OpenCVForUnity.ObjdetectModule.CharucoDetector Class Reference

Public Member Functions
	CharucoDetector (CharucoBoard board)
	Basic CharucoDetector constructor.
	CharucoDetector (CharucoBoard board, CharucoParameters charucoParams)
	Basic CharucoDetector constructor.
	CharucoDetector (CharucoBoard board, CharucoParameters charucoParams, DetectorParameters detectorParams)
	Basic CharucoDetector constructor.
	CharucoDetector (CharucoBoard board, CharucoParameters charucoParams, DetectorParameters detectorParams, RefineParameters refineParams)
	Basic CharucoDetector constructor.
void	detectBoard (Mat image, Mat charucoCorners, Mat charucoIds)
	detect aruco markers and interpolate position of ChArUco board corners
void	detectBoard (Mat image, Mat charucoCorners, Mat charucoIds, List< Mat > markerCorners)
	detect aruco markers and interpolate position of ChArUco board corners
void	detectBoard (Mat image, Mat charucoCorners, Mat charucoIds, List< Mat > markerCorners, Mat markerIds)
	detect aruco markers and interpolate position of ChArUco board corners
void	detectDiamonds (Mat image, List< Mat > diamondCorners, Mat diamondIds)
	Detect ChArUco Diamond markers.
void	detectDiamonds (Mat image, List< Mat > diamondCorners, Mat diamondIds, List< Mat > markerCorners)
	Detect ChArUco Diamond markers.
void	detectDiamonds (Mat image, List< Mat > diamondCorners, Mat diamondIds, List< Mat > markerCorners, Mat markerIds)
	Detect ChArUco Diamond markers.
CharucoBoard	getBoard ()
CharucoParameters	getCharucoParameters ()
DetectorParameters	getDetectorParameters ()
RefineParameters	getRefineParameters ()
void	setBoard (CharucoBoard board)
void	setCharucoParameters (CharucoParameters charucoParameters)
void	setDetectorParameters (DetectorParameters detectorParameters)
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 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.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]

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 )

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

Note

After OpenCV 4.6.0, there was an incompatible change in the ChArUco pattern generation algorithm for even row counts. Use cv::aruco::CharucoBoard::setLegacyPattern() to ensure compatibility with patterns created using OpenCV versions prior to 4.6.0. For more information, see the issue: https://github.com/opencv/opencv/issues/23152

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

Note

After OpenCV 4.6.0, there was an incompatible change in the ChArUco pattern generation algorithm for even row counts. Use cv::aruco::CharucoBoard::setLegacyPattern() to ensure compatibility with patterns created using OpenCV versions prior to 4.6.0. For more information, see the issue: https://github.com/opencv/opencv/issues/23152

detectBoard() [3/3]

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

Note

After OpenCV 4.6.0, there was an incompatible change in the ChArUco pattern generation algorithm for even row counts. Use cv::aruco::CharucoBoard::setLegacyPattern() to ensure compatibility with patterns created using OpenCV versions prior to 4.6.0. For more information, see the issue: https://github.com/opencv/opencv/issues/23152

detectDiamonds() [1/3]

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.

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,
		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.

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