OpenCV 4.5.3(日本語機械翻訳)
aruco.hpp
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38
39 #ifndef __OPENCV_ARUCO_HPP__
40 #define __OPENCV_ARUCO_HPP__
41
42 #include <opencv2/core.hpp>
43 #include <vector>
44 #include "opencv2/aruco/dictionary.hpp"
45
75 namespace cv {
76 namespace aruco {
77
80
81 enum CornerRefineMethod{
82 CORNER_REFINE_NONE,
83 CORNER_REFINE_SUBPIX,
84 CORNER_REFINE_CONTOUR,
85 CORNER_REFINE_APRILTAG,
86};
87
150 struct CV_EXPORTS_W DetectorParameters {
151
152 DetectorParameters();
153
154 CV_WRAP static Ptr<DetectorParameters> create();
155
156 CV_PROP_RW int adaptiveThreshWinSizeMin;
157 CV_PROP_RW int adaptiveThreshWinSizeMax;
158 CV_PROP_RW int adaptiveThreshWinSizeStep;
159 CV_PROP_RW double adaptiveThreshConstant;
160 CV_PROP_RW double minMarkerPerimeterRate;
161 CV_PROP_RW double maxMarkerPerimeterRate;
162 CV_PROP_RW double polygonalApproxAccuracyRate;
163 CV_PROP_RW double minCornerDistanceRate;
164 CV_PROP_RW int minDistanceToBorder;
165 CV_PROP_RW double minMarkerDistanceRate;
166 CV_PROP_RW int cornerRefinementMethod;
167 CV_PROP_RW int cornerRefinementWinSize;
168 CV_PROP_RW int cornerRefinementMaxIterations;
169 CV_PROP_RW double cornerRefinementMinAccuracy;
170 CV_PROP_RW int markerBorderBits;
171 CV_PROP_RW int perspectiveRemovePixelPerCell;
172 CV_PROP_RW double perspectiveRemoveIgnoredMarginPerCell;
173 CV_PROP_RW double maxErroneousBitsInBorderRate;
174 CV_PROP_RW double minOtsuStdDev;
175 CV_PROP_RW double errorCorrectionRate;
176
177 // April :: User-configurable parameters.
178 CV_PROP_RW float aprilTagQuadDecimate;
179 CV_PROP_RW float aprilTagQuadSigma;
180
181 // April :: Internal variables
182 CV_PROP_RW int aprilTagMinClusterPixels;
183 CV_PROP_RW int aprilTagMaxNmaxima;
184 CV_PROP_RW float aprilTagCriticalRad;
185 CV_PROP_RW float aprilTagMaxLineFitMse;
186 CV_PROP_RW int aprilTagMinWhiteBlackDiff;
187 CV_PROP_RW int aprilTagDeglitch;
188
189 // to detect white (inverted) markers
190 CV_PROP_RW bool detectInvertedMarker;
191};
192
193
194
221 CV_EXPORTS_W void detectMarkers(InputArray image, const Ptr<Dictionary> &dictionary, OutputArrayOfArrays corners,
222 OutputArray ids, const Ptr<DetectorParameters> &parameters = DetectorParameters::create(),
223 OutputArrayOfArrays rejectedImgPoints = noArray(), InputArray cameraMatrix= noArray(), InputArray distCoeff= noArray());
224
225
226
256 CV_EXPORTS_W void estimatePoseSingleMarkers(InputArrayOfArrays corners, float markerLength,
257 InputArray cameraMatrix, InputArray distCoeffs,
258 OutputArray rvecs, OutputArray tvecs, OutputArray _objPoints = noArray());
259
260
261
272 class CV_EXPORTS_W Board {
273
274 public:
283 CV_WRAP static Ptr<Board> create(InputArrayOfArrays objPoints, const Ptr<Dictionary> &dictionary, InputArray ids);
284
294 CV_WRAP void setIds(InputArray ids);
295
298 CV_PROP std::vector< std::vector< Point3f > > objPoints;
299
301 CV_PROP Ptr<Dictionary> dictionary;
302
305 CV_PROP_RW std::vector< int > ids;
306};
307
308
309
315 class CV_EXPORTS_W GridBoard : public Board {
316
317 public:
329 CV_WRAP void draw(Size outSize, OutputArray img, int marginSize = 0, int borderBits = 1);
330
331
346 CV_WRAP static Ptr<GridBoard> create(int markersX, int markersY, float markerLength,
347 float markerSeparation, const Ptr<Dictionary> &dictionary, int firstMarker = 0);
348
352 CV_WRAP Size getGridSize() const { return Size(_markersX, _markersY); }
353
357 CV_WRAP float getMarkerLength() const { return _markerLength; }
358
362 CV_WRAP float getMarkerSeparation() const { return _markerSeparation; }
363
364
365 private:
366 // number of markers in X and Y directions
367 int _markersX, _markersY;
368
369 // marker side length (normally in meters)
370 float _markerLength;
371
372 // separation between markers in the grid
373 float _markerSeparation;
374};
375
376
377
406 CV_EXPORTS_W int estimatePoseBoard(InputArrayOfArrays corners, InputArray ids, const Ptr<Board> &board,
407 InputArray cameraMatrix, InputArray distCoeffs, InputOutputArray rvec,
408 InputOutputArray tvec, bool useExtrinsicGuess = false);
409
410
411
412
444 CV_EXPORTS_W void refineDetectedMarkers(
445 InputArray image,const Ptr<Board> &board, InputOutputArrayOfArrays detectedCorners,
446 InputOutputArray detectedIds, InputOutputArrayOfArrays rejectedCorners,
447 InputArray cameraMatrix = noArray(), InputArray distCoeffs = noArray(),
448 float minRepDistance = 10.f, float errorCorrectionRate = 3.f, bool checkAllOrders = true,
449 OutputArray recoveredIdxs = noArray(), const Ptr<DetectorParameters> &parameters = DetectorParameters::create());
450
451
452
470 CV_EXPORTS_W void drawDetectedMarkers(InputOutputArray image, InputArrayOfArrays corners,
471 InputArray ids = noArray(),
472 Scalar borderColor = Scalar(0, 255, 0));
473
474
475
494 CV_EXPORTS_W void drawAxis(InputOutputArray image, InputArray cameraMatrix, InputArray distCoeffs,
495 InputArray rvec, InputArray tvec, float length);
496
497
498
511 CV_EXPORTS_W void drawMarker(const Ptr<Dictionary> &dictionary, int id, int sidePixels, OutputArray img,
512 int borderBits = 1);
513
514
515
531 CV_EXPORTS_W void drawPlanarBoard(const Ptr<Board> &board, Size outSize, OutputArray img,
532 int marginSize = 0, int borderBits = 1);
533
534
535
539 void _drawPlanarBoardImpl(Board *board, Size outSize, OutputArray img,
540 int marginSize = 0, int borderBits = 1);
541
542
543
580 CV_EXPORTS_AS(calibrateCameraArucoExtended) double calibrateCameraAruco(
581 InputArrayOfArrays corners, InputArray ids, InputArray counter, const Ptr<Board> &board,
582 Size imageSize, InputOutputArray cameraMatrix, InputOutputArray distCoeffs,
583 OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs,
584 OutputArray stdDeviationsIntrinsics, OutputArray stdDeviationsExtrinsics,
585 OutputArray perViewErrors, int flags = 0,
586 TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 30, DBL_EPSILON));
587
588
591 CV_EXPORTS_W double calibrateCameraAruco(
592 InputArrayOfArrays corners, InputArray ids, InputArray counter, const Ptr<Board> &board,
593 Size imageSize, InputOutputArray cameraMatrix, InputOutputArray distCoeffs,
594 OutputArrayOfArrays rvecs = noArray(), OutputArrayOfArrays tvecs = noArray(), int flags = 0,
595 TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 30, DBL_EPSILON));
596
597
608 CV_EXPORTS_W void getBoardObjectAndImagePoints(const Ptr<Board> &board, InputArrayOfArrays detectedCorners,
609 InputArray detectedIds, OutputArray objPoints, OutputArray imgPoints);
610
611
613}
614}
615
616 #endif
cv::_InputOutputArray
Definition: mat.hpp:386
cv::_OutputArray
This type is very similar to InputArray except that it is used for input/output and output function p...
Definition: mat.hpp:295
cv::Scalar_< double >
cv::Size_
Template class for specifying the size of an image or rectangle.
Definition: core/types.hpp:316
cv::TermCriteria
The class defining termination criteria for iterative algorithms.
Definition: core/types.hpp:853
cv::TermCriteria::EPS
@ EPS
the desired accuracy or change in parameters at which the iterative algorithm stops
Definition: core/types.hpp:862
cv::TermCriteria::COUNT
@ COUNT
the maximum number of iterations or elements to compute
Definition: core/types.hpp:860
cv::aruco::Board
Board of markers
Definition: aruco.hpp:272
cv::aruco::GridBoard
Planar board with grid arrangement of markers More common type of board. All markers are placed in th...
Definition: aruco.hpp:315
cv::aruco::estimatePoseBoard
CV_EXPORTS_W int estimatePoseBoard(InputArrayOfArrays corners, InputArray ids, const Ptr< Board > &board, InputArray cameraMatrix, InputArray distCoeffs, InputOutputArray rvec, InputOutputArray tvec, bool useExtrinsicGuess=false)
Pose estimation for a board of markers
cv::aruco::drawAxis
CV_EXPORTS_W void drawAxis(InputOutputArray image, InputArray cameraMatrix, InputArray distCoeffs, InputArray rvec, InputArray tvec, float length)
Draw coordinate system axis from pose estimation
cv::aruco::getBoardObjectAndImagePoints
CV_EXPORTS_W void getBoardObjectAndImagePoints(const Ptr< Board > &board, InputArrayOfArrays detectedCorners, InputArray detectedIds, OutputArray objPoints, OutputArray imgPoints)
Given a board configuration and a set of detected markers, returns the corresponding image points and...
cv::aruco::estimatePoseSingleMarkers
CV_EXPORTS_W void estimatePoseSingleMarkers(InputArrayOfArrays corners, float markerLength, InputArray cameraMatrix, InputArray distCoeffs, OutputArray rvecs, OutputArray tvecs, OutputArray _objPoints=noArray())
Pose estimation for single markers
cv::aruco::detectMarkers
CV_EXPORTS_W void detectMarkers(InputArray image, const Ptr< Dictionary > &dictionary, OutputArrayOfArrays corners, OutputArray ids, const Ptr< DetectorParameters > &parameters=DetectorParameters::create(), OutputArrayOfArrays rejectedImgPoints=noArray(), InputArray cameraMatrix=noArray(), InputArray distCoeff=noArray())
Basic marker detection
cv::aruco::drawPlanarBoard
CV_EXPORTS_W void drawPlanarBoard(const Ptr< Board > &board, Size outSize, OutputArray img, int marginSize=0, int borderBits=1)
Draw a planar board
cv::aruco::refineDetectedMarkers
CV_EXPORTS_W void refineDetectedMarkers(InputArray image, const Ptr< Board > &board, InputOutputArrayOfArrays detectedCorners, InputOutputArray detectedIds, InputOutputArrayOfArrays rejectedCorners, InputArray cameraMatrix=noArray(), InputArray distCoeffs=noArray(), float minRepDistance=10.f, float errorCorrectionRate=3.f, bool checkAllOrders=true, OutputArray recoveredIdxs=noArray(), const Ptr< DetectorParameters > &parameters=DetectorParameters::create())
Refind not detected markers based on the already detected and the board layout
cv::aruco::drawDetectedMarkers
CV_EXPORTS_W void drawDetectedMarkers(InputOutputArray image, InputArrayOfArrays corners, InputArray ids=noArray(), Scalar borderColor=Scalar(0, 255, 0))
Draw detected markers in image
cv::aruco::_drawPlanarBoardImpl
void _drawPlanarBoardImpl(Board *board, Size outSize, OutputArray img, int marginSize=0, int borderBits=1)
Implementation of drawPlanarBoard that accepts a raw Board pointer.
cv::aruco::calibrateCameraAruco
CV_EXPORTS_W double calibrateCameraAruco(InputArrayOfArrays corners, InputArray ids, InputArray counter, const Ptr< Board > &board, Size imageSize, InputOutputArray cameraMatrix, InputOutputArray distCoeffs, OutputArrayOfArrays rvecs=noArray(), OutputArrayOfArrays tvecs=noArray(), int flags=0, TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, DBL_EPSILON))
It's the same function as #calibrateCameraAruco but without calibration error estimation.
cv::aruco::CornerRefineMethod
CornerRefineMethod
Definition: aruco.hpp:81
cv::aruco::CORNER_REFINE_APRILTAG
@ CORNER_REFINE_APRILTAG
Tag and corners detection based on the AprilTag 2 approach
Definition: aruco.hpp:85
cv::aruco::CORNER_REFINE_SUBPIX
@ CORNER_REFINE_SUBPIX
ArUco approach and refine the corners locations using corner subpixel accuracy
Definition: aruco.hpp:83
cv::aruco::CORNER_REFINE_CONTOUR
@ CORNER_REFINE_CONTOUR
ArUco approach and refine the corners locations using the contour-points line fitting
Definition: aruco.hpp:84
cv::aruco::CORNER_REFINE_NONE
@ CORNER_REFINE_NONE
Tag and corners detection based on the ArUco approach
Definition: aruco.hpp:82
cv::CV_EXPORTS_AS
CV_EXPORTS_AS(calibrateCameraExtended) double calibrateCamera(InputArrayOfArrays objectPoints
Finds the camera intrinsic and extrinsic parameters from several views of a calibration pattern.
cv::drawMarker
CV_EXPORTS_W void drawMarker(InputOutputArray img, Point position, const Scalar &color, int markerType=MARKER_CROSS, int markerSize=20, int thickness=1, int line_type=8)
Draws a marker on a predefined position in an image.
cv
"black box" representation of the file storage associated with a file on disk.
Definition: aruco.hpp:75
cv::Ptr
Definition: cvstd_wrapper.hpp:74
cv::aruco::DetectorParameters
Parameters for the detectMarker process:
Definition: aruco.hpp:150
構築: doxygen 1.9.2