OpenCVForUnity.ObjdetectModule.Board Class Reference

Board of ArUco markers. More...

Public Member Functions
	Board (List< Mat > objPoints, Dictionary dictionary, Mat ids)
	Common Board constructor.
void	generateImage (in Vec2d outSize, Mat img)
	Draw a planar board.
void	generateImage (in Vec2d outSize, Mat img, int marginSize)
	Draw a planar board.
void	generateImage (in Vec2d outSize, Mat img, int marginSize, int borderBits)
	Draw a planar board.
void	generateImage (in(double width, double height) outSize, Mat img)
	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, int marginSize, int borderBits)
	Draw a planar board.
void	generateImage (Size outSize, Mat img)
	Draw a planar board.
void	generateImage (Size outSize, Mat img, int marginSize)
	Draw a planar board.
void	generateImage (Size outSize, Mat img, int marginSize, int borderBits)
	Draw a planar board.
Dictionary	getDictionary ()
	return the Dictionary of markers employed for this board
MatOfInt	getIds ()
	vector of the identifiers of the markers in the board (should be the same size as objPoints)
IntPtr	getNativeObjAddr ()
List< MatOfPoint3f >	getObjPoints ()
	return array of object points of all the marker corners in the board.
Point3	getRightBottomCorner ()
	get coordinate of the bottom right corner of the board, is set when calling the function create()
double double double z	getRightBottomCornerAsValueTuple ()
Vec3d	getRightBottomCornerAsVec3d ()
	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()
Public Member Functions inherited from OpenCVForUnity.DisposableObject
void	Dispose ()
void	ThrowIfDisposed ()

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

Public Attributes
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.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 Attributes inherited from OpenCVForUnity.DisposableOpenCVObject
Properties inherited from OpenCVForUnity.DisposableObject
bool	IsDisposed [get, protected set]
bool	IsEnabledDispose [get, set]

Detailed Description

Board of ArUco markers.

A board is a set of markers in the 3D space with a common coordinate system. The common form of a board of marker is a planar (2D) board, however any 3D layout can be used. A Board object is composed by:

• The object points of the marker corners, i.e. their coordinates respect to the board system.
• The dictionary which indicates the type of markers of the board
• The identifier of all the markers in the board.

Constructor & Destructor Documentation

Board()

OpenCVForUnity.ObjdetectModule.Board.Board	(	List< Mat >	objPoints,
		Dictionary	dictionary,
		Mat	ids )

Common Board constructor.

Parameters

objPoints	array of object points of all the marker corners in the board
dictionary	the dictionary of markers employed for this board
ids	vector of the identifiers of the markers in the board

Member Function Documentation

__fromPtr__()

static Board OpenCVForUnity.ObjdetectModule.Board.__fromPtr__ ( IntPtr addr )

static

Dispose()

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

protectedvirtual

Reimplemented from OpenCVForUnity.DisposableObject.

Reimplemented in OpenCVForUnity.ObjdetectModule.CharucoBoard, and OpenCVForUnity.ObjdetectModule.GridBoard.

generateImage() [1/9]

void OpenCVForUnity.ObjdetectModule.Board.generateImage	(	in Vec2d	outSize,
		Mat	img )

Draw a planar board.

Parameters

outSize	size of the output image in pixels.
img	output image with the board. The size of this image will be outSize and the board will be on the center, keeping the board proportions.
marginSize	minimum margins (in pixels) of the board in the output image
borderBits	width of the marker borders.

This function return the image of the board, ready to be printed.

generateImage() [2/9]

void OpenCVForUnity.ObjdetectModule.Board.generateImage	(	in Vec2d	outSize,
		Mat	img,
		int	marginSize )

Draw a planar board.

Parameters

outSize	size of the output image in pixels.
img	output image with the board. The size of this image will be outSize and the board will be on the center, keeping the board proportions.
marginSize	minimum margins (in pixels) of the board in the output image
borderBits	width of the marker borders.

This function return the image of the board, ready to be printed.

generateImage() [3/9]

void OpenCVForUnity.ObjdetectModule.Board.generateImage	(	in Vec2d	outSize,
		Mat	img,
		int	marginSize,
		int	borderBits )

Draw a planar board.

Parameters

outSize	size of the output image in pixels.
img	output image with the board. The size of this image will be outSize and the board will be on the center, keeping the board proportions.
marginSize	minimum margins (in pixels) of the board in the output image
borderBits	width of the marker borders.

This function return the image of the board, ready to be printed.

generateImage() [4/9]

void OpenCVForUnity.ObjdetectModule.Board.generateImage	(	in(double width, double height)	outSize,
		Mat	img )

Draw a planar board.

Parameters

outSize	size of the output image in pixels.
img	output image with the board. The size of this image will be outSize and the board will be on the center, keeping the board proportions.
marginSize	minimum margins (in pixels) of the board in the output image
borderBits	width of the marker borders.

This function return the image of the board, ready to be printed.

generateImage() [5/9]

void OpenCVForUnity.ObjdetectModule.Board.generateImage	(	in(double width, double height)	outSize,
		Mat	img,
		int	marginSize )

Draw a planar board.

Parameters

outSize	size of the output image in pixels.
img	output image with the board. The size of this image will be outSize and the board will be on the center, keeping the board proportions.
marginSize	minimum margins (in pixels) of the board in the output image
borderBits	width of the marker borders.

This function return the image of the board, ready to be printed.

generateImage() [6/9]

void OpenCVForUnity.ObjdetectModule.Board.generateImage	(	in(double width, double height)	outSize,
		Mat	img,
		int	marginSize,
		int	borderBits )

Draw a planar board.

Parameters

outSize	size of the output image in pixels.
img	output image with the board. The size of this image will be outSize and the board will be on the center, keeping the board proportions.
marginSize	minimum margins (in pixels) of the board in the output image
borderBits	width of the marker borders.

This function return the image of the board, ready to be printed.

generateImage() [7/9]

void OpenCVForUnity.ObjdetectModule.Board.generateImage	(	Size	outSize,
		Mat	img )

Draw a planar board.

Parameters

outSize	size of the output image in pixels.
img	output image with the board. The size of this image will be outSize and the board will be on the center, keeping the board proportions.
marginSize	minimum margins (in pixels) of the board in the output image
borderBits	width of the marker borders.

This function return the image of the board, ready to be printed.

generateImage() [8/9]

void OpenCVForUnity.ObjdetectModule.Board.generateImage	(	Size	outSize,
		Mat	img,
		int	marginSize )

Draw a planar board.

Parameters

outSize	size of the output image in pixels.
img	output image with the board. The size of this image will be outSize and the board will be on the center, keeping the board proportions.
marginSize	minimum margins (in pixels) of the board in the output image
borderBits	width of the marker borders.

This function return the image of the board, ready to be printed.

generateImage() [9/9]

void OpenCVForUnity.ObjdetectModule.Board.generateImage	(	Size	outSize,
		Mat	img,
		int	marginSize,
		int	borderBits )

Draw a planar board.

Parameters

outSize	size of the output image in pixels.
img	output image with the board. The size of this image will be outSize and the board will be on the center, keeping the board proportions.
marginSize	minimum margins (in pixels) of the board in the output image
borderBits	width of the marker borders.

This function return the image of the board, ready to be printed.

getDictionary()

Dictionary OpenCVForUnity.ObjdetectModule.Board.getDictionary

(

)

return the Dictionary of markers employed for this board

getIds()

MatOfInt OpenCVForUnity.ObjdetectModule.Board.getIds

(

)

vector of the identifiers of the markers in the board (should be the same size as objPoints)

Returns

vector of the identifiers of the markers

getNativeObjAddr()

IntPtr OpenCVForUnity.ObjdetectModule.Board.getNativeObjAddr

(

)

getObjPoints()

List< MatOfPoint3f > OpenCVForUnity.ObjdetectModule.Board.getObjPoints

(

)

return array of object points of all the marker corners in the board.

Each marker include its 4 corners in this order:

• objPoints[i][0] - left-top point of i-th marker
• objPoints[i][1] - right-top point of i-th marker
• objPoints[i][2] - right-bottom point of i-th marker
• objPoints[i][3] - left-bottom point of i-th marker

Markers are placed in a certain order - row by row, left to right in every row. For M markers, the size is Mx4.

getRightBottomCorner()

Point3 OpenCVForUnity.ObjdetectModule.Board.getRightBottomCorner

(

)

get coordinate of the bottom right corner of the board, is set when calling the function create()

getRightBottomCornerAsValueTuple()

double double double z OpenCVForUnity.ObjdetectModule.Board.getRightBottomCornerAsValueTuple

(

)

getRightBottomCornerAsVec3d()

Vec3d OpenCVForUnity.ObjdetectModule.Board.getRightBottomCornerAsVec3d

(

)

get coordinate of the bottom right corner of the board, is set when calling the function create()

matchImagePoints()

void OpenCVForUnity.ObjdetectModule.Board.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()

Parameters

detectedCorners	List of detected marker corners of the board. For cv::Board and cv::GridBoard the method expects std::vector<std::vector<Point2f>> or std::vector<Mat> with Aruco marker corners. For cv::CharucoBoard the method expects std::vector<Point2f> or Mat with ChAruco corners (chess board corners matched with Aruco markers).
detectedIds	List of identifiers for each marker or charuco corner. For any Board class the method expects std::vector<int> or Mat.
objPoints	Vector of marker points in the board coordinate space. For any Board class the method expects std::vector<cv::Point3f> objectPoints or cv::Mat
imgPoints	Vector of marker points in the image coordinate space. For any Board class the method expects std::vector<cv::Point2f> objectPoints or cv::Mat

See also

solvePnP

Member Data Documentation

x

double OpenCVForUnity.ObjdetectModule.Board.x

get coordinate of the bottom right corner of the board, is set when calling the function create()

y

double double OpenCVForUnity.ObjdetectModule.Board.y

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

• OpenCVForUnity/Assets/OpenCVForUnity/org/opencv/objdetect/Board.cs
• OpenCVForUnity/Assets/OpenCVForUnity/org/opencv/objdetect/Board_Struct.cs
• OpenCVForUnity/Assets/OpenCVForUnity/org/opencv/objdetect/Board_ValueTuple.cs