Spatial.ArucoDictionary

static ArucoDict ArucoDictionary{ get set }

Description

Which family of ArUco markers SpatialCapability.Aruco looks for. Markers from other dictionaries aren’t detected, so this must match the markers you printed! Default lets StereoKit pick. Changing it while ArUco markers are being tracked restarts that tracking.

Examples

Finding an ArUco marker by id

The dictionary must match the markers you printed, or they won’t be detected. AprilTags work the same way, via AprilTagDictionary.

public void StartAruco()
{
	Spatial.ArucoDictionary = ArucoDict.Dict4x4_50;
	// A 10cm printed marker, used by runtimes that support known sizes
	Spatial.SetMarkerSize(MarkerType.Aruco, 0.1f);
	// Markers taped to a wall can have their pose refined over time
	Spatial.SetMarkerStationary(MarkerType.Aruco, true);
	Spatial.Request(SpatialCapability.Aruco);
}

static bool FindMarker(uint id, out Pose pose)
{
	foreach (SpatialEntity marker in SpatialEntity.With(SpatialComponent.Marker))
	{
		if (marker.TryGetMarker(out MarkerType type, out uint markerId) && type == MarkerType.Aruco && markerId == id)
			return marker.TryGetBounds2D(out pose, out _);
	}
	pose = Pose.Identity;
	return false;
}

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