Struct DetectorParameters

Parameters for the detectMarker process

Inherited Members

System.ValueType.Equals(System.Object)

System.ValueType.GetHashCode()

System.ValueType.ToString()

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

System.Object.GetType()

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

Namespace: OpenCvSharp.Aruco

Assembly: OpenCvSharp.dll

Syntax

public struct DetectorParameters

Constructors

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DetectorParameters()

Constructor

Declaration

public DetectorParameters()

Fields

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AdaptiveThreshConstant

constant for adaptive thresholding before finding contours (default 7)

Declaration

public double AdaptiveThreshConstant

Field Value

Type	Description
System.Double

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AdaptiveThreshWinSizeMax

adaptiveThreshWinSizeMax: maximum window size for adaptive thresholding before finding contours(default 23).

Declaration

public int AdaptiveThreshWinSizeMax

Field Value

Type	Description
System.Int32

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AdaptiveThreshWinSizeMin

minimum window size for adaptive thresholding before finding contours (default 3).

Declaration

public int AdaptiveThreshWinSizeMin

Field Value

Type	Description
System.Int32

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AdaptiveThreshWinSizeStep

increments from adaptiveThreshWinSizeMin to adaptiveThreshWinSizeMax during the thresholding(default 10).

Declaration

public int AdaptiveThreshWinSizeStep

Field Value

Type	Description
System.Int32

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AprilTagCriticalRad

Reject quads where pairs of edges have angles that are close to straight or close to 180 degrees. Zero means that no quads are rejected. (In radians).

Declaration

public float AprilTagCriticalRad

Field Value

Type	Description
System.Single

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AprilTagDeglitch

should the thresholded image be deglitched? Only useful for very noisy images

Declaration

public int AprilTagDeglitch

Field Value

Type	Description
System.Int32

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AprilTagMaxLineFitMse

When fitting lines to the contours, what is the maximum mean squared error allowed? This is useful in rejecting contours that are far from being quad shaped; rejecting these quads "early" saves expensive decoding processing.

Declaration

public float AprilTagMaxLineFitMse

Field Value

Type	Description
System.Single

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AprilTagMaxNmaxima

how many corner candidates to consider when segmenting a group of pixels into a quad.

Declaration

public int AprilTagMaxNmaxima

Field Value

Type	Description
System.Int32

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AprilTagMinClusterPixels

reject quads containing too few pixels.

Declaration

public int AprilTagMinClusterPixels

Field Value

Type	Description
System.Int32

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AprilTagMinWhiteBlackDiff

When we build our model of black & white pixels, we add an extra check that the white model must be (overall) brighter than the black model. How much brighter? (in pixel values, [0,255]).

Declaration

public int AprilTagMinWhiteBlackDiff

Field Value

Type	Description
System.Int32

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AprilTagQuadDecimate

Detection of quads can be done on a lower-resolution image, improving speed at a cost of pose accuracy and a slight decrease in detection rate. Decoding the binary payload is still done at full resolution.

Declaration

public float AprilTagQuadDecimate

Field Value

Type	Description
System.Single

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AprilTagQuadSigma

What Gaussian blur should be applied to the segmented image (used for quad detection?) Parameter is the standard deviation in pixels. Very noisy images benefit from non-zero values (e.g. 0.8).

Declaration

public float AprilTagQuadSigma

Field Value

Type	Description
System.Single

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CornerRefinementMaxIterations

maximum number of iterations for stop criteria of the corner refinement process(default 30).

Declaration

public int CornerRefinementMaxIterations

Field Value

Type	Description
System.Int32

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CornerRefinementMethod

corner refinement method. (CORNER_REFINE_NONE, no refinement. CORNER_REFINE_SUBPIX, do subpixel refinement. CORNER_REFINE_CONTOUR use contour-Points)

Declaration

public CornerRefineMethod CornerRefinementMethod

Field Value

Type	Description
CornerRefineMethod

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CornerRefinementMinAccuracy

minimum error for the stop criteria of the corner refinement process(default: 0.1)

Declaration

public double CornerRefinementMinAccuracy

Field Value

Type	Description
System.Double

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CornerRefinementWinSize

window size for the corner refinement process (in pixels) (default 5).

Declaration

public int CornerRefinementWinSize

Field Value

Type	Description
System.Int32

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DetectInvertedMarker

to check if there is a white marker. In order to generate a "white" marker just invert a normal marker by using a tilde, ~markerImage. (default false)

Declaration

public bool DetectInvertedMarker

Field Value

Type	Description
System.Boolean

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ErrorCorrectionRate

errorCorrectionRate error correction rate respect to the maximun error correction capability for each dictionary. (default 0.6).

Declaration

public double ErrorCorrectionRate

Field Value

Type	Description
System.Double

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MarkerBorderBits

number of bits of the marker border, i.e. marker border width (default 1).

Declaration

public int MarkerBorderBits

Field Value

Type	Description
System.Int32

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MaxErroneousBitsInBorderRate

maximum number of accepted erroneous bits in the border (i.e. number of allowed white bits in the border). Represented as a rate respect to the total number of bits per marker(default 0.35).

Declaration

public double MaxErroneousBitsInBorderRate

Field Value

Type	Description
System.Double

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MaxMarkerPerimeterRate

determine maximum perimeter for marker contour to be detected. This is defined as a rate respect to the maximum dimension of the input image(default 4.0).

Declaration

public double MaxMarkerPerimeterRate

Field Value

Type	Description
System.Double

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MinCornerDistanceRate

minimum distance between corners for detected markers relative to its perimeter(default 0.05)

Declaration

public double MinCornerDistanceRate

Field Value

Type	Description
System.Double

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MinDistanceToBorder

minimum distance of any corner to the image border for detected markers (in pixels) (default 3)

Declaration

public int MinDistanceToBorder

Field Value

Type	Description
System.Int32

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MinMarkerDistanceRate

minimum mean distance between two marker corners to be considered similar, so that the smaller one is removed.The rate is relative to the smaller perimeter of the two markers(default 0.05).

Declaration

public double MinMarkerDistanceRate

Field Value

Type	Description
System.Double

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MinMarkerLengthRatioOriginalImg

range [0,1], eq (2) from paper. The parameter tau_i has a direct influence on the processing speed.

Declaration

public float MinMarkerLengthRatioOriginalImg

Field Value

Type	Description
System.Single

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MinMarkerPerimeterRate

determine minimum perimeter for marker contour to be detected. This is defined as a rate respect to the maximum dimension of the input image(default 0.03).

Declaration

public double MinMarkerPerimeterRate

Field Value

Type	Description
System.Double

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MinOtsuStdDev

minimun standard deviation in pixels values during the decodification step to apply Otsu thresholding(otherwise, all the bits are set to 0 or 1 depending on mean higher than 128 or not) (default 5.0)

Declaration

public double MinOtsuStdDev

Field Value

Type	Description
System.Double

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MinSideLengthCanonicalImg

minimum side length of a marker in the canonical image. Latter is the binarized image in which contours are searched.

Declaration

public int MinSideLengthCanonicalImg

Field Value

Type	Description
System.Int32

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PerspectiveRemoveIgnoredMarginPerCell

width of the margin of pixels on each cell not considered for the determination of the cell bit.Represents the rate respect to the total size of the cell, i.e. perspectiveRemovePixelPerCell (default 0.13)

Declaration

public double PerspectiveRemoveIgnoredMarginPerCell

Field Value

Type	Description
System.Double

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PerspectiveRemovePixelPerCell

number of bits (per dimension) for each cell of the marker when removing the perspective(default 8).

Declaration

public int PerspectiveRemovePixelPerCell

Field Value

Type	Description
System.Int32

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PolygonalApproxAccuracyRate

minimum accuracy during the polygonal approximation process to determine which contours are squares.

Declaration

public double PolygonalApproxAccuracyRate

Field Value

Type	Description
System.Double

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UseAruco3Detection

enable the new and faster Aruco detection strategy. Proposed in the paper:

Romero-Ramirez et al: Speeded up detection of squared fiducial markers (2018)
https://www.researchgate.net/publication/325787310_Speeded_Up_Detection_of_Squared_Fiducial_Markers

Declaration

public bool UseAruco3Detection

Field Value

Type	Description
System.Boolean