Package org.opencv.objdetect

Class CharucoDetector

java.lang.Object
org.opencv.core.Algorithm
org.opencv.objdetect.CharucoDetector
public class CharucoDetector
extends Algorithm

  • Constructor Details

  • Method Details

    • __fromPtr__

      public static CharucoDetector __fromPtr__​(long addr)

    • getBoard

      public CharucoBoard getBoard()

    • setBoard

      public void setBoard​(CharucoBoard board)

    • getCharucoParameters

      public CharucoParameters getCharucoParameters()

    • setCharucoParameters

      public void setCharucoParameters​(CharucoParameters charucoParameters)

    • getDetectorParameters

      public DetectorParameters getDetectorParameters()

    • setDetectorParameters

      public void setDetectorParameters​(DetectorParameters detectorParameters)

    • getRefineParameters

      public RefineParameters getRefineParameters()

    • setRefineParameters

      public void setRefineParameters​(RefineParameters refineParameters)

    • detectBoard

      public void detectBoard​(Mat image, Mat charucoCorners, Mat charucoIds, List<Mat> markerCorners, Mat markerIds)
      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: findChessboardCorners

    • detectBoard

      public void detectBoard​(Mat image, Mat charucoCorners, Mat charucoIds, List<Mat> markerCorners)
      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. 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: findChessboardCorners

    • detectBoard

      public void detectBoard​(Mat image, Mat charucoCorners, Mat charucoIds)
      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. 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. 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: findChessboardCorners

    • detectDiamonds

      public void detectDiamonds​(Mat image, List<Mat> diamondCorners, Mat diamondIds, List<Mat> markerCorners, Mat markerIds)
      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.

    • detectDiamonds

      public void detectDiamonds​(Mat image, List<Mat> diamondCorners, Mat diamondIds, List<Mat> markerCorners)
      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. 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.

    • detectDiamonds

      public void detectDiamonds​(Mat image, List<Mat> diamondCorners, Mat diamondIds)
      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. If markerCorners and markerCorners are empty, the function detect aruco markers and ids. 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.

    • finalize

      protected void finalize() throws Throwable
      Overrides:
      finalize in class Algorithm
      Throws:
      Throwable