org.opencv.objdetect

Class CharucoDetector

java.lang.Object

org.opencv.core.Algorithm

org.opencv.objdetect.CharucoDetector

public class CharucoDetector
extends Algorithm

Field Summary

Fields inherited from class org.opencv.core.Algorithm

nativeObj

Constructor Summary

Constructors

Modifier	Constructor and Description
	CharucoDetector(CharucoBoard board) Basic CharucoDetector constructor
	CharucoDetector(CharucoBoard board, CharucoParameters charucoParams) Basic CharucoDetector constructor
	CharucoDetector(CharucoBoard board, CharucoParameters charucoParams, DetectorParameters detectorParams) Basic CharucoDetector constructor
	CharucoDetector(CharucoBoard board, CharucoParameters charucoParams, DetectorParameters detectorParams, RefineParameters refineParams) Basic CharucoDetector constructor
protected	CharucoDetector(long addr)

Method Summary

Modifier and Type	Method and Description
static CharucoDetector	__fromPtr__(long addr)
void	detectBoard(Mat image, Mat charucoCorners, Mat charucoIds) detect aruco markers and interpolate position of ChArUco board corners
void	detectBoard(Mat image, Mat charucoCorners, Mat charucoIds, List<Mat> markerCorners) detect aruco markers and interpolate position of ChArUco board corners
void	detectBoard(Mat image, Mat charucoCorners, Mat charucoIds, List<Mat> markerCorners, Mat markerIds) detect aruco markers and interpolate position of ChArUco board corners
void	detectDiamonds(Mat image, List<Mat> diamondCorners, Mat diamondIds) Detect ChArUco Diamond markers
void	detectDiamonds(Mat image, List<Mat> diamondCorners, Mat diamondIds, List<Mat> markerCorners) Detect ChArUco Diamond markers
void	detectDiamonds(Mat image, List<Mat> diamondCorners, Mat diamondIds, List<Mat> markerCorners, Mat markerIds) Detect ChArUco Diamond markers
protected void	finalize()
CharucoBoard	getBoard()
CharucoParameters	getCharucoParameters()
DetectorParameters	getDetectorParameters()
RefineParameters	getRefineParameters()
void	setBoard(CharucoBoard board)
void	setCharucoParameters(CharucoParameters charucoParameters)
void	setDetectorParameters(DetectorParameters detectorParameters)
void	setRefineParameters(RefineParameters refineParameters)

Methods inherited from class org.opencv.core.Algorithm

clear, empty, getDefaultName, getNativeObjAddr, save

Methods inherited from class java.lang.Object

clone, equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

CharucoDetector

protected CharucoDetector(long addr)

CharucoDetector

public CharucoDetector(CharucoBoard board,
                       CharucoParameters charucoParams,
                       DetectorParameters detectorParams,
                       RefineParameters refineParams)

Basic CharucoDetector constructor

Parameters:

board - ChAruco board

charucoParams - charuco detection parameters

detectorParams - marker detection parameters

refineParams - marker refine detection parameters

CharucoDetector

public CharucoDetector(CharucoBoard board,
                       CharucoParameters charucoParams,
                       DetectorParameters detectorParams)

Basic CharucoDetector constructor

Parameters:

board - ChAruco board

charucoParams - charuco detection parameters

detectorParams - marker detection parameters

CharucoDetector

public CharucoDetector(CharucoBoard board,
                       CharucoParameters charucoParams)

Basic CharucoDetector constructor

Parameters:

board - ChAruco board

charucoParams - charuco detection parameters

CharucoDetector

public CharucoDetector(CharucoBoard board)

Basic CharucoDetector constructor

Parameters:

board - ChAruco board

Method Detail

__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 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

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 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

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 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

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