Class ArucoCameraUndistortion

Manages the processes of undistortion and rectification of Images. It's a time-consuming operation but it's necessary for cameras with an important distorsion for a good alignement of the images with the 3D content. Base class to reference in editor fields.

Inheritance
Object
Controller
ArucoCameraController
ArucoCameraUndistortion
ArucoCameraUndistortionGeneric<T>
Inherited Members
Namespace: ArucoUnity.Cameras.Undistortions
Assembly: Assembly-CSharp.dll
Syntax
public abstract class ArucoCameraUndistortion : ArucoCameraController, IArucoCameraUndistortion, IArucoCameraController, IController, IHasArucoCameraParameters

Fields

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CameraParametersFilePath

Declaration
protected string CameraParametersFilePath
Field Value
Type Description
String
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noDistCoeffs

Declaration
protected Cv.Mat noDistCoeffs
Field Value
Type Description
Cv.Mat
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noRectificationMatrix

Declaration
protected Cv.Mat noRectificationMatrix
Field Value
Type Description
Cv.Mat
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noROI

Declaration
protected Cv.Rect noROI
Field Value
Type Description
Cv.Rect
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remapThread

Declaration
protected ArucoCameraSeparateThread remapThread
Field Value
Type Description
ArucoCameraSeparateThread
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undistortionCameraMapsNumber

Declaration
public const int undistortionCameraMapsNumber = 2
Field Value
Type Description
Int32

Properties

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CameraParameters

Declaration
public ArucoCameraParameters CameraParameters { get; set; }
Property Value
Type Description
ArucoCameraParameters
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RectificationMatrices

Declaration
public Cv.Mat[] RectificationMatrices { get; protected set; }
Property Value
Type Description
Cv.Mat[]
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RectifiedCameraMatrices

Declaration
public Cv.Mat[] RectifiedCameraMatrices { get; protected set; }
Property Value
Type Description
Cv.Mat[]
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UndistortedDistCoeffs

Declaration
public Cv.Mat[] UndistortedDistCoeffs { get; }
Property Value
Type Description
Cv.Mat[]
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UndistortionRectificationMaps

Declaration
public Cv.Mat[][] UndistortionRectificationMaps { get; protected set; }
Property Value
Type Description
Cv.Mat[][]

Methods

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ArucoCamera_UndistortRectifyImages(Cv.Mat[], Byte[][])

Updates the undistortion thread with the images and stops if there was an exception from this thread.

Declaration
protected virtual void ArucoCamera_UndistortRectifyImages(Cv.Mat[] images, byte[][] imageDatas)
Parameters
Type Name Description
Cv.Mat[] images
Byte[][] imageDatas
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Configuring()

Initializes the properties from CameraParameters.

Declaration
protected override void Configuring()
Overrides
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InitializeRectification()

Initializes the RectificationMatrices of each camera image.

Declaration
protected abstract void InitializeRectification()
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InitializeUndistortionMaps()

Initializes the UndistortionRectificationMaps of each camera image.

Declaration
protected abstract void InitializeUndistortionMaps()
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Start()

Initializes the properties.

Declaration
protected override void Start()
Overrides
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Starting()

Calls InitializeRectification() and InitializeUndistortionMaps() and susbcribes to UndistortRectifyImages.

Declaration
protected override void Starting()
Overrides
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Stopping()

Unsusbcribes from UndistortRectifyImages.

Declaration
protected override void Stopping()
Overrides
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UndistortRectifyImages(Cv.Mat[])

Undistorts and rectifies the images using UndistortionRectificationMaps on a separate thread.

Declaration
protected virtual void UndistortRectifyImages(Cv.Mat[] images)
Parameters
Type Name Description
Cv.Mat[] images

Implements