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  3. FOpenCVHelper

FOpenCVHelper

API > API/Plugins > API/Plugins/OpenCVHelper

References

   
Module OpenCVHelper
Header /Engine/Plugins/Runtime/OpenCV/Source/OpenCVHelper/Public/OpenCVHelper.h
Include #include "OpenCVHelper.h"

Syntax

class FOpenCVHelper

Functions

  Type Name Description
Public function Static double

ComputeReprojectionError ( const TArray< FVector >& ObjectPoints,
const TArray< FVector2f >& ImagePoints,
const FVector2D& FocalLength,
const FVector2D& ImageCenter,
const FTransform& CameraPose
)

 Project the 3D objects points to the 2D image plane represented by the input camera intrinsics and pose, and compute the reprojection error (euclidean distance) between the input image points and the reprojected points
Public function Static void

ConvertCoordinateSystem ( FTransform& Transform,
const EAxis DstXInSrcAxis,
const EAxis DstYInSrcAxis,
const EAxis DstZInSrcAxis
)

 Converts in-place the coordinate system of the given FTransform by specifying the source axes in terms of the destination axes
Public function Static void

ConvertOpenCVToUnreal ( FTransform& Transform
)

 Converts in-place an FTransform in OpenCV coordinates to Unreal coordinates
Public function Static FVector

ConvertOpenCVToUnreal ( const FVector& Transform
)

 Converts an FTransform in OpenCV coordinates to Unreal coordinates
Public function Static void

ConvertUnrealToOpenCV ( FTransform& Transform
)

 Converts in-place an FTransform in Unreal coordinates to OpenCV coordinates
Public function Static FVector

ConvertUnrealToOpenCV ( const FVector& Transform
)

 Converts an FVector in Unreal coordinates to OpenCV coordinates
Public function Static bool

DrawArucoMarkers ( const TArray< FArucoMarker >& Markers,
UTexture2D* DebugTexture
)

 Draw a debug view of the input aruco markers on top of the input texture
Public function Static bool

DrawCheckerboardCorners ( const TArray< FVector2f >& Corners,
FIntPoint CheckerboardDimensions,
UTexture2D* DebugTexture
)

 Draw a debug view of the input checkerboard corners on top of the input texture
Public function Static bool

DrawCheckerboardCorners ( const TArray< FVector2D >& Corners,
FIntPoint CheckerboardDimensions,
UTexture2D* DebugTexture
)

 Draw a debug view of the input checkerboard corners on top of the input texture
Public function Static bool

FitLine3D ( const TArray< FVector >& InPoints,
FVector& OutLine,
FVector& OutPointOnLine
)

 Find a 3D fit line that passes through the input points, as well as a point on that line
Public function Static bool

IdentifyArucoMarkers ( TArray< FColor >& Image,
FIntPoint ImageSize,
EArucoDictionary DictionaryName,
TArray< FArucoMarker >& OutMarkers
)

 Identify a set of aruco markers in the input image that belong to the input aruco dictionary, and output the marker IDs and the 2D coordinates of the 4 corners of each marker
Public function Static bool

IdentifyCheckerboard ( TArray< FColor >& Image,
FIntPoint ImageSize,
FIntPoint CheckerboardDimensions,
TArray< FVector2f >& OutCorners
)

 Identify a checkerboard pattern in the input image with the given checkerboard dimensions (columns x rows), and output the 2D coordinates of the intersections between each checkerboard square
Public function Static bool

IdentifyCheckerboard ( TArray< FColor >& Image,
FIntPoint ImageSize,
FIntRect RegionOfInterest,
FIntPoint CheckerboardDimensions,
TArray< FVector2f >& OutCorners
)

 Identify a checkerboard pattern in a region of interest of the input image with the given checkerboard dimensions (columns x rows), and output the 2D coordinates of the intersections between each checkerboard square
Public function Static bool

ProjectPoints ( const TArray< FVector >& ObjectPoints,
const FVector2D& FocalLength,
const FVector2D& ImageCenter,
const TArray< float >& DistortionParameters,
const FTransform& CameraPose,
TArray< FVector2f >& OutImagePoints
)

 Project the input object points to the 2D image plane defined by the input camera intrinsics and camera pose
Public function Static bool

ProjectPoints ( const TArray< FVector >& ObjectPoints,
const FVector2D& FocalLength,
const FVector2D& ImageCenter,
const TArray< float >& DistortionParameters,
const FTransform& CameraPose,
TArray< FVector2D >& OutImagePoints
)

 Project the input object points to the 2D image plane defined by the input camera intrinsics and camera pose
Public function Static bool

SolvePnP ( const TArray< FVector >& ObjectPoints,
const TArray< FVector2f >& ImagePoints,
const FVector2D& FocalLength,
const FVector2D& ImageCenter,
const TArray< float >& DistortionParameters,
FTransform& OutCameraPose
)

 Compute the camera pose that minimizes the reprojection error of the input object points and image points
Public function Static const FVector &

UnitVectorFromAxisEnum ( const EAxis Axis
)

  

Enums

  Type Name Description
Public enum EAxis Enumeration to specify any cartesian axis in positive or negative directions  

Constants

Name Description
UnitVectors These axes must match the order in which they are declared in EAxis.

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