OpenCV Python ArUco Documentation

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Preparation

Open a bash terminal, and type in the following commands:

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$ python
Python 3.5.2 (default, Nov 17 2016, 17:05:23)
[GCC 5.4.0 20160609] on linux
Type "help", "copyright", "credits" or "license" for more information.
>>> import cv2
>>> help (cv2.aruco)

Then, you will be able to see all the doc contents for cv2.aruco:

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Help on module cv2.aruco in cv2:

NAME
    cv2.aruco

FUNCTIONS
    Board_create(...)

        Board_create(objPoints, dictionary, ids) -> retval

    CharucoBoard_create(...)

        CharucoBoard_create(squaresX, squaresY, squareLength, markerLength, dictionary) -> retval

    DetectorParameters_create(...)

        DetectorParameters_create() -> retval

    Dictionary_create(...)

        Dictionary_create(nMarkers, markerSize) -> retval

    Dictionary_create_from(...)

        Dictionary_create_from(nMarkers, markerSize, baseDictionary) -> retval

    Dictionary_get(...)

        Dictionary_get(dict) -> retval

    GridBoard_create(...)

        GridBoard_create(markersX, markersY, markerLength, markerSeparation, dictionary[, firstMarker]) -> retval

    calibrateCameraAruco(...)

        calibrateCameraAruco(corners, ids, counter, board, imageSize, cameraMatrix, distCoeffs[, rvecs[, tvecs[, flags[, criteria]]]]) -> retval, cameraMatrix, distCoeffs, rvecs, tvecs

    calibrateCameraArucoExtended(...)

        calibrateCameraArucoExtended(corners, ids, counter, board, imageSize, cameraMatrix, distCoeffs[, rvecs[, tvecs[, stdDeviationsIntrinsics[, stdDeviationsExtrinsics[, perViewErrors[, flags[, criteria]

]]]]]]) -> retval, cameraMatrix, distCoeffs, rvecs, tvecs, stdDeviationsIntrinsics, stdDeviationsExtrinsics, perViewErrors

    calibrateCameraCharuco(...)

        calibrateCameraCharuco(charucoCorners, charucoIds, board, imageSize, cameraMatrix, distCoeffs[, rvecs[, tvecs[, flags[, criteria]]]]) -> retval, cameraMatrix, distCoeffs, rvecs, tvecs

    calibrateCameraCharucoExtended(...)

        calibrateCameraCharucoExtended(charucoCorners, charucoIds, board, imageSize, cameraMatrix, distCoeffs[, rvecs[, tvecs[, stdDeviationsIntrinsics[, stdDeviationsExtrinsics[, perViewErrors[, flags[, cr

iteria]]]]]]]) -> retval, cameraMatrix, distCoeffs, rvecs, tvecs, stdDeviationsIntrinsics, stdDeviationsExtrinsics, perViewErrors

    custom_dictionary(...)

        custom_dictionary(nMarkers, markerSize) -> retval

    custom_dictionary_from(...)

        custom_dictionary_from(nMarkers, markerSize, baseDictionary) -> retval

    detectCharucoDiamond(...)

        detectCharucoDiamond(image, markerCorners, markerIds, squareMarkerLengthRate[, diamondCorners[, diamondIds[, cameraMatrix[, distCoeffs]]]]) -> diamondCorners, diamondIds

    detectMarkers(...)

        detectMarkers(image, dictionary[, corners[, ids[, parameters[, rejectedImgPoints]]]]) -> corners, ids, rejectedImgPoints

    drawAxis(...)

        drawAxis(image, cameraMatrix, distCoeffs, rvec, tvec, length) -> image

    drawDetectedCornersCharuco(...)

        drawDetectedCornersCharuco(image, charucoCorners[, charucoIds[, cornerColor]]) -> image

    drawDetectedDiamonds(...)

        drawDetectedDiamonds(image, diamondCorners[, diamondIds[, borderColor]]) -> image

    drawDetectedMarkers(...)

        drawDetectedMarkers(image, corners[, ids[, borderColor]]) -> image

    drawMarker(...)

        drawMarker(dictionary, id, sidePixels[, img[, borderBits]]) -> img

    drawPlanarBoard(...)

        drawPlanarBoard(board, outSize[, img[, marginSize[, borderBits]]]) -> img

    estimatePoseBoard(...)

        estimatePoseBoard(corners, ids, board, cameraMatrix, distCoeffs[, rvec[, tvec[, useExtrinsicGuess]]]) -> retval, rvec, tvec

    estimatePoseCharucoBoard(...)

        estimatePoseCharucoBoard(charucoCorners, charucoIds, board, cameraMatrix, distCoeffs[, rvec[, tvec[, useExtrinsicGuess]]]) -> retval, rvec, tvec

    estimatePoseSingleMarkers(...)

        estimatePoseSingleMarkers(corners, markerLength, cameraMatrix, distCoeffs[, rvecs[, tvecs]]) -> rvecs, tvecs

    getPredefinedDictionary(...)

        getPredefinedDictionary(dict) -> retval

    interpolateCornersCharuco(...)

        interpolateCornersCharuco(markerCorners, markerIds, image, board[, charucoCorners[, charucoIds[, cameraMatrix[, distCoeffs[, minMarkers]]]]]) -> retval, charucoCorners, charucoIds

    refineDetectedMarkers(...)

        refineDetectedMarkers(image, board, detectedCorners, detectedIds, rejectedCorners[, cameraMatrix[, distCoeffs[, minRepDistance[, errorCorrectionRate[, checkAllOrders[, recoveredIdxs[, parameters]]]]]]]) -> detectedCorners, detectedIds, rejectedCorners, recoveredIdxs

DATA
    DICT_4X4_100 = 1
    DICT_4X4_1000 = 3
    DICT_4X4_250 = 2
    DICT_4X4_50 = 0
    DICT_5X5_100 = 5
    DICT_5X5_1000 = 7
    DICT_5X5_250 = 6
    DICT_5X5_50 = 4
    DICT_6X6_100 = 9
    DICT_6X6_1000 = 11
    DICT_6X6_250 = 10
    DICT_6X6_50 = 8
    DICT_7X7_100 = 13
    DICT_7X7_1000 = 15
    DICT_7X7_250 = 14
    DICT_7X7_50 = 12
    DICT_ARUCO_ORIGINAL = 16

FILE
    (built-in)