Board of ArUco markers.
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#include <opencv2/objdetect/aruco_board.hpp>
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| Board (InputArrayOfArrays objPoints, const Dictionary &dictionary, InputArray ids) |
| Common Board constructor. More...
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| Board () |
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void | generateImage (Size outSize, OutputArray img, int marginSize=0, int borderBits=1) const |
| Draw a planar board. More...
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const Dictionary & | getDictionary () const |
| return the Dictionary of markers employed for this board More...
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const std::vector< int > & | getIds () const |
| vector of the identifiers of the markers in the board (should be the same size as objPoints) More...
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const std::vector< std::vector< Point3f > > & | getObjPoints () const |
| return array of object points of all the marker corners in the board. More...
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const Point3f & | getRightBottomCorner () const |
| get coordinate of the bottom right corner of the board, is set when calling the function create() More...
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void | matchImagePoints (InputArrayOfArrays detectedCorners, InputArray detectedIds, OutputArray objPoints, OutputArray imgPoints) const |
| Given a board configuration and a set of detected markers, returns the corresponding image points and object points, can be used in solvePnP() More...
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Board of ArUco markers.
A board is a set of markers in the 3D space with a common coordinate system. The common form of a board of marker is a planar (2D) board, however any 3D layout can be used. A Board object is composed by:
- The object points of the marker corners, i.e. their coordinates respect to the board system.
- The dictionary which indicates the type of markers of the board
- The identifier of all the markers in the board.
◆ Board() [1/3]
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| cv.aruco.Board( | objPoints, dictionary, ids | ) -> | <aruco_Board object> |
Common Board constructor.
- Parameters
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objPoints | array of object points of all the marker corners in the board |
dictionary | the dictionary of markers employed for this board |
ids | vector of the identifiers of the markers in the board |
◆ Board() [2/3]
cv::aruco::Board::Board |
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| cv.aruco.Board( | objPoints, dictionary, ids | ) -> | <aruco_Board object> |
◆ Board() [3/3]
cv::aruco::Board::Board |
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const Ptr< Impl > & |
impl | ) |
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| cv.aruco.Board( | objPoints, dictionary, ids | ) -> | <aruco_Board object> |
◆ generateImage()
void cv::aruco::Board::generateImage |
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Size |
outSize, |
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OutputArray |
img, |
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int |
marginSize = 0 , |
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int |
borderBits = 1 |
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| const |
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| cv.aruco.Board.generateImage( | outSize[, img[, marginSize[, borderBits]]] | ) -> | img |
Draw a planar board.
- Parameters
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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 board, ready to be printed.
◆ getDictionary()
const Dictionary& cv::aruco::Board::getDictionary |
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const |
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| cv.aruco.Board.getDictionary( | | ) -> | retval |
return the Dictionary of markers employed for this board
◆ getIds()
const std::vector<int>& cv::aruco::Board::getIds |
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const |
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| cv.aruco.Board.getIds( | | ) -> | retval |
vector of the identifiers of the markers in the board (should be the same size as objPoints)
- Returns
- vector of the identifiers of the markers
◆ getObjPoints()
const std::vector<std::vector<Point3f> >& cv::aruco::Board::getObjPoints |
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| cv.aruco.Board.getObjPoints( | | ) -> | retval |
return array of object points of all the marker corners in the board.
Each marker include its 4 corners in this order:
- objPoints[i][0] - left-top point of i-th marker
- objPoints[i][1] - right-top point of i-th marker
- objPoints[i][2] - right-bottom point of i-th marker
- objPoints[i][3] - left-bottom point of i-th marker
Markers are placed in a certain order - row by row, left to right in every row. For M markers, the size is Mx4.
◆ getRightBottomCorner()
const Point3f& cv::aruco::Board::getRightBottomCorner |
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const |
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| cv.aruco.Board.getRightBottomCorner( | | ) -> | retval |
get coordinate of the bottom right corner of the board, is set when calling the function create()
◆ matchImagePoints()
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| cv.aruco.Board.matchImagePoints( | detectedCorners, detectedIds[, objPoints[, imgPoints]] | ) -> | objPoints, imgPoints |
Given a board configuration and a set of detected markers, returns the corresponding image points and object points, can be used in solvePnP()
- Parameters
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detectedCorners | List of detected marker corners of the board. For cv::Board and cv::GridBoard the method expects std::vector<std::vector<Point2f>> or std::vector<Mat> with Aruco marker corners. For cv::CharucoBoard the method expects std::vector<Point2f> or Mat with ChAruco corners (chess board corners matched with Aruco markers). |
detectedIds | List of identifiers for each marker or charuco corner. For any Board class the method expects std::vector<int> or Mat. |
objPoints | Vector of marker points in the board coordinate space. For any Board class the method expects std::vector<cv::Point3f> objectPoints or cv::Mat |
imgPoints | Vector of marker points in the image coordinate space. For any Board class the method expects std::vector<cv::Point2f> objectPoints or cv::Mat |
- See also
- solvePnP
◆ impl
Ptr<Impl> cv::aruco::Board::impl |
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protected |
The documentation for this class was generated from the following file: