Class Aruco


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

      • Aruco

        public Aruco()
    • Method Detail

      • custom_dictionary_from

        public static Dictionary custom_dictionary_from​(int nMarkers,
                                                        int markerSize,
                                                        Dictionary baseDictionary,
                                                        int randomSeed)
      • custom_dictionary_from

        public static Dictionary custom_dictionary_from​(int nMarkers,
                                                        int markerSize,
                                                        Dictionary baseDictionary)
      • custom_dictionary

        public static Dictionary custom_dictionary​(int nMarkers,
                                                   int markerSize,
                                                   int randomSeed)
      • custom_dictionary

        public static Dictionary custom_dictionary​(int nMarkers,
                                                   int markerSize)
      • getPredefinedDictionary

        public static Dictionary getPredefinedDictionary​(int dict)
      • estimatePoseCharucoBoard

        public static boolean estimatePoseCharucoBoard​(Mat charucoCorners,
                                                       Mat charucoIds,
                                                       CharucoBoard board,
                                                       Mat cameraMatrix,
                                                       Mat distCoeffs,
                                                       Mat rvec,
                                                       Mat tvec,
                                                       boolean useExtrinsicGuess)
      • estimatePoseCharucoBoard

        public static boolean estimatePoseCharucoBoard​(Mat charucoCorners,
                                                       Mat charucoIds,
                                                       CharucoBoard board,
                                                       Mat cameraMatrix,
                                                       Mat distCoeffs,
                                                       Mat rvec,
                                                       Mat tvec)
      • calibrateCameraArucoExtended

        public static double calibrateCameraArucoExtended​(java.util.List<Mat> corners,
                                                          Mat ids,
                                                          Mat counter,
                                                          Board board,
                                                          Size imageSize,
                                                          Mat cameraMatrix,
                                                          Mat distCoeffs,
                                                          java.util.List<Mat> rvecs,
                                                          java.util.List<Mat> tvecs,
                                                          Mat stdDeviationsIntrinsics,
                                                          Mat stdDeviationsExtrinsics,
                                                          Mat perViewErrors,
                                                          int flags,
                                                          TermCriteria criteria)
      • calibrateCameraArucoExtended

        public static double calibrateCameraArucoExtended​(java.util.List<Mat> corners,
                                                          Mat ids,
                                                          Mat counter,
                                                          Board board,
                                                          Size imageSize,
                                                          Mat cameraMatrix,
                                                          Mat distCoeffs,
                                                          java.util.List<Mat> rvecs,
                                                          java.util.List<Mat> tvecs,
                                                          Mat stdDeviationsIntrinsics,
                                                          Mat stdDeviationsExtrinsics,
                                                          Mat perViewErrors,
                                                          int flags)
      • calibrateCameraArucoExtended

        public static double calibrateCameraArucoExtended​(java.util.List<Mat> corners,
                                                          Mat ids,
                                                          Mat counter,
                                                          Board board,
                                                          Size imageSize,
                                                          Mat cameraMatrix,
                                                          Mat distCoeffs,
                                                          java.util.List<Mat> rvecs,
                                                          java.util.List<Mat> tvecs,
                                                          Mat stdDeviationsIntrinsics,
                                                          Mat stdDeviationsExtrinsics,
                                                          Mat perViewErrors)
      • calibrateCameraAruco

        public static double calibrateCameraAruco​(java.util.List<Mat> corners,
                                                  Mat ids,
                                                  Mat counter,
                                                  Board board,
                                                  Size imageSize,
                                                  Mat cameraMatrix,
                                                  Mat distCoeffs,
                                                  java.util.List<Mat> rvecs,
                                                  java.util.List<Mat> tvecs,
                                                  int flags,
                                                  TermCriteria criteria)
      • calibrateCameraAruco

        public static double calibrateCameraAruco​(java.util.List<Mat> corners,
                                                  Mat ids,
                                                  Mat counter,
                                                  Board board,
                                                  Size imageSize,
                                                  Mat cameraMatrix,
                                                  Mat distCoeffs,
                                                  java.util.List<Mat> rvecs,
                                                  java.util.List<Mat> tvecs,
                                                  int flags)
      • calibrateCameraAruco

        public static double calibrateCameraAruco​(java.util.List<Mat> corners,
                                                  Mat ids,
                                                  Mat counter,
                                                  Board board,
                                                  Size imageSize,
                                                  Mat cameraMatrix,
                                                  Mat distCoeffs,
                                                  java.util.List<Mat> rvecs,
                                                  java.util.List<Mat> tvecs)
      • calibrateCameraAruco

        public static double calibrateCameraAruco​(java.util.List<Mat> corners,
                                                  Mat ids,
                                                  Mat counter,
                                                  Board board,
                                                  Size imageSize,
                                                  Mat cameraMatrix,
                                                  Mat distCoeffs,
                                                  java.util.List<Mat> rvecs)
      • calibrateCameraAruco

        public static double calibrateCameraAruco​(java.util.List<Mat> corners,
                                                  Mat ids,
                                                  Mat counter,
                                                  Board board,
                                                  Size imageSize,
                                                  Mat cameraMatrix,
                                                  Mat distCoeffs)
      • calibrateCameraCharucoExtended

        public static double calibrateCameraCharucoExtended​(java.util.List<Mat> charucoCorners,
                                                            java.util.List<Mat> charucoIds,
                                                            CharucoBoard board,
                                                            Size imageSize,
                                                            Mat cameraMatrix,
                                                            Mat distCoeffs,
                                                            java.util.List<Mat> rvecs,
                                                            java.util.List<Mat> tvecs,
                                                            Mat stdDeviationsIntrinsics,
                                                            Mat stdDeviationsExtrinsics,
                                                            Mat perViewErrors,
                                                            int flags,
                                                            TermCriteria criteria)
      • calibrateCameraCharucoExtended

        public static double calibrateCameraCharucoExtended​(java.util.List<Mat> charucoCorners,
                                                            java.util.List<Mat> charucoIds,
                                                            CharucoBoard board,
                                                            Size imageSize,
                                                            Mat cameraMatrix,
                                                            Mat distCoeffs,
                                                            java.util.List<Mat> rvecs,
                                                            java.util.List<Mat> tvecs,
                                                            Mat stdDeviationsIntrinsics,
                                                            Mat stdDeviationsExtrinsics,
                                                            Mat perViewErrors,
                                                            int flags)
      • calibrateCameraCharucoExtended

        public static double calibrateCameraCharucoExtended​(java.util.List<Mat> charucoCorners,
                                                            java.util.List<Mat> charucoIds,
                                                            CharucoBoard board,
                                                            Size imageSize,
                                                            Mat cameraMatrix,
                                                            Mat distCoeffs,
                                                            java.util.List<Mat> rvecs,
                                                            java.util.List<Mat> tvecs,
                                                            Mat stdDeviationsIntrinsics,
                                                            Mat stdDeviationsExtrinsics,
                                                            Mat perViewErrors)
      • calibrateCameraCharuco

        public static double calibrateCameraCharuco​(java.util.List<Mat> charucoCorners,
                                                    java.util.List<Mat> charucoIds,
                                                    CharucoBoard board,
                                                    Size imageSize,
                                                    Mat cameraMatrix,
                                                    Mat distCoeffs,
                                                    java.util.List<Mat> rvecs,
                                                    java.util.List<Mat> tvecs,
                                                    int flags,
                                                    TermCriteria criteria)
      • calibrateCameraCharuco

        public static double calibrateCameraCharuco​(java.util.List<Mat> charucoCorners,
                                                    java.util.List<Mat> charucoIds,
                                                    CharucoBoard board,
                                                    Size imageSize,
                                                    Mat cameraMatrix,
                                                    Mat distCoeffs,
                                                    java.util.List<Mat> rvecs,
                                                    java.util.List<Mat> tvecs,
                                                    int flags)
      • calibrateCameraCharuco

        public static double calibrateCameraCharuco​(java.util.List<Mat> charucoCorners,
                                                    java.util.List<Mat> charucoIds,
                                                    CharucoBoard board,
                                                    Size imageSize,
                                                    Mat cameraMatrix,
                                                    Mat distCoeffs,
                                                    java.util.List<Mat> rvecs,
                                                    java.util.List<Mat> tvecs)
      • calibrateCameraCharuco

        public static double calibrateCameraCharuco​(java.util.List<Mat> charucoCorners,
                                                    java.util.List<Mat> charucoIds,
                                                    CharucoBoard board,
                                                    Size imageSize,
                                                    Mat cameraMatrix,
                                                    Mat distCoeffs,
                                                    java.util.List<Mat> rvecs)
      • calibrateCameraCharuco

        public static double calibrateCameraCharuco​(java.util.List<Mat> charucoCorners,
                                                    java.util.List<Mat> charucoIds,
                                                    CharucoBoard board,
                                                    Size imageSize,
                                                    Mat cameraMatrix,
                                                    Mat distCoeffs)
      • estimatePoseBoard

        public static int estimatePoseBoard​(java.util.List<Mat> corners,
                                            Mat ids,
                                            Board board,
                                            Mat cameraMatrix,
                                            Mat distCoeffs,
                                            Mat rvec,
                                            Mat tvec,
                                            boolean useExtrinsicGuess)
      • estimatePoseBoard

        public static int estimatePoseBoard​(java.util.List<Mat> corners,
                                            Mat ids,
                                            Board board,
                                            Mat cameraMatrix,
                                            Mat distCoeffs,
                                            Mat rvec,
                                            Mat tvec)
      • interpolateCornersCharuco

        public static int interpolateCornersCharuco​(java.util.List<Mat> markerCorners,
                                                    Mat markerIds,
                                                    Mat image,
                                                    CharucoBoard board,
                                                    Mat charucoCorners,
                                                    Mat charucoIds,
                                                    Mat cameraMatrix,
                                                    Mat distCoeffs,
                                                    int minMarkers)
      • interpolateCornersCharuco

        public static int interpolateCornersCharuco​(java.util.List<Mat> markerCorners,
                                                    Mat markerIds,
                                                    Mat image,
                                                    CharucoBoard board,
                                                    Mat charucoCorners,
                                                    Mat charucoIds,
                                                    Mat cameraMatrix,
                                                    Mat distCoeffs)
      • interpolateCornersCharuco

        public static int interpolateCornersCharuco​(java.util.List<Mat> markerCorners,
                                                    Mat markerIds,
                                                    Mat image,
                                                    CharucoBoard board,
                                                    Mat charucoCorners,
                                                    Mat charucoIds,
                                                    Mat cameraMatrix)
      • interpolateCornersCharuco

        public static int interpolateCornersCharuco​(java.util.List<Mat> markerCorners,
                                                    Mat markerIds,
                                                    Mat image,
                                                    CharucoBoard board,
                                                    Mat charucoCorners,
                                                    Mat charucoIds)
      • detectCharucoDiamond

        public static void detectCharucoDiamond​(Mat image,
                                                java.util.List<Mat> markerCorners,
                                                Mat markerIds,
                                                float squareMarkerLengthRate,
                                                java.util.List<Mat> diamondCorners,
                                                Mat diamondIds,
                                                Mat cameraMatrix,
                                                Mat distCoeffs)
      • detectCharucoDiamond

        public static void detectCharucoDiamond​(Mat image,
                                                java.util.List<Mat> markerCorners,
                                                Mat markerIds,
                                                float squareMarkerLengthRate,
                                                java.util.List<Mat> diamondCorners,
                                                Mat diamondIds,
                                                Mat cameraMatrix)
      • detectCharucoDiamond

        public static void detectCharucoDiamond​(Mat image,
                                                java.util.List<Mat> markerCorners,
                                                Mat markerIds,
                                                float squareMarkerLengthRate,
                                                java.util.List<Mat> diamondCorners,
                                                Mat diamondIds)
      • detectMarkers

        public static void detectMarkers​(Mat image,
                                         Dictionary dictionary,
                                         java.util.List<Mat> corners,
                                         Mat ids,
                                         DetectorParameters parameters,
                                         java.util.List<Mat> rejectedImgPoints,
                                         Mat cameraMatrix,
                                         Mat distCoeff)
      • detectMarkers

        public static void detectMarkers​(Mat image,
                                         Dictionary dictionary,
                                         java.util.List<Mat> corners,
                                         Mat ids,
                                         DetectorParameters parameters,
                                         java.util.List<Mat> rejectedImgPoints,
                                         Mat cameraMatrix)
      • detectMarkers

        public static void detectMarkers​(Mat image,
                                         Dictionary dictionary,
                                         java.util.List<Mat> corners,
                                         Mat ids,
                                         DetectorParameters parameters,
                                         java.util.List<Mat> rejectedImgPoints)
      • detectMarkers

        public static void detectMarkers​(Mat image,
                                         Dictionary dictionary,
                                         java.util.List<Mat> corners,
                                         Mat ids)
      • drawAxis

        public static void drawAxis​(Mat image,
                                    Mat cameraMatrix,
                                    Mat distCoeffs,
                                    Mat rvec,
                                    Mat tvec,
                                    float length)
      • drawDetectedCornersCharuco

        public static void drawDetectedCornersCharuco​(Mat image,
                                                      Mat charucoCorners,
                                                      Mat charucoIds,
                                                      Scalar cornerColor)
      • drawDetectedCornersCharuco

        public static void drawDetectedCornersCharuco​(Mat image,
                                                      Mat charucoCorners,
                                                      Mat charucoIds)
      • drawDetectedCornersCharuco

        public static void drawDetectedCornersCharuco​(Mat image,
                                                      Mat charucoCorners)
      • drawDetectedDiamonds

        public static void drawDetectedDiamonds​(Mat image,
                                                java.util.List<Mat> diamondCorners,
                                                Mat diamondIds,
                                                Scalar borderColor)
      • drawDetectedDiamonds

        public static void drawDetectedDiamonds​(Mat image,
                                                java.util.List<Mat> diamondCorners,
                                                Mat diamondIds)
      • drawDetectedDiamonds

        public static void drawDetectedDiamonds​(Mat image,
                                                java.util.List<Mat> diamondCorners)
      • drawDetectedMarkers

        public static void drawDetectedMarkers​(Mat image,
                                               java.util.List<Mat> corners,
                                               Mat ids,
                                               Scalar borderColor)
      • drawDetectedMarkers

        public static void drawDetectedMarkers​(Mat image,
                                               java.util.List<Mat> corners,
                                               Mat ids)
      • drawDetectedMarkers

        public static void drawDetectedMarkers​(Mat image,
                                               java.util.List<Mat> corners)
      • drawMarker

        public static void drawMarker​(Dictionary dictionary,
                                      int id,
                                      int sidePixels,
                                      Mat img,
                                      int borderBits)
      • drawMarker

        public static void drawMarker​(Dictionary dictionary,
                                      int id,
                                      int sidePixels,
                                      Mat img)
      • drawPlanarBoard

        public static void drawPlanarBoard​(Board board,
                                           Size outSize,
                                           Mat img,
                                           int marginSize,
                                           int borderBits)
      • drawPlanarBoard

        public static void drawPlanarBoard​(Board board,
                                           Size outSize,
                                           Mat img,
                                           int marginSize)
      • drawPlanarBoard

        public static void drawPlanarBoard​(Board board,
                                           Size outSize,
                                           Mat img)
      • estimatePoseSingleMarkers

        public static void estimatePoseSingleMarkers​(java.util.List<Mat> corners,
                                                     float markerLength,
                                                     Mat cameraMatrix,
                                                     Mat distCoeffs,
                                                     Mat rvecs,
                                                     Mat tvecs,
                                                     Mat _objPoints)
      • estimatePoseSingleMarkers

        public static void estimatePoseSingleMarkers​(java.util.List<Mat> corners,
                                                     float markerLength,
                                                     Mat cameraMatrix,
                                                     Mat distCoeffs,
                                                     Mat rvecs,
                                                     Mat tvecs)
      • getBoardObjectAndImagePoints

        public static void getBoardObjectAndImagePoints​(Board board,
                                                        java.util.List<Mat> detectedCorners,
                                                        Mat detectedIds,
                                                        Mat objPoints,
                                                        Mat imgPoints)
      • refineDetectedMarkers

        public static void refineDetectedMarkers​(Mat image,
                                                 Board board,
                                                 java.util.List<Mat> detectedCorners,
                                                 Mat detectedIds,
                                                 java.util.List<Mat> rejectedCorners,
                                                 Mat cameraMatrix,
                                                 Mat distCoeffs,
                                                 float minRepDistance,
                                                 float errorCorrectionRate,
                                                 boolean checkAllOrders,
                                                 Mat recoveredIdxs,
                                                 DetectorParameters parameters)
      • refineDetectedMarkers

        public static void refineDetectedMarkers​(Mat image,
                                                 Board board,
                                                 java.util.List<Mat> detectedCorners,
                                                 Mat detectedIds,
                                                 java.util.List<Mat> rejectedCorners,
                                                 Mat cameraMatrix,
                                                 Mat distCoeffs,
                                                 float minRepDistance,
                                                 float errorCorrectionRate,
                                                 boolean checkAllOrders,
                                                 Mat recoveredIdxs)
      • refineDetectedMarkers

        public static void refineDetectedMarkers​(Mat image,
                                                 Board board,
                                                 java.util.List<Mat> detectedCorners,
                                                 Mat detectedIds,
                                                 java.util.List<Mat> rejectedCorners,
                                                 Mat cameraMatrix,
                                                 Mat distCoeffs,
                                                 float minRepDistance,
                                                 float errorCorrectionRate,
                                                 boolean checkAllOrders)
      • refineDetectedMarkers

        public static void refineDetectedMarkers​(Mat image,
                                                 Board board,
                                                 java.util.List<Mat> detectedCorners,
                                                 Mat detectedIds,
                                                 java.util.List<Mat> rejectedCorners,
                                                 Mat cameraMatrix,
                                                 Mat distCoeffs,
                                                 float minRepDistance,
                                                 float errorCorrectionRate)
      • refineDetectedMarkers

        public static void refineDetectedMarkers​(Mat image,
                                                 Board board,
                                                 java.util.List<Mat> detectedCorners,
                                                 Mat detectedIds,
                                                 java.util.List<Mat> rejectedCorners,
                                                 Mat cameraMatrix,
                                                 Mat distCoeffs,
                                                 float minRepDistance)
      • refineDetectedMarkers

        public static void refineDetectedMarkers​(Mat image,
                                                 Board board,
                                                 java.util.List<Mat> detectedCorners,
                                                 Mat detectedIds,
                                                 java.util.List<Mat> rejectedCorners,
                                                 Mat cameraMatrix,
                                                 Mat distCoeffs)
      • refineDetectedMarkers

        public static void refineDetectedMarkers​(Mat image,
                                                 Board board,
                                                 java.util.List<Mat> detectedCorners,
                                                 Mat detectedIds,
                                                 java.util.List<Mat> rejectedCorners,
                                                 Mat cameraMatrix)
      • refineDetectedMarkers

        public static void refineDetectedMarkers​(Mat image,
                                                 Board board,
                                                 java.util.List<Mat> detectedCorners,
                                                 Mat detectedIds,
                                                 java.util.List<Mat> rejectedCorners)