OpenCV  4.9.0-dev
Open Source Computer Vision
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ChArUco board is a planar chessboard where the markers are placed inside the white squares of a chessboard. More...

#include <opencv2/objdetect/aruco_board.hpp>

Inheritance diagram for cv::aruco::CharucoBoard:
cv::aruco::Board

Public Member Functions

 CharucoBoard (const Size &size, float squareLength, float markerLength, const Dictionary &dictionary, InputArray ids=noArray())
 CharucoBoard constructor. More...
 
 CharucoBoard ()
 
bool checkCharucoCornersCollinear (InputArray charucoIds) const
 check whether the ChArUco markers are collinear More...
 
std::vector< Point3fgetChessboardCorners () const
 get CharucoBoard::chessboardCorners More...
 
Size getChessboardSize () const
 
bool getLegacyPattern () const
 
float getMarkerLength () const
 
std::vector< std::vector< int > > getNearestMarkerCorners () const
 get CharucoBoard::nearestMarkerCorners, for each charuco corner, nearest marker corner id of each marker More...
 
std::vector< std::vector< int > > getNearestMarkerIdx () const
 get CharucoBoard::nearestMarkerIdx, for each charuco corner, nearest marker index in ids array More...
 
float getSquareLength () const
 
void setLegacyPattern (bool legacyPattern)
 set legacy chessboard pattern. More...
 
- Public Member Functions inherited from cv::aruco::Board
 Board (InputArrayOfArrays objPoints, const Dictionary &dictionary, InputArray ids)
 Common Board constructor. More...
 
 Board ()
 
void generateImage (Size outSize, OutputArray img, int marginSize=0, int borderBits=1) const
 Draw a planar board. More...
 
const DictionarygetDictionary () const
 return the Dictionary of markers employed for this board More...
 
const std::vector< int > & getIds () const
 vector of the identifiers of the markers in the board (should be the same size as objPoints) More...
 
const std::vector< std::vector< Point3f > > & getObjPoints () const
 return array of object points of all the marker corners in the board. More...
 
const Point3fgetRightBottomCorner () const
 get coordinate of the bottom right corner of the board, is set when calling the function create() More...
 
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...
 

Additional Inherited Members

- Protected Member Functions inherited from cv::aruco::Board
 Board (const Ptr< Impl > &impl)
 
- Protected Attributes inherited from cv::aruco::Board
Ptr< Impl > impl
 

Detailed Description

ChArUco board is a planar chessboard 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. The board image can be drawn using generateImage() method.

Constructor & Destructor Documentation

◆ CharucoBoard() [1/2]

cv::aruco::CharucoBoard::CharucoBoard ( const Size size,
float  squareLength,
float  markerLength,
const Dictionary dictionary,
InputArray  ids = noArray() 
)
Python:
cv.aruco.CharucoBoard(size, squareLength, markerLength, dictionary[, ids]) -> <aruco_CharucoBoard object>

CharucoBoard constructor.

Parameters
sizenumber of chessboard squares in x and y directions
squareLengthsquareLength chessboard square side length (normally in meters)
markerLengthmarker side length (same unit than squareLength)
dictionarydictionary of markers indicating the type of markers
idsarray of id used markers The first markers in the dictionary are used to fill the white chessboard squares.

◆ CharucoBoard() [2/2]

cv::aruco::CharucoBoard::CharucoBoard ( )
Python:
cv.aruco.CharucoBoard(size, squareLength, markerLength, dictionary[, ids]) -> <aruco_CharucoBoard object>

Member Function Documentation

◆ checkCharucoCornersCollinear()

bool cv::aruco::CharucoBoard::checkCharucoCornersCollinear ( InputArray  charucoIds) const
Python:
cv.aruco.CharucoBoard.checkCharucoCornersCollinear(charucoIds) -> retval

check whether the ChArUco markers are collinear

Parameters
charucoIdslist of identifiers for each corner in charucoCorners per frame.
Returns
bool value, 1 (true) if detected corners form a line, 0 (false) if they do not. solvePnP, calibration functions will fail if the corners are collinear (true).

The number of ids in charucoIDs should be <= the number of chessboard corners in the board. This functions checks whether the charuco corners are on a straight line (returns true, if so), or not (false). Axis parallel, as well as diagonal and other straight lines detected. Degenerate cases: for number of charucoIDs <= 2,the function returns true.

◆ getChessboardCorners()

std::vector<Point3f> cv::aruco::CharucoBoard::getChessboardCorners ( ) const
Python:
cv.aruco.CharucoBoard.getChessboardCorners() -> retval

get CharucoBoard::chessboardCorners

◆ getChessboardSize()

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

◆ getLegacyPattern()

bool cv::aruco::CharucoBoard::getLegacyPattern ( ) const
Python:
cv.aruco.CharucoBoard.getLegacyPattern() -> retval

◆ getMarkerLength()

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

◆ getNearestMarkerCorners()

std::vector<std::vector<int> > cv::aruco::CharucoBoard::getNearestMarkerCorners ( ) const

get CharucoBoard::nearestMarkerCorners, for each charuco corner, nearest marker corner id of each marker

◆ getNearestMarkerIdx()

std::vector<std::vector<int> > cv::aruco::CharucoBoard::getNearestMarkerIdx ( ) const

get CharucoBoard::nearestMarkerIdx, for each charuco corner, nearest marker index in ids array

◆ getSquareLength()

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

◆ setLegacyPattern()

void cv::aruco::CharucoBoard::setLegacyPattern ( bool  legacyPattern)
Python:
cv.aruco.CharucoBoard.setLegacyPattern(legacyPattern) -> None

set legacy chessboard pattern.

Legacy setting creates chessboard patterns starting with a white box in the upper left corner if there is an even row count of chessboard boxes, otherwise it starts with a black box. This setting ensures compatibility to patterns created with OpenCV versions prior OpenCV 4.6.0. See https://github.com/opencv/opencv/issues/23152.

Default value: false.


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