Inheritance diagram for OpenCVForUnity.ObjdetectModule.CharucoDetector:

Public Member Functions
	CharucoDetector (CharucoBoard board, CharucoParameters charucoParams, DetectorParameters detectorParams, RefineParameters refineParams)
	Basic CharucoDetector constructor. More...

	CharucoDetector (CharucoBoard board, CharucoParameters charucoParams, DetectorParameters detectorParams)
	Basic CharucoDetector constructor. More...

	CharucoDetector (CharucoBoard board, CharucoParameters charucoParams)
	Basic CharucoDetector constructor. More...

	CharucoDetector (CharucoBoard board)
	Basic CharucoDetector constructor. More...

CharucoBoard	getBoard ()

void	setBoard (CharucoBoard board)

CharucoParameters	getCharucoParameters ()

void	setCharucoParameters (CharucoParameters charucoParameters)

DetectorParameters	getDetectorParameters ()

void	setDetectorParameters (DetectorParameters detectorParameters)

RefineParameters	getRefineParameters ()

void	setRefineParameters (RefineParameters refineParameters)

void	detectBoard (Mat image, Mat charucoCorners, Mat charucoIds, List< Mat > markerCorners, Mat markerIds)
	detect aruco markers and interpolate position of ChArUco board corners More...

void	detectBoard (Mat image, Mat charucoCorners, Mat charucoIds, List< Mat > markerCorners)
	detect aruco markers and interpolate position of ChArUco board corners More...

void	detectBoard (Mat image, Mat charucoCorners, Mat charucoIds)
	detect aruco markers and interpolate position of ChArUco board corners More...

void	detectDiamonds (Mat image, List< Mat > diamondCorners, Mat diamondIds, List< Mat > markerCorners, Mat markerIds)
	Detect ChArUco Diamond markers. More...

void	detectDiamonds (Mat image, List< Mat > diamondCorners, Mat diamondIds, List< Mat > markerCorners)
	Detect ChArUco Diamond markers. More...

void	detectDiamonds (Mat image, List< Mat > diamondCorners, Mat diamondIds)
	Detect ChArUco Diamond markers. More...

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 CharucoDetector	__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]`

Constructor & Destructor Documentation

◆ CharucoDetector() [1/4]

OpenCVForUnity.ObjdetectModule.CharucoDetector.CharucoDetector	(	CharucoBoard	board,
		CharucoParameters	charucoParams,
		DetectorParameters	detectorParams,
		RefineParameters	refineParams
	)

Basic CharucoDetector constructor.

Parameters

board	ChAruco board
charucoParams	charuco detection parameters
detectorParams	marker detection parameters
refineParams	marker refine detection parameters

◆ CharucoDetector() [2/4]

OpenCVForUnity.ObjdetectModule.CharucoDetector.CharucoDetector	(	CharucoBoard	board,
		CharucoParameters	charucoParams,
		DetectorParameters	detectorParams
	)

Basic CharucoDetector constructor.

Parameters

board	ChAruco board
charucoParams	charuco detection parameters
detectorParams	marker detection parameters
refineParams	marker refine detection parameters

◆ CharucoDetector() [3/4]

OpenCVForUnity.ObjdetectModule.CharucoDetector.CharucoDetector	(	CharucoBoard	board,
		CharucoParameters	charucoParams
	)

Basic CharucoDetector constructor.

Parameters

board	ChAruco board
charucoParams	charuco detection parameters
detectorParams	marker detection parameters
refineParams	marker refine detection parameters

◆ CharucoDetector() [4/4]

OpenCVForUnity.ObjdetectModule.CharucoDetector.CharucoDetector ( CharucoBoard board )

Basic CharucoDetector constructor.

Parameters

board	ChAruco board
charucoParams	charuco detection parameters
detectorParams	marker detection parameters
refineParams	marker refine detection parameters

Member Function Documentation

◆ fromPtr()

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

static

◆ detectBoard() [1/3]

void OpenCVForUnity.ObjdetectModule.CharucoDetector.detectBoard	(	Mat	image,
		Mat	charucoCorners,
		Mat	charucoIds,
		List< Mat >	markerCorners,
		Mat	markerIds
	)

detect aruco markers and interpolate position of ChArUco board corners

Parameters

image	input image necesary for corner refinement. Note that markers are not detected and should be sent in corners and ids parameters.
charucoCorners	interpolated chessboard corners.
charucoIds	interpolated chessboard corners identifiers.
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.
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 also: findChessboardCorners

◆ detectBoard() [2/3]

void OpenCVForUnity.ObjdetectModule.CharucoDetector.detectBoard	(	Mat	image,
		Mat	charucoCorners,
		Mat	charucoIds,
		List< Mat >	markerCorners
	)

detect aruco markers and interpolate position of ChArUco board corners

Parameters

image	input image necesary for corner refinement. Note that markers are not detected and should be sent in corners and ids parameters.
charucoCorners	interpolated chessboard corners.
charucoIds	interpolated chessboard corners identifiers.
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.
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 also: findChessboardCorners

◆ detectBoard() [3/3]

void OpenCVForUnity.ObjdetectModule.CharucoDetector.detectBoard	(	Mat	image,
		Mat	charucoCorners,
		Mat	charucoIds
	)

detect aruco markers and interpolate position of ChArUco board corners

Parameters

image	input image necesary for corner refinement. Note that markers are not detected and should be sent in corners and ids parameters.
charucoCorners	interpolated chessboard corners.
charucoIds	interpolated chessboard corners identifiers.
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.
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 also: findChessboardCorners

◆ detectDiamonds() [1/3]

void OpenCVForUnity.ObjdetectModule.CharucoDetector.detectDiamonds	(	Mat	image,
		List< Mat >	diamondCorners,
		Mat	diamondIds,
		List< Mat >	markerCorners,
		Mat	markerIds
	)

Detect ChArUco Diamond markers.

Parameters

image	input image necessary for corner subpixel.
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> > ).
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.
markerCorners	list of detected marker corners from detectMarkers function. If markerCorners and markerCorners are empty, the function detect aruco markers and ids.
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.

◆ detectDiamonds() [2/3]

void OpenCVForUnity.ObjdetectModule.CharucoDetector.detectDiamonds	(	Mat	image,
		List< Mat >	diamondCorners,
		Mat	diamondIds,
		List< Mat >	markerCorners
	)

Detect ChArUco Diamond markers.

Parameters

image	input image necessary for corner subpixel.
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> > ).
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.
markerCorners	list of detected marker corners from detectMarkers function. If markerCorners and markerCorners are empty, the function detect aruco markers and ids.
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.

◆ detectDiamonds() [3/3]

void OpenCVForUnity.ObjdetectModule.CharucoDetector.detectDiamonds	(	Mat	image,
		List< Mat >	diamondCorners,
		Mat	diamondIds
	)

Detect ChArUco Diamond markers.

Parameters

image	input image necessary for corner subpixel.
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> > ).
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.
markerCorners	list of detected marker corners from detectMarkers function. If markerCorners and markerCorners are empty, the function detect aruco markers and ids.
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.

◆ Dispose()

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

protectedvirtual

Reimplemented from OpenCVForUnity.CoreModule.Algorithm.

◆ getBoard()

CharucoBoard OpenCVForUnity.ObjdetectModule.CharucoDetector.getBoard ( )

◆ getCharucoParameters()

CharucoParameters OpenCVForUnity.ObjdetectModule.CharucoDetector.getCharucoParameters ( )

◆ getDetectorParameters()

DetectorParameters OpenCVForUnity.ObjdetectModule.CharucoDetector.getDetectorParameters ( )

◆ getRefineParameters()

RefineParameters OpenCVForUnity.ObjdetectModule.CharucoDetector.getRefineParameters ( )

◆ setBoard()

void OpenCVForUnity.ObjdetectModule.CharucoDetector.setBoard ( CharucoBoard board )

◆ setCharucoParameters()

void OpenCVForUnity.ObjdetectModule.CharucoDetector.setCharucoParameters ( CharucoParameters charucoParameters )

◆ setDetectorParameters()

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

◆ setRefineParameters()

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

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

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ CharucoDetector() [1/4]

◆ CharucoDetector() [2/4]

◆ CharucoDetector() [3/4]

◆ CharucoDetector() [4/4]

Member Function Documentation

◆ __fromPtr__()

◆ detectBoard() [1/3]

◆ detectBoard() [2/3]

◆ detectBoard() [3/3]

◆ detectDiamonds() [1/3]

◆ detectDiamonds() [2/3]

◆ detectDiamonds() [3/3]

◆ Dispose()

◆ getBoard()

◆ getCharucoParameters()

◆ getDetectorParameters()

◆ getRefineParameters()

◆ setBoard()

◆ setCharucoParameters()

◆ setDetectorParameters()

◆ setRefineParameters()

◆ fromPtr()