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ArucoInvokeEstimatePoseBoard Method

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Pose estimation for a board of markers.

Namespace:  Emgu.CV.Aruco
Assembly:  Emgu.CV.World (in Emgu.CV.World.dll) Version: 4.1.0.3408 (4.1.0.3408)
Syntax
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public static int EstimatePoseBoard(
	IInputArrayOfArrays corners,
	IInputArray ids,
	IBoard board,
	IInputArray cameraMatrix,
	IInputArray distCoeffs,
	IOutputArray rvec,
	IOutputArray tvec,
	bool useExtrinsicGuess = false
)

Parameters

corners
Type: Emgu.CVIInputArrayOfArrays
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.
ids
Type: Emgu.CVIInputArray
List of identifiers for each marker in corners
board
Type: Emgu.CV.ArucoIBoard
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
Type: Emgu.CVIInputArray
Input 3x3 floating-point camera matrix
distCoeffs
Type: Emgu.CVIInputArray
Vector of distortion coefficients (k1,k2,p1,p2[,k3[,k4,k5,k6],[s1,s2,s3,s4]]) of 4, 5, 8 or 12 elements
rvec
Type: Emgu.CVIOutputArray
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
Type: Emgu.CVIOutputArray
Output vector (e.g. cv::Mat) corresponding to the translation vector of the board.
useExtrinsicGuess (Optional)
Type: SystemBoolean
Defines whether initial guess for rvec and tvec will be used or not. Used as initial guess if not empty.

Return Value

Type: Int32
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.
See Also