estimatePoseSingleMarkers​(java.util.List<Mat> corners,
                                                     float markerLength,
                                                     Mat cameraMatrix,
                                                     Mat distCoeffs,
                                                     Mat rvecs,
                                                     Mat tvecs)
        Deprecated.
        Use cv::solvePnP
        Parameters:
        corners - automatically generated
        markerLength - automatically generated
        cameraMatrix - automatically generated
        distCoeffs - automatically generated
        rvecs - automatically generated
        tvecs - automatically generated
      • testCharucoCornersCollinear

        @Deprecated
        public static boolean testCharucoCornersCollinear​(CharucoBoard board,
                                                          Mat charucoIds)
        Deprecated.
        Use CharucoBoard::checkCharucoCornersCollinear
        Parameters:
        board - automatically generated
        charucoIds - automatically generated
        Returns:
        automatically generated
      • calibrateCameraArucoExtended

        public static double calibrateCameraArucoExtended​(java.util.List<Mat> corners,
                                                          Mat ids,
                                                          Mat counter,
                                                          Board board,
                                                          Size imageSize,
                                                          Mat cameraMatrix,
                                                          Mat distCoeffs,
                                                          java.util.List<Mat> rvecs,
                                                          java.util.List<Mat> tvecs,
                                                          Mat stdDeviationsIntrinsics,
                                                          Mat stdDeviationsExtrinsics,
                                                          Mat perViewErrors,
                                                          int flags,
                                                          TermCriteria criteria)
        Calibrate a camera using aruco markers
        Parameters:
        corners - vector of detected marker corners in all frames. The corners should have the same format returned by detectMarkers (see #detectMarkers).
        ids - list of identifiers for each marker in corners
        counter - number of markers in each frame so that corners and ids can be split
        board - Marker Board layout
        imageSize - Size of the image used only to initialize the intrinsic camera matrix.
        cameraMatrix - Output 3x3 floating-point camera matrix \(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) . If CV\_CALIB\_USE\_INTRINSIC\_GUESS and/or CV_CALIB_FIX_ASPECT_RATIO are specified, some or all of fx, fy, cx, cy must be initialized before calling the function.
        distCoeffs - Output 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
        rvecs - Output vector of rotation vectors (see Rodrigues ) estimated for each board view (e.g. std::vector<cv::Mat>>). That is, each k-th rotation vector together with the corresponding k-th translation vector (see the next output parameter description) brings the board pattern from the model coordinate space (in which object points are specified) to the world coordinate space, that is, a real position of the board pattern in the k-th pattern view (k=0.. *M* -1).
        tvecs - Output vector of translation vectors estimated for each pattern view.
        stdDeviationsIntrinsics - Output vector of standard deviations estimated for intrinsic parameters. Order of deviations values: \((f_x, f_y, c_x, c_y, k_1, k_2, p_1, p_2, k_3, k_4, k_5, k_6 , s_1, s_2, s_3, s_4, \tau_x, \tau_y)\) If one of parameters is not estimated, it's deviation is equals to zero.
        stdDeviationsExtrinsics - Output vector of standard deviations estimated for extrinsic parameters. Order of deviations values: \((R_1, T_1, \dotsc , R_M, T_M)\) where M is number of pattern views, \(R_i, T_i\) are concatenated 1x3 vectors.
        perViewErrors - Output vector of average re-projection errors estimated for each pattern view.
        flags - flags Different flags for the calibration process (see #calibrateCamera for details).
        criteria - Termination criteria for the iterative optimization algorithm. This function calibrates a camera using an Aruco Board. The function receives a list of detected markers from several views of the Board. The process is similar to the chessboard calibration in calibrateCamera(). The function returns the final re-projection error.
        Returns:
        automatically generated
      • calibrateCameraArucoExtended

        public static double calibrateCameraArucoExtended​(java.util.List<Mat> corners,
                                                          Mat ids,
                                                          Mat counter,
                                                          Board board,
                                                          Size imageSize,
                                                          Mat cameraMatrix,
                                                          Mat distCoeffs,
                                                          java.util.List<Mat> rvecs,
                                                          java.util.List<Mat> tvecs,
                                                          Mat stdDeviationsIntrinsics,
                                                          Mat stdDeviationsExtrinsics,
                                                          Mat perViewErrors,
                                                          int flags)
        Calibrate a camera using aruco markers
        Parameters:
        corners - vector of detected marker corners in all frames. The corners should have the same format returned by detectMarkers (see #detectMarkers).
        ids - list of identifiers for each marker in corners
        counter - number of markers in each frame so that corners and ids can be split
        board - Marker Board layout
        imageSize - Size of the image used only to initialize the intrinsic camera matrix.
        cameraMatrix - Output 3x3 floating-point camera matrix \(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) . If CV\_CALIB\_USE\_INTRINSIC\_GUESS and/or CV_CALIB_FIX_ASPECT_RATIO are specified, some or all of fx, fy, cx, cy must be initialized before calling the function.
        distCoeffs - Output 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
        rvecs - Output vector of rotation vectors (see Rodrigues ) estimated for each board view (e.g. std::vector<cv::Mat>>). That is, each k-th rotation vector together with the corresponding k-th translation vector (see the next output parameter description) brings the board pattern from the model coordinate space (in which object points are specified) to the world coordinate space, that is, a real position of the board pattern in the k-th pattern view (k=0.. *M* -1).
        tvecs - Output vector of translation vectors estimated for each pattern view.
        stdDeviationsIntrinsics - Output vector of standard deviations estimated for intrinsic parameters. Order of deviations values: \((f_x, f_y, c_x, c_y, k_1, k_2, p_1, p_2, k_3, k_4, k_5, k_6 , s_1, s_2, s_3, s_4, \tau_x, \tau_y)\) If one of parameters is not estimated, it's deviation is equals to zero.
        stdDeviationsExtrinsics - Output vector of standard deviations estimated for extrinsic parameters. Order of deviations values: \((R_1, T_1, \dotsc , R_M, T_M)\) where M is number of pattern views, \(R_i, T_i\) are concatenated 1x3 vectors.
        perViewErrors - Output vector of average re-projection errors estimated for each pattern view.
        flags - flags Different flags for the calibration process (see #calibrateCamera for details). This function calibrates a camera using an Aruco Board. The function receives a list of detected markers from several views of the Board. The process is similar to the chessboard calibration in calibrateCamera(). The function returns the final re-projection error.
        Returns:
        automatically generated
      • calibrateCameraArucoExtended

        public static double calibrateCameraArucoExtended​(java.util.List<Mat> corners,
                                                          Mat ids,
                                                          Mat counter,
                                                          Board board,
                                                          Size imageSize,
                                                          Mat cameraMatrix,
                                                          Mat distCoeffs,
                                                          java.util.List<Mat> rvecs,
                                                          java.util.List<Mat> tvecs,
                                                          Mat stdDeviationsIntrinsics,
                                                          Mat stdDeviationsExtrinsics,
                                                          Mat perViewErrors)
        Calibrate a camera using aruco markers
        Parameters:
        corners - vector of detected marker corners in all frames. The corners should have the same format returned by detectMarkers (see #detectMarkers).
        ids - list of identifiers for each marker in corners
        counter - number of markers in each frame so that corners and ids can be split
        board - Marker Board layout
        imageSize - Size of the image used only to initialize the intrinsic camera matrix.
        cameraMatrix - Output 3x3 floating-point camera matrix \(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) . If CV\_CALIB\_USE\_INTRINSIC\_GUESS and/or CV_CALIB_FIX_ASPECT_RATIO are specified, some or all of fx, fy, cx, cy must be initialized before calling the function.
        distCoeffs - Output 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
        rvecs - Output vector of rotation vectors (see Rodrigues ) estimated for each board view (e.g. std::vector<cv::Mat>>). That is, each k-th rotation vector together with the corresponding k-th translation vector (see the next output parameter description) brings the board pattern from the model coordinate space (in which object points are specified) to the world coordinate space, that is, a real position of the board pattern in the k-th pattern view (k=0.. *M* -1).
        tvecs - Output vector of translation vectors estimated for each pattern view.
        stdDeviationsIntrinsics - Output vector of standard deviations estimated for intrinsic parameters. Order of deviations values: \((f_x, f_y, c_x, c_y, k_1, k_2, p_1, p_2, k_3, k_4, k_5, k_6 , s_1, s_2, s_3, s_4, \tau_x, \tau_y)\) If one of parameters is not estimated, it's deviation is equals to zero.
        stdDeviationsExtrinsics - Output vector of standard deviations estimated for extrinsic parameters. Order of deviations values: \((R_1, T_1, \dotsc , R_M, T_M)\) where M is number of pattern views, \(R_i, T_i\) are concatenated 1x3 vectors.
        perViewErrors - Output vector of average re-projection errors estimated for each pattern view. This function calibrates a camera using an Aruco Board. The function receives a list of detected markers from several views of the Board. The process is similar to the chessboard calibration in calibrateCamera(). The function returns the final re-projection error.
        Returns:
        automatically generated
      • calibrateCameraAruco

        public static double calibrateCameraAruco​(java.util.List<Mat> corners,
                                                  Mat ids,
                                                  Mat counter,
                                                  Board board,
                                                  Size imageSize,
                                                  Mat cameraMatrix,
                                                  Mat distCoeffs,
                                                  java.util.List<Mat> rvecs,
                                                  java.util.List<Mat> tvecs,
                                                  int flags,
                                                  TermCriteria criteria)
        It's the same function as #calibrateCameraAruco but without calibration error estimation.
        Parameters:
        corners - automatically generated
        ids - automatically generated
        counter - automatically generated
        board - automatically generated
        imageSize - automatically generated
        cameraMatrix - automatically generated
        distCoeffs - automatically generated
        rvecs - automatically generated
        tvecs - automatically generated
        flags - automatically generated
        criteria - automatically generated
        Returns:
        automatically generated
      • calibrateCameraAruco

        public static double calibrateCameraAruco​(java.util.List<Mat> corners,
                                                  Mat ids,
                                                  Mat counter,
                                                  Board board,
                                                  Size imageSize,
                                                  Mat cameraMatrix,
                                                  Mat distCoeffs,
                                                  java.util.List<Mat> rvecs,
                                                  java.util.List<Mat> tvecs,
                                                  int flags)
        It's the same function as #calibrateCameraAruco but without calibration error estimation.
        Parameters:
        corners - automatically generated
        ids - automatically generated
        counter - automatically generated
        board - automatically generated
        imageSize - automatically generated
        cameraMatrix - automatically generated
        distCoeffs - automatically generated
        rvecs - automatically generated
        tvecs - automatically generated
        flags - automatically generated
        Returns:
        automatically generated
      • calibrateCameraAruco

        public static double calibrateCameraAruco​(java.util.List<Mat> corners,
                                                  Mat ids,
                                                  Mat counter,
                                                  Board board,
                                                  Size imageSize,
                                                  Mat cameraMatrix,
                                                  Mat distCoeffs,
                                                  java.util.List<Mat> rvecs,
                                                  java.util.List<Mat> tvecs)
        It's the same function as #calibrateCameraAruco but without calibration error estimation.
        Parameters:
        corners - automatically generated
        ids - automatically generated
        counter - automatically generated
        board - automatically generated
        imageSize - automatically generated
        cameraMatrix - automatically generated
        distCoeffs - automatically generated
        rvecs - automatically generated
        tvecs - automatically generated
        Returns:
        automatically generated
      • calibrateCameraAruco

        public static double calibrateCameraAruco​(java.util.List<Mat> corners,
                                                  Mat ids,
                                                  Mat counter,
                                                  Board board,
                                                  Size imageSize,
                                                  Mat cameraMatrix,
                                                  Mat distCoeffs,
                                                  java.util.List<Mat> rvecs)
        It's the same function as #calibrateCameraAruco but without calibration error estimation.
        Parameters:
        corners - automatically generated
        ids - automatically generated
        counter - automatically generated
        board - automatically generated
        imageSize - automatically generated
        cameraMatrix - automatically generated
        distCoeffs - automatically generated
        rvecs - automatically generated
        Returns:
        automatically generated
      • calibrateCameraAruco

        public static double calibrateCameraAruco​(java.util.List<Mat> corners,
                                                  Mat ids,
                                                  Mat counter,
                                                  Board board,
                                                  Size imageSize,
                                                  Mat cameraMatrix,
                                                  Mat distCoeffs)
        It's the same function as #calibrateCameraAruco but without calibration error estimation.
        Parameters:
        corners - automatically generated
        ids - automatically generated
        counter - automatically generated
        board - automatically generated
        imageSize - automatically generated
        cameraMatrix - automatically generated
        distCoeffs - automatically generated
        Returns:
        automatically generated
      • calibrateCameraCharucoExtended

        public static double calibrateCameraCharucoExtended​(java.util.List<Mat> charucoCorners,
                                                            java.util.List<Mat> charucoIds,
                                                            CharucoBoard board,
                                                            Size imageSize,
                                                            Mat cameraMatrix,
                                                            Mat distCoeffs,
                                                            java.util.List<Mat> rvecs,
                                                            java.util.List<Mat> tvecs,
                                                            Mat stdDeviationsIntrinsics,
                                                            Mat stdDeviationsExtrinsics,
                                                            Mat perViewErrors,
                                                            int flags,
                                                            TermCriteria criteria)
        Calibrate a camera using Charuco corners
        Parameters:
        charucoCorners - vector of detected charuco corners per frame
        charucoIds - list of identifiers for each corner in charucoCorners per frame
        board - Marker Board layout
        imageSize - input image size
        cameraMatrix - Output 3x3 floating-point camera matrix \(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) . If CV\_CALIB\_USE\_INTRINSIC\_GUESS and/or CV_CALIB_FIX_ASPECT_RATIO are specified, some or all of fx, fy, cx, cy must be initialized before calling the function.
        distCoeffs - Output 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
        rvecs - Output vector of rotation vectors (see Rodrigues ) estimated for each board view (e.g. std::vector<cv::Mat>>). That is, each k-th rotation vector together with the corresponding k-th translation vector (see the next output parameter description) brings the board pattern from the model coordinate space (in which object points are specified) to the world coordinate space, that is, a real position of the board pattern in the k-th pattern view (k=0.. *M* -1).
        tvecs - Output vector of translation vectors estimated for each pattern view.
        stdDeviationsIntrinsics - Output vector of standard deviations estimated for intrinsic parameters. Order of deviations values: \((f_x, f_y, c_x, c_y, k_1, k_2, p_1, p_2, k_3, k_4, k_5, k_6 , s_1, s_2, s_3, s_4, \tau_x, \tau_y)\) If one of parameters is not estimated, it's deviation is equals to zero.
        stdDeviationsExtrinsics - Output vector of standard deviations estimated for extrinsic parameters. Order of deviations values: \((R_1, T_1, \dotsc , R_M, T_M)\) where M is number of pattern views, \(R_i, T_i\) are concatenated 1x3 vectors.
        perViewErrors - Output vector of average re-projection errors estimated for each pattern view.
        flags - flags Different flags for the calibration process (see #calibrateCamera for details).
        criteria - Termination criteria for the iterative optimization algorithm. This function calibrates a camera using a set of corners of a Charuco Board. The function receives a list of detected corners and its identifiers from several views of the Board. The function returns the final re-projection error.
        Returns:
        automatically generated
      • calibrateCameraCharucoExtended

        public static double calibrateCameraCharucoExtended​(java.util.List<Mat> charucoCorners,
                                                            java.util.List<Mat> charucoIds,
                                                            CharucoBoard board,
                                                            Size imageSize,
                                                            Mat cameraMatrix,
                                                            Mat distCoeffs,
                                                            java.util.List<Mat> rvecs,
                                                            java.util.List<Mat> tvecs,
                                                            Mat stdDeviationsIntrinsics,
                                                            Mat stdDeviationsExtrinsics,
                                                            Mat perViewErrors,
                                                            int flags)
        Calibrate a camera using Charuco corners
        Parameters:
        charucoCorners - vector of detected charuco corners per frame
        charucoIds - list of identifiers for each corner in charucoCorners per frame
        board - Marker Board layout
        imageSize - input image size
        cameraMatrix - Output 3x3 floating-point camera matrix \(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) . If CV\_CALIB\_USE\_INTRINSIC\_GUESS and/or CV_CALIB_FIX_ASPECT_RATIO are specified, some or all of fx, fy, cx, cy must be initialized before calling the function.
        distCoeffs - Output 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
        rvecs - Output vector of rotation vectors (see Rodrigues ) estimated for each board view (e.g. std::vector<cv::Mat>>). That is, each k-th rotation vector together with the corresponding k-th translation vector (see the next output parameter description) brings the board pattern from the model coordinate space (in which object points are specified) to the world coordinate space, that is, a real position of the board pattern in the k-th pattern view (k=0.. *M* -1).
        tvecs - Output vector of translation vectors estimated for each pattern view.
        stdDeviationsIntrinsics - Output vector of standard deviations estimated for intrinsic parameters. Order of deviations values: \((f_x, f_y, c_x, c_y, k_1, k_2, p_1, p_2, k_3, k_4, k_5, k_6 , s_1, s_2, s_3, s_4, \tau_x, \tau_y)\) If one of parameters is not estimated, it's deviation is equals to zero.
        stdDeviationsExtrinsics - Output vector of standard deviations estimated for extrinsic parameters. Order of deviations values: \((R_1, T_1, \dotsc , R_M, T_M)\) where M is number of pattern views, \(R_i, T_i\) are concatenated 1x3 vectors.
        perViewErrors - Output vector of average re-projection errors estimated for each pattern view.
        flags - flags Different flags for the calibration process (see #calibrateCamera for details). This function calibrates a camera using a set of corners of a Charuco Board. The function receives a list of detected corners and its identifiers from several views of the Board. The function returns the final re-projection error.
        Returns:
        automatically generated
      • calibrateCameraCharucoExtended

        public static double calibrateCameraCharucoExtended​(java.util.List<Mat> charucoCorners,
                                                            java.util.List<Mat> charucoIds,
                                                            CharucoBoard board,
                                                            Size imageSize,
                                                            Mat cameraMatrix,
                                                            Mat distCoeffs,
                                                            java.util.List<Mat> rvecs,
                                                            java.util.List<Mat> tvecs,
                                                            Mat stdDeviationsIntrinsics,
                                                            Mat stdDeviationsExtrinsics,
                                                            Mat perViewErrors)
        Calibrate a camera using Charuco corners
        Parameters:
        charucoCorners - vector of detected charuco corners per frame
        charucoIds - list of identifiers for each corner in charucoCorners per frame
        board - Marker Board layout
        imageSize - input image size
        cameraMatrix - Output 3x3 floating-point camera matrix \(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) . If CV\_CALIB\_USE\_INTRINSIC\_GUESS and/or CV_CALIB_FIX_ASPECT_RATIO are specified, some or all of fx, fy, cx, cy must be initialized before calling the function.
        distCoeffs - Output 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
        rvecs - Output vector of rotation vectors (see Rodrigues ) estimated for each board view (e.g. std::vector<cv::Mat>>). That is, each k-th rotation vector together with the corresponding k-th translation vector (see the next output parameter description) brings the board pattern from the model coordinate space (in which object points are specified) to the world coordinate space, that is, a real position of the board pattern in the k-th pattern view (k=0.. *M* -1).
        tvecs - Output vector of translation vectors estimated for each pattern view.
        stdDeviationsIntrinsics - Output vector of standard deviations estimated for intrinsic parameters. Order of deviations values: \((f_x, f_y, c_x, c_y, k_1, k_2, p_1, p_2, k_3, k_4, k_5, k_6 , s_1, s_2, s_3, s_4, \tau_x, \tau_y)\) If one of parameters is not estimated, it's deviation is equals to zero.
        stdDeviationsExtrinsics - Output vector of standard deviations estimated for extrinsic parameters. Order of deviations values: \((R_1, T_1, \dotsc , R_M, T_M)\) where M is number of pattern views, \(R_i, T_i\) are concatenated 1x3 vectors.
        perViewErrors - Output vector of average re-projection errors estimated for each pattern view. This function calibrates a camera using a set of corners of a Charuco Board. The function receives a list of detected corners and its identifiers from several views of the Board. The function returns the final re-projection error.
        Returns:
        automatically generated
      • calibrateCameraCharuco

        public static double calibrateCameraCharuco​(java.util.List<Mat> charucoCorners,
                                                    java.util.List<Mat> charucoIds,
                                                    CharucoBoard board,
                                                    Size imageSize,
                                                    Mat cameraMatrix,
                                                    Mat distCoeffs,
                                                    java.util.List<Mat> rvecs,
                                                    java.util.List<Mat> tvecs,
                                                    int flags,
                                                    TermCriteria criteria)
        It's the same function as #calibrateCameraCharuco but without calibration error estimation.
        Parameters:
        charucoCorners - automatically generated
        charucoIds - automatically generated
        board - automatically generated
        imageSize - automatically generated
        cameraMatrix - automatically generated
        distCoeffs - automatically generated
        rvecs - automatically generated
        tvecs - automatically generated
        flags - automatically generated
        criteria - automatically generated
        Returns:
        automatically generated
      • calibrateCameraCharuco

        public static double calibrateCameraCharuco​(java.util.List<Mat> charucoCorners,
                                                    java.util.List<Mat> charucoIds,
                                                    CharucoBoard board,
                                                    Size imageSize,
                                                    Mat cameraMatrix,
                                                    Mat distCoeffs,
                                                    java.util.List<Mat> rvecs,
                                                    java.util.List<Mat> tvecs,
                                                    int flags)
        It's the same function as #calibrateCameraCharuco but without calibration error estimation.
        Parameters:
        charucoCorners - automatically generated
        charucoIds - automatically generated
        board - automatically generated
        imageSize - automatically generated
        cameraMatrix - automatically generated
        distCoeffs - automatically generated
        rvecs - automatically generated
        tvecs - automatically generated
        flags - automatically generated
        Returns:
        automatically generated
      • calibrateCameraCharuco

        public static double calibrateCameraCharuco​(java.util.List<Mat> charucoCorners,
                                                    java.util.List<Mat> charucoIds,
                                                    CharucoBoard board,
                                                    Size imageSize,
                                                    Mat cameraMatrix,
                                                    Mat distCoeffs,
                                                    java.util.List<Mat> rvecs,
                                                    java.util.List<Mat> tvecs)
        It's the same function as #calibrateCameraCharuco but without calibration error estimation.
        Parameters:
        charucoCorners - automatically generated
        charucoIds - automatically generated
        board - automatically generated
        imageSize - automatically generated
        cameraMatrix - automatically generated
        distCoeffs - automatically generated
        rvecs - automatically generated
        tvecs - automatically generated
        Returns:
        automatically generated
      • calibrateCameraCharuco

        public static double calibrateCameraCharuco​(java.util.List<Mat> charucoCorners,
                                                    java.util.List<Mat> charucoIds,
                                                    CharucoBoard board,
                                                    Size imageSize,
                                                    Mat cameraMatrix,
                                                    Mat distCoeffs,
                                                    java.util.List<Mat> rvecs)
        It's the same function as #calibrateCameraCharuco but without calibration error estimation.
        Parameters:
        charucoCorners - automatically generated
        charucoIds - automatically generated
        board - automatically generated
        imageSize - automatically generated
        cameraMatrix - automatically generated
        distCoeffs - automatically generated
        rvecs - automatically generated
        Returns:
        automatically generated
      • calibrateCameraCharuco

        public static double calibrateCameraCharuco​(java.util.List<Mat> charucoCorners,
                                                    java.util.List<Mat> charucoIds,
                                                    CharucoBoard board,
                                                    Size imageSize,
                                                    Mat cameraMatrix,
                                                    Mat distCoeffs)
        It's the same function as #calibrateCameraCharuco but without calibration error estimation.
        Parameters:
        charucoCorners - automatically generated
        charucoIds - automatically generated
        board - automatically generated
        imageSize - automatically generated
        cameraMatrix - automatically generated
        distCoeffs - automatically generated
        Returns:
        automatically generated
      • interpolateCornersCharuco

        @Deprecated
        public static int interpolateCornersCharuco​(java.util.List<Mat> markerCorners,
                                                    Mat markerIds,
                                                    Mat image,
                                                    CharucoBoard board,
                                                    Mat charucoCorners,
                                                    Mat charucoIds,
                                                    Mat cameraMatrix,
                                                    Mat distCoeffs,
                                                    int minMarkers)
        Deprecated.
        Use CharucoDetector::detectBoard
        Interpolate position of ChArUco board corners
        Parameters:
        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.
        markerIds - list of identifiers for each marker in corners
        image - input image necesary for corner refinement. Note that markers are not detected and should be sent in corners and ids parameters.
        board - layout of ChArUco board.
        charucoCorners - interpolated chessboard corners
        charucoIds - interpolated chessboard corners identifiers
        cameraMatrix - optional 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
        minMarkers - number of adjacent markers that must be detected to return a charuco corner 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 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. The function returns the number of interpolated corners.
        Returns:
        automatically generated
      • interpolateCornersCharuco

        @Deprecated
        public static int interpolateCornersCharuco​(java.util.List<Mat> markerCorners,
                                                    Mat markerIds,
                                                    Mat image,
                                                    CharucoBoard board,
                                                    Mat charucoCorners,
                                                    Mat charucoIds,
                                                    Mat cameraMatrix,
                                                    Mat distCoeffs)
        Deprecated.
        Use CharucoDetector::detectBoard
        Interpolate position of ChArUco board corners
        Parameters:
        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.
        markerIds - list of identifiers for each marker in corners
        image - input image necesary for corner refinement. Note that markers are not detected and should be sent in corners and ids parameters.
        board - layout of ChArUco board.
        charucoCorners - interpolated chessboard corners
        charucoIds - interpolated chessboard corners identifiers
        cameraMatrix - optional 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 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 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. The function returns the number of interpolated corners.
        Returns:
        automatically generated
      • interpolateCornersCharuco

        @Deprecated
        public static int interpolateCornersCharuco​(java.util.List<Mat> markerCorners,
                                                    Mat markerIds,
                                                    Mat image,
                                                    CharucoBoard board,
                                                    Mat charucoCorners,
                                                    Mat charucoIds,
                                                    Mat cameraMatrix)
        Deprecated.
        Use CharucoDetector::detectBoard
        Interpolate position of ChArUco board corners
        Parameters:
        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.
        markerIds - list of identifiers for each marker in corners
        image - input image necesary for corner refinement. Note that markers are not detected and should be sent in corners and ids parameters.
        board - layout of ChArUco board.
        charucoCorners - interpolated chessboard corners
        charucoIds - interpolated chessboard corners identifiers
        cameraMatrix - optional 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 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 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. The function returns the number of interpolated corners.
        Returns:
        automatically generated
      • interpolateCornersCharuco

        @Deprecated
        public static int interpolateCornersCharuco​(java.util.List<Mat> markerCorners,
                                                    Mat markerIds,
                                                    Mat image,
                                                    CharucoBoard board,
                                                    Mat charucoCorners,
                                                    Mat charucoIds)
        Deprecated.
        Use CharucoDetector::detectBoard
        Interpolate position of ChArUco board corners
        Parameters:
        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.
        markerIds - list of identifiers for each marker in corners
        image - input image necesary for corner refinement. Note that markers are not detected and should be sent in corners and ids parameters.
        board - layout of ChArUco board.
        charucoCorners - interpolated chessboard corners
        charucoIds - interpolated chessboard corners identifiers \(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) \((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\) of 4, 5, 8 or 12 elements 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 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. The function returns the number of interpolated corners.
        Returns:
        automatically generated
      • detectCharucoDiamond

        @Deprecated
        public static void detectCharucoDiamond​(Mat image,
                                                java.util.List<Mat> markerCorners,
                                                Mat markerIds,
                                                float squareMarkerLengthRate,
                                                java.util.List<Mat> diamondCorners,
                                                Mat diamondIds,
                                                Mat cameraMatrix,
                                                Mat distCoeffs,
                                                Dictionary dictionary)
        Deprecated.
        Use CharucoDetector::detectDiamonds
        Detect ChArUco Diamond markers
        Parameters:
        image - input image necessary for corner subpixel.
        markerCorners - list of detected marker corners from detectMarkers function.
        markerIds - list of marker ids in markerCorners.
        squareMarkerLengthRate - rate between square and marker length: squareMarkerLengthRate = squareLength/markerLength. The real units are not necessary.
        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.
        cameraMatrix - Optional camera calibration matrix.
        distCoeffs - Optional camera distortion coefficients.
        dictionary - dictionary of markers indicating the type of 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.
      • detectCharucoDiamond

        @Deprecated
        public static void detectCharucoDiamond​(Mat image,
                                                java.util.List<Mat> markerCorners,
                                                Mat markerIds,
                                                float squareMarkerLengthRate,
                                                java.util.List<Mat> diamondCorners,
                                                Mat diamondIds,
                                                Mat cameraMatrix,
                                                Mat distCoeffs)
        Deprecated.
        Use CharucoDetector::detectDiamonds
        Detect ChArUco Diamond markers
        Parameters:
        image - input image necessary for corner subpixel.
        markerCorners - list of detected marker corners from detectMarkers function.
        markerIds - list of marker ids in markerCorners.
        squareMarkerLengthRate - rate between square and marker length: squareMarkerLengthRate = squareLength/markerLength. The real units are not necessary.
        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.
        cameraMatrix - Optional camera calibration matrix.
        distCoeffs - Optional camera distortion coefficients. 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.
      • detectCharucoDiamond

        @Deprecated
        public static void detectCharucoDiamond​(Mat image,
                                                java.util.List<Mat> markerCorners,
                                                Mat markerIds,
                                                float squareMarkerLengthRate,
                                                java.util.List<Mat> diamondCorners,
                                                Mat diamondIds,
                                                Mat cameraMatrix)
        Deprecated.
        Use CharucoDetector::detectDiamonds
        Detect ChArUco Diamond markers
        Parameters:
        image - input image necessary for corner subpixel.
        markerCorners - list of detected marker corners from detectMarkers function.
        markerIds - list of marker ids in markerCorners.
        squareMarkerLengthRate - rate between square and marker length: squareMarkerLengthRate = squareLength/markerLength. The real units are not necessary.
        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.
        cameraMatrix - Optional camera calibration matrix. 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.
      • detectCharucoDiamond

        @Deprecated
        public static void detectCharucoDiamond​(Mat image,
                                                java.util.List<Mat> markerCorners,
                                                Mat markerIds,
                                                float squareMarkerLengthRate,
                                                java.util.List<Mat> diamondCorners,
                                                Mat diamondIds)
        Deprecated.
        Use CharucoDetector::detectDiamonds
        Detect ChArUco Diamond markers
        Parameters:
        image - input image necessary for corner subpixel.
        markerCorners - list of detected marker corners from detectMarkers function.
        markerIds - list of marker ids in markerCorners.
        squareMarkerLengthRate - rate between square and marker length: squareMarkerLengthRate = squareLength/markerLength. The real units are not necessary.
        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. 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.