ChArUco board Specific class for ChArUco boards. A ChArUco board is a planar board where the markers are placed inside the white squares of a chessboard. The benefits of ChArUco boards is that they provide both, ArUco markers versatility and chessboard corner precision, which is important for calibration and pose estimation. This class also allows the easy creation and drawing of ChArUco boards. More...

#include "charuco.hpp"

Inheritance diagram for cv::aruco::CharucoBoard:

Public Member Functions
void	draw (Size outSize, OutputArray img, int marginSize=0, int borderBits=1)
	Draw a ChArUco board. More...

Size	getChessboardSize () const

float	getMarkerLength () const

float	getSquareLength () const

Static Public Member Functions
static CharucoBoard	create (int squaresX, int squaresY, float squareLength, float markerLength, Dictionary dictionary)
	Create a CharucoBoard object. More...

Public Attributes
std::vector< Point3f >	chessboardCorners

std::vector< std::vector< int > >	nearestMarkerCorners

std::vector< std::vector< int > >	nearestMarkerIdx

Public Attributes inherited from cv::aruco::Board
Dictionary	dictionary

std::vector< int >	ids

std::vector< std::vector< Point3f > >	objPoints

Detailed Description

ChArUco board Specific class for ChArUco boards. A ChArUco board is a planar board where the markers are placed inside the white squares of a chessboard. The benefits of ChArUco boards is that they provide both, ArUco markers versatility and chessboard corner precision, which is important for calibration and pose estimation. This class also allows the easy creation and drawing of ChArUco boards.

Member Function Documentation

static CharucoBoard cv::aruco::CharucoBoard::create	(	int	squaresX,
		int	squaresY,
		float	squareLength,
		float	markerLength,
		Dictionary	dictionary
	)

static

Create a CharucoBoard object.

Parameters

squaresX	number of chessboard squares in X direction
squaresY	number of chessboard squares in Y direction
squareLength	chessboard square side length (normally in meters)
markerLength	marker side length (same unit than squareLength)
dictionary	dictionary of markers indicating the type of markers. The first markers in the dictionary are used to fill the white chessboard squares.

Returns: the output CharucoBoard object

This functions creates a CharucoBoard object given the number of squares in each direction and the size of the markers and chessboard squares.

void cv::aruco::CharucoBoard::draw	(	Size	outSize,
		OutputArray	img,
		int	marginSize = `0`,
		int	borderBits = `1`
	)

Draw a ChArUco board.

Parameters

outSize	size of the output image in pixels.
img	output image with the board. The size of this image will be outSize and the board will be on the center, keeping the board proportions.
marginSize	minimum margins (in pixels) of the board in the output image
borderBits	width of the marker borders.

This function return the image of the ChArUco board, ready to be printed.

Size cv::aruco::CharucoBoard::getChessboardSize ( ) const

inline

float cv::aruco::CharucoBoard::getMarkerLength ( ) const

inline

float cv::aruco::CharucoBoard::getSquareLength ( ) const

inline

Member Data Documentation

std::vector< Point3f > cv::aruco::CharucoBoard::chessboardCorners

std::vector< std::vector< int > > cv::aruco::CharucoBoard::nearestMarkerCorners

std::vector< std::vector< int > > cv::aruco::CharucoBoard::nearestMarkerIdx

The documentation for this class was generated from the following file:

/build/master-contrib_docs-mac/opencv_contrib/modules/aruco/include/opencv2/aruco/charuco.hpp

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Member Function Documentation

Member Data Documentation