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.
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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
 
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
 

Member Function Documentation

◆ calibrateCameraAruco() [1/15]

static double OpenCVForUnity.ArucoModule.Aruco.calibrateCameraAruco ( List< Mat > corners,
Mat ids,
Mat counter,
Board board,
in Vec2d 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.

Deprecated
Use Board.matchImagePoints and cv::solvePnP

◆ calibrateCameraAruco() [2/15]

static double OpenCVForUnity.ArucoModule.Aruco.calibrateCameraAruco ( List< Mat > corners,
Mat ids,
Mat counter,
Board board,
in Vec2d 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.

Deprecated
Use Board.matchImagePoints and cv::solvePnP

◆ calibrateCameraAruco() [3/15]

static double OpenCVForUnity.ArucoModule.Aruco.calibrateCameraAruco ( List< Mat > corners,
Mat ids,
Mat counter,
Board board,
in Vec2d 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.

Deprecated
Use Board.matchImagePoints and cv::solvePnP

◆ calibrateCameraAruco() [4/15]

static double OpenCVForUnity.ArucoModule.Aruco.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 )
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.

Deprecated
Use Board.matchImagePoints and cv::solvePnP

◆ calibrateCameraAruco() [5/15]

static double OpenCVForUnity.ArucoModule.Aruco.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 )
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.

Deprecated
Use Board.matchImagePoints and cv::solvePnP

◆ calibrateCameraAruco() [6/15]

static double OpenCVForUnity.ArucoModule.Aruco.calibrateCameraAruco ( List< Mat > corners,
Mat ids,
Mat counter,
Board board,
in(double width, double height) 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.

Deprecated
Use Board.matchImagePoints and cv::solvePnP

◆ calibrateCameraAruco() [7/15]

static double OpenCVForUnity.ArucoModule.Aruco.calibrateCameraAruco ( List< Mat > corners,
Mat ids,
Mat counter,
Board board,
in(double width, double height) 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.

Deprecated
Use Board.matchImagePoints and cv::solvePnP

◆ calibrateCameraAruco() [8/15]

static double OpenCVForUnity.ArucoModule.Aruco.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 )
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.

Deprecated
Use Board.matchImagePoints and cv::solvePnP

◆ calibrateCameraAruco() [9/15]

static double OpenCVForUnity.ArucoModule.Aruco.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 )
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.

Deprecated
Use Board.matchImagePoints and cv::solvePnP

◆ calibrateCameraAruco() [10/15]

static double OpenCVForUnity.ArucoModule.Aruco.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 )
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.

Deprecated
Use Board.matchImagePoints and cv::solvePnP

◆ calibrateCameraAruco() [11/15]

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.

Deprecated
Use Board.matchImagePoints and cv::solvePnP

◆ calibrateCameraAruco() [12/15]

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.

Deprecated
Use Board.matchImagePoints and cv::solvePnP

◆ calibrateCameraAruco() [13/15]

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.

Deprecated
Use Board.matchImagePoints and cv::solvePnP

◆ calibrateCameraAruco() [14/15]

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.

Deprecated
Use Board.matchImagePoints and cv::solvePnP

◆ calibrateCameraAruco() [15/15]

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.

Deprecated
Use Board.matchImagePoints and cv::solvePnP

◆ calibrateCameraArucoExtended() [1/9]

static double OpenCVForUnity.ArucoModule.Aruco.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 )
static

Calibrate a camera using aruco markers.

Parameters
cornersvector of detected marker corners in all frames. The corners should have the same format returned by detectMarkers (see detectMarkers).
idslist of identifiers for each marker in corners
counternumber of markers in each frame so that corners and ids can be split
boardMarker Board layout
imageSizeSize of the image used only to initialize the intrinsic camera matrix.
cameraMatrixOutput 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.
distCoeffsOutput 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
rvecsOutput 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).
tvecsOutput vector of translation vectors estimated for each pattern view.
stdDeviationsIntrinsicsOutput 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.
stdDeviationsExtrinsicsOutput 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.
perViewErrorsOutput vector of average re-projection errors estimated for each pattern view.
flagsflags Different flags for the calibration process (see #calibrateCamera for details).
criteriaTermination 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.

Deprecated
Use Board.matchImagePoints and cv::solvePnP

◆ calibrateCameraArucoExtended() [2/9]

static double OpenCVForUnity.ArucoModule.Aruco.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 )
static

Calibrate a camera using aruco markers.

Parameters
cornersvector of detected marker corners in all frames. The corners should have the same format returned by detectMarkers (see detectMarkers).
idslist of identifiers for each marker in corners
counternumber of markers in each frame so that corners and ids can be split
boardMarker Board layout
imageSizeSize of the image used only to initialize the intrinsic camera matrix.
cameraMatrixOutput 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.
distCoeffsOutput 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
rvecsOutput 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).
tvecsOutput vector of translation vectors estimated for each pattern view.
stdDeviationsIntrinsicsOutput 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.
stdDeviationsExtrinsicsOutput 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.
perViewErrorsOutput vector of average re-projection errors estimated for each pattern view.
flagsflags Different flags for the calibration process (see #calibrateCamera for details).
criteriaTermination 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.

Deprecated
Use Board.matchImagePoints and cv::solvePnP

◆ calibrateCameraArucoExtended() [3/9]

static double OpenCVForUnity.ArucoModule.Aruco.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 )
static

Calibrate a camera using aruco markers.

Parameters
cornersvector of detected marker corners in all frames. The corners should have the same format returned by detectMarkers (see detectMarkers).
idslist of identifiers for each marker in corners
counternumber of markers in each frame so that corners and ids can be split
boardMarker Board layout
imageSizeSize of the image used only to initialize the intrinsic camera matrix.
cameraMatrixOutput 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.
distCoeffsOutput 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
rvecsOutput 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).
tvecsOutput vector of translation vectors estimated for each pattern view.
stdDeviationsIntrinsicsOutput 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.
stdDeviationsExtrinsicsOutput 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.
perViewErrorsOutput vector of average re-projection errors estimated for each pattern view.
flagsflags Different flags for the calibration process (see #calibrateCamera for details).
criteriaTermination 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.

Deprecated
Use Board.matchImagePoints and cv::solvePnP

◆ calibrateCameraArucoExtended() [4/9]

static double OpenCVForUnity.ArucoModule.Aruco.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 )
static

Calibrate a camera using aruco markers.

Parameters
cornersvector of detected marker corners in all frames. The corners should have the same format returned by detectMarkers (see detectMarkers).
idslist of identifiers for each marker in corners
counternumber of markers in each frame so that corners and ids can be split
boardMarker Board layout
imageSizeSize of the image used only to initialize the intrinsic camera matrix.
cameraMatrixOutput 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.
distCoeffsOutput 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
rvecsOutput 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).
tvecsOutput vector of translation vectors estimated for each pattern view.
stdDeviationsIntrinsicsOutput 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.
stdDeviationsExtrinsicsOutput 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.
perViewErrorsOutput vector of average re-projection errors estimated for each pattern view.
flagsflags Different flags for the calibration process (see #calibrateCamera for details).
criteriaTermination 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.

Deprecated
Use Board.matchImagePoints and cv::solvePnP

◆ calibrateCameraArucoExtended() [5/9]

static double OpenCVForUnity.ArucoModule.Aruco.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 )
static

Calibrate a camera using aruco markers.

Parameters
cornersvector of detected marker corners in all frames. The corners should have the same format returned by detectMarkers (see detectMarkers).
idslist of identifiers for each marker in corners
counternumber of markers in each frame so that corners and ids can be split
boardMarker Board layout
imageSizeSize of the image used only to initialize the intrinsic camera matrix.
cameraMatrixOutput 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.
distCoeffsOutput 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
rvecsOutput 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).
tvecsOutput vector of translation vectors estimated for each pattern view.
stdDeviationsIntrinsicsOutput 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.
stdDeviationsExtrinsicsOutput 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.
perViewErrorsOutput vector of average re-projection errors estimated for each pattern view.
flagsflags Different flags for the calibration process (see #calibrateCamera for details).
criteriaTermination 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.

Deprecated
Use Board.matchImagePoints and cv::solvePnP

◆ calibrateCameraArucoExtended() [6/9]

static double OpenCVForUnity.ArucoModule.Aruco.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 )
static

Calibrate a camera using aruco markers.

Parameters
cornersvector of detected marker corners in all frames. The corners should have the same format returned by detectMarkers (see detectMarkers).
idslist of identifiers for each marker in corners
counternumber of markers in each frame so that corners and ids can be split
boardMarker Board layout
imageSizeSize of the image used only to initialize the intrinsic camera matrix.
cameraMatrixOutput 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.
distCoeffsOutput 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
rvecsOutput 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).
tvecsOutput vector of translation vectors estimated for each pattern view.
stdDeviationsIntrinsicsOutput 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.
stdDeviationsExtrinsicsOutput 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.
perViewErrorsOutput vector of average re-projection errors estimated for each pattern view.
flagsflags Different flags for the calibration process (see #calibrateCamera for details).
criteriaTermination 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.

Deprecated
Use Board.matchImagePoints and cv::solvePnP

◆ calibrateCameraArucoExtended() [7/9]

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
cornersvector of detected marker corners in all frames. The corners should have the same format returned by detectMarkers (see detectMarkers).
idslist of identifiers for each marker in corners
counternumber of markers in each frame so that corners and ids can be split
boardMarker Board layout
imageSizeSize of the image used only to initialize the intrinsic camera matrix.
cameraMatrixOutput 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.
distCoeffsOutput 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
rvecsOutput 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).
tvecsOutput vector of translation vectors estimated for each pattern view.
stdDeviationsIntrinsicsOutput 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.
stdDeviationsExtrinsicsOutput 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.
perViewErrorsOutput vector of average re-projection errors estimated for each pattern view.
flagsflags Different flags for the calibration process (see #calibrateCamera for details).
criteriaTermination 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.

Deprecated
Use Board.matchImagePoints and cv::solvePnP

◆ calibrateCameraArucoExtended() [8/9]

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
cornersvector of detected marker corners in all frames. The corners should have the same format returned by detectMarkers (see detectMarkers).
idslist of identifiers for each marker in corners
counternumber of markers in each frame so that corners and ids can be split
boardMarker Board layout
imageSizeSize of the image used only to initialize the intrinsic camera matrix.
cameraMatrixOutput 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.
distCoeffsOutput 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
rvecsOutput 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).
tvecsOutput vector of translation vectors estimated for each pattern view.
stdDeviationsIntrinsicsOutput 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.
stdDeviationsExtrinsicsOutput 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.
perViewErrorsOutput vector of average re-projection errors estimated for each pattern view.
flagsflags Different flags for the calibration process (see #calibrateCamera for details).
criteriaTermination 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.

Deprecated
Use Board.matchImagePoints and cv::solvePnP

◆ calibrateCameraArucoExtended() [9/9]

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
cornersvector of detected marker corners in all frames. The corners should have the same format returned by detectMarkers (see detectMarkers).
idslist of identifiers for each marker in corners
counternumber of markers in each frame so that corners and ids can be split
boardMarker Board layout
imageSizeSize of the image used only to initialize the intrinsic camera matrix.
cameraMatrixOutput 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.
distCoeffsOutput 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
rvecsOutput 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).
tvecsOutput vector of translation vectors estimated for each pattern view.
stdDeviationsIntrinsicsOutput 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.
stdDeviationsExtrinsicsOutput 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.
perViewErrorsOutput vector of average re-projection errors estimated for each pattern view.
flagsflags Different flags for the calibration process (see #calibrateCamera for details).
criteriaTermination 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.

Deprecated
Use Board.matchImagePoints and cv::solvePnP

◆ calibrateCameraCharuco() [1/15]

static double OpenCVForUnity.ArucoModule.Aruco.calibrateCameraCharuco ( List< Mat > charucoCorners,
List< Mat > charucoIds,
CharucoBoard board,
in Vec2d imageSize,
Mat cameraMatrix,
Mat distCoeffs )
static

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

Deprecated
Use CharucoBoard::matchImagePoints and cv::solvePnP

◆ calibrateCameraCharuco() [2/15]

static double OpenCVForUnity.ArucoModule.Aruco.calibrateCameraCharuco ( List< Mat > charucoCorners,
List< Mat > charucoIds,
CharucoBoard board,
in Vec2d imageSize,
Mat cameraMatrix,
Mat distCoeffs,
List< Mat > rvecs )
static

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

Deprecated
Use CharucoBoard::matchImagePoints and cv::solvePnP

◆ calibrateCameraCharuco() [3/15]

static double OpenCVForUnity.ArucoModule.Aruco.calibrateCameraCharuco ( List< Mat > charucoCorners,
List< Mat > charucoIds,
CharucoBoard board,
in Vec2d imageSize,
Mat cameraMatrix,
Mat distCoeffs,
List< Mat > rvecs,
List< Mat > tvecs )
static

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

Deprecated
Use CharucoBoard::matchImagePoints and cv::solvePnP

◆ calibrateCameraCharuco() [4/15]

static double OpenCVForUnity.ArucoModule.Aruco.calibrateCameraCharuco ( List< Mat > charucoCorners,
List< Mat > charucoIds,
CharucoBoard board,
in Vec2d 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.

Deprecated
Use CharucoBoard::matchImagePoints and cv::solvePnP

◆ calibrateCameraCharuco() [5/15]

static double OpenCVForUnity.ArucoModule.Aruco.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 )
static

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

Deprecated
Use CharucoBoard::matchImagePoints and cv::solvePnP

◆ calibrateCameraCharuco() [6/15]

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

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

Deprecated
Use CharucoBoard::matchImagePoints and cv::solvePnP

◆ calibrateCameraCharuco() [7/15]

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

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

Deprecated
Use CharucoBoard::matchImagePoints and cv::solvePnP

◆ calibrateCameraCharuco() [8/15]

static double OpenCVForUnity.ArucoModule.Aruco.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 )
static

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

Deprecated
Use CharucoBoard::matchImagePoints and cv::solvePnP

◆ calibrateCameraCharuco() [9/15]

static double OpenCVForUnity.ArucoModule.Aruco.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 )
static

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

Deprecated
Use CharucoBoard::matchImagePoints and cv::solvePnP

◆ calibrateCameraCharuco() [10/15]

static double OpenCVForUnity.ArucoModule.Aruco.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 )
static

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

Deprecated
Use CharucoBoard::matchImagePoints and cv::solvePnP

◆ calibrateCameraCharuco() [11/15]

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.

Deprecated
Use CharucoBoard::matchImagePoints and cv::solvePnP

◆ calibrateCameraCharuco() [12/15]

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.

Deprecated
Use CharucoBoard::matchImagePoints and cv::solvePnP

◆ calibrateCameraCharuco() [13/15]

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.

Deprecated
Use CharucoBoard::matchImagePoints and cv::solvePnP

◆ calibrateCameraCharuco() [14/15]

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.

Deprecated
Use CharucoBoard::matchImagePoints and cv::solvePnP

◆ calibrateCameraCharuco() [15/15]

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.

Deprecated
Use CharucoBoard::matchImagePoints and cv::solvePnP

◆ calibrateCameraCharucoExtended() [1/9]

static double OpenCVForUnity.ArucoModule.Aruco.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 )
static

Calibrate a camera using Charuco corners.

Parameters
charucoCornersvector of detected charuco corners per frame
charucoIdslist of identifiers for each corner in charucoCorners per frame
boardMarker Board layout
imageSizeinput image size
cameraMatrixOutput 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.
distCoeffsOutput 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
rvecsOutput 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).
tvecsOutput vector of translation vectors estimated for each pattern view.
stdDeviationsIntrinsicsOutput 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.
stdDeviationsExtrinsicsOutput 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.
perViewErrorsOutput vector of average re-projection errors estimated for each pattern view.
flagsflags Different flags for the calibration process (see #calibrateCamera for details).
criteriaTermination 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.

Deprecated
Use CharucoBoard::matchImagePoints and cv::solvePnP

◆ calibrateCameraCharucoExtended() [2/9]

static double OpenCVForUnity.ArucoModule.Aruco.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 )
static

Calibrate a camera using Charuco corners.

Parameters
charucoCornersvector of detected charuco corners per frame
charucoIdslist of identifiers for each corner in charucoCorners per frame
boardMarker Board layout
imageSizeinput image size
cameraMatrixOutput 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.
distCoeffsOutput 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
rvecsOutput 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).
tvecsOutput vector of translation vectors estimated for each pattern view.
stdDeviationsIntrinsicsOutput 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.
stdDeviationsExtrinsicsOutput 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.
perViewErrorsOutput vector of average re-projection errors estimated for each pattern view.
flagsflags Different flags for the calibration process (see #calibrateCamera for details).
criteriaTermination 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.

Deprecated
Use CharucoBoard::matchImagePoints and cv::solvePnP

◆ calibrateCameraCharucoExtended() [3/9]

static double OpenCVForUnity.ArucoModule.Aruco.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 )
static

Calibrate a camera using Charuco corners.

Parameters
charucoCornersvector of detected charuco corners per frame
charucoIdslist of identifiers for each corner in charucoCorners per frame
boardMarker Board layout
imageSizeinput image size
cameraMatrixOutput 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.
distCoeffsOutput 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
rvecsOutput 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).
tvecsOutput vector of translation vectors estimated for each pattern view.
stdDeviationsIntrinsicsOutput 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.
stdDeviationsExtrinsicsOutput 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.
perViewErrorsOutput vector of average re-projection errors estimated for each pattern view.
flagsflags Different flags for the calibration process (see #calibrateCamera for details).
criteriaTermination 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.

Deprecated
Use CharucoBoard::matchImagePoints and cv::solvePnP

◆ calibrateCameraCharucoExtended() [4/9]

static double OpenCVForUnity.ArucoModule.Aruco.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 )
static

Calibrate a camera using Charuco corners.

Parameters
charucoCornersvector of detected charuco corners per frame
charucoIdslist of identifiers for each corner in charucoCorners per frame
boardMarker Board layout
imageSizeinput image size
cameraMatrixOutput 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.
distCoeffsOutput 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
rvecsOutput 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).
tvecsOutput vector of translation vectors estimated for each pattern view.
stdDeviationsIntrinsicsOutput 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.
stdDeviationsExtrinsicsOutput 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.
perViewErrorsOutput vector of average re-projection errors estimated for each pattern view.
flagsflags Different flags for the calibration process (see #calibrateCamera for details).
criteriaTermination 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.

Deprecated
Use CharucoBoard::matchImagePoints and cv::solvePnP

◆ calibrateCameraCharucoExtended() [5/9]

static double OpenCVForUnity.ArucoModule.Aruco.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 )
static

Calibrate a camera using Charuco corners.

Parameters
charucoCornersvector of detected charuco corners per frame
charucoIdslist of identifiers for each corner in charucoCorners per frame
boardMarker Board layout
imageSizeinput image size
cameraMatrixOutput 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.
distCoeffsOutput 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
rvecsOutput 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).
tvecsOutput vector of translation vectors estimated for each pattern view.
stdDeviationsIntrinsicsOutput 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.
stdDeviationsExtrinsicsOutput 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.
perViewErrorsOutput vector of average re-projection errors estimated for each pattern view.
flagsflags Different flags for the calibration process (see #calibrateCamera for details).
criteriaTermination 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.

Deprecated
Use CharucoBoard::matchImagePoints and cv::solvePnP

◆ calibrateCameraCharucoExtended() [6/9]

static double OpenCVForUnity.ArucoModule.Aruco.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 )
static

Calibrate a camera using Charuco corners.

Parameters
charucoCornersvector of detected charuco corners per frame
charucoIdslist of identifiers for each corner in charucoCorners per frame
boardMarker Board layout
imageSizeinput image size
cameraMatrixOutput 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.
distCoeffsOutput 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
rvecsOutput 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).
tvecsOutput vector of translation vectors estimated for each pattern view.
stdDeviationsIntrinsicsOutput 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.
stdDeviationsExtrinsicsOutput 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.
perViewErrorsOutput vector of average re-projection errors estimated for each pattern view.
flagsflags Different flags for the calibration process (see #calibrateCamera for details).
criteriaTermination 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.

Deprecated
Use CharucoBoard::matchImagePoints and cv::solvePnP

◆ calibrateCameraCharucoExtended() [7/9]

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
charucoCornersvector of detected charuco corners per frame
charucoIdslist of identifiers for each corner in charucoCorners per frame
boardMarker Board layout
imageSizeinput image size
cameraMatrixOutput 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.
distCoeffsOutput 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
rvecsOutput 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).
tvecsOutput vector of translation vectors estimated for each pattern view.
stdDeviationsIntrinsicsOutput 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.
stdDeviationsExtrinsicsOutput 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.
perViewErrorsOutput vector of average re-projection errors estimated for each pattern view.
flagsflags Different flags for the calibration process (see #calibrateCamera for details).
criteriaTermination 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.

Deprecated
Use CharucoBoard::matchImagePoints and cv::solvePnP

◆ calibrateCameraCharucoExtended() [8/9]

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
charucoCornersvector of detected charuco corners per frame
charucoIdslist of identifiers for each corner in charucoCorners per frame
boardMarker Board layout
imageSizeinput image size
cameraMatrixOutput 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.
distCoeffsOutput 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
rvecsOutput 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).
tvecsOutput vector of translation vectors estimated for each pattern view.
stdDeviationsIntrinsicsOutput 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.
stdDeviationsExtrinsicsOutput 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.
perViewErrorsOutput vector of average re-projection errors estimated for each pattern view.
flagsflags Different flags for the calibration process (see #calibrateCamera for details).
criteriaTermination 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.

Deprecated
Use CharucoBoard::matchImagePoints and cv::solvePnP

◆ calibrateCameraCharucoExtended() [9/9]

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
charucoCornersvector of detected charuco corners per frame
charucoIdslist of identifiers for each corner in charucoCorners per frame
boardMarker Board layout
imageSizeinput image size
cameraMatrixOutput 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.
distCoeffsOutput 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
rvecsOutput 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).
tvecsOutput vector of translation vectors estimated for each pattern view.
stdDeviationsIntrinsicsOutput 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.
stdDeviationsExtrinsicsOutput 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.
perViewErrorsOutput vector of average re-projection errors estimated for each pattern view.
flagsflags Different flags for the calibration process (see #calibrateCamera for details).
criteriaTermination 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.

Deprecated
Use CharucoBoard::matchImagePoints and cv::solvePnP

◆ detectCharucoDiamond() [1/4]

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
imageinput image necessary for corner subpixel.
markerCornerslist of detected marker corners from detectMarkers function.
markerIdslist of marker ids in markerCorners.
squareMarkerLengthRaterate between square and marker length: squareMarkerLengthRate = squareLength/markerLength. The real units are not necessary.
diamondCornersoutput 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> > ).
diamondIdsids 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.
cameraMatrixOptional camera calibration matrix.
distCoeffsOptional camera distortion coefficients.
dictionarydictionary 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 )
static

Detect ChArUco Diamond markers.

Parameters
imageinput image necessary for corner subpixel.
markerCornerslist of detected marker corners from detectMarkers function.
markerIdslist of marker ids in markerCorners.
squareMarkerLengthRaterate between square and marker length: squareMarkerLengthRate = squareLength/markerLength. The real units are not necessary.
diamondCornersoutput 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> > ).
diamondIdsids 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.
cameraMatrixOptional camera calibration matrix.
distCoeffsOptional camera distortion coefficients.
dictionarydictionary 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,
Mat distCoeffs )
static

Detect ChArUco Diamond markers.

Parameters
imageinput image necessary for corner subpixel.
markerCornerslist of detected marker corners from detectMarkers function.
markerIdslist of marker ids in markerCorners.
squareMarkerLengthRaterate between square and marker length: squareMarkerLengthRate = squareLength/markerLength. The real units are not necessary.
diamondCornersoutput 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> > ).
diamondIdsids 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.
cameraMatrixOptional camera calibration matrix.
distCoeffsOptional camera distortion coefficients.
dictionarydictionary 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,
Mat cameraMatrix,
Mat distCoeffs,
Dictionary dictionary )
static

Detect ChArUco Diamond markers.

Parameters
imageinput image necessary for corner subpixel.
markerCornerslist of detected marker corners from detectMarkers function.
markerIdslist of marker ids in markerCorners.
squareMarkerLengthRaterate between square and marker length: squareMarkerLengthRate = squareLength/markerLength. The real units are not necessary.
diamondCornersoutput 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> > ).
diamondIdsids 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.
cameraMatrixOptional camera calibration matrix.
distCoeffsOptional camera distortion coefficients.
dictionarydictionary 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 )
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,
DetectorParameters parameters,
List< Mat > rejectedImgPoints )
static

detect markers

Deprecated
Use class ArucoDetector.detectMarkers

◆ drawPlanarBoard() [1/3]

static void OpenCVForUnity.ArucoModule.Aruco.drawPlanarBoard ( Board board,
in Vec2d outSize,
Mat img,
int marginSize,
int borderBits )
static

draw planar board

Deprecated
Use Board.generateImage

◆ drawPlanarBoard() [2/3]

static void OpenCVForUnity.ArucoModule.Aruco.drawPlanarBoard ( Board board,
in(double width, double height) outSize,
Mat img,
int marginSize,
int borderBits )
static

draw planar board

Deprecated
Use Board.generateImage

◆ drawPlanarBoard() [3/3]

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 )
static
Deprecated
Use Board.matchImagePoints and 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,
bool useExtrinsicGuess )
static
Deprecated
Use Board.matchImagePoints and 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 )
static

Pose estimation for a ChArUco board given some of their corners.

Parameters
charucoCornersvector of detected charuco corners
charucoIdslist of identifiers for each corner in charucoCorners
boardlayout of ChArUco board.
cameraMatrixinput 3x3 floating-point camera matrix \(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\)
distCoeffsvector 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
rvecOutput vector (e.g. cv::Mat) corresponding to the rotation vector of the board (see cv::Rodrigues).
tvecOutput vector (e.g. cv::Mat) corresponding to the translation vector of the board.
useExtrinsicGuessdefines 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.

Deprecated
Use CharucoBoard::matchImagePoints and cv::solvePnP
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,
bool useExtrinsicGuess )
static

Pose estimation for a ChArUco board given some of their corners.

Parameters
charucoCornersvector of detected charuco corners
charucoIdslist of identifiers for each corner in charucoCorners
boardlayout of ChArUco board.
cameraMatrixinput 3x3 floating-point camera matrix \(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\)
distCoeffsvector 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
rvecOutput vector (e.g. cv::Mat) corresponding to the rotation vector of the board (see cv::Rodrigues).
tvecOutput vector (e.g. cv::Mat) corresponding to the translation vector of the board.
useExtrinsicGuessdefines 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.

Deprecated
Use CharucoBoard::matchImagePoints and cv::solvePnP
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 )
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,
Mat objPoints,
EstimateParameters estimateParameters )
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 )
static

Interpolate position of ChArUco board corners.

Parameters
markerCornersvector 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.
markerIdslist of identifiers for each marker in corners
imageinput image necesary for corner refinement. Note that markers are not detected and should be sent in corners and ids parameters.
boardlayout of ChArUco board.
charucoCornersinterpolated chessboard corners
charucoIdsinterpolated chessboard corners identifiers
cameraMatrixoptional 3x3 floating-point camera matrix \(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\)
distCoeffsoptional 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
minMarkersnumber 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 )
static

Interpolate position of ChArUco board corners.

Parameters
markerCornersvector 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.
markerIdslist of identifiers for each marker in corners
imageinput image necesary for corner refinement. Note that markers are not detected and should be sent in corners and ids parameters.
boardlayout of ChArUco board.
charucoCornersinterpolated chessboard corners
charucoIdsinterpolated chessboard corners identifiers
cameraMatrixoptional 3x3 floating-point camera matrix \(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\)
distCoeffsoptional 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
minMarkersnumber 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,
Mat distCoeffs )
static

Interpolate position of ChArUco board corners.

Parameters
markerCornersvector 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.
markerIdslist of identifiers for each marker in corners
imageinput image necesary for corner refinement. Note that markers are not detected and should be sent in corners and ids parameters.
boardlayout of ChArUco board.
charucoCornersinterpolated chessboard corners
charucoIdsinterpolated chessboard corners identifiers
cameraMatrixoptional 3x3 floating-point camera matrix \(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\)
distCoeffsoptional 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
minMarkersnumber 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,
Mat cameraMatrix,
Mat distCoeffs,
int minMarkers )
static

Interpolate position of ChArUco board corners.

Parameters
markerCornersvector 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.
markerIdslist of identifiers for each marker in corners
imageinput image necesary for corner refinement. Note that markers are not detected and should be sent in corners and ids parameters.
boardlayout of ChArUco board.
charucoCornersinterpolated chessboard corners
charucoIdsinterpolated chessboard corners identifiers
cameraMatrixoptional 3x3 floating-point camera matrix \(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\)
distCoeffsoptional 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
minMarkersnumber 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 )
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 )
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 )
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 )
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,
float errorCorrectionRate )
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,
float minRepDistance,
float errorCorrectionRate,
bool checkAllOrders )
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,
Mat distCoeffs,
float minRepDistance,
float errorCorrectionRate,
bool checkAllOrders,
Mat recoveredIdxs )
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,
Mat cameraMatrix,
Mat distCoeffs,
float minRepDistance,
float errorCorrectionRate,
bool checkAllOrders,
Mat recoveredIdxs,
DetectorParameters parameters )
static

refine detected markers

Deprecated
Use class ArucoDetector.refineDetectedMarkers

◆ testCharucoCornersCollinear()

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

Member Data Documentation

◆ ARUCO_CCW_CENTER

const int OpenCVForUnity.ArucoModule.Aruco.ARUCO_CCW_CENTER = 0
static

◆ ARUCO_CW_TOP_LEFT_CORNER

const int OpenCVForUnity.ArucoModule.Aruco.ARUCO_CW_TOP_LEFT_CORNER = 1
static

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