cv::aruco::CharucoBoard Class Reference

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 <opencv2/aruco/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
Public Member Functions inherited from cv::aruco::Board
void	setIds (InputArray ids)
	Set ids vector. More...

Static Public Member Functions
static Ptr< CharucoBoard >	create (int squaresX, int squaresY, float squareLength, float markerLength, const Ptr< Dictionary > &dictionary)
	Create a CharucoBoard object. More...
Static Public Member Functions inherited from cv::aruco::Board
static Ptr< Board >	create (InputArrayOfArrays objPoints, const Ptr< Dictionary > &dictionary, InputArray ids)
	Provide way to create Board by passing necessary data. Specially needed in Python. 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
Ptr< Dictionary >	dictionary
	the dictionary of markers employed for this board More...
std::vector< int >	ids
std::vector< std::vector< Point3f > >	objPoints
Point3f	rightBottomBorder
	coordinate of the bottom right corner of the board, is set when calling the function create() More...

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

create()

static Ptr<CharucoBoard> cv::aruco::CharucoBoard::create ( int  squaresX, int  squaresY, float  squareLength, float  markerLength, const Ptr< Dictionary > &  dictionary  )

static

Python:
	cv.aruco.CharucoBoard.create(	squaresX, squaresY, squareLength, markerLength, dictionary	) ->	retval
	cv.aruco.CharucoBoard_create(	squaresX, squaresY, squareLength, markerLength, dictionary	) ->	retval

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.

draw()

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

Python:
	cv.aruco.CharucoBoard.draw(	outSize[, img[, marginSize[, borderBits]]]	) ->	img

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.

getChessboardSize()

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

inline

Python:
	cv.aruco.CharucoBoard.getChessboardSize(		) ->	retval

getMarkerLength()

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

inline

Python:
	cv.aruco.CharucoBoard.getMarkerLength(		) ->	retval

getSquareLength()

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

inline

Python:
	cv.aruco.CharucoBoard.getSquareLength(		) ->	retval

Member Data Documentation

chessboardCorners

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

nearestMarkerCorners

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

nearestMarkerIdx

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

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

• opencv2/aruco/charuco.hpp