cv::aruco::CharucoDetector Class Reference

#include <charuco_detector.hpp>

Inheritance diagram for cv::aruco::CharucoDetector:

Public Member Functions
CV_WRAP	CharucoDetector (const CharucoBoard &board, const CharucoParameters &charucoParams=CharucoParameters(), const DetectorParameters &detectorParams=DetectorParameters(), const RefineParameters &refineParams=RefineParameters())
	Basic CharucoDetector constructor. More...
CV_WRAP const CharucoBoard &	getBoard () const
CV_WRAP void	setBoard (const CharucoBoard &board)
CV_WRAP const CharucoParameters &	getCharucoParameters () const
CV_WRAP void	setCharucoParameters (CharucoParameters &charucoParameters)
CV_WRAP const DetectorParameters &	getDetectorParameters () const
CV_WRAP void	setDetectorParameters (const DetectorParameters &detectorParameters)
CV_WRAP const RefineParameters &	getRefineParameters () const
CV_WRAP void	setRefineParameters (const RefineParameters &refineParameters)
CV_WRAP void	detectBoard (InputArray image, OutputArray charucoCorners, OutputArray charucoIds, InputOutputArrayOfArrays markerCorners=noArray(), InputOutputArray markerIds=noArray()) const
	detect aruco markers and interpolate position of ChArUco board corners More...
CV_WRAP void	detectDiamonds (InputArray image, OutputArrayOfArrays diamondCorners, OutputArray diamondIds, InputOutputArrayOfArrays markerCorners=noArray(), InputOutputArray markerIds=noArray()) const
	Detect ChArUco Diamond markers. More...
Public Member Functions inherited from cv::Algorithm
	Algorithm ()
virtual	~Algorithm ()
virtual CV_WRAP void	clear ()
	Clears the algorithm state. More...
virtual CV_WRAP void	write (FileStorage &fs) const
	Stores algorithm parameters in a file storage. More...
CV_WRAP void	write (FileStorage &fs, const String &name) const
void	write (const Ptr< FileStorage > &fs, const String &name=String()) const
virtual CV_WRAP void	read (const FileNode &fn)
	Reads algorithm parameters from a file storage. More...
virtual CV_WRAP bool	empty () const
	Returns true if the Algorithm is empty (e.g. in the very beginning or after unsuccessful read. More...
virtual CV_WRAP void	save (const String &filename) const
virtual CV_WRAP String	getDefaultName () const

Protected Attributes
Ptr< CharucoDetectorImpl >	charucoDetectorImpl

Additional Inherited Members
Static Public Member Functions inherited from cv::Algorithm
template<typename _Tp >
static Ptr< _Tp >	read (const FileNode &fn)
	Reads algorithm from the file node. More...
template<typename _Tp >
static Ptr< _Tp >	load (const String &filename, const String &objname=String())
	Loads algorithm from the file. More...
template<typename _Tp >
static Ptr< _Tp >	loadFromString (const String &strModel, const String &objname=String())
	Loads algorithm from a String. More...
Protected Member Functions inherited from cv::Algorithm
void	writeFormat (FileStorage &fs) const

Constructor & Destructor Documentation

CharucoDetector()

CV_WRAP cv::aruco::CharucoDetector::CharucoDetector	(	const CharucoBoard &	board,
		const CharucoParameters &	charucoParams = CharucoParameters(),
		const DetectorParameters &	detectorParams = DetectorParameters(),
		const RefineParameters &	refineParams = RefineParameters()
	)

Basic CharucoDetector constructor.

Parameters

board	ChAruco board
charucoParams	charuco detection parameters
detectorParams	marker detection parameters
refineParams	marker refine detection parameters

Member Function Documentation

detectBoard()

CV_WRAP void cv::aruco::CharucoDetector::detectBoard	(	InputArray	image,
		OutputArray	charucoCorners,
		OutputArray	charucoIds,
		InputOutputArrayOfArrays	markerCorners = noArray(),
		InputOutputArray	markerIds = noArray()
	)		const

detect aruco markers and interpolate position of ChArUco board corners

Parameters

image	input image necesary for corner refinement. Note that markers are not detected and should be sent in corners and ids parameters.
charucoCorners	interpolated chessboard corners.
charucoIds	interpolated chessboard corners identifiers.
markerCorners	vector of already detected markers corners. For each marker, its four corners are provided, (e.g std::vector<std::vector<cv::Point2f> > ). For N detected markers, the dimensions of this array should be Nx4. The order of the corners should be clockwise. If markerCorners and markerCorners are empty, the function detect aruco markers and ids.
markerIds	list of identifiers for each marker in corners. If markerCorners and markerCorners are empty, the function detect aruco markers and ids.

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 markerCorners and markerCorners are empty, the detectMarkers() will run and detect aruco markers and ids.

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.

See also

findChessboardCorners

Note

After OpenCV 4.6.0, there was an incompatible change in the ChArUco pattern generation algorithm for even row counts. Use cv::aruco::CharucoBoard::setLegacyPattern() to ensure compatibility with patterns created using OpenCV versions prior to 4.6.0. For more information, see the issue: https://github.com/opencv/opencv/issues/23152

detectDiamonds()

CV_WRAP void cv::aruco::CharucoDetector::detectDiamonds	(	InputArray	image,
		OutputArrayOfArrays	diamondCorners,
		OutputArray	diamondIds,
		InputOutputArrayOfArrays	markerCorners = noArray(),
		InputOutputArray	markerIds = noArray()
	)		const

Detect ChArUco Diamond markers.

Parameters

image	input image necessary for corner subpixel.
diamondCorners	output list of detected diamond corners (4 corners per diamond). The order is the same than in marker corners: top left, top right, bottom right and bottom left. Similar format than the corners returned by detectMarkers (e.g std::vector<std::vector<cv::Point2f> > ).
diamondIds	ids of the diamonds in diamondCorners. The id of each diamond is in fact of type Vec4i, so each diamond has 4 ids, which are the ids of the aruco markers composing the diamond.
markerCorners	list of detected marker corners from detectMarkers function. If markerCorners and markerCorners are empty, the function detect aruco markers and ids.
markerIds	list of marker ids in markerCorners. If markerCorners and markerCorners are empty, the function detect aruco markers and ids.

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.

getBoard()

CV_WRAP const CharucoBoard& cv::aruco::CharucoDetector::getBoard

(

)

const

getCharucoParameters()

CV_WRAP const CharucoParameters& cv::aruco::CharucoDetector::getCharucoParameters

(

)

const

getDetectorParameters()

CV_WRAP const DetectorParameters& cv::aruco::CharucoDetector::getDetectorParameters

(

)

const

getRefineParameters()

CV_WRAP const RefineParameters& cv::aruco::CharucoDetector::getRefineParameters

(

)

const

setBoard()

CV_WRAP void cv::aruco::CharucoDetector::setBoard

(

const CharucoBoard &

board

)

setCharucoParameters()

CV_WRAP void cv::aruco::CharucoDetector::setCharucoParameters

(

CharucoParameters &

charucoParameters

)

setDetectorParameters()

CV_WRAP void cv::aruco::CharucoDetector::setDetectorParameters

(

const DetectorParameters &

detectorParameters

)

setRefineParameters()

CV_WRAP void cv::aruco::CharucoDetector::setRefineParameters

(

const RefineParameters &

refineParameters

)

Member Data Documentation

charucoDetectorImpl

Ptr<CharucoDetectorImpl> cv::aruco::CharucoDetector::charucoDetectorImpl

protected

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

• build/release/_deps/opencv-src/include/opencv4/opencv2/objdetect/charuco_detector.hpp