OpenCV AR utilities (engine-independent: drawing, frustum, projection, pose, Mat4d TRS). More...

Classes
struct	Mat4d
	4×4 matrix (row-major layout: `mRC` is row `R`, column `C`). More...

struct	PoseData
	Position and rotation pose data for AR utilities. Rotation is a unit quaternion stored as (x, y, z, w). More...

Static Public Member Functions
static Mat4d	CalculateCameraMatrixValuesFromProjectionMatrix (in Mat4d projectionMatrix, double width, double height)
	Recovers OpenCV-style intrinsic values (fx, fy, cx, cy) from a projection matrix produced by CalculateProjectionMatrixFromCameraMatrixValues. Result is stored in a Mat4d with m00=fx, m11=fy, m02=cx, m12=cy, m22=1.

static Matrix4x4	CalculateCameraMatrixValuesFromProjectionMatrix (Matrix4x4 projectionMatrix, float width, float height)
	Calculates OpenCV-style intrinsic camera parameters from a Unity-compatible projection matrix. Always assumes Unity Camera.projectionMatrix convention. No optional flag.

static Mat4d	CalculateCameraMatrixValuesFromProjectionMatrix (ReadOnlySpan< double > projectionMatrix, double width, double height)
	Span(16) overload: recovers intrinsics from a row-major projection matrix.

static float	CalculateDistance (float frustumSize, float fov)
	Calculates distance from frustum size and FOV angle (degrees).

static float	CalculateFOVAngle (float frustumSize, float distance)
	Calculates FOV angle (degrees) from frustum size and distance.

static float	CalculateFrustumSize (float distance, float fov)
	Calculates frustum size at a given distance and FOV angle (degrees).

static Mat4d	CalculateProjectionMatrixFromCameraMatrixValues (double fx, double fy, double cx, double cy, double width, double height, double near=0.01, double far=2000.0)
	Builds a 4×4 projection matrix from OpenCV-style camera intrinsics.

static void	CalculateProjectionMatrixFromCameraMatrixValues (double fx, double fy, double cx, double cy, double width, double height, Span< double > destination, double near=0.01, double far=2000.0)
	Span(16) overload: writes projection matrix in row-major order.

static Matrix4x4	CalculateProjectionMatrixFromCameraMatrixValues (float fx, float fy, float cx, float cy, float width, float height, float near=0.01f, float far=2000f)
	Calculates a projection matrix from OpenCV-style camera intrinsic parameters, suitable for use as Camera.projectionMatrix in Unity.

static Matrix4x4	ComposeMatrix (Vector3 localPosition, Quaternion localRotation, Vector3 localScale)
	Composes a TRS matrix from position, rotation and scale.

static Mat4d	ComposeTrsMatrix (in Vec3d translation, in Vec4d rotation, in Vec3d scale)
	Composes a TRS matrix from translation, unit quaternion (x,y,z,w), and scale.

static void	ComposeTrsMatrix (in Vec3d translation, in Vec4d rotation, in Vec3d scale, Span< double > destination)
	Span(16) overload: writes ComposeTrsMatrix result in row-major order.

static PoseData	ConvertMatrixToPoseData (in Mat4d matrix)
	Converts a TRS matrix to PoseData (translation + rotation; scale discarded).

static PoseData	ConvertMatrixToPoseData (ReadOnlySpan< double > matrix)
	Span(16) overload for ConvertMatrixToPoseData(in Mat4d).

static PoseData	ConvertMatrixToPoseData (ref Matrix4x4 matrix)
	Converts a Unity transform matrix to PoseData using Unity Quaternion.LookRotation.

static Mat4d	ConvertPoseDataToMat4 (in PoseData poseData)
	Converts PoseData to a TRS matrix with unit scale. No coordinate-system conversion.

static void	ConvertPoseDataToMat4 (in PoseData poseData, Span< double > destination)
	Span(16) overload: writes ConvertPoseDataToMat4 result in row-major order.

static Matrix4x4	ConvertPoseDataToMatrix (ref PoseData poseData, bool convertToUnityCoordinates=true)
	Converts PoseData to a Unity transform matrix.

static Vec4d	ConvertRvecToRotation (Mat rvec)
	Converts an OpenCV rotation vector Mat to a unit quaternion (x, y, z, w).

static void	ConvertRvecToRotation (Mat rvec, out Quaternion rotation)
	Converts an OpenCV rotation vector Mat to a Unity Quaternion.

static Vec4d	ConvertRvecToRotation (ReadOnlySpan< double > rvec)
	Converts an OpenCV rotation vector (Rodrigues) to a unit quaternion (x, y, z, w).

static void	ConvertRvecToRotation (ReadOnlySpan< double > rvec, out Quaternion rotation)
	Converts an OpenCV rotation vector (Rodrigues) to a Unity Quaternion.

static PoseData	ConvertRvecTvecToPoseData (Mat rvec, Mat tvec)
	Converts rvec and tvec Mats to PoseData.

static PoseData	ConvertRvecTvecToPoseData (ReadOnlySpan< double > rvec, ReadOnlySpan< double > tvec)
	Converts rvec and tvec to PoseData.

static Vec3d	ConvertTvecToTranslation (Mat tvec)
	Converts an OpenCV translation vector Mat to Vec3d.

static void	ConvertTvecToTranslation (Mat tvec, out Vector3 translation)
	Converts an OpenCV translation vector Mat to a Unity Vector3.

static Vec3d	ConvertTvecToTranslation (ReadOnlySpan< double > tvec)
	Converts an OpenCV translation vector to Vec3d.

static void	ConvertTvecToTranslation (ReadOnlySpan< double > tvec, out Vector3 translation)
	Converts an OpenCV translation vector to a Unity Vector3.

static Mat4d	CopyMatrix4x4ToMat4d (in Matrix4x4 matrix)
	Copies a Unity Matrix4x4 to engine-independent Mat4d (row-major, 16 elements).

static Dictionary< int, PoseData >	CreatePoseDataDict (ReadOnlySpan< int > ids, ReadOnlySpan< double > rvecs, ReadOnlySpan< double > tvecs)
	Creates a pose data dictionary from marker ids and packed rvecs/tvecs (length = ids.Length * 3).

static void	DecomposeMatrix (ref Matrix4x4 matrix, out Vector3 localPosition, out Quaternion localRotation, out Vector3 localScale)
	Extract position, rotation and scale from TRS matrix.

static void	DecomposeTrsMatrix (in Mat4d matrix, out Vec3d translation, out Vec4d rotation, out Vec3d scale)
	Decomposes a TRS matrix into translation, rotation quaternion (x,y,z,w), and scale. Rotation is recovered from the orthonormalized basis (robust matrix-to-quaternion), independent of any engine LookRotation implementation.

static void	DecomposeTrsMatrix (ReadOnlySpan< double > matrix, out Vec3d translation, out Vec4d rotation, out Vec3d scale)
	Span(16) overload for DecomposeTrsMatrix(in Mat4d, out Vec3d, out Vec4d, out Vec3d).

static Quaternion	ExtractRotationFromMatrix (ref Matrix4x4 matrix)
	Extract rotation quaternion from transform matrix via Quaternion.LookRotation.

static Vector3	ExtractScaleFromMatrix (ref Matrix4x4 matrix)
	Extract scale from transform matrix.

static Vector3	ExtractTranslationFromMatrix (ref Matrix4x4 matrix)
	Extract translation from transform matrix.

static void	LowpassPoseData (ref PoseData oldPose, ref PoseData newPose, float posThreshold, float rotThreshold)
	Suppresses position and rotation changes in newPose that are below the given thresholds.

static void	LowpassPoseDataDict (Dictionary< int, PoseData > oldDict, Dictionary< int, PoseData > newDict, float posThreshold, float rotThreshold)
	Applies LowpassPoseData for each key present in both dictionaries.

static void	SafeDrawFrameAxes (Mat image, Mat cameraMatrix, Mat distCoeffs, Mat rvec, Mat tvec, float length, int thickness=3)
	Safe version of drawFrameAxes that skips drawing when tvec has a near-zero Z component.

static void	SetTransformFromMatrix (Transform transform, ref Matrix4x4 matrix)
	Set transform component from TRS matrix.

static void	SmoothingFilterPoseData (ref PoseData oldPose, ref PoseData newPose, float positionSmoothingFactor, float rotationSmoothingFactor)
	Applies exponential moving average smoothing (translation lerp + rotation nlerp).

static void	SmoothingFilterPoseDataDict (Dictionary< int, PoseData > oldDict, Dictionary< int, PoseData > newDict, float positionSmoothingFactor, float rotationSmoothingFactor)
	Applies SmoothingFilterPoseData for each key present in both dictionaries.

Detailed Description

OpenCV AR utilities (engine-independent: drawing, frustum, projection, pose, Mat4d TRS).

OpenCV AR utilities — Unity Integration partial (Quaternion/Vector3 sugar, Unity projection, TRS / Transform / handedness).

Member Function Documentation

◆ CalculateCameraMatrixValuesFromProjectionMatrix() [1/3]

static Mat4d OpenCVForUnity.Extensions.OpenCVARUtils.CalculateCameraMatrixValuesFromProjectionMatrix	(	in Mat4d	projectionMatrix,
		double	width,
		double	height )

static

Recovers OpenCV-style intrinsic values (fx, fy, cx, cy) from a projection matrix produced by CalculateProjectionMatrixFromCameraMatrixValues. Result is stored in a Mat4d with m00=fx, m11=fy, m02=cx, m12=cy, m22=1.

Parameters

projectionMatrix	Row-major projection matrix from CalculateProjectionMatrixFromCameraMatrixValues.
width	Image width (pixels) used when the projection matrix was built.
height	Image height (pixels) used when the projection matrix was built.

Returns: Intrinsic values packed in a Mat4d (m00=fx, m11=fy, m02=cx, m12=cy, m22=1).

◆ CalculateCameraMatrixValuesFromProjectionMatrix() [2/3]

static Matrix4x4 OpenCVForUnity.Extensions.OpenCVARUtils.CalculateCameraMatrixValuesFromProjectionMatrix	(	Matrix4x4	projectionMatrix,
		float	width,
		float	height )

static

Calculates OpenCV-style intrinsic camera parameters from a Unity-compatible projection matrix. Always assumes Unity Camera.projectionMatrix convention. No optional flag.

Parameters

projectionMatrix	Unity-compatible projection matrix.
width	Image width (pixels) used when the projection matrix was built.
height	Image height (pixels) used when the projection matrix was built.

Returns: Intrinsic values packed in a Matrix4x4 (m00=fx, m11=fy, m02=cx, m12=cy, m22=1).

◆ CalculateCameraMatrixValuesFromProjectionMatrix() [3/3]

static Mat4d OpenCVForUnity.Extensions.OpenCVARUtils.CalculateCameraMatrixValuesFromProjectionMatrix	(	ReadOnlySpan< double >	projectionMatrix,
		double	width,
		double	height )

static

Span(16) overload: recovers intrinsics from a row-major projection matrix.

Parameters

projectionMatrix	Row-major projection matrix (length must be 16).
width	Image width (pixels) used when the projection matrix was built.
height	Image height (pixels) used when the projection matrix was built.

Returns: Intrinsic values packed in a Mat4d (m00=fx, m11=fy, m02=cx, m12=cy, m22=1).

Exceptions

ArgumentException Thrown when projectionMatrix .Length is not 16.

◆ CalculateDistance()

static float OpenCVForUnity.Extensions.OpenCVARUtils.CalculateDistance	(	float	frustumSize,
		float	fov )

static

Calculates distance from frustum size and FOV angle (degrees).

Parameters

frustumSize	Frustum width (or height) at the target distance.
fov	Field of view angle in degrees.

Returns: Distance from the camera along the view axis.

◆ CalculateFOVAngle()

static float OpenCVForUnity.Extensions.OpenCVARUtils.CalculateFOVAngle	(	float	frustumSize,
		float	distance )

static

Calculates FOV angle (degrees) from frustum size and distance.

Parameters

frustumSize	Frustum width (or height) at distance .
distance	Distance from the camera along the view axis.

Returns: Field of view angle in degrees.

◆ CalculateFrustumSize()

static float OpenCVForUnity.Extensions.OpenCVARUtils.CalculateFrustumSize	(	float	distance,
		float	fov )

static

Calculates frustum size at a given distance and FOV angle (degrees).

Parameters

distance	Distance from the camera along the view axis.
fov	Field of view angle in degrees.

Returns: Frustum width (or height, depending on which FOV is used) at distance .

◆ CalculateProjectionMatrixFromCameraMatrixValues() [1/3]

static Mat4d OpenCVForUnity.Extensions.OpenCVARUtils.CalculateProjectionMatrixFromCameraMatrixValues	(	double	fx,
		double	fy,
		double	cx,
		double	cy,
		double	width,
		double	height,
		double	near = 0::01,
		double	far = 2000::0 )

static

Builds a 4×4 projection matrix from OpenCV-style camera intrinsics.

Convention (fixed for this core API): OpenCV image origin is top-left (Y down); the returned matrix uses a Y-up principal-point mapping (m12 = -1 + 2*cy/height), matching a common AR camera projection matrix layout in row-major Mat4d elements. No engine runtime is required.

Parameters

fx	Focal length along the X axis (pixels).
fy	Focal length along the Y axis (pixels).
cx	Principal point X coordinate (pixels).
cy	Principal point Y coordinate (pixels).
width	Image width (pixels).
height	Image height (pixels).
near	Near clipping plane distance.
far	Far clipping plane distance.

Returns: Row-major 4×4 projection matrix.

◆ CalculateProjectionMatrixFromCameraMatrixValues() [2/3]

static void OpenCVForUnity.Extensions.OpenCVARUtils.CalculateProjectionMatrixFromCameraMatrixValues	(	double	fx,
		double	fy,
		double	cx,
		double	cy,
		double	width,
		double	height,
		Span< double >	destination,
		double	near = 0::01,
		double	far = 2000::0 )

static

Span(16) overload: writes projection matrix in row-major order.

Parameters

fx	Focal length along the X axis (pixels).
fy	Focal length along the Y axis (pixels).
cx	Principal point X coordinate (pixels).
cy	Principal point Y coordinate (pixels).
width	Image width (pixels).
height	Image height (pixels).
destination	Destination span (length must be 16).
near	Near clipping plane distance.
far	Far clipping plane distance.

Exceptions

ArgumentException Thrown when destination .Length is not 16.

◆ CalculateProjectionMatrixFromCameraMatrixValues() [3/3]

static Matrix4x4 OpenCVForUnity.Extensions.OpenCVARUtils.CalculateProjectionMatrixFromCameraMatrixValues	(	float	fx,
		float	fy,
		float	cx,
		float	cy,
		float	width,
		float	height,
		float	near = 0::01f,
		float	far = 2000f )

static

Calculates a projection matrix from OpenCV-style camera intrinsic parameters, suitable for use as Camera.projectionMatrix in Unity.

Always converts from OpenCV's right-handed camera coordinates (Z-forward, Y-down) to Unity's left-handed camera coordinates (Z-forward, Y-up). No optional flag.

Parameters

fx	Focal length along the X axis (pixels).
fy	Focal length along the Y axis (pixels).
cx	Principal point X coordinate (pixels).
cy	Principal point Y coordinate (pixels).
width	Image width (pixels).
height	Image height (pixels).
near	Near clipping plane distance.
far	Far clipping plane distance.

Returns: Unity-compatible projection matrix.

◆ ComposeMatrix()

static Matrix4x4 OpenCVForUnity.Extensions.OpenCVARUtils.ComposeMatrix	(	Vector3	localPosition,
		Quaternion	localRotation,
		Vector3	localScale )

static

Composes a TRS matrix from position, rotation and scale.

Parameters

localPosition	Local position.
localRotation	Local rotation.
localScale	Local scale.

Returns: The composed Unity transform matrix.

◆ ComposeTrsMatrix() [1/2]

static Mat4d OpenCVForUnity.Extensions.OpenCVARUtils.ComposeTrsMatrix	(	in Vec3d	translation,
		in Vec4d	rotation,
		in Vec3d	scale )

static

Composes a TRS matrix from translation, unit quaternion (x,y,z,w), and scale.

Parameters

translation	Translation vector.
rotation	Unit quaternion (x, y, z, w).
scale	Per-axis scale.

Returns: Row-major 4×4 TRS matrix.

◆ ComposeTrsMatrix() [2/2]

static void OpenCVForUnity.Extensions.OpenCVARUtils.ComposeTrsMatrix	(	in Vec3d	translation,
		in Vec4d	rotation,
		in Vec3d	scale,
		Span< double >	destination )

static

Span(16) overload: writes ComposeTrsMatrix result in row-major order.

Parameters

translation	Translation vector.
rotation	Unit quaternion (x, y, z, w).
scale	Per-axis scale.
destination	Destination span (length must be 16).

Exceptions

ArgumentException Thrown when destination .Length is not 16.

◆ ConvertMatrixToPoseData() [1/3]

static PoseData OpenCVForUnity.Extensions.OpenCVARUtils.ConvertMatrixToPoseData ( in Mat4d matrix )

static

Converts a TRS matrix to PoseData (translation + rotation; scale discarded).

Parameters

matrix Row-major 4×4 TRS matrix.

Returns: Pose data with translation and rotation; scale is not retained.

◆ ConvertMatrixToPoseData() [2/3]

static PoseData OpenCVForUnity.Extensions.OpenCVARUtils.ConvertMatrixToPoseData ( ReadOnlySpan< double > matrix )

static

Span(16) overload for ConvertMatrixToPoseData(in Mat4d).

Parameters

matrix Row-major matrix elements (length must be 16).

Returns: Pose data with translation and rotation; scale is not retained.

Exceptions

ArgumentException Thrown when matrix .Length is not 16.

◆ ConvertMatrixToPoseData() [3/3]

static PoseData OpenCVForUnity.Extensions.OpenCVARUtils.ConvertMatrixToPoseData ( ref Matrix4x4 matrix )

static

Converts a Unity transform matrix to PoseData using Unity Quaternion.LookRotation.

Parameters

matrix Unity transform matrix.

Returns: Pose data with PoseData.Translation and PoseData.Rotation.

◆ ConvertPoseDataToMat4() [1/2]

static Mat4d OpenCVForUnity.Extensions.OpenCVARUtils.ConvertPoseDataToMat4 ( in PoseData poseData )

static

Converts PoseData to a TRS matrix with unit scale. No coordinate-system conversion.

Parameters

poseData Pose data (translation + rotation).

Returns: Row-major 4×4 TRS matrix with unit scale.

◆ ConvertPoseDataToMat4() [2/2]

static void OpenCVForUnity.Extensions.OpenCVARUtils.ConvertPoseDataToMat4	(	in PoseData	poseData,
		Span< double >	destination )

static

Span(16) overload: writes ConvertPoseDataToMat4 result in row-major order.

Parameters

poseData	Pose data (translation + rotation).
destination	Destination span (length must be 16).

Exceptions

ArgumentException Thrown when destination .Length is not 16.

◆ ConvertPoseDataToMatrix()

static Matrix4x4 OpenCVForUnity.Extensions.OpenCVARUtils.ConvertPoseDataToMatrix	(	ref PoseData	poseData,
		bool	convertToUnityCoordinates = true )

static

Converts PoseData to a Unity transform matrix.

Parameters

poseData	Pose data.
convertToUnityCoordinates	When true (default), converts from OpenCV's right-handed coordinate system to Unity's left-handed coordinate system by inverting the Y-axis. Enable this when applying an OpenCV-estimated pose to a Unity object. When false, returns the matrix without coordinate-system conversion.

Returns: Transform matrix.

◆ ConvertRvecToRotation() [1/4]

static Vec4d OpenCVForUnity.Extensions.OpenCVARUtils.ConvertRvecToRotation ( Mat rvec )

static

Converts an OpenCV rotation vector Mat to a unit quaternion (x, y, z, w).

Parameters

rvec	Rotation vector Mat (continuous, CV_64F, at least 3 elements).

Returns: Unit quaternion as Vec4d (x, y, z, w).

Exceptions

ArgumentException Thrown when rvec is not continuous or does not contain at least 3 CV_64F elements.

◆ ConvertRvecToRotation() [2/4]

static void OpenCVForUnity.Extensions.OpenCVARUtils.ConvertRvecToRotation	(	Mat	rvec,
		out Quaternion	rotation )

static

Converts an OpenCV rotation vector Mat to a Unity Quaternion.

Parameters

rvec	Rotation vector Mat (continuous, CV_64F, at least 3 elements).
rotation	Converted Unity rotation quaternion.

◆ ConvertRvecToRotation() [3/4]

static Vec4d OpenCVForUnity.Extensions.OpenCVARUtils.ConvertRvecToRotation ( ReadOnlySpan< double > rvec )

static

Converts an OpenCV rotation vector (Rodrigues) to a unit quaternion (x, y, z, w).

Parameters

rvec	Rotation vector (at least 3 elements).

Returns: Unit quaternion as Vec4d (x, y, z, w). Returns identity when the vector magnitude is near zero.

Exceptions

ArgumentException Thrown when rvec .Length is less than 3.

◆ ConvertRvecToRotation() [4/4]

static void OpenCVForUnity.Extensions.OpenCVARUtils.ConvertRvecToRotation	(	ReadOnlySpan< double >	rvec,
		out Quaternion	rotation )

static

Converts an OpenCV rotation vector (Rodrigues) to a Unity Quaternion.

Same name as the core ConvertRvecToRotation(ReadOnlySpan<double>) API; the out Quaternion parameter selects this Unity overload (C# does not allow overloading by return type alone).

Parameters

rvec	Rotation vector (at least 3 elements).
rotation	Converted Unity rotation quaternion.

◆ ConvertRvecTvecToPoseData() [1/2]

static PoseData OpenCVForUnity.Extensions.OpenCVARUtils.ConvertRvecTvecToPoseData	(	Mat	rvec,
		Mat	tvec )

static

Converts rvec and tvec Mats to PoseData.

Parameters

rvec	Rotation vector Mat (continuous, CV_64F, at least 3 elements).
tvec	Translation vector Mat (continuous, CV_64F, at least 3 elements).

Returns: Pose data with PoseData.Translation and PoseData.Rotation.

◆ ConvertRvecTvecToPoseData() [2/2]

static PoseData OpenCVForUnity.Extensions.OpenCVARUtils.ConvertRvecTvecToPoseData	(	ReadOnlySpan< double >	rvec,
		ReadOnlySpan< double >	tvec )

static

Converts rvec and tvec to PoseData.

Parameters

rvec	Rotation vector (at least 3 elements).
tvec	Translation vector (at least 3 elements).

Returns: Pose data with PoseData.Translation and PoseData.Rotation.

◆ ConvertTvecToTranslation() [1/4]

static Vec3d OpenCVForUnity.Extensions.OpenCVARUtils.ConvertTvecToTranslation ( Mat tvec )

static

Converts an OpenCV translation vector Mat to Vec3d.

Parameters

tvec	Translation vector Mat (continuous, CV_64F, at least 3 elements).

Returns: Translation as Vec3d.

Exceptions

ArgumentException Thrown when tvec is not continuous or does not contain at least 3 CV_64F elements.

◆ ConvertTvecToTranslation() [2/4]

static void OpenCVForUnity.Extensions.OpenCVARUtils.ConvertTvecToTranslation	(	Mat	tvec,
		out Vector3	translation )

static

Converts an OpenCV translation vector Mat to a Unity Vector3.

Parameters

tvec	Translation vector Mat (continuous, CV_64F, at least 3 elements).
translation	Converted Unity position vector.

◆ ConvertTvecToTranslation() [3/4]

static Vec3d OpenCVForUnity.Extensions.OpenCVARUtils.ConvertTvecToTranslation ( ReadOnlySpan< double > tvec )

static

Converts an OpenCV translation vector to Vec3d.

Parameters

tvec	Translation vector (at least 3 elements).

Returns: Translation as Vec3d.

Exceptions

ArgumentException Thrown when tvec .Length is less than 3.

◆ ConvertTvecToTranslation() [4/4]

static void OpenCVForUnity.Extensions.OpenCVARUtils.ConvertTvecToTranslation	(	ReadOnlySpan< double >	tvec,
		out Vector3	translation )

static

Converts an OpenCV translation vector to a Unity Vector3.

Same name as the core ConvertTvecToTranslation(ReadOnlySpan<double>) API; the out Vector3 parameter selects this Unity overload.

Parameters

tvec	Translation vector (at least 3 elements).
translation	Converted Unity position vector.

◆ CopyMatrix4x4ToMat4d()

static Mat4d OpenCVForUnity.Extensions.OpenCVARUtils.CopyMatrix4x4ToMat4d ( in Matrix4x4 matrix )

static

Copies a Unity Matrix4x4 to engine-independent Mat4d (row-major, 16 elements).

Parameters

matrix Source Unity projection or transform matrix.

Returns: Equivalent Mat4d.

◆ CreatePoseDataDict()

static Dictionary< int, PoseData > OpenCVForUnity.Extensions.OpenCVARUtils.CreatePoseDataDict	(	ReadOnlySpan< int >	ids,
		ReadOnlySpan< double >	rvecs,
		ReadOnlySpan< double >	tvecs )

static

Creates a pose data dictionary from marker ids and packed rvecs/tvecs (length = ids.Length * 3).

Parameters

ids	Marker identifiers.
rvecs	Packed rotation vectors (3 doubles per id).
tvecs	Packed translation vectors (3 doubles per id).

Returns: Dictionary mapping each id to its PoseData.

Exceptions

ArgumentException Thrown when ids.Length * 3 does not equal rvecs .Length and tvecs .Length.

◆ DecomposeMatrix()

static void OpenCVForUnity.Extensions.OpenCVARUtils.DecomposeMatrix	(	ref Matrix4x4	matrix,
		out Vector3	localPosition,
		out Quaternion	localRotation,
		out Vector3	localScale )

static

Extract position, rotation and scale from TRS matrix.

Parameters

matrix	Transform matrix.
localPosition	Extracted local position.
localRotation	Extracted local rotation.
localScale	Extracted local scale.

◆ DecomposeTrsMatrix() [1/2]

static void OpenCVForUnity.Extensions.OpenCVARUtils.DecomposeTrsMatrix	(	in Mat4d	matrix,
		out Vec3d	translation,
		out Vec4d	rotation,
		out Vec3d	scale )

static

Decomposes a TRS matrix into translation, rotation quaternion (x,y,z,w), and scale. Rotation is recovered from the orthonormalized basis (robust matrix-to-quaternion), independent of any engine LookRotation implementation.

Parameters

matrix	Row-major 4×4 TRS matrix.
translation	Extracted translation.
rotation	Extracted unit quaternion (x, y, z, w).
scale	Extracted per-axis scale.

◆ DecomposeTrsMatrix() [2/2]

static void OpenCVForUnity.Extensions.OpenCVARUtils.DecomposeTrsMatrix	(	ReadOnlySpan< double >	matrix,
		out Vec3d	translation,
		out Vec4d	rotation,
		out Vec3d	scale )

static

Span(16) overload for DecomposeTrsMatrix(in Mat4d, out Vec3d, out Vec4d, out Vec3d).

Parameters

matrix	Row-major matrix elements (length must be 16).
translation	Extracted translation.
rotation	Extracted unit quaternion (x, y, z, w).
scale	Extracted per-axis scale.

Exceptions

ArgumentException Thrown when matrix .Length is not 16.

◆ ExtractRotationFromMatrix()

static Quaternion OpenCVForUnity.Extensions.OpenCVARUtils.ExtractRotationFromMatrix ( ref Matrix4x4 matrix )

static

Extract rotation quaternion from transform matrix via Quaternion.LookRotation.

Parameters

matrix Transform matrix.

Returns: Rotation quaternion derived from the matrix basis vectors.

◆ ExtractScaleFromMatrix()

static Vector3 OpenCVForUnity.Extensions.OpenCVARUtils.ExtractScaleFromMatrix ( ref Matrix4x4 matrix )

static

Extract scale from transform matrix.

Parameters

matrix Transform matrix.

Returns: Per-axis scale derived from column magnitudes.

◆ ExtractTranslationFromMatrix()

static Vector3 OpenCVForUnity.Extensions.OpenCVARUtils.ExtractTranslationFromMatrix ( ref Matrix4x4 matrix )

static

Extract translation from transform matrix.

Parameters

matrix Transform matrix.

Returns: Translation vector (fourth column).

◆ LowpassPoseData()

static void OpenCVForUnity.Extensions.OpenCVARUtils.LowpassPoseData	(	ref PoseData	oldPose,
		ref PoseData	newPose,
		float	posThreshold,
		float	rotThreshold )

static

Suppresses position and rotation changes in newPose that are below the given thresholds.

Parameters

oldPose	Previous pose (read-only reference).
newPose	New pose to filter; small changes are replaced with values from oldPose .
posThreshold	Position threshold (same units as translation).
rotThreshold	Rotation threshold in degrees.

◆ LowpassPoseDataDict()

static void OpenCVForUnity.Extensions.OpenCVARUtils.LowpassPoseDataDict	(	Dictionary< int, PoseData >	oldDict,
		Dictionary< int, PoseData >	newDict,
		float	posThreshold,
		float	rotThreshold )

static

Applies LowpassPoseData for each key present in both dictionaries.

Parameters

oldDict	Previous pose dictionary.
newDict	New pose dictionary; matching entries are filtered in place.
posThreshold	Position threshold (same units as translation).
rotThreshold	Rotation threshold in degrees.

Exceptions

ArgumentNullException Thrown when oldDict or newDict is null.

◆ SafeDrawFrameAxes()

static void OpenCVForUnity.Extensions.OpenCVARUtils.SafeDrawFrameAxes	(	Mat	image,
		Mat	cameraMatrix,
		Mat	distCoeffs,
		Mat	rvec,
		Mat	tvec,
		float	length,
		int	thickness = 3 )

static

Safe version of drawFrameAxes that skips drawing when tvec has a near-zero Z component.

Parameters

image	Target image to draw on.
cameraMatrix	3×3 camera intrinsic matrix.
distCoeffs	Distortion coefficients (may be empty).
rvec	Rotation vector (Rodrigues, CV_64F, at least 3 elements).
tvec	Translation vector (CV_64F, at least 3 elements). Drawing is skipped when Z < 1e-4.
length	Axis length in world units.
thickness	Line thickness in pixels.

◆ SetTransformFromMatrix()

static void OpenCVForUnity.Extensions.OpenCVARUtils.SetTransformFromMatrix	(	Transform	transform,
		ref Matrix4x4	matrix )

static

Set transform component from TRS matrix.

Parameters

transform	Target Transform.
matrix	TRS matrix to apply to transform .

◆ SmoothingFilterPoseData()

static void OpenCVForUnity.Extensions.OpenCVARUtils.SmoothingFilterPoseData	(	ref PoseData	oldPose,
		ref PoseData	newPose,
		float	positionSmoothingFactor,
		float	rotationSmoothingFactor )

static

Applies exponential moving average smoothing (translation lerp + rotation nlerp).

Parameters

oldPose	Previous pose used as the smoothing reference.
newPose	New pose to smooth; updated in place.
positionSmoothingFactor	0 = no filtering, 1 = maximum filtering.
rotationSmoothingFactor	0 = no filtering, 1 = maximum filtering.

◆ SmoothingFilterPoseDataDict()

static void OpenCVForUnity.Extensions.OpenCVARUtils.SmoothingFilterPoseDataDict	(	Dictionary< int, PoseData >	oldDict,
		Dictionary< int, PoseData >	newDict,
		float	positionSmoothingFactor,
		float	rotationSmoothingFactor )

static

Applies SmoothingFilterPoseData for each key present in both dictionaries.

Parameters

oldDict	Previous pose dictionary.
newDict	New pose dictionary; matching entries are smoothed in place.
positionSmoothingFactor	0 = no filtering, 1 = maximum filtering.
rotationSmoothingFactor	0 = no filtering, 1 = maximum filtering.

Exceptions

ArgumentNullException Thrown when oldDict or newDict is null.

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

OpenCVForUnity/Assets/OpenCVForUnity/Scripts/Extensions/OpenCVARUtils.cs
OpenCVForUnity/Assets/OpenCVForUnity/Scripts/UnityIntegration/OpenCVARUtils_Integration.cs

Classes

Static Public Member Functions

Detailed Description

Member Function Documentation

◆ CalculateCameraMatrixValuesFromProjectionMatrix() [1/3]

◆ CalculateCameraMatrixValuesFromProjectionMatrix() [2/3]

◆ CalculateCameraMatrixValuesFromProjectionMatrix() [3/3]

◆ CalculateDistance()

◆ CalculateFOVAngle()

◆ CalculateFrustumSize()

◆ CalculateProjectionMatrixFromCameraMatrixValues() [1/3]

◆ CalculateProjectionMatrixFromCameraMatrixValues() [2/3]

◆ CalculateProjectionMatrixFromCameraMatrixValues() [3/3]

◆ ComposeMatrix()

◆ ComposeTrsMatrix() [1/2]

◆ ComposeTrsMatrix() [2/2]

◆ ConvertMatrixToPoseData() [1/3]

◆ ConvertMatrixToPoseData() [2/3]

◆ ConvertMatrixToPoseData() [3/3]

◆ ConvertPoseDataToMat4() [1/2]

◆ ConvertPoseDataToMat4() [2/2]

◆ ConvertPoseDataToMatrix()

◆ ConvertRvecToRotation() [1/4]

◆ ConvertRvecToRotation() [2/4]

◆ ConvertRvecToRotation() [3/4]

◆ ConvertRvecToRotation() [4/4]

◆ ConvertRvecTvecToPoseData() [1/2]

◆ ConvertRvecTvecToPoseData() [2/2]

◆ ConvertTvecToTranslation() [1/4]

◆ ConvertTvecToTranslation() [2/4]

◆ ConvertTvecToTranslation() [3/4]

◆ ConvertTvecToTranslation() [4/4]

◆ CopyMatrix4x4ToMat4d()

◆ CreatePoseDataDict()

◆ DecomposeMatrix()

◆ DecomposeTrsMatrix() [1/2]

◆ DecomposeTrsMatrix() [2/2]

◆ ExtractRotationFromMatrix()

◆ ExtractScaleFromMatrix()

◆ ExtractTranslationFromMatrix()

◆ LowpassPoseData()

◆ LowpassPoseDataDict()

◆ SafeDrawFrameAxes()

◆ SetTransformFromMatrix()

◆ SmoothingFilterPoseData()

◆ SmoothingFilterPoseDataDict()