OpenCV  4.7.0-dev
Open Source Computer Vision
Public Member Functions | List of all members

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:

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
float getMarkerLength () const
std::vector< std::vector< int > > getNearestMarkerCorners () const
 get CharucoBoard::nearestMarkerCorners More...
std::vector< std::vector< int > > getNearestMarkerIdx () const
 get CharucoBoard::nearestMarkerIdx More...
float getSquareLength () const
- 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 to call 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() 

CharucoBoard constructor.

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 ( )

Member Function Documentation

◆ checkCharucoCornersCollinear()

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

check whether the ChArUco markers are collinear

charucoIdslist of identifiers for each corner in charucoCorners per frame.
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
cv.aruco.CharucoBoard.getChessboardCorners() -> retval

get CharucoBoard::chessboardCorners

◆ getChessboardSize()

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

◆ getMarkerLength()

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

◆ getNearestMarkerCorners()

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

get CharucoBoard::nearestMarkerCorners

◆ getNearestMarkerIdx()

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

get CharucoBoard::nearestMarkerIdx

◆ getSquareLength()

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

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