Class ArucoCameraCalibration

Calibrates a ArucoCamera with a ArucoBoard and saves the calibrated camera parameters in a file managed by ArucoCameraParametersController. Base class to reference in editor fields.

See the OpenCV and the ArUco module documentations for more information about the calibration process: http://docs.opencv.org/3.4/da/d13/tutorial_aruco_calibration.html and https://docs.opencv.org/3.4/da/d13/tutorial_aruco_calibration.html

Inheritance

Object

Controller

ArucoCameraController

ArucoObjectDetector

ArucoCameraCalibration

ArucoCameraCalibrationGeneric<T, U>

Implements

IArucoCameraController

IController

IHasDetectorParameter

Inherited Members

ArucoObjectDetector.DetectorParameters

ArucoCameraController.ArucoCamera

Controller.Configured

Controller.Ready

Controller.Started

Controller.Stopped

Controller.AutoStart

Controller.IsConfigured

Controller.IsReady

Controller.IsStarted

Controller.Awake()

Controller.Start()

Controller.OnDestroy()

Controller.AddDependency(IController)

Controller.RemoveDependency(IController)

Controller.GetDependencies()

Controller.Configure()

Controller.StartController()

Controller.StopController()

Controller.OnConfigured()

Controller.OnStarted()

Controller.OnStopped()

Namespace: ArucoUnity.Calibration

Assembly: Assembly-CSharp.dll

Syntax

public abstract class ArucoCameraCalibration : ArucoObjectDetector, IArucoCameraController, IController, IHasDetectorParameter

Fields

applicationPath

Declaration

protected string applicationPath

Field Value

Type	Description
String

calibratingException

Declaration

protected Exception calibratingException

Field Value

Type	Description
Exception

calibratingMutex

Declaration

protected Mutex calibratingMutex

Field Value

Type	Description
Mutex

calibratingThread

Declaration

protected Thread calibratingThread

Field Value

Type	Description
Thread

Properties

AllMarkerCorners

Gets the detected marker corners for each camera.

Declaration

public Std.VectorVectorVectorPoint2f[] AllMarkerCorners { get; protected set; }

Property Value

Type	Description
Std.VectorVectorVectorPoint2f[]

AllMarkerIds

Gets the detected marker ids for each camera.

Declaration

public Std.VectorVectorInt[] AllMarkerIds { get; protected set; }

Property Value

Type	Description
Std.VectorVectorInt[]

CalibrationBoard

Gets or sets the ArUco board to use for calibration.

Declaration

public ArucoBoard CalibrationBoard { get; set; }

Property Value

Type	Description
ArucoBoard

CalibrationFlags

Gets or sets the flags for the cameras calibration.

Declaration

public CalibrationFlags CalibrationFlags { get; set; }

Property Value

Type	Description
CalibrationFlags

CalibrationRunning

Gets if CalibrateAsync() has been called and hasn't completed yet.

Declaration

public bool CalibrationRunning { get; protected set; }

Property Value

Type	Description
Boolean

CameraParametersController

Gets or sets the camera parameters to use if UseIntrinsicGuess is true. Otherwise, the camera parameters file will be generated from the camera name and the calibration datetime.

Declaration

public ArucoCameraParametersController CameraParametersController { get; set; }

Property Value

Type	Description
ArucoCameraParametersController

Images

Gets the images to use for the calibration.

Declaration

public Std.VectorMat[] Images { get; protected set; }

Property Value

Type	Description
Std.VectorMat[]

IsCalibrated

Gets if the last CalibrateAsync() call has been a success.

Declaration

public bool IsCalibrated { get; protected set; }

Property Value

Type	Description
Boolean

MarkerCorners

Gets the detected marker corners on the current images of each camera.

Declaration

public Std.VectorVectorPoint2f[] MarkerCorners { get; protected set; }

Property Value

Type	Description
Std.VectorVectorPoint2f[]

MarkerIds

Gets the detected marker ids on the current images of each camera.

Declaration

public Std.VectorInt[] MarkerIds { get; protected set; }

Property Value

Type	Description
Std.VectorInt[]

RefineMarkersDetection

Gets or sets if need to use a refine algorithm to find not detected markers based on the already detected and the board layout.

Declaration

public bool RefineMarkersDetection { get; set; }

Property Value

Type	Description
Boolean

Rvecs

Gets the estimated rotation vector for each detected markers in each camera.

Declaration

public Std.VectorVec3d[] Rvecs { get; protected set; }

Property Value

Type	Description
Std.VectorVec3d[]

Tvecs

Gets the estimated translation vector for each detected markers in each camera.

Declaration

public Std.VectorVec3d[] Tvecs { get; protected set; }

Property Value

Type	Description
Std.VectorVec3d[]

Methods

AddImages()

Adds the current images of the cameras and the detected corners for the calibration.

Declaration

public virtual void AddImages()

ArucoCamera_ImagesUpdated()

Detects and draw the ArUco markers on the current images of the cameras.

Declaration

protected virtual void ArucoCamera_ImagesUpdated()

Calibrate()

Calibrates each mono camera in ArucoCamera using the detected markers added with AddImages(), the ArucoCameraParameters, the ArucoCameraUndistortion and save the results on a calibration file. Stereo calibrations will be additionally executed on these results for every camera pair.

Declaration

public virtual void Calibrate()

Calibrate(Std.VectorVectorPoint2f[], Std.VectorVectorPoint3f[])

Applies a calibration to the ArucoCamera, set the extrinsic camera parameters to Rvecs and Tvecs and saves the camera parameters in CameraParameters.

Declaration

protected abstract void Calibrate(Std.VectorVectorPoint2f[] imagePoints, Std.VectorVectorPoint3f[] objectPoints)

Parameters

Type	Name	Description
Std.VectorVectorPoint2f[]	imagePoints	The detected image points of each camera.
Std.VectorVectorPoint3f[]	objectPoints	The corresponding object points of each camera.

CalibrateAsync()

Calls Calibrate() in a background thread.

Declaration

public virtual void CalibrateAsync()

CancelCalibrateAsync()

Stops the calibration if CalibrationRunning is true.

Declaration

public virtual void CancelCalibrateAsync()

Configuring()

Checks if CalibrationBoard is set and calls ResetCalibration().

Declaration

protected override void Configuring()

Overrides

ArucoObjectDetector.Configuring()

DetectMarkers()

Detects the Aruco markers on the current images of the cameras and store the results in the MarkerCorners and MarkerIds properties.

Declaration

public virtual void DetectMarkers()

DrawDetectedMarkers()

Draws the detected ArUco markers on the current images of the cameras.

Declaration

public virtual void DrawDetectedMarkers()

InitializeCameraParameters()

Initializes and configure the CameraParameters.

Declaration

protected virtual void InitializeCameraParameters()

LateUpdate()

Calls the Calibrated event when a calibration has just completed.

Declaration

protected virtual void LateUpdate()

ResetCalibration()

Resets the properties.

Declaration

public virtual void ResetCalibration()

Starting()

Susbcribes to UndistortRectifyImages.

Declaration

protected override void Starting()

Overrides

Controller.Starting()

Stopping()

Unsusbcribes from UndistortRectifyImages.

Declaration

protected override void Stopping()

Overrides

Controller.Stopping()

Events

Calibrated

Called when IsCalibrated is set to true.

Declaration

public event Action Calibrated

Event Type

Type	Description
Action

Implements

IArucoCameraController

IController

IHasDetectorParameter