OpenCV for Unity 2.6.3
Enox Software / Please refer to OpenCV official document ( http://docs.opencv.org/4.10.0/index.html ) for the details of the argument of the method.
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ChArUco board is a planar chessboard where the markers are placed inside the white squares of a chessboard. More...
Public Member Functions | |
CharucoBoard (Size size, float squareLength, float markerLength, Dictionary dictionary, Mat ids) | |
CharucoBoard constructor. | |
CharucoBoard (Size size, float squareLength, float markerLength, Dictionary dictionary) | |
CharucoBoard constructor. | |
void | setLegacyPattern (bool legacyPattern) |
set legacy chessboard pattern. | |
bool | getLegacyPattern () |
Size | getChessboardSize () |
float | getSquareLength () |
float | getMarkerLength () |
MatOfPoint3f | getChessboardCorners () |
get CharucoBoard::chessboardCorners | |
bool | checkCharucoCornersCollinear (Mat charucoIds) |
check whether the ChArUco markers are collinear | |
CharucoBoard (in Vec2d size, float squareLength, float markerLength, Dictionary dictionary, Mat ids) | |
CharucoBoard constructor. | |
CharucoBoard (in Vec2d size, float squareLength, float markerLength, Dictionary dictionary) | |
CharucoBoard constructor. | |
Vec2d | getChessboardSizeAsVec2d () |
CharucoBoard (in(double width, double height) size, float squareLength, float markerLength, Dictionary dictionary, Mat ids) | |
CharucoBoard constructor. | |
CharucoBoard (in(double width, double height) size, float squareLength, float markerLength, Dictionary dictionary) | |
CharucoBoard constructor. | |
double double height | getChessboardSizeAsValueTuple () |
Public Member Functions inherited from OpenCVForUnity.ObjdetectModule.Board | |
IntPtr | getNativeObjAddr () |
Board (List< Mat > objPoints, Dictionary dictionary, Mat ids) | |
Common Board constructor. | |
Dictionary | getDictionary () |
return the Dictionary of markers employed for this board | |
List< MatOfPoint3f > | getObjPoints () |
return array of object points of all the marker corners in the board. | |
MatOfInt | getIds () |
vector of the identifiers of the markers in the board (should be the same size as objPoints) | |
Point3 | getRightBottomCorner () |
get coordinate of the bottom right corner of the board, is set when calling the function create() | |
void | matchImagePoints (List< Mat > detectedCorners, Mat detectedIds, Mat objPoints, Mat imgPoints) |
Given a board configuration and a set of detected markers, returns the corresponding image points and object points, can be used in solvePnP() | |
void | generateImage (Size outSize, Mat img, int marginSize, int borderBits) |
Draw a planar board. | |
void | generateImage (Size outSize, Mat img, int marginSize) |
Draw a planar board. | |
void | generateImage (Size outSize, Mat img) |
Draw a planar board. | |
Vec3d | getRightBottomCornerAsVec3d () |
get coordinate of the bottom right corner of the board, is set when calling the function create() | |
void | generateImage (in Vec2d outSize, Mat img, int marginSize, int borderBits) |
Draw a planar board. | |
void | generateImage (in Vec2d outSize, Mat img, int marginSize) |
Draw a planar board. | |
void | generateImage (in Vec2d outSize, Mat img) |
Draw a planar board. | |
double double double z | getRightBottomCornerAsValueTuple () |
void | generateImage (in(double width, double height) outSize, Mat img, int marginSize, int borderBits) |
Draw a planar board. | |
void | generateImage (in(double width, double height) outSize, Mat img, int marginSize) |
Draw a planar board. | |
void | generateImage (in(double width, double height) outSize, Mat img) |
Draw a planar board. | |
Public Member Functions inherited from OpenCVForUnity.DisposableObject | |
void | Dispose () |
void | ThrowIfDisposed () |
Static Public Member Functions | |
static new CharucoBoard | __fromPtr__ (IntPtr addr) |
Static Public Member Functions inherited from OpenCVForUnity.ObjdetectModule.Board | |
static Board | __fromPtr__ (IntPtr addr) |
Static Public Member Functions inherited from OpenCVForUnity.DisposableObject | |
static IntPtr | ThrowIfNullIntPtr (IntPtr ptr) |
Public Attributes | |
double | width |
Public Attributes inherited from OpenCVForUnity.ObjdetectModule.Board | |
double | x |
get coordinate of the bottom right corner of the board, is set when calling the function create() | |
double double | y |
Protected Member Functions | |
override void | Dispose (bool disposing) |
Protected Member Functions inherited from OpenCVForUnity.ObjdetectModule.Board | |
Protected Member Functions inherited from OpenCVForUnity.DisposableOpenCVObject | |
DisposableOpenCVObject () | |
DisposableOpenCVObject (IntPtr ptr) | |
DisposableOpenCVObject (bool isEnabledDispose) | |
DisposableOpenCVObject (IntPtr ptr, bool isEnabledDispose) | |
override void | Dispose (bool disposing) |
Protected Member Functions inherited from OpenCVForUnity.DisposableObject | |
DisposableObject () | |
DisposableObject (bool isEnabledDispose) | |
Additional Inherited Members | |
Package Functions inherited from OpenCVForUnity.ObjdetectModule.Board | |
Package Attributes inherited from OpenCVForUnity.DisposableOpenCVObject | |
Properties inherited from OpenCVForUnity.DisposableObject | |
bool | IsDisposed [get, protected set] |
bool | IsEnabledDispose [get, set] |
ChArUco board is a planar chessboard where the markers are placed inside the white squares of a chessboard.
The benefits of ChArUco boards is that they provide both, ArUco markers versatility and chessboard corner precision, which is important for calibration and pose estimation. The board image can be drawn using generateImage() method.
OpenCVForUnity.ObjdetectModule.CharucoBoard.CharucoBoard | ( | Size | size, |
float | squareLength, | ||
float | markerLength, | ||
Dictionary | dictionary, | ||
Mat | ids ) |
CharucoBoard constructor.
size | number of chessboard squares in x and y directions |
squareLength | squareLength chessboard square side length (normally in meters) |
markerLength | marker side length (same unit than squareLength) |
dictionary | dictionary of markers indicating the type of markers |
ids | array of id used markers The first markers in the dictionary are used to fill the white chessboard squares. |
OpenCVForUnity.ObjdetectModule.CharucoBoard.CharucoBoard | ( | Size | size, |
float | squareLength, | ||
float | markerLength, | ||
Dictionary | dictionary ) |
CharucoBoard constructor.
size | number of chessboard squares in x and y directions |
squareLength | squareLength chessboard square side length (normally in meters) |
markerLength | marker side length (same unit than squareLength) |
dictionary | dictionary of markers indicating the type of markers |
ids | array of id used markers The first markers in the dictionary are used to fill the white chessboard squares. |
OpenCVForUnity.ObjdetectModule.CharucoBoard.CharucoBoard | ( | in Vec2d | size, |
float | squareLength, | ||
float | markerLength, | ||
Dictionary | dictionary, | ||
Mat | ids ) |
CharucoBoard constructor.
size | number of chessboard squares in x and y directions |
squareLength | squareLength chessboard square side length (normally in meters) |
markerLength | marker side length (same unit than squareLength) |
dictionary | dictionary of markers indicating the type of markers |
ids | array of id used markers The first markers in the dictionary are used to fill the white chessboard squares. |
OpenCVForUnity.ObjdetectModule.CharucoBoard.CharucoBoard | ( | in Vec2d | size, |
float | squareLength, | ||
float | markerLength, | ||
Dictionary | dictionary ) |
CharucoBoard constructor.
size | number of chessboard squares in x and y directions |
squareLength | squareLength chessboard square side length (normally in meters) |
markerLength | marker side length (same unit than squareLength) |
dictionary | dictionary of markers indicating the type of markers |
ids | array of id used markers The first markers in the dictionary are used to fill the white chessboard squares. |
OpenCVForUnity.ObjdetectModule.CharucoBoard.CharucoBoard | ( | in(double width, double height) | size, |
float | squareLength, | ||
float | markerLength, | ||
Dictionary | dictionary, | ||
Mat | ids ) |
CharucoBoard constructor.
size | number of chessboard squares in x and y directions |
squareLength | squareLength chessboard square side length (normally in meters) |
markerLength | marker side length (same unit than squareLength) |
dictionary | dictionary of markers indicating the type of markers |
ids | array of id used markers The first markers in the dictionary are used to fill the white chessboard squares. |
OpenCVForUnity.ObjdetectModule.CharucoBoard.CharucoBoard | ( | in(double width, double height) | size, |
float | squareLength, | ||
float | markerLength, | ||
Dictionary | dictionary ) |
CharucoBoard constructor.
size | number of chessboard squares in x and y directions |
squareLength | squareLength chessboard square side length (normally in meters) |
markerLength | marker side length (same unit than squareLength) |
dictionary | dictionary of markers indicating the type of markers |
ids | array of id used markers The first markers in the dictionary are used to fill the white chessboard squares. |
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static |
bool OpenCVForUnity.ObjdetectModule.CharucoBoard.checkCharucoCornersCollinear | ( | Mat | charucoIds | ) |
check whether the ChArUco markers are collinear
charucoIds | list of identifiers for each corner in charucoCorners per frame. |
The number of ids in charucoIDs should be <= the number of chessboard corners in the board. This functions checks whether the charuco corners are on a straight line (returns true, if so), or not (false). Axis parallel, as well as diagonal and other straight lines detected. Degenerate cases: for number of charucoIDs <= 2,the function returns true.
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protectedvirtual |
Reimplemented from OpenCVForUnity.ObjdetectModule.Board.
MatOfPoint3f OpenCVForUnity.ObjdetectModule.CharucoBoard.getChessboardCorners | ( | ) |
get CharucoBoard::chessboardCorners
Size OpenCVForUnity.ObjdetectModule.CharucoBoard.getChessboardSize | ( | ) |
double double height OpenCVForUnity.ObjdetectModule.CharucoBoard.getChessboardSizeAsValueTuple | ( | ) |
Vec2d OpenCVForUnity.ObjdetectModule.CharucoBoard.getChessboardSizeAsVec2d | ( | ) |
bool OpenCVForUnity.ObjdetectModule.CharucoBoard.getLegacyPattern | ( | ) |
float OpenCVForUnity.ObjdetectModule.CharucoBoard.getMarkerLength | ( | ) |
float OpenCVForUnity.ObjdetectModule.CharucoBoard.getSquareLength | ( | ) |
void OpenCVForUnity.ObjdetectModule.CharucoBoard.setLegacyPattern | ( | bool | legacyPattern | ) |
set legacy chessboard pattern.
Legacy setting creates chessboard patterns starting with a white box in the upper left corner if there is an even row count of chessboard boxes, otherwise it starts with a black box. This setting ensures compatibility to patterns created with OpenCV versions prior OpenCV 4.6.0. See https://github.com/opencv/opencv/issues/23152.
Default value: false.
double OpenCVForUnity.ObjdetectModule.CharucoBoard.width |