The main functionality of ArucoDetector class is detection of markers in an image with detectMarkers() method. More...

Inheritance diagram for OpenCVForUnity.ObjdetectModule.ArucoDetector:

Public Member Functions
	ArucoDetector (Dictionary dictionary, DetectorParameters detectorParams, RefineParameters refineParams)
	Basic ArucoDetector constructor. More...

	ArucoDetector (Dictionary dictionary, DetectorParameters detectorParams)
	Basic ArucoDetector constructor. More...

	ArucoDetector (Dictionary dictionary)
	Basic ArucoDetector constructor. More...

	ArucoDetector ()
	Basic ArucoDetector constructor. More...

void	detectMarkers (Mat image, List< Mat > corners, Mat ids, List< Mat > rejectedImgPoints)
	Basic marker detection. More...

void	detectMarkers (Mat image, List< Mat > corners, Mat ids)
	Basic marker detection. More...

void	refineDetectedMarkers (Mat image, Board board, List< Mat > detectedCorners, Mat detectedIds, List< Mat > rejectedCorners, Mat cameraMatrix, Mat distCoeffs, Mat recoveredIdxs)
	Refine not detected markers based on the already detected and the board layout. More...

void	refineDetectedMarkers (Mat image, Board board, List< Mat > detectedCorners, Mat detectedIds, List< Mat > rejectedCorners, Mat cameraMatrix, Mat distCoeffs)
	Refine not detected markers based on the already detected and the board layout. More...

void	refineDetectedMarkers (Mat image, Board board, List< Mat > detectedCorners, Mat detectedIds, List< Mat > rejectedCorners, Mat cameraMatrix)
	Refine not detected markers based on the already detected and the board layout. More...

void	refineDetectedMarkers (Mat image, Board board, List< Mat > detectedCorners, Mat detectedIds, List< Mat > rejectedCorners)
	Refine not detected markers based on the already detected and the board layout. More...

Dictionary	getDictionary ()

void	setDictionary (Dictionary dictionary)

DetectorParameters	getDetectorParameters ()

void	setDetectorParameters (DetectorParameters detectorParameters)

RefineParameters	getRefineParameters ()

void	setRefineParameters (RefineParameters refineParameters)

Public Member Functions inherited from OpenCVForUnity.CoreModule.Algorithm
IntPtr	getNativeObjAddr ()

virtual void	clear ()
	Clears the algorithm state. More...

virtual bool	empty ()
	Returns true if the Algorithm is empty (e.g. in the very beginning or after unsuccessful read. More...

void	save (string filename)

virtual string	getDefaultName ()

Public Member Functions inherited from OpenCVForUnity.DisposableObject
void	Dispose ()

void	ThrowIfDisposed ()

Static Public Member Functions
static new ArucoDetector	__fromPtr__ (IntPtr addr)

Static Public Member Functions inherited from OpenCVForUnity.CoreModule.Algorithm
static Algorithm	__fromPtr__ (IntPtr addr)

Static Public Member Functions inherited from OpenCVForUnity.DisposableObject
static IntPtr	ThrowIfNullIntPtr (IntPtr ptr)

Protected Member Functions
override void	Dispose (bool disposing)

Protected Member Functions inherited from OpenCVForUnity.DisposableOpenCVObject
	DisposableOpenCVObject ()

	DisposableOpenCVObject (IntPtr ptr)

	DisposableOpenCVObject (bool isEnabledDispose)

	DisposableOpenCVObject (IntPtr ptr, bool isEnabledDispose)

Protected Member Functions inherited from OpenCVForUnity.DisposableObject
	DisposableObject ()

	DisposableObject (bool isEnabledDispose)

Additional Inherited Members
Properties inherited from OpenCVForUnity.DisposableObject
bool	IsDisposed `[get, protected set]`

bool	IsEnabledDispose `[get, set]`

Detailed Description

The main functionality of ArucoDetector class is detection of markers in an image with detectMarkers() method.

After detecting some markers in the image, you can try to find undetected markers from this dictionary with refineDetectedMarkers() method.

See also: DetectorParameters, RefineParameters

Constructor & Destructor Documentation

◆ ArucoDetector() [1/4]

OpenCVForUnity.ObjdetectModule.ArucoDetector.ArucoDetector	(	Dictionary	dictionary,
		DetectorParameters	detectorParams,
		RefineParameters	refineParams
	)

Basic ArucoDetector constructor.

Parameters

dictionary	indicates the type of markers that will be searched
detectorParams	marker detection parameters
refineParams	marker refine detection parameters

◆ ArucoDetector() [2/4]

OpenCVForUnity.ObjdetectModule.ArucoDetector.ArucoDetector	(	Dictionary	dictionary,
		DetectorParameters	detectorParams
	)

Basic ArucoDetector constructor.

Parameters

dictionary	indicates the type of markers that will be searched
detectorParams	marker detection parameters
refineParams	marker refine detection parameters

◆ ArucoDetector() [3/4]

OpenCVForUnity.ObjdetectModule.ArucoDetector.ArucoDetector ( Dictionary dictionary )

Basic ArucoDetector constructor.

Parameters

dictionary	indicates the type of markers that will be searched
detectorParams	marker detection parameters
refineParams	marker refine detection parameters

◆ ArucoDetector() [4/4]

OpenCVForUnity.ObjdetectModule.ArucoDetector.ArucoDetector ( )

Basic ArucoDetector constructor.

Parameters

dictionary	indicates the type of markers that will be searched
detectorParams	marker detection parameters
refineParams	marker refine detection parameters

Member Function Documentation

◆ fromPtr()

static new ArucoDetector OpenCVForUnity.ObjdetectModule.ArucoDetector.__fromPtr__ ( IntPtr addr )

static

◆ detectMarkers() [1/2]

void OpenCVForUnity.ObjdetectModule.ArucoDetector.detectMarkers	(	Mat	image,
		List< Mat >	corners,
		Mat	ids,
		List< Mat >	rejectedImgPoints
	)

Basic marker detection.

Parameters

image	input image
corners	vector of detected marker 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 is Nx4. The order of the corners is clockwise.
ids	vector of identifiers of the detected markers. The identifier is of type int (e.g. std::vector<int>). For N detected markers, the size of ids is also N. The identifiers have the same order than the markers in the imgPoints array.
rejectedImgPoints	contains the imgPoints of those squares whose inner code has not a correct codification. Useful for debugging purposes.

Performs marker detection in the input image. Only markers included in the specific dictionary are searched. For each detected marker, it returns the 2D position of its corner in the image and its corresponding identifier. Note that this function does not perform pose estimation.

Note: The function does not correct lens distortion or takes it into account. It's recommended to undistort input image with corresponding camera model, if camera parameters are known

See also: undistort, estimatePoseSingleMarkers, estimatePoseBoard

◆ detectMarkers() [2/2]

void OpenCVForUnity.ObjdetectModule.ArucoDetector.detectMarkers	(	Mat	image,
		List< Mat >	corners,
		Mat	ids
	)

Basic marker detection.

Parameters

image	input image
corners	vector of detected marker 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 is Nx4. The order of the corners is clockwise.
ids	vector of identifiers of the detected markers. The identifier is of type int (e.g. std::vector<int>). For N detected markers, the size of ids is also N. The identifiers have the same order than the markers in the imgPoints array.
rejectedImgPoints	contains the imgPoints of those squares whose inner code has not a correct codification. Useful for debugging purposes.

Performs marker detection in the input image. Only markers included in the specific dictionary are searched. For each detected marker, it returns the 2D position of its corner in the image and its corresponding identifier. Note that this function does not perform pose estimation.

Note: The function does not correct lens distortion or takes it into account. It's recommended to undistort input image with corresponding camera model, if camera parameters are known

See also: undistort, estimatePoseSingleMarkers, estimatePoseBoard

◆ Dispose()

override void OpenCVForUnity.ObjdetectModule.ArucoDetector.Dispose ( bool disposing )

protectedvirtual

Reimplemented from OpenCVForUnity.CoreModule.Algorithm.

◆ getDetectorParameters()

DetectorParameters OpenCVForUnity.ObjdetectModule.ArucoDetector.getDetectorParameters ( )

◆ getDictionary()

Dictionary OpenCVForUnity.ObjdetectModule.ArucoDetector.getDictionary ( )

◆ getRefineParameters()

RefineParameters OpenCVForUnity.ObjdetectModule.ArucoDetector.getRefineParameters ( )

◆ refineDetectedMarkers() [1/4]

void OpenCVForUnity.ObjdetectModule.ArucoDetector.refineDetectedMarkers	(	Mat	image,
		Board	board,
		List< Mat >	detectedCorners,
		Mat	detectedIds,
		List< Mat >	rejectedCorners,
		Mat	cameraMatrix,
		Mat	distCoeffs,
		Mat	recoveredIdxs
	)

Refine not detected markers based on the already detected and the board layout.

Parameters

image	input image
board	layout of markers in the board.
detectedCorners	vector of already detected marker corners.
detectedIds	vector of already detected marker identifiers.
rejectedCorners	vector of rejected candidates during the marker detection process.
cameraMatrix	optional input 3x3 floating-point camera matrix \(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\)
distCoeffs	optional vector of distortion coefficients \((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\) of 4, 5, 8 or 12 elements
recoveredIdxs	Optional array to returns the indexes of the recovered candidates in the original rejectedCorners array.

This function tries to find markers that were not detected in the basic detecMarkers function. First, based on the current detected marker and the board layout, the function interpolates the position of the missing markers. Then it tries to find correspondence between the reprojected markers and the rejected candidates based on the minRepDistance and errorCorrectionRate parameters. If camera parameters and distortion coefficients are provided, missing markers are reprojected using projectPoint function. If not, missing marker projections are interpolated using global homography, and all the marker corners in the board must have the same Z coordinate.

◆ refineDetectedMarkers() [2/4]

void OpenCVForUnity.ObjdetectModule.ArucoDetector.refineDetectedMarkers	(	Mat	image,
		Board	board,
		List< Mat >	detectedCorners,
		Mat	detectedIds,
		List< Mat >	rejectedCorners,
		Mat	cameraMatrix,
		Mat	distCoeffs
	)

Refine not detected markers based on the already detected and the board layout.

Parameters

image	input image
board	layout of markers in the board.
detectedCorners	vector of already detected marker corners.
detectedIds	vector of already detected marker identifiers.
rejectedCorners	vector of rejected candidates during the marker detection process.
cameraMatrix	optional input 3x3 floating-point camera matrix \(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\)
distCoeffs	optional vector of distortion coefficients \((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\) of 4, 5, 8 or 12 elements
recoveredIdxs	Optional array to returns the indexes of the recovered candidates in the original rejectedCorners array.

This function tries to find markers that were not detected in the basic detecMarkers function. First, based on the current detected marker and the board layout, the function interpolates the position of the missing markers. Then it tries to find correspondence between the reprojected markers and the rejected candidates based on the minRepDistance and errorCorrectionRate parameters. If camera parameters and distortion coefficients are provided, missing markers are reprojected using projectPoint function. If not, missing marker projections are interpolated using global homography, and all the marker corners in the board must have the same Z coordinate.

◆ refineDetectedMarkers() [3/4]

void OpenCVForUnity.ObjdetectModule.ArucoDetector.refineDetectedMarkers	(	Mat	image,
		Board	board,
		List< Mat >	detectedCorners,
		Mat	detectedIds,
		List< Mat >	rejectedCorners,
		Mat	cameraMatrix
	)

Refine not detected markers based on the already detected and the board layout.

Parameters

image	input image
board	layout of markers in the board.
detectedCorners	vector of already detected marker corners.
detectedIds	vector of already detected marker identifiers.
rejectedCorners	vector of rejected candidates during the marker detection process.
cameraMatrix	optional input 3x3 floating-point camera matrix \(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\)
distCoeffs	optional vector of distortion coefficients \((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\) of 4, 5, 8 or 12 elements
recoveredIdxs	Optional array to returns the indexes of the recovered candidates in the original rejectedCorners array.

This function tries to find markers that were not detected in the basic detecMarkers function. First, based on the current detected marker and the board layout, the function interpolates the position of the missing markers. Then it tries to find correspondence between the reprojected markers and the rejected candidates based on the minRepDistance and errorCorrectionRate parameters. If camera parameters and distortion coefficients are provided, missing markers are reprojected using projectPoint function. If not, missing marker projections are interpolated using global homography, and all the marker corners in the board must have the same Z coordinate.

◆ refineDetectedMarkers() [4/4]

void OpenCVForUnity.ObjdetectModule.ArucoDetector.refineDetectedMarkers	(	Mat	image,
		Board	board,
		List< Mat >	detectedCorners,
		Mat	detectedIds,
		List< Mat >	rejectedCorners
	)

Refine not detected markers based on the already detected and the board layout.

Parameters

image	input image
board	layout of markers in the board.
detectedCorners	vector of already detected marker corners.
detectedIds	vector of already detected marker identifiers.
rejectedCorners	vector of rejected candidates during the marker detection process.
cameraMatrix	optional input 3x3 floating-point camera matrix \(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\)
distCoeffs	optional vector of distortion coefficients \((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\) of 4, 5, 8 or 12 elements
recoveredIdxs	Optional array to returns the indexes of the recovered candidates in the original rejectedCorners array.

This function tries to find markers that were not detected in the basic detecMarkers function. First, based on the current detected marker and the board layout, the function interpolates the position of the missing markers. Then it tries to find correspondence between the reprojected markers and the rejected candidates based on the minRepDistance and errorCorrectionRate parameters. If camera parameters and distortion coefficients are provided, missing markers are reprojected using projectPoint function. If not, missing marker projections are interpolated using global homography, and all the marker corners in the board must have the same Z coordinate.

◆ setDetectorParameters()

void OpenCVForUnity.ObjdetectModule.ArucoDetector.setDetectorParameters ( DetectorParameters detectorParameters )

◆ setDictionary()

void OpenCVForUnity.ObjdetectModule.ArucoDetector.setDictionary ( Dictionary dictionary )

◆ setRefineParameters()

void OpenCVForUnity.ObjdetectModule.ArucoDetector.setRefineParameters ( RefineParameters refineParameters )

The documentation for this class was generated from the following file:

OpenCVForUnity/Assets/OpenCVForUnity/org/opencv/objdetect/ArucoDetector.cs

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ArucoDetector() [1/4]

◆ ArucoDetector() [2/4]

◆ ArucoDetector() [3/4]

◆ ArucoDetector() [4/4]

Member Function Documentation

◆ __fromPtr__()

◆ detectMarkers() [1/2]

◆ detectMarkers() [2/2]

◆ Dispose()

◆ getDetectorParameters()

◆ getDictionary()

◆ getRefineParameters()

◆ refineDetectedMarkers() [1/4]

◆ refineDetectedMarkers() [2/4]

◆ refineDetectedMarkers() [3/4]

◆ refineDetectedMarkers() [4/4]

◆ setDetectorParameters()

◆ setDictionary()

◆ setRefineParameters()

◆ fromPtr()