Function opencv::aruco::estimate_pose_board

pub fn estimate_pose_board(
    corners: &dyn ToInputArray, 
    ids: &dyn ToInputArray, 
    board: &PtrOfBoard, 
    camera_matrix: &dyn ToInputArray, 
    dist_coeffs: &dyn ToInputArray, 
    rvec: &mut dyn ToOutputArray, 
    tvec: &mut dyn ToOutputArray, 
    use_extrinsic_guess: bool
) -> Result<i32>

Pose estimation for a board of markers

Parameters

• corners: vector of already detected markers corners. For each marker, its four corners are provided, (e.g std::vectorstd::vectorcv::Point2f> > ). For N detected markers, the dimensions of this array should be Nx4. The order of the corners should be clockwise.
• ids: list of identifiers for each marker in corners
• board: layout of markers in the board. The layout is composed by the marker identifiers and the positions of each marker corner in the board reference system.
• cameraMatrix: input 3x3 floating-point camera matrix
• distCoeffs: vector of distortion coefficients of 4, 5, 8 or 12 elements
• rvec: Output vector (e.g. cv::Mat) corresponding to the rotation vector of the board (see cv::Rodrigues). Used as initial guess if not empty.
• tvec: Output vector (e.g. cv::Mat) corresponding to the translation vector of the board.
• useExtrinsicGuess: defines whether initial guess for \b rvec and \b tvec will be used or not. Used as initial guess if not empty.

This function receives the detected markers and returns the pose of a marker board composed by those markers. A Board of marker has a single world coordinate system which is defined by the board layout. The returned transformation is the one that transforms points from the board coordinate system to the camera coordinate system. Input markers that are not included in the board layout are ignored. The function returns the number of markers from the input employed for the board pose estimation. Note that returning a 0 means the pose has not been estimated.

C++ default parameters

• use_extrinsic_guess: false