Longer Vision Technology

Github Blog

0%

OpenCV Python ArUco Documentation

Posted on Edited on In ,

Preparation

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

1
2
3
4
5
6
$ 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:

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
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)