Class CvAruco

aruco module

Inheritance

System.Object

CvAruco

Inherited Members

System.Object.Equals(System.Object)

System.Object.Equals(System.Object, System.Object)

System.Object.GetHashCode()

System.Object.GetType()

System.Object.MemberwiseClone()

System.Object.ReferenceEquals(System.Object, System.Object)

System.Object.ToString()

Namespace: OpenCvSharp.Aruco

Assembly: OpenCvSharp.dll

Syntax

public static class CvAruco

Methods

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DetectCharucoDiamond(InputArray, Point2f[][], IEnumerable<Int32>, Single, out Point2f[][], out Vec4i[], InputArray, InputArray)

Detect ChArUco Diamond markers.

Declaration

public static void DetectCharucoDiamond(InputArray image, Point2f[][] markerCorners, IEnumerable<int> markerIds, float squareMarkerLengthRate, out Point2f[][] diamondCorners, out Vec4i[] diamondIds, InputArray cameraMatrix = null, InputArray distCoeffs = null)

Parameters

Type	Name	Description
InputArray	image	input image necessary for corner subpixel.
OpenCvSharp.Point2f[][]	markerCorners	list of detected marker corners from detectMarkers function.
IEnumerable<System.Int32>	markerIds	list of marker ids in markerCorners.
System.Single	squareMarkerLengthRate	rate between square and marker length: squareMarkerLengthRate = squareLength/markerLength. The real units are not necessary.
OpenCvSharp.Point2f[][]	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>>).
Vec4i[]	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.
InputArray	cameraMatrix	Optional camera calibration matrix.
InputArray	distCoeffs	Optional camera distortion coefficients.

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DetectMarkers(InputArray, Dictionary, out Point2f[][], out Int32[], DetectorParameters, out Point2f[][])

Basic marker detection

Declaration

public static void DetectMarkers(InputArray image, Dictionary dictionary, out Point2f[][] corners, out int[] ids, DetectorParameters parameters, out Point2f[][] rejectedImgPoints)

Parameters

Type	Name	Description
InputArray	image	input image
Dictionary	dictionary	indicates the type of markers that will be searched
OpenCvSharp.Point2f[][]	corners	vector of detected marker corners. For each marker, its four corners are provided. For N detected markers, the dimensions of this array is Nx4.The order of the corners is clockwise.
System.Int32[]	ids	vector of identifiers of the detected markers. The identifier is of type 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.
DetectorParameters	parameters	marker detection parameters
OpenCvSharp.Point2f[][]	rejectedImgPoints	contains the imgPoints of those squares whose inner code has not a correct codification.Useful for debugging purposes.

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DrawDetectedDiamonds(InputArray, Point2f[][], Nullable<IEnumerable<Vec4i>>)

Draw a set of detected ChArUco Diamond markers.

Declaration

public static void DrawDetectedDiamonds(InputArray image, Point2f[][] diamondCorners, IEnumerable<Vec4i>? diamondIds = null)

Parameters

Type	Name	Description
InputArray	image	input/output image. It must have 1 or 3 channels. The number of channels is not altered.
OpenCvSharp.Point2f[][]	diamondCorners	positions of diamond corners in the same format returned by detectCharucoDiamond(). (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.
System.Nullable<IEnumerable<Vec4i>>	diamondIds	vector of identifiers for diamonds in diamondCorners, in the same format returned by detectCharucoDiamond() (e.g. std::vector<Vec4i>). Optional, if not provided, ids are not painted.

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DrawDetectedDiamonds(InputArray, Point2f[][], Nullable<IEnumerable<Vec4i>>, Scalar)

Draw a set of detected ChArUco Diamond markers.

Declaration

public static void DrawDetectedDiamonds(InputArray image, Point2f[][] diamondCorners, IEnumerable<Vec4i>? diamondIds, Scalar borderColor)

Parameters

Type	Name	Description
InputArray	image	input/output image. It must have 1 or 3 channels. The number of channels is not altered.
OpenCvSharp.Point2f[][]	diamondCorners	positions of diamond corners in the same format returned by detectCharucoDiamond(). (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.
System.Nullable<IEnumerable<Vec4i>>	diamondIds	vector of identifiers for diamonds in diamondCorners, in the same format returned by detectCharucoDiamond() (e.g. std::vector<Vec4i>). Optional, if not provided, ids are not painted.
OpenCvSharp.Scalar	borderColor	color of marker borders. Rest of colors (text color and first corner color) are calculated based on this one.

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DrawDetectedMarkers(InputArray, Point2f[][], IEnumerable<Int32>)

Draw detected markers in image

Declaration

public static void DrawDetectedMarkers(InputArray image, Point2f[][] corners, IEnumerable<int> ids)

Parameters

Type	Name	Description
InputArray	image	input/output image. It must have 1 or 3 channels. The number of channels is not altered.
OpenCvSharp.Point2f[][]	corners	positions of marker corners on input image. For N detected markers, the dimensions of this array should be Nx4.The order of the corners should be clockwise.
IEnumerable<System.Int32>	ids	vector of identifiers for markers in markersCorners. Optional, if not provided, ids are not painted.

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DrawDetectedMarkers(InputArray, Point2f[][], Nullable<IEnumerable<Int32>>, Scalar)

Draw detected markers in image

Declaration

public static void DrawDetectedMarkers(InputArray image, Point2f[][] corners, IEnumerable<int>? ids, Scalar borderColor)

Parameters

Type	Name	Description
InputArray	image	input/output image. It must have 1 or 3 channels. The number of channels is not altered.
OpenCvSharp.Point2f[][]	corners	positions of marker corners on input image. For N detected markers, the dimensions of this array should be Nx4.The order of the corners should be clockwise.
System.Nullable<IEnumerable<System.Int32>>	ids	vector of identifiers for markers in markersCorners. Optional, if not provided, ids are not painted.
OpenCvSharp.Scalar	borderColor	color of marker borders. Rest of colors (text color and first corner color) are calculated based on this one to improve visualization.

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EstimatePoseSingleMarkers(Point2f[][], Single, InputArray, InputArray, OutputArray, OutputArray, OutputArray)

Pose estimation for single markers

Declaration

public static void EstimatePoseSingleMarkers(Point2f[][] corners, float markerLength, InputArray cameraMatrix, InputArray distortionCoefficients, OutputArray rvec, OutputArray tvec, OutputArray objPoints = null)

Parameters

Type	Name	Description
OpenCvSharp.Point2f[][]	corners	corners 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.
System.Single	markerLength	the length of the markers' side. The returning translation vectors will be in the same unit.Normally, unit is meters.
InputArray	cameraMatrix	input 3x3 floating-point camera matrix \f$A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$
InputArray	distortionCoefficients	vector of distortion coefficients \f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\f$ of 4, 5, 8 or 12 elements
OutputArray	rvec	array of output rotation vectors (@sa Rodrigues) (e.g. std::vector<cv::Vec3d>). Each element in rvecs corresponds to the specific marker in imgPoints.
OutputArray	tvec	array of output translation vectors (e.g. std::vector<cv::Vec3d>). Each element in tvecs corresponds to the specific marker in imgPoints.
OutputArray	objPoints	array of object points of all the marker corners

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GetPredefinedDictionary(PredefinedDictionaryName)

Returns one of the predefined dictionaries defined in PREDEFINED_DICTIONARY_NAME

Declaration

public static Dictionary GetPredefinedDictionary(PredefinedDictionaryName name)

Parameters

Type	Name	Description
PredefinedDictionaryName	name

Returns

Type	Description
Dictionary

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ReadDictionary(String)

Reads a new dictionary from FileNode.

Declaration

public static Dictionary ReadDictionary(string dictionaryFile)

Parameters

Type	Name	Description
System.String	dictionaryFile	The path of the dictionary file

Returns

Type	Description
Dictionary	Instance of a Dictionary

Remarks

Dictionary format is YAML see sample below

nmarkers: 35
markersize: 6
maxCorrectionBits: 5
marker_0: "101011111011111001001001101100000000"
...
marker_34: "011111010000111011111110110101100101"