Struct DetectorParameters

Namespace

OpenCvSharp.Aruco

Assembly

OpenCvSharp.dll

Parameters for the detectMarker process

public struct DetectorParameters

Inherited Members

ValueType.Equals(object)

ValueType.GetHashCode()

ValueType.ToString()

object.Equals(object, object)

object.GetType()

object.ReferenceEquals(object, object)

Constructors

DetectorParameters()

Constructor

public DetectorParameters()

Fields

AdaptiveThreshConstant

constant for adaptive thresholding before finding contours (default 7)

public double AdaptiveThreshConstant

Field Value

double

AdaptiveThreshWinSizeMax

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

public int AdaptiveThreshWinSizeMax

Field Value

int

AdaptiveThreshWinSizeMin

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

public int AdaptiveThreshWinSizeMin

Field Value

int

AdaptiveThreshWinSizeStep

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

public int AdaptiveThreshWinSizeStep

Field Value

int

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).

public float AprilTagCriticalRad

Field Value

float

AprilTagDeglitch

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

public int AprilTagDeglitch

Field Value

int

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.

public float AprilTagMaxLineFitMse

Field Value

float

AprilTagMaxNmaxima

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

public int AprilTagMaxNmaxima

Field Value

int

AprilTagMinClusterPixels

reject quads containing too few pixels.

public int AprilTagMinClusterPixels

Field Value

int

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]).

public int AprilTagMinWhiteBlackDiff

Field Value

int

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.

public float AprilTagQuadDecimate

Field Value

float

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).

public float AprilTagQuadSigma

Field Value

float

CornerRefinementMaxIterations

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

public int CornerRefinementMaxIterations

Field Value

int

CornerRefinementMethod

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

public CornerRefineMethod CornerRefinementMethod

Field Value

CornerRefineMethod

CornerRefinementMinAccuracy

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

public double CornerRefinementMinAccuracy

Field Value

double

CornerRefinementWinSize

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

public int CornerRefinementWinSize

Field Value

int

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)

public bool DetectInvertedMarker

Field Value

bool

ErrorCorrectionRate

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

public double ErrorCorrectionRate

Field Value

double

MarkerBorderBits

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

public int MarkerBorderBits

Field Value

int

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).

public double MaxErroneousBitsInBorderRate

Field Value

double

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).

public double MaxMarkerPerimeterRate

Field Value

double

MinCornerDistanceRate

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

public double MinCornerDistanceRate

Field Value

double

MinDistanceToBorder

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

public int MinDistanceToBorder

Field Value

int

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).

public double MinMarkerDistanceRate

Field Value

double

MinMarkerLengthRatioOriginalImg

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

public float MinMarkerLengthRatioOriginalImg

Field Value

float

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).

public double MinMarkerPerimeterRate

Field Value

double

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)

public double MinOtsuStdDev

Field Value

double

MinSideLengthCanonicalImg

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

public int MinSideLengthCanonicalImg

Field Value

int

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)

public double PerspectiveRemoveIgnoredMarginPerCell

Field Value

double

PerspectiveRemovePixelPerCell

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

public int PerspectiveRemovePixelPerCell

Field Value

int

PolygonalApproxAccuracyRate

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

public double PolygonalApproxAccuracyRate

Field Value

double

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

public bool UseAruco3Detection

Field Value

bool