//
// This file is auto-generated. Please don't modify it!
//
package org.opencv.objdetect;
import org.opencv.core.Algorithm;
import org.opencv.core.Mat;
import org.opencv.utils.Converters;
import java.util.List;
// C++: class CharucoDetector
public class CharucoDetector extends Algorithm {
protected CharucoDetector(long addr) { super(addr); }
// internal usage only
public static CharucoDetector __fromPtr__(long addr) { return new CharucoDetector(addr); }
//
// C++: cv::aruco::CharucoDetector::CharucoDetector(CharucoBoard board, CharucoParameters charucoParams = CharucoParameters(), DetectorParameters detectorParams = DetectorParameters(), RefineParameters refineParams = RefineParameters())
//
/**
* Basic CharucoDetector constructor
*
* @param board ChAruco board
* @param charucoParams charuco detection parameters
* @param detectorParams marker detection parameters
* @param refineParams marker refine detection parameters
*/
public CharucoDetector(CharucoBoard board, CharucoParameters charucoParams, DetectorParameters detectorParams, RefineParameters refineParams) {
super(CharucoDetector_0(board.nativeObj, charucoParams.nativeObj, detectorParams.nativeObj, refineParams.nativeObj));
}
/**
* Basic CharucoDetector constructor
*
* @param board ChAruco board
* @param charucoParams charuco detection parameters
* @param detectorParams marker detection parameters
*/
public CharucoDetector(CharucoBoard board, CharucoParameters charucoParams, DetectorParameters detectorParams) {
super(CharucoDetector_1(board.nativeObj, charucoParams.nativeObj, detectorParams.nativeObj));
}
/**
* Basic CharucoDetector constructor
*
* @param board ChAruco board
* @param charucoParams charuco detection parameters
*/
public CharucoDetector(CharucoBoard board, CharucoParameters charucoParams) {
super(CharucoDetector_2(board.nativeObj, charucoParams.nativeObj));
}
/**
* Basic CharucoDetector constructor
*
* @param board ChAruco board
*/
public CharucoDetector(CharucoBoard board) {
super(CharucoDetector_3(board.nativeObj));
}
//
// C++: CharucoBoard cv::aruco::CharucoDetector::getBoard()
//
public CharucoBoard getBoard() {
return new CharucoBoard(getBoard_0(nativeObj));
}
//
// C++: void cv::aruco::CharucoDetector::setBoard(CharucoBoard board)
//
public void setBoard(CharucoBoard board) {
setBoard_0(nativeObj, board.nativeObj);
}
//
// C++: CharucoParameters cv::aruco::CharucoDetector::getCharucoParameters()
//
public CharucoParameters getCharucoParameters() {
return new CharucoParameters(getCharucoParameters_0(nativeObj));
}
//
// C++: void cv::aruco::CharucoDetector::setCharucoParameters(CharucoParameters charucoParameters)
//
public void setCharucoParameters(CharucoParameters charucoParameters) {
setCharucoParameters_0(nativeObj, charucoParameters.nativeObj);
}
//
// C++: DetectorParameters cv::aruco::CharucoDetector::getDetectorParameters()
//
public DetectorParameters getDetectorParameters() {
return new DetectorParameters(getDetectorParameters_0(nativeObj));
}
//
// C++: void cv::aruco::CharucoDetector::setDetectorParameters(DetectorParameters detectorParameters)
//
public void setDetectorParameters(DetectorParameters detectorParameters) {
setDetectorParameters_0(nativeObj, detectorParameters.nativeObj);
}
//
// C++: RefineParameters cv::aruco::CharucoDetector::getRefineParameters()
//
public RefineParameters getRefineParameters() {
return new RefineParameters(getRefineParameters_0(nativeObj));
}
//
// C++: void cv::aruco::CharucoDetector::setRefineParameters(RefineParameters refineParameters)
//
public void setRefineParameters(RefineParameters refineParameters) {
setRefineParameters_0(nativeObj, refineParameters.nativeObj);
}
//
// C++: void cv::aruco::CharucoDetector::detectBoard(Mat image, Mat& charucoCorners, Mat& charucoIds, vector_Mat& markerCorners = vector_Mat(), Mat& markerIds = Mat())
//
/**
* detect aruco markers and interpolate position of ChArUco board corners
* @param image input image necesary for corner refinement. Note that markers are not detected and
* should be sent in corners and ids parameters.
* @param charucoCorners interpolated chessboard corners.
* @param charucoIds interpolated chessboard corners identifiers.
* @param 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.
* @param 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
*/
public void detectBoard(Mat image, Mat charucoCorners, Mat charucoIds, List<Mat> markerCorners, Mat markerIds) {
Mat markerCorners_mat = Converters.vector_Mat_to_Mat(markerCorners);
detectBoard_0(nativeObj, image.nativeObj, charucoCorners.nativeObj, charucoIds.nativeObj, markerCorners_mat.nativeObj, markerIds.nativeObj);
Converters.Mat_to_vector_Mat(markerCorners_mat, markerCorners);
markerCorners_mat.release();
}
/**
* detect aruco markers and interpolate position of ChArUco board corners
* @param image input image necesary for corner refinement. Note that markers are not detected and
* should be sent in corners and ids parameters.
* @param charucoCorners interpolated chessboard corners.
* @param charucoIds interpolated chessboard corners identifiers.
* @param 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
*/
public void detectBoard(Mat image, Mat charucoCorners, Mat charucoIds, List<Mat> markerCorners) {
Mat markerCorners_mat = Converters.vector_Mat_to_Mat(markerCorners);
detectBoard_1(nativeObj, image.nativeObj, charucoCorners.nativeObj, charucoIds.nativeObj, markerCorners_mat.nativeObj);
Converters.Mat_to_vector_Mat(markerCorners_mat, markerCorners);
markerCorners_mat.release();
}
/**
* detect aruco markers and interpolate position of ChArUco board corners
* @param image input image necesary for corner refinement. Note that markers are not detected and
* should be sent in corners and ids parameters.
* @param charucoCorners interpolated chessboard corners.
* @param 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
*/
public void detectBoard(Mat image, Mat charucoCorners, Mat charucoIds) {
detectBoard_2(nativeObj, image.nativeObj, charucoCorners.nativeObj, charucoIds.nativeObj);
}
//
// C++: void cv::aruco::CharucoDetector::detectDiamonds(Mat image, vector_Mat& diamondCorners, Mat& diamondIds, vector_Mat& markerCorners = vector_Mat(), Mat& markerIds = Mat())
//
/**
* Detect ChArUco Diamond markers
*
* @param image input image necessary for corner subpixel.
* @param 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> > ).
* @param 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.
* @param markerCorners list of detected marker corners from detectMarkers function.
* If markerCorners and markerCorners are empty, the function detect aruco markers and ids.
* @param 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.
*/
public void detectDiamonds(Mat image, List<Mat> diamondCorners, Mat diamondIds, List<Mat> markerCorners, Mat markerIds) {
Mat diamondCorners_mat = new Mat();
Mat markerCorners_mat = Converters.vector_Mat_to_Mat(markerCorners);
detectDiamonds_0(nativeObj, image.nativeObj, diamondCorners_mat.nativeObj, diamondIds.nativeObj, markerCorners_mat.nativeObj, markerIds.nativeObj);
Converters.Mat_to_vector_Mat(diamondCorners_mat, diamondCorners);
diamondCorners_mat.release();
Converters.Mat_to_vector_Mat(markerCorners_mat, markerCorners);
markerCorners_mat.release();
}
/**
* Detect ChArUco Diamond markers
*
* @param image input image necessary for corner subpixel.
* @param 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> > ).
* @param 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.
* @param 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.
*/
public void detectDiamonds(Mat image, List<Mat> diamondCorners, Mat diamondIds, List<Mat> markerCorners) {
Mat diamondCorners_mat = new Mat();
Mat markerCorners_mat = Converters.vector_Mat_to_Mat(markerCorners);
detectDiamonds_1(nativeObj, image.nativeObj, diamondCorners_mat.nativeObj, diamondIds.nativeObj, markerCorners_mat.nativeObj);
Converters.Mat_to_vector_Mat(diamondCorners_mat, diamondCorners);
diamondCorners_mat.release();
Converters.Mat_to_vector_Mat(markerCorners_mat, markerCorners);
markerCorners_mat.release();
}
/**
* Detect ChArUco Diamond markers
*
* @param image input image necessary for corner subpixel.
* @param 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> > ).
* @param 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.
*/
public void detectDiamonds(Mat image, List<Mat> diamondCorners, Mat diamondIds) {
Mat diamondCorners_mat = new Mat();
detectDiamonds_2(nativeObj, image.nativeObj, diamondCorners_mat.nativeObj, diamondIds.nativeObj);
Converters.Mat_to_vector_Mat(diamondCorners_mat, diamondCorners);
diamondCorners_mat.release();
}
@Override
protected void finalize() throws Throwable {
delete(nativeObj);
}
// C++: cv::aruco::CharucoDetector::CharucoDetector(CharucoBoard board, CharucoParameters charucoParams = CharucoParameters(), DetectorParameters detectorParams = DetectorParameters(), RefineParameters refineParams = RefineParameters())
private static native long CharucoDetector_0(long board_nativeObj, long charucoParams_nativeObj, long detectorParams_nativeObj, long refineParams_nativeObj);
private static native long CharucoDetector_1(long board_nativeObj, long charucoParams_nativeObj, long detectorParams_nativeObj);
private static native long CharucoDetector_2(long board_nativeObj, long charucoParams_nativeObj);
private static native long CharucoDetector_3(long board_nativeObj);
// C++: CharucoBoard cv::aruco::CharucoDetector::getBoard()
private static native long getBoard_0(long nativeObj);
// C++: void cv::aruco::CharucoDetector::setBoard(CharucoBoard board)
private static native void setBoard_0(long nativeObj, long board_nativeObj);
// C++: CharucoParameters cv::aruco::CharucoDetector::getCharucoParameters()
private static native long getCharucoParameters_0(long nativeObj);
// C++: void cv::aruco::CharucoDetector::setCharucoParameters(CharucoParameters charucoParameters)
private static native void setCharucoParameters_0(long nativeObj, long charucoParameters_nativeObj);
// C++: DetectorParameters cv::aruco::CharucoDetector::getDetectorParameters()
private static native long getDetectorParameters_0(long nativeObj);
// C++: void cv::aruco::CharucoDetector::setDetectorParameters(DetectorParameters detectorParameters)
private static native void setDetectorParameters_0(long nativeObj, long detectorParameters_nativeObj);
// C++: RefineParameters cv::aruco::CharucoDetector::getRefineParameters()
private static native long getRefineParameters_0(long nativeObj);
// C++: void cv::aruco::CharucoDetector::setRefineParameters(RefineParameters refineParameters)
private static native void setRefineParameters_0(long nativeObj, long refineParameters_nativeObj);
// C++: void cv::aruco::CharucoDetector::detectBoard(Mat image, Mat& charucoCorners, Mat& charucoIds, vector_Mat& markerCorners = vector_Mat(), Mat& markerIds = Mat())
private static native void detectBoard_0(long nativeObj, long image_nativeObj, long charucoCorners_nativeObj, long charucoIds_nativeObj, long markerCorners_mat_nativeObj, long markerIds_nativeObj);
private static native void detectBoard_1(long nativeObj, long image_nativeObj, long charucoCorners_nativeObj, long charucoIds_nativeObj, long markerCorners_mat_nativeObj);
private static native void detectBoard_2(long nativeObj, long image_nativeObj, long charucoCorners_nativeObj, long charucoIds_nativeObj);
// C++: void cv::aruco::CharucoDetector::detectDiamonds(Mat image, vector_Mat& diamondCorners, Mat& diamondIds, vector_Mat& markerCorners = vector_Mat(), Mat& markerIds = Mat())
private static native void detectDiamonds_0(long nativeObj, long image_nativeObj, long diamondCorners_mat_nativeObj, long diamondIds_nativeObj, long markerCorners_mat_nativeObj, long markerIds_nativeObj);
private static native void detectDiamonds_1(long nativeObj, long image_nativeObj, long diamondCorners_mat_nativeObj, long diamondIds_nativeObj, long markerCorners_mat_nativeObj);
private static native void detectDiamonds_2(long nativeObj, long image_nativeObj, long diamondCorners_mat_nativeObj, long diamondIds_nativeObj);
// native support for java finalize()
private static native void delete(long nativeObj);
}
