OpenCVForUnity.ArucoModule.Aruco Class Reference

Static Public Member Functions
static void	detectMarkers (Mat image, Dictionary dictionary, List< Mat > corners, Mat ids, DetectorParameters parameters, List< Mat > rejectedImgPoints)
	detect markers More...
static void	detectMarkers (Mat image, Dictionary dictionary, List< Mat > corners, Mat ids, DetectorParameters parameters)
	detect markers More...
static void	detectMarkers (Mat image, Dictionary dictionary, List< Mat > corners, Mat ids)
	detect markers More...
static void	refineDetectedMarkers (Mat image, Board board, List< Mat > detectedCorners, Mat detectedIds, List< Mat > rejectedCorners, Mat cameraMatrix, Mat distCoeffs, float minRepDistance, float errorCorrectionRate, bool checkAllOrders, Mat recoveredIdxs, DetectorParameters parameters)
	refine detected markers More...
static void	refineDetectedMarkers (Mat image, Board board, List< Mat > detectedCorners, Mat detectedIds, List< Mat > rejectedCorners, Mat cameraMatrix, Mat distCoeffs, float minRepDistance, float errorCorrectionRate, bool checkAllOrders, Mat recoveredIdxs)
	refine detected markers More...
static void	refineDetectedMarkers (Mat image, Board board, List< Mat > detectedCorners, Mat detectedIds, List< Mat > rejectedCorners, Mat cameraMatrix, Mat distCoeffs, float minRepDistance, float errorCorrectionRate, bool checkAllOrders)
	refine detected markers More...
static void	refineDetectedMarkers (Mat image, Board board, List< Mat > detectedCorners, Mat detectedIds, List< Mat > rejectedCorners, Mat cameraMatrix, Mat distCoeffs, float minRepDistance, float errorCorrectionRate)
	refine detected markers More...
static void	refineDetectedMarkers (Mat image, Board board, List< Mat > detectedCorners, Mat detectedIds, List< Mat > rejectedCorners, Mat cameraMatrix, Mat distCoeffs, float minRepDistance)
	refine detected markers More...
static void	refineDetectedMarkers (Mat image, Board board, List< Mat > detectedCorners, Mat detectedIds, List< Mat > rejectedCorners, Mat cameraMatrix, Mat distCoeffs)
	refine detected markers More...
static void	refineDetectedMarkers (Mat image, Board board, List< Mat > detectedCorners, Mat detectedIds, List< Mat > rejectedCorners, Mat cameraMatrix)
	refine detected markers More...
static void	refineDetectedMarkers (Mat image, Board board, List< Mat > detectedCorners, Mat detectedIds, List< Mat > rejectedCorners)
	refine detected markers More...
static void	drawPlanarBoard (Board board, Size outSize, Mat img, int marginSize, int borderBits)
	draw planar board More...
static void	getBoardObjectAndImagePoints (Board board, List< Mat > detectedCorners, Mat detectedIds, Mat objPoints, Mat imgPoints)
	get board object and image points More...
static int	estimatePoseBoard (List< Mat > corners, Mat ids, Board board, Mat cameraMatrix, Mat distCoeffs, Mat rvec, Mat tvec, bool useExtrinsicGuess)
static int	estimatePoseBoard (List< Mat > corners, Mat ids, Board board, Mat cameraMatrix, Mat distCoeffs, Mat rvec, Mat tvec)
static bool	estimatePoseCharucoBoard (Mat charucoCorners, Mat charucoIds, CharucoBoard board, Mat cameraMatrix, Mat distCoeffs, Mat rvec, Mat tvec, bool useExtrinsicGuess)
	Pose estimation for a ChArUco board given some of their corners. More...
static bool	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. More...
static void	estimatePoseSingleMarkers (List< Mat > corners, float markerLength, Mat cameraMatrix, Mat distCoeffs, Mat rvecs, Mat tvecs, Mat objPoints, EstimateParameters estimateParameters)
static void	estimatePoseSingleMarkers (List< Mat > corners, float markerLength, Mat cameraMatrix, Mat distCoeffs, Mat rvecs, Mat tvecs, Mat objPoints)
static void	estimatePoseSingleMarkers (List< Mat > corners, float markerLength, Mat cameraMatrix, Mat distCoeffs, Mat rvecs, Mat tvecs)
static bool	testCharucoCornersCollinear (CharucoBoard board, Mat charucoIds)
static double	calibrateCameraArucoExtended (List< Mat > corners, Mat ids, Mat counter, Board board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, List< Mat > rvecs, List< Mat > tvecs, Mat stdDeviationsIntrinsics, Mat stdDeviationsExtrinsics, Mat perViewErrors, int flags, TermCriteria criteria)
	Calibrate a camera using aruco markers. More...
static double	calibrateCameraArucoExtended (List< Mat > corners, Mat ids, Mat counter, Board board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, List< Mat > rvecs, List< Mat > tvecs, Mat stdDeviationsIntrinsics, Mat stdDeviationsExtrinsics, Mat perViewErrors, int flags)
	Calibrate a camera using aruco markers. More...
static double	calibrateCameraArucoExtended (List< Mat > corners, Mat ids, Mat counter, Board board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, List< Mat > rvecs, List< Mat > tvecs, Mat stdDeviationsIntrinsics, Mat stdDeviationsExtrinsics, Mat perViewErrors)
	Calibrate a camera using aruco markers. More...
static double	calibrateCameraAruco (List< Mat > corners, Mat ids, Mat counter, Board board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, List< Mat > rvecs, List< Mat > tvecs, int flags, TermCriteria criteria)
	It's the same function as calibrateCameraAruco but without calibration error estimation. More...
static double	calibrateCameraAruco (List< Mat > corners, Mat ids, Mat counter, Board board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, List< Mat > rvecs, List< Mat > tvecs, int flags)
	It's the same function as calibrateCameraAruco but without calibration error estimation. More...
static double	calibrateCameraAruco (List< Mat > corners, Mat ids, Mat counter, Board board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, List< Mat > rvecs, List< Mat > tvecs)
	It's the same function as calibrateCameraAruco but without calibration error estimation. More...
static double	calibrateCameraAruco (List< Mat > corners, Mat ids, Mat counter, Board board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, List< Mat > rvecs)
	It's the same function as calibrateCameraAruco but without calibration error estimation. More...
static double	calibrateCameraAruco (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. More...
static double	calibrateCameraCharucoExtended (List< Mat > charucoCorners, List< Mat > charucoIds, CharucoBoard board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, List< Mat > rvecs, List< Mat > tvecs, Mat stdDeviationsIntrinsics, Mat stdDeviationsExtrinsics, Mat perViewErrors, int flags, TermCriteria criteria)
	Calibrate a camera using Charuco corners. More...
static double	calibrateCameraCharucoExtended (List< Mat > charucoCorners, List< Mat > charucoIds, CharucoBoard board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, List< Mat > rvecs, List< Mat > tvecs, Mat stdDeviationsIntrinsics, Mat stdDeviationsExtrinsics, Mat perViewErrors, int flags)
	Calibrate a camera using Charuco corners. More...
static double	calibrateCameraCharucoExtended (List< Mat > charucoCorners, List< Mat > charucoIds, CharucoBoard board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, List< Mat > rvecs, List< Mat > tvecs, Mat stdDeviationsIntrinsics, Mat stdDeviationsExtrinsics, Mat perViewErrors)
	Calibrate a camera using Charuco corners. More...
static double	calibrateCameraCharuco (List< Mat > charucoCorners, List< Mat > charucoIds, CharucoBoard board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, List< Mat > rvecs, List< Mat > tvecs, int flags, TermCriteria criteria)
	It's the same function as calibrateCameraCharuco but without calibration error estimation. More...
static double	calibrateCameraCharuco (List< Mat > charucoCorners, List< Mat > charucoIds, CharucoBoard board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, List< Mat > rvecs, List< Mat > tvecs, int flags)
	It's the same function as calibrateCameraCharuco but without calibration error estimation. More...
static double	calibrateCameraCharuco (List< Mat > charucoCorners, List< Mat > charucoIds, CharucoBoard board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, List< Mat > rvecs, List< Mat > tvecs)
	It's the same function as calibrateCameraCharuco but without calibration error estimation. More...
static double	calibrateCameraCharuco (List< Mat > charucoCorners, List< Mat > charucoIds, CharucoBoard board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, List< Mat > rvecs)
	It's the same function as calibrateCameraCharuco but without calibration error estimation. More...
static double	calibrateCameraCharuco (List< Mat > charucoCorners, List< Mat > charucoIds, CharucoBoard board, Size imageSize, Mat cameraMatrix, Mat distCoeffs)
	It's the same function as calibrateCameraCharuco but without calibration error estimation. More...
static int	interpolateCornersCharuco (List< Mat > markerCorners, Mat markerIds, Mat image, CharucoBoard board, Mat charucoCorners, Mat charucoIds, Mat cameraMatrix, Mat distCoeffs, int minMarkers)
	Interpolate position of ChArUco board corners. More...
static int	interpolateCornersCharuco (List< Mat > markerCorners, Mat markerIds, Mat image, CharucoBoard board, Mat charucoCorners, Mat charucoIds, Mat cameraMatrix, Mat distCoeffs)
	Interpolate position of ChArUco board corners. More...
static int	interpolateCornersCharuco (List< Mat > markerCorners, Mat markerIds, Mat image, CharucoBoard board, Mat charucoCorners, Mat charucoIds, Mat cameraMatrix)
	Interpolate position of ChArUco board corners. More...
static int	interpolateCornersCharuco (List< Mat > markerCorners, Mat markerIds, Mat image, CharucoBoard board, Mat charucoCorners, Mat charucoIds)
	Interpolate position of ChArUco board corners. More...
static void	detectCharucoDiamond (Mat image, List< Mat > markerCorners, Mat markerIds, float squareMarkerLengthRate, List< Mat > diamondCorners, Mat diamondIds, Mat cameraMatrix, Mat distCoeffs, Dictionary dictionary)
	Detect ChArUco Diamond markers. More...
static void	detectCharucoDiamond (Mat image, List< Mat > markerCorners, Mat markerIds, float squareMarkerLengthRate, List< Mat > diamondCorners, Mat diamondIds, Mat cameraMatrix, Mat distCoeffs)
	Detect ChArUco Diamond markers. More...
static void	detectCharucoDiamond (Mat image, List< Mat > markerCorners, Mat markerIds, float squareMarkerLengthRate, List< Mat > diamondCorners, Mat diamondIds, Mat cameraMatrix)
	Detect ChArUco Diamond markers. More...
static void	detectCharucoDiamond (Mat image, List< Mat > markerCorners, Mat markerIds, float squareMarkerLengthRate, List< Mat > diamondCorners, Mat diamondIds)
	Detect ChArUco Diamond markers. More...

Public Attributes
const int	ARUCO_CCW_CENTER = 0
const int	ARUCO_CW_TOP_LEFT_CORNER = 1

Member Function Documentation

calibrateCameraAruco() [1/5]

static double OpenCVForUnity.ArucoModule.Aruco.calibrateCameraAruco ( List< Mat >  corners, Mat  ids, Mat  counter, Board  board, Size  imageSize, Mat  cameraMatrix, Mat  distCoeffs, List< Mat >  rvecs, List< Mat >  tvecs, int  flags, TermCriteria  criteria  )

static

It's the same function as calibrateCameraAruco but without calibration error estimation.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

calibrateCameraAruco() [2/5]

static double OpenCVForUnity.ArucoModule.Aruco.calibrateCameraAruco ( List< Mat >  corners, Mat  ids, Mat  counter, Board  board, Size  imageSize, Mat  cameraMatrix, Mat  distCoeffs, List< Mat >  rvecs, List< Mat >  tvecs, int  flags  )

static

It's the same function as calibrateCameraAruco but without calibration error estimation.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

calibrateCameraAruco() [3/5]

static double OpenCVForUnity.ArucoModule.Aruco.calibrateCameraAruco ( List< Mat >  corners, Mat  ids, Mat  counter, Board  board, Size  imageSize, Mat  cameraMatrix, Mat  distCoeffs, List< Mat >  rvecs, List< Mat >  tvecs  )

static

It's the same function as calibrateCameraAruco but without calibration error estimation.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

calibrateCameraAruco() [4/5]

static double OpenCVForUnity.ArucoModule.Aruco.calibrateCameraAruco ( List< Mat >  corners, Mat  ids, Mat  counter, Board  board, Size  imageSize, Mat  cameraMatrix, Mat  distCoeffs, List< Mat >  rvecs  )

static

It's the same function as calibrateCameraAruco but without calibration error estimation.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

calibrateCameraAruco() [5/5]

static double OpenCVForUnity.ArucoModule.Aruco.calibrateCameraAruco ( List< Mat >  corners, Mat  ids, Mat  counter, Board  board, Size  imageSize, Mat  cameraMatrix, Mat  distCoeffs  )

static

It's the same function as calibrateCameraAruco but without calibration error estimation.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

calibrateCameraArucoExtended() [1/3]

static double OpenCVForUnity.ArucoModule.Aruco.calibrateCameraArucoExtended ( List< Mat >  corners, Mat  ids, Mat  counter, Board  board, Size  imageSize, Mat  cameraMatrix, Mat  distCoeffs, List< Mat >  rvecs, List< Mat >  tvecs, Mat  stdDeviationsIntrinsics, Mat  stdDeviationsExtrinsics, Mat  perViewErrors, int  flags, TermCriteria  criteria  )

static

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.

calibrateCameraArucoExtended() [2/3]

static double OpenCVForUnity.ArucoModule.Aruco.calibrateCameraArucoExtended ( List< Mat >  corners, Mat  ids, Mat  counter, Board  board, Size  imageSize, Mat  cameraMatrix, Mat  distCoeffs, List< Mat >  rvecs, List< Mat >  tvecs, Mat  stdDeviationsIntrinsics, Mat  stdDeviationsExtrinsics, Mat  perViewErrors, int  flags  )

static

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.

calibrateCameraArucoExtended() [3/3]

static double OpenCVForUnity.ArucoModule.Aruco.calibrateCameraArucoExtended ( List< Mat >  corners, Mat  ids, Mat  counter, Board  board, Size  imageSize, Mat  cameraMatrix, Mat  distCoeffs, List< Mat >  rvecs, List< Mat >  tvecs, Mat  stdDeviationsIntrinsics, Mat  stdDeviationsExtrinsics, Mat  perViewErrors  )

static

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.

calibrateCameraCharuco() [1/5]

static double OpenCVForUnity.ArucoModule.Aruco.calibrateCameraCharuco ( List< Mat >  charucoCorners, List< Mat >  charucoIds, CharucoBoard  board, Size  imageSize, Mat  cameraMatrix, Mat  distCoeffs, List< Mat >  rvecs, List< Mat >  tvecs, int  flags, TermCriteria  criteria  )

static

It's the same function as calibrateCameraCharuco but without calibration error estimation.

calibrateCameraCharuco() [2/5]

static double OpenCVForUnity.ArucoModule.Aruco.calibrateCameraCharuco ( List< Mat >  charucoCorners, List< Mat >  charucoIds, CharucoBoard  board, Size  imageSize, Mat  cameraMatrix, Mat  distCoeffs, List< Mat >  rvecs, List< Mat >  tvecs, int  flags  )

static

It's the same function as calibrateCameraCharuco but without calibration error estimation.

calibrateCameraCharuco() [3/5]

static double OpenCVForUnity.ArucoModule.Aruco.calibrateCameraCharuco ( List< Mat >  charucoCorners, List< Mat >  charucoIds, CharucoBoard  board, Size  imageSize, Mat  cameraMatrix, Mat  distCoeffs, List< Mat >  rvecs, List< Mat >  tvecs  )

static

It's the same function as calibrateCameraCharuco but without calibration error estimation.

calibrateCameraCharuco() [4/5]

static double OpenCVForUnity.ArucoModule.Aruco.calibrateCameraCharuco ( List< Mat >  charucoCorners, List< Mat >  charucoIds, CharucoBoard  board, Size  imageSize, Mat  cameraMatrix, Mat  distCoeffs, List< Mat >  rvecs  )

static

It's the same function as calibrateCameraCharuco but without calibration error estimation.

calibrateCameraCharuco() [5/5]

static double OpenCVForUnity.ArucoModule.Aruco.calibrateCameraCharuco ( List< Mat >  charucoCorners, List< Mat >  charucoIds, CharucoBoard  board, Size  imageSize, Mat  cameraMatrix, Mat  distCoeffs  )

static

It's the same function as calibrateCameraCharuco but without calibration error estimation.

calibrateCameraCharucoExtended() [1/3]

static double OpenCVForUnity.ArucoModule.Aruco.calibrateCameraCharucoExtended ( List< Mat >  charucoCorners, List< Mat >  charucoIds, CharucoBoard  board, Size  imageSize, Mat  cameraMatrix, Mat  distCoeffs, List< Mat >  rvecs, List< Mat >  tvecs, Mat  stdDeviationsIntrinsics, Mat  stdDeviationsExtrinsics, Mat  perViewErrors, int  flags, TermCriteria  criteria  )

static

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.

calibrateCameraCharucoExtended() [2/3]

static double OpenCVForUnity.ArucoModule.Aruco.calibrateCameraCharucoExtended ( List< Mat >  charucoCorners, List< Mat >  charucoIds, CharucoBoard  board, Size  imageSize, Mat  cameraMatrix, Mat  distCoeffs, List< Mat >  rvecs, List< Mat >  tvecs, Mat  stdDeviationsIntrinsics, Mat  stdDeviationsExtrinsics, Mat  perViewErrors, int  flags  )

static

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.

calibrateCameraCharucoExtended() [3/3]

static double OpenCVForUnity.ArucoModule.Aruco.calibrateCameraCharucoExtended ( List< Mat >  charucoCorners, List< Mat >  charucoIds, CharucoBoard  board, Size  imageSize, Mat  cameraMatrix, Mat  distCoeffs, List< Mat >  rvecs, List< Mat >  tvecs, Mat  stdDeviationsIntrinsics, Mat  stdDeviationsExtrinsics, Mat  perViewErrors  )

static

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.

detectCharucoDiamond() [1/4]

static void OpenCVForUnity.ArucoModule.Aruco.detectCharucoDiamond ( Mat  image, List< Mat >  markerCorners, Mat  markerIds, float  squareMarkerLengthRate, List< Mat >  diamondCorners, Mat  diamondIds, Mat  cameraMatrix, Mat  distCoeffs, Dictionary  dictionary  )

static

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.

Deprecated:

Use CharucoDetector::detectDiamonds

detectCharucoDiamond() [2/4]

static void OpenCVForUnity.ArucoModule.Aruco.detectCharucoDiamond ( Mat  image, List< Mat >  markerCorners, Mat  markerIds, float  squareMarkerLengthRate, List< Mat >  diamondCorners, Mat  diamondIds, Mat  cameraMatrix, Mat  distCoeffs  )

static

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.

Deprecated:

Use CharucoDetector::detectDiamonds

detectCharucoDiamond() [3/4]

static void OpenCVForUnity.ArucoModule.Aruco.detectCharucoDiamond ( Mat  image, List< Mat >  markerCorners, Mat  markerIds, float  squareMarkerLengthRate, List< Mat >  diamondCorners, Mat  diamondIds, Mat  cameraMatrix  )

static

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.

Deprecated:

Use CharucoDetector::detectDiamonds

detectCharucoDiamond() [4/4]

static void OpenCVForUnity.ArucoModule.Aruco.detectCharucoDiamond ( Mat  image, List< Mat >  markerCorners, Mat  markerIds, float  squareMarkerLengthRate, List< Mat >  diamondCorners, Mat  diamondIds  )

static

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.

Deprecated:

Use CharucoDetector::detectDiamonds

detectMarkers() [1/3]

static void OpenCVForUnity.ArucoModule.Aruco.detectMarkers ( Mat  image, Dictionary  dictionary, List< Mat >  corners, Mat  ids, DetectorParameters  parameters, List< Mat >  rejectedImgPoints  )

static

detect markers

Deprecated:

Use class ArucoDetector::detectMarkers

detectMarkers() [2/3]

static void OpenCVForUnity.ArucoModule.Aruco.detectMarkers ( Mat  image, Dictionary  dictionary, List< Mat >  corners, Mat  ids, DetectorParameters  parameters  )

static

detect markers

Deprecated:

Use class ArucoDetector::detectMarkers

detectMarkers() [3/3]

static void OpenCVForUnity.ArucoModule.Aruco.detectMarkers ( Mat  image, Dictionary  dictionary, List< Mat >  corners, Mat  ids  )

static

detect markers

Deprecated:

Use class ArucoDetector::detectMarkers

drawPlanarBoard()

static void OpenCVForUnity.ArucoModule.Aruco.drawPlanarBoard ( Board  board, Size  outSize, Mat  img, int  marginSize, int  borderBits  )

static

draw planar board

Deprecated:

Use Board::generateImage

estimatePoseBoard() [1/2]

static int OpenCVForUnity.ArucoModule.Aruco.estimatePoseBoard ( List< Mat >  corners, Mat  ids, Board  board, Mat  cameraMatrix, Mat  distCoeffs, Mat  rvec, Mat  tvec, bool  useExtrinsicGuess  )

static

Deprecated:

Use cv::solvePnP

estimatePoseBoard() [2/2]

static int OpenCVForUnity.ArucoModule.Aruco.estimatePoseBoard ( List< Mat >  corners, Mat  ids, Board  board, Mat  cameraMatrix, Mat  distCoeffs, Mat  rvec, Mat  tvec  )

static

Deprecated:

Use cv::solvePnP

estimatePoseCharucoBoard() [1/2]

static bool OpenCVForUnity.ArucoModule.Aruco.estimatePoseCharucoBoard ( Mat  charucoCorners, Mat  charucoIds, CharucoBoard  board, Mat  cameraMatrix, Mat  distCoeffs, Mat  rvec, Mat  tvec, bool  useExtrinsicGuess  )

static

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 rvec and 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 also

use cv::drawFrameAxes to get world coordinate system axis for object points

estimatePoseCharucoBoard() [2/2]

static bool OpenCVForUnity.ArucoModule.Aruco.estimatePoseCharucoBoard ( Mat  charucoCorners, Mat  charucoIds, CharucoBoard  board, Mat  cameraMatrix, Mat  distCoeffs, Mat  rvec, Mat  tvec  )

static

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 rvec and 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 also

use cv::drawFrameAxes to get world coordinate system axis for object points

estimatePoseSingleMarkers() [1/3]

static void OpenCVForUnity.ArucoModule.Aruco.estimatePoseSingleMarkers ( List< Mat >  corners, float  markerLength, Mat  cameraMatrix, Mat  distCoeffs, Mat  rvecs, Mat  tvecs, Mat  objPoints, EstimateParameters  estimateParameters  )

static

Deprecated:

Use cv::solvePnP

estimatePoseSingleMarkers() [2/3]

static void OpenCVForUnity.ArucoModule.Aruco.estimatePoseSingleMarkers ( List< Mat >  corners, float  markerLength, Mat  cameraMatrix, Mat  distCoeffs, Mat  rvecs, Mat  tvecs, Mat  objPoints  )

static

Deprecated:

Use cv::solvePnP

estimatePoseSingleMarkers() [3/3]

static void OpenCVForUnity.ArucoModule.Aruco.estimatePoseSingleMarkers ( List< Mat >  corners, float  markerLength, Mat  cameraMatrix, Mat  distCoeffs, Mat  rvecs, Mat  tvecs  )

static

Deprecated:

Use cv::solvePnP

getBoardObjectAndImagePoints()

static void OpenCVForUnity.ArucoModule.Aruco.getBoardObjectAndImagePoints ( Board  board, List< Mat >  detectedCorners, Mat  detectedIds, Mat  objPoints, Mat  imgPoints  )

static

get board object and image points

Deprecated:

Use Board::matchImagePoints

interpolateCornersCharuco() [1/4]

static int OpenCVForUnity.ArucoModule.Aruco.interpolateCornersCharuco ( List< Mat >  markerCorners, Mat  markerIds, Mat  image, CharucoBoard  board, Mat  charucoCorners, Mat  charucoIds, Mat  cameraMatrix, Mat  distCoeffs, int  minMarkers  )

static

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.

Deprecated:

Use CharucoDetector::detectBoard

interpolateCornersCharuco() [2/4]

static int OpenCVForUnity.ArucoModule.Aruco.interpolateCornersCharuco ( List< Mat >  markerCorners, Mat  markerIds, Mat  image, CharucoBoard  board, Mat  charucoCorners, Mat  charucoIds, Mat  cameraMatrix, Mat  distCoeffs  )

static

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.

Deprecated:

Use CharucoDetector::detectBoard

interpolateCornersCharuco() [3/4]

static int OpenCVForUnity.ArucoModule.Aruco.interpolateCornersCharuco ( List< Mat >  markerCorners, Mat  markerIds, Mat  image, CharucoBoard  board, Mat  charucoCorners, Mat  charucoIds, Mat  cameraMatrix  )

static

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.

Deprecated:

Use CharucoDetector::detectBoard

interpolateCornersCharuco() [4/4]

static int OpenCVForUnity.ArucoModule.Aruco.interpolateCornersCharuco ( List< Mat >  markerCorners, Mat  markerIds, Mat  image, CharucoBoard  board, Mat  charucoCorners, Mat  charucoIds  )

static

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.

Deprecated:

Use CharucoDetector::detectBoard

refineDetectedMarkers() [1/8]

static void OpenCVForUnity.ArucoModule.Aruco.refineDetectedMarkers ( Mat  image, Board  board, List< Mat >  detectedCorners, Mat  detectedIds, List< Mat >  rejectedCorners, Mat  cameraMatrix, Mat  distCoeffs, float  minRepDistance, float  errorCorrectionRate, bool  checkAllOrders, Mat  recoveredIdxs, DetectorParameters  parameters  )

static

refine detected markers

Deprecated:

Use class ArucoDetector::refineDetectedMarkers

refineDetectedMarkers() [2/8]

static void OpenCVForUnity.ArucoModule.Aruco.refineDetectedMarkers ( Mat  image, Board  board, List< Mat >  detectedCorners, Mat  detectedIds, List< Mat >  rejectedCorners, Mat  cameraMatrix, Mat  distCoeffs, float  minRepDistance, float  errorCorrectionRate, bool  checkAllOrders, Mat  recoveredIdxs  )

static

refine detected markers

Deprecated:

Use class ArucoDetector::refineDetectedMarkers

refineDetectedMarkers() [3/8]

static void OpenCVForUnity.ArucoModule.Aruco.refineDetectedMarkers ( Mat  image, Board  board, List< Mat >  detectedCorners, Mat  detectedIds, List< Mat >  rejectedCorners, Mat  cameraMatrix, Mat  distCoeffs, float  minRepDistance, float  errorCorrectionRate, bool  checkAllOrders  )

static

refine detected markers

Deprecated:

Use class ArucoDetector::refineDetectedMarkers

refineDetectedMarkers() [4/8]

static void OpenCVForUnity.ArucoModule.Aruco.refineDetectedMarkers ( Mat  image, Board  board, List< Mat >  detectedCorners, Mat  detectedIds, List< Mat >  rejectedCorners, Mat  cameraMatrix, Mat  distCoeffs, float  minRepDistance, float  errorCorrectionRate  )

static

refine detected markers

Deprecated:

Use class ArucoDetector::refineDetectedMarkers

refineDetectedMarkers() [5/8]

static void OpenCVForUnity.ArucoModule.Aruco.refineDetectedMarkers ( Mat  image, Board  board, List< Mat >  detectedCorners, Mat  detectedIds, List< Mat >  rejectedCorners, Mat  cameraMatrix, Mat  distCoeffs, float  minRepDistance  )

static

refine detected markers

Deprecated:

Use class ArucoDetector::refineDetectedMarkers

refineDetectedMarkers() [6/8]

static void OpenCVForUnity.ArucoModule.Aruco.refineDetectedMarkers ( Mat  image, Board  board, List< Mat >  detectedCorners, Mat  detectedIds, List< Mat >  rejectedCorners, Mat  cameraMatrix, Mat  distCoeffs  )

static

refine detected markers

Deprecated:

Use class ArucoDetector::refineDetectedMarkers

refineDetectedMarkers() [7/8]

static void OpenCVForUnity.ArucoModule.Aruco.refineDetectedMarkers ( Mat  image, Board  board, List< Mat >  detectedCorners, Mat  detectedIds, List< Mat >  rejectedCorners, Mat  cameraMatrix  )

static

refine detected markers

Deprecated:

Use class ArucoDetector::refineDetectedMarkers

refineDetectedMarkers() [8/8]

static void OpenCVForUnity.ArucoModule.Aruco.refineDetectedMarkers ( Mat  image, Board  board, List< Mat >  detectedCorners, Mat  detectedIds, List< Mat >  rejectedCorners  )

static

refine detected markers

Deprecated:

Use class ArucoDetector::refineDetectedMarkers

testCharucoCornersCollinear()

static bool OpenCVForUnity.ArucoModule.Aruco.testCharucoCornersCollinear ( CharucoBoard  board, Mat  charucoIds  )

static

Deprecated:

Use CharucoBoard::checkCharucoCornersCollinear

Member Data Documentation

ARUCO_CCW_CENTER

const int OpenCVForUnity.ArucoModule.Aruco.ARUCO_CCW_CENTER = 0

ARUCO_CW_TOP_LEFT_CORNER

const int OpenCVForUnity.ArucoModule.Aruco.ARUCO_CW_TOP_LEFT_CORNER = 1

---

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

• OpenCVForUnity/Assets/OpenCVForUnity/org/opencv_contrib/aruco/Aruco.cs