OpenCVForUnity.ObjdetectModule.ArucoDetector Class Reference

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

Public Member Functions
	ArucoDetector ()
	Basic ArucoDetector constructor.
	ArucoDetector (Dictionary dictionary)
	Basic ArucoDetector constructor.
	ArucoDetector (Dictionary dictionary, DetectorParameters detectorParams)
	Basic ArucoDetector constructor.
	ArucoDetector (Dictionary dictionary, DetectorParameters detectorParams, RefineParameters refineParams)
	Basic ArucoDetector constructor.
void	detectMarkers (Mat image, List< Mat > corners, Mat ids)
	Basic marker detection.
void	detectMarkers (Mat image, List< Mat > corners, Mat ids, List< Mat > rejectedImgPoints)
	Basic marker detection.
void	detectMarkersMultiDict (Mat image, List< Mat > corners, Mat ids)
	Basic marker detection.
void	detectMarkersMultiDict (Mat image, List< Mat > corners, Mat ids, List< Mat > rejectedImgPoints)
	Basic marker detection.
void	detectMarkersMultiDict (Mat image, List< Mat > corners, Mat ids, List< Mat > rejectedImgPoints, Mat dictIndices)
	Basic marker detection.
void	detectMarkersWithConfidence (Mat image, List< Mat > corners, Mat ids, Mat markersConfidence)
	Marker detection with confidence computation.
void	detectMarkersWithConfidence (Mat image, List< Mat > corners, Mat ids, Mat markersConfidence, List< Mat > rejectedImgPoints)
	Marker detection with confidence computation.
DetectorParameters	getDetectorParameters ()
Dictionary	getDictionary ()
	Returns first dictionary from internal list used for marker detection.
RefineParameters	getRefineParameters ()
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.
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.
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.
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.
void	setDetectorParameters (DetectorParameters detectorParameters)
void	setDictionary (Dictionary dictionary)
	Sets and replaces the first dictionary in internal list to be used for marker detection.
void	setRefineParameters (RefineParameters refineParameters)
Public Member Functions inherited from OpenCVForUnity.CoreModule.Algorithm
virtual void	clear ()
	Clears the algorithm state.
virtual bool	empty ()
	Returns true if the Algorithm is empty (e.g. in the very beginning or after unsuccessful read.
virtual string	getDefaultName ()
IntPtr	getNativeObjAddr ()
void	save (string filename)
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.CoreModule.Algorithm
Protected Member Functions inherited from OpenCVForUnity.DisposableOpenCVObject
	DisposableOpenCVObject ()
	DisposableOpenCVObject (bool isEnabledDispose)
	DisposableOpenCVObject (IntPtr ptr)
	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.CoreModule.Algorithm
Package Attributes inherited from OpenCVForUnity.DisposableOpenCVObject
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 )

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 first specified 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,
		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 first specified 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

detectMarkersMultiDict() [1/3]

void OpenCVForUnity.ObjdetectModule.ArucoDetector.detectMarkersMultiDict	(	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.
dictIndices	vector of dictionary indices for each detected marker. Use getDictionaries() to get the list of corresponding dictionaries.

Performs marker detection in the input image. Only markers included in the specific dictionaries 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

detectMarkersMultiDict() [2/3]

void OpenCVForUnity.ObjdetectModule.ArucoDetector.detectMarkersMultiDict	(	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.
dictIndices	vector of dictionary indices for each detected marker. Use getDictionaries() to get the list of corresponding dictionaries.

Performs marker detection in the input image. Only markers included in the specific dictionaries 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

detectMarkersMultiDict() [3/3]

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

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.
dictIndices	vector of dictionary indices for each detected marker. Use getDictionaries() to get the list of corresponding dictionaries.

Performs marker detection in the input image. Only markers included in the specific dictionaries 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

detectMarkersWithConfidence() [1/2]

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

Marker detection with confidence computation.

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.
markersConfidence	contains the normalized confidence [0;1] of the markers' detection, defined as 1 minus the normalized uncertainty (percentage of incorrect pixel detections), with 1 describing a pixel perfect detection. The confidence values are of type float (e.g. std::vector<float>)
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 first specified 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

detectMarkersWithConfidence() [2/2]

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

Marker detection with confidence computation.

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.
markersConfidence	contains the normalized confidence [0;1] of the markers' detection, defined as 1 minus the normalized uncertainty (percentage of incorrect pixel detections), with 1 describing a pixel perfect detection. The confidence values are of type float (e.g. std::vector<float>)
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 first specified 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

(

)

Returns first dictionary from internal list used for marker detection.

Returns

The first dictionary from the configured ArucoDetector.

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 )

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.

Note

This function assumes that the board only contains markers from one dictionary, so only the first configured dictionary is used. It has to match the dictionary of the board to work properly.

refineDetectedMarkers() [2/4]

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.

Note

This function assumes that the board only contains markers from one dictionary, so only the first configured dictionary is used. It has to match the dictionary of the board to work properly.

refineDetectedMarkers() [3/4]

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.

Note

This function assumes that the board only contains markers from one dictionary, so only the first configured dictionary is used. It has to match the dictionary of the board to work properly.

refineDetectedMarkers() [4/4]

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.

Note

This function assumes that the board only contains markers from one dictionary, so only the first configured dictionary is used. It has to match the dictionary of the board to work properly.

setDetectorParameters()

void OpenCVForUnity.ObjdetectModule.ArucoDetector.setDetectorParameters

(

DetectorParameters

detectorParameters

)

setDictionary()

void OpenCVForUnity.ObjdetectModule.ArucoDetector.setDictionary

(

Dictionary

dictionary

)

Sets and replaces the first dictionary in internal list to be used for marker detection.

Parameters

dictionary

The new dictionary that will replace the first dictionary in the internal list.

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