OpenCV for Unity 2.6.3
Enox Software / Please refer to OpenCV official document ( http://docs.opencv.org/4.10.0/index.html ) for the details of the argument of the method.
|
Static Public Member Functions | |
static void | detectMarkers (Mat image, Dictionary dictionary, List< Mat > corners, Mat ids, DetectorParameters parameters, List< Mat > rejectedImgPoints) |
detect markers | |
static void | detectMarkers (Mat image, Dictionary dictionary, List< Mat > corners, Mat ids, DetectorParameters parameters) |
detect markers | |
static void | detectMarkers (Mat image, Dictionary dictionary, List< Mat > corners, Mat ids) |
detect markers | |
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 | |
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 | |
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 | |
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 | |
static void | refineDetectedMarkers (Mat image, Board board, List< Mat > detectedCorners, Mat detectedIds, List< Mat > rejectedCorners, Mat cameraMatrix, Mat distCoeffs, float minRepDistance) |
refine detected markers | |
static void | refineDetectedMarkers (Mat image, Board board, List< Mat > detectedCorners, Mat detectedIds, List< Mat > rejectedCorners, Mat cameraMatrix, Mat distCoeffs) |
refine detected markers | |
static void | refineDetectedMarkers (Mat image, Board board, List< Mat > detectedCorners, Mat detectedIds, List< Mat > rejectedCorners, Mat cameraMatrix) |
refine detected markers | |
static void | refineDetectedMarkers (Mat image, Board board, List< Mat > detectedCorners, Mat detectedIds, List< Mat > rejectedCorners) |
refine detected markers | |
static void | drawPlanarBoard (Board board, Size outSize, Mat img, int marginSize, int borderBits) |
draw planar board | |
static void | getBoardObjectAndImagePoints (Board board, List< Mat > detectedCorners, Mat detectedIds, Mat objPoints, Mat imgPoints) |
get board object and image points | |
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. | |
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. | |
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. | |
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. | |
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. | |
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. | |
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. | |
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. | |
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. | |
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. | |
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. | |
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. | |
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. | |
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. | |
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. | |
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. | |
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. | |
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. | |
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. | |
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. | |
static int | interpolateCornersCharuco (List< Mat > markerCorners, Mat markerIds, Mat image, CharucoBoard board, Mat charucoCorners, Mat charucoIds, Mat cameraMatrix) |
Interpolate position of ChArUco board corners. | |
static int | interpolateCornersCharuco (List< Mat > markerCorners, Mat markerIds, Mat image, CharucoBoard board, Mat charucoCorners, Mat charucoIds) |
Interpolate position of ChArUco board corners. | |
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. | |
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. | |
static void | detectCharucoDiamond (Mat image, List< Mat > markerCorners, Mat markerIds, float squareMarkerLengthRate, List< Mat > diamondCorners, Mat diamondIds, Mat cameraMatrix) |
Detect ChArUco Diamond markers. | |
static void | detectCharucoDiamond (Mat image, List< Mat > markerCorners, Mat markerIds, float squareMarkerLengthRate, List< Mat > diamondCorners, Mat diamondIds) |
Detect ChArUco Diamond markers. | |
static void | drawPlanarBoard (Board board, in Vec2d outSize, Mat img, int marginSize, int borderBits) |
draw planar board | |
static double | calibrateCameraArucoExtended (List< Mat > corners, Mat ids, Mat counter, Board board, in Vec2d imageSize, Mat cameraMatrix, Mat distCoeffs, List< Mat > rvecs, List< Mat > tvecs, Mat stdDeviationsIntrinsics, Mat stdDeviationsExtrinsics, Mat perViewErrors, int flags, in Vec3d criteria) |
Calibrate a camera using aruco markers. | |
static double | calibrateCameraArucoExtended (List< Mat > corners, Mat ids, Mat counter, Board board, in Vec2d 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. | |
static double | calibrateCameraArucoExtended (List< Mat > corners, Mat ids, Mat counter, Board board, in Vec2d imageSize, Mat cameraMatrix, Mat distCoeffs, List< Mat > rvecs, List< Mat > tvecs, Mat stdDeviationsIntrinsics, Mat stdDeviationsExtrinsics, Mat perViewErrors) |
Calibrate a camera using aruco markers. | |
static double | calibrateCameraAruco (List< Mat > corners, Mat ids, Mat counter, Board board, in Vec2d imageSize, Mat cameraMatrix, Mat distCoeffs, List< Mat > rvecs, List< Mat > tvecs, int flags, in Vec3d criteria) |
It's the same function as calibrateCameraAruco but without calibration error estimation. | |
static double | calibrateCameraAruco (List< Mat > corners, Mat ids, Mat counter, Board board, in Vec2d 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. | |
static double | calibrateCameraAruco (List< Mat > corners, Mat ids, Mat counter, Board board, in Vec2d imageSize, Mat cameraMatrix, Mat distCoeffs, List< Mat > rvecs, List< Mat > tvecs) |
It's the same function as calibrateCameraAruco but without calibration error estimation. | |
static double | calibrateCameraAruco (List< Mat > corners, Mat ids, Mat counter, Board board, in Vec2d imageSize, Mat cameraMatrix, Mat distCoeffs, List< Mat > rvecs) |
It's the same function as calibrateCameraAruco but without calibration error estimation. | |
static double | calibrateCameraAruco (List< Mat > corners, Mat ids, Mat counter, Board board, in Vec2d imageSize, Mat cameraMatrix, Mat distCoeffs) |
It's the same function as calibrateCameraAruco but without calibration error estimation. | |
static double | calibrateCameraCharucoExtended (List< Mat > charucoCorners, List< Mat > charucoIds, CharucoBoard board, in Vec2d imageSize, Mat cameraMatrix, Mat distCoeffs, List< Mat > rvecs, List< Mat > tvecs, Mat stdDeviationsIntrinsics, Mat stdDeviationsExtrinsics, Mat perViewErrors, int flags, in Vec3d criteria) |
Calibrate a camera using Charuco corners. | |
static double | calibrateCameraCharucoExtended (List< Mat > charucoCorners, List< Mat > charucoIds, CharucoBoard board, in Vec2d 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. | |
static double | calibrateCameraCharucoExtended (List< Mat > charucoCorners, List< Mat > charucoIds, CharucoBoard board, in Vec2d imageSize, Mat cameraMatrix, Mat distCoeffs, List< Mat > rvecs, List< Mat > tvecs, Mat stdDeviationsIntrinsics, Mat stdDeviationsExtrinsics, Mat perViewErrors) |
Calibrate a camera using Charuco corners. | |
static double | calibrateCameraCharuco (List< Mat > charucoCorners, List< Mat > charucoIds, CharucoBoard board, in Vec2d imageSize, Mat cameraMatrix, Mat distCoeffs, List< Mat > rvecs, List< Mat > tvecs, int flags, in Vec3d criteria) |
It's the same function as calibrateCameraCharuco but without calibration error estimation. | |
static double | calibrateCameraCharuco (List< Mat > charucoCorners, List< Mat > charucoIds, CharucoBoard board, in Vec2d 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. | |
static double | calibrateCameraCharuco (List< Mat > charucoCorners, List< Mat > charucoIds, CharucoBoard board, in Vec2d imageSize, Mat cameraMatrix, Mat distCoeffs, List< Mat > rvecs, List< Mat > tvecs) |
It's the same function as calibrateCameraCharuco but without calibration error estimation. | |
static double | calibrateCameraCharuco (List< Mat > charucoCorners, List< Mat > charucoIds, CharucoBoard board, in Vec2d imageSize, Mat cameraMatrix, Mat distCoeffs, List< Mat > rvecs) |
It's the same function as calibrateCameraCharuco but without calibration error estimation. | |
static double | calibrateCameraCharuco (List< Mat > charucoCorners, List< Mat > charucoIds, CharucoBoard board, in Vec2d imageSize, Mat cameraMatrix, Mat distCoeffs) |
It's the same function as calibrateCameraCharuco but without calibration error estimation. | |
static void | drawPlanarBoard (Board board, in(double width, double height) outSize, Mat img, int marginSize, int borderBits) |
draw planar board | |
static double | calibrateCameraArucoExtended (List< Mat > corners, Mat ids, Mat counter, Board board, in(double width, double height) imageSize, Mat cameraMatrix, Mat distCoeffs, List< Mat > rvecs, List< Mat > tvecs, Mat stdDeviationsIntrinsics, Mat stdDeviationsExtrinsics, Mat perViewErrors, int flags, in(double type, double maxCount, double epsilon) criteria) |
Calibrate a camera using aruco markers. | |
static double | calibrateCameraArucoExtended (List< Mat > corners, Mat ids, Mat counter, Board board, in(double width, double height) 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. | |
static double | calibrateCameraArucoExtended (List< Mat > corners, Mat ids, Mat counter, Board board, in(double width, double height) imageSize, Mat cameraMatrix, Mat distCoeffs, List< Mat > rvecs, List< Mat > tvecs, Mat stdDeviationsIntrinsics, Mat stdDeviationsExtrinsics, Mat perViewErrors) |
Calibrate a camera using aruco markers. | |
static double | calibrateCameraAruco (List< Mat > corners, Mat ids, Mat counter, Board board, in(double width, double height) imageSize, Mat cameraMatrix, Mat distCoeffs, List< Mat > rvecs, List< Mat > tvecs, int flags, in(double type, double maxCount, double epsilon) criteria) |
It's the same function as calibrateCameraAruco but without calibration error estimation. | |
static double | calibrateCameraAruco (List< Mat > corners, Mat ids, Mat counter, Board board, in(double width, double height) 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. | |
static double | calibrateCameraAruco (List< Mat > corners, Mat ids, Mat counter, Board board, in(double width, double height) imageSize, Mat cameraMatrix, Mat distCoeffs, List< Mat > rvecs, List< Mat > tvecs) |
It's the same function as calibrateCameraAruco but without calibration error estimation. | |
static double | calibrateCameraAruco (List< Mat > corners, Mat ids, Mat counter, Board board, in(double width, double height) imageSize, Mat cameraMatrix, Mat distCoeffs, List< Mat > rvecs) |
It's the same function as calibrateCameraAruco but without calibration error estimation. | |
static double | calibrateCameraAruco (List< Mat > corners, Mat ids, Mat counter, Board board, in(double width, double height) imageSize, Mat cameraMatrix, Mat distCoeffs) |
It's the same function as calibrateCameraAruco but without calibration error estimation. | |
static double | calibrateCameraCharucoExtended (List< Mat > charucoCorners, List< Mat > charucoIds, CharucoBoard board, in(double width, double height) imageSize, Mat cameraMatrix, Mat distCoeffs, List< Mat > rvecs, List< Mat > tvecs, Mat stdDeviationsIntrinsics, Mat stdDeviationsExtrinsics, Mat perViewErrors, int flags, in(double type, double maxCount, double epsilon) criteria) |
Calibrate a camera using Charuco corners. | |
static double | calibrateCameraCharucoExtended (List< Mat > charucoCorners, List< Mat > charucoIds, CharucoBoard board, in(double width, double height) 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. | |
static double | calibrateCameraCharucoExtended (List< Mat > charucoCorners, List< Mat > charucoIds, CharucoBoard board, in(double width, double height) imageSize, Mat cameraMatrix, Mat distCoeffs, List< Mat > rvecs, List< Mat > tvecs, Mat stdDeviationsIntrinsics, Mat stdDeviationsExtrinsics, Mat perViewErrors) |
Calibrate a camera using Charuco corners. | |
static double | calibrateCameraCharuco (List< Mat > charucoCorners, List< Mat > charucoIds, CharucoBoard board, in(double width, double height) imageSize, Mat cameraMatrix, Mat distCoeffs, List< Mat > rvecs, List< Mat > tvecs, int flags, in(double type, double maxCount, double epsilon) criteria) |
It's the same function as calibrateCameraCharuco but without calibration error estimation. | |
static double | calibrateCameraCharuco (List< Mat > charucoCorners, List< Mat > charucoIds, CharucoBoard board, in(double width, double height) 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. | |
static double | calibrateCameraCharuco (List< Mat > charucoCorners, List< Mat > charucoIds, CharucoBoard board, in(double width, double height) imageSize, Mat cameraMatrix, Mat distCoeffs, List< Mat > rvecs, List< Mat > tvecs) |
It's the same function as calibrateCameraCharuco but without calibration error estimation. | |
static double | calibrateCameraCharuco (List< Mat > charucoCorners, List< Mat > charucoIds, CharucoBoard board, in(double width, double height) imageSize, Mat cameraMatrix, Mat distCoeffs, List< Mat > rvecs) |
It's the same function as calibrateCameraCharuco but without calibration error estimation. | |
static double | calibrateCameraCharuco (List< Mat > charucoCorners, List< Mat > charucoIds, CharucoBoard board, in(double width, double height) imageSize, Mat cameraMatrix, Mat distCoeffs) |
It's the same function as calibrateCameraCharuco but without calibration error estimation. | |
Static Public Attributes | |
const int | ARUCO_CCW_CENTER = 0 |
const int | ARUCO_CW_TOP_LEFT_CORNER = 1 |
|
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.
|
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.
|
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.
|
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.
|
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.
|
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.
|
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.
|
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.
|
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.
|
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.
|
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.
|
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.
|
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.
|
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.
|
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.
|
static |
Calibrate a camera using aruco markers.
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.
|
static |
Calibrate a camera using aruco markers.
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.
|
static |
Calibrate a camera using aruco markers.
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.
|
static |
Calibrate a camera using aruco markers.
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.
|
static |
Calibrate a camera using aruco markers.
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.
|
static |
Calibrate a camera using aruco markers.
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.
|
static |
Calibrate a camera using aruco markers.
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.
|
static |
Calibrate a camera using aruco markers.
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.
|
static |
Calibrate a camera using aruco markers.
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.
|
static |
It's the same function as calibrateCameraCharuco but without calibration error estimation.
|
static |
It's the same function as calibrateCameraCharuco but without calibration error estimation.
|
static |
It's the same function as calibrateCameraCharuco but without calibration error estimation.
|
static |
It's the same function as calibrateCameraCharuco but without calibration error estimation.
|
static |
It's the same function as calibrateCameraCharuco but without calibration error estimation.
|
static |
It's the same function as calibrateCameraCharuco but without calibration error estimation.
|
static |
It's the same function as calibrateCameraCharuco but without calibration error estimation.
|
static |
It's the same function as calibrateCameraCharuco but without calibration error estimation.
|
static |
It's the same function as calibrateCameraCharuco but without calibration error estimation.
|
static |
It's the same function as calibrateCameraCharuco but without calibration error estimation.
|
static |
It's the same function as calibrateCameraCharuco but without calibration error estimation.
|
static |
It's the same function as calibrateCameraCharuco but without calibration error estimation.
|
static |
It's the same function as calibrateCameraCharuco but without calibration error estimation.
|
static |
It's the same function as calibrateCameraCharuco but without calibration error estimation.
|
static |
It's the same function as calibrateCameraCharuco but without calibration error estimation.
|
static |
Calibrate a camera using Charuco corners.
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.
|
static |
Calibrate a camera using Charuco corners.
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.
|
static |
Calibrate a camera using Charuco corners.
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.
|
static |
Calibrate a camera using Charuco corners.
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.
|
static |
Calibrate a camera using Charuco corners.
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.
|
static |
Calibrate a camera using Charuco corners.
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.
|
static |
Calibrate a camera using Charuco corners.
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.
|
static |
Calibrate a camera using Charuco corners.
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.
|
static |
Calibrate a camera using Charuco corners.
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.
|
static |
Detect ChArUco Diamond markers.
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.
|
static |
Detect ChArUco Diamond markers.
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.
|
static |
Detect ChArUco Diamond markers.
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.
|
static |
Detect ChArUco Diamond markers.
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.
|
static |
detect markers
|
static |
detect markers
|
static |
detect markers
|
static |
draw planar board
|
static |
draw planar board
|
static |
draw planar board
|
static |
|
static |
|
static |
Pose estimation for a ChArUco board given some of their corners.
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.
|
static |
Pose estimation for a ChArUco board given some of their corners.
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.
|
static |
|
static |
|
static |
|
static |
get board object and image points
|
static |
Interpolate position of ChArUco board corners.
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.
|
static |
Interpolate position of ChArUco board corners.
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.
|
static |
Interpolate position of ChArUco board corners.
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.
|
static |
Interpolate position of ChArUco board corners.
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.
|
static |
refine detected markers
|
static |
refine detected markers
|
static |
refine detected markers
|
static |
refine detected markers
|
static |
refine detected markers
|
static |
refine detected markers
|
static |
refine detected markers
|
static |
refine detected markers
|
static |
|
static |
|
static |