Class cv::aruco::Board#

Board of ArUco markers. View details

#include <opencv2/objdetect/aruco_board.hpp>

Collaboration diagram for cv::aruco::Board:

cv::aruco::Board Node1 cv::aruco::Board   + Board() + Board() + generateImage() + getDictionary() + getIds() + getObjPoints() + getRightBottomCorner() + matchImagePoints() # Board() Node2 Ptr< Impl >     Node2->Node1 #impl

cv::aruco::Board Node1 cv::aruco::Board   + Board() + Board() + generateImage() + getDictionary() + getIds() + getObjPoints() + getRightBottomCorner() + matchImagePoints() # Board() Node2 Ptr< Impl >     Node2->Node1 #impl

Detailed Description#

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.

Constructor & Destructor Documentation#

Board()#

cv::aruco::Board::Board()

Python:

cv.aruco.Board(objPoints, dictionary, ids) -> <aruco_Board object>

Board()#

cv::aruco::Board::Board(
InputArrayOfArrays objPoints,
const Dictionary & dictionary,
InputArray ids )

Python:

cv.aruco.Board(objPoints, dictionary, ids) -> <aruco_Board object>

Common Board constructor.

Parameters

  • 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()#

cv::aruco::Board::Board(const Ptr< Impl > & impl)

Python:

cv.aruco.Board(objPoints, dictionary, ids) -> <aruco_Board object>

Member Function Documentation#

generateImage()#

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

Python:

cv.aruco.Board.generateImage(outSize[, img[, marginSize[, borderBits]]]) -> img

Draw a planar board.

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

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.

getDictionary()#

const Dictionary & cv::aruco::Board::getDictionary()

Python:

cv.aruco.Board.getDictionary() -> retval

return the Dictionary of markers employed for this board

getIds()#

const std::vector< int > & cv::aruco::Board::getIds()

Python:

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()

Python:

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()

Python:

cv.aruco.Board.getRightBottomCorner() -> retval

get coordinate of the bottom right corner of the board, is set when calling the function create()

matchImagePoints()#

void cv::aruco::Board::matchImagePoints(
InputArrayOfArrays detectedCorners,
InputArray detectedIds,
OutputArray objPoints,
OutputArray imgPoints )

Python:

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()

See also

solvePnP

Parameters

  • detectedCorners — List of detected marker corners of the board. For cv::Board and cv::GridBoard the method expects std::vector<std::vector> or std::vector with Aruco marker corners. For cv::CharucoBoard the method expects std::vector 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 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

Member Data Documentation#

impl#

Ptr< Impl > cv::aruco::Board::impl

Source file#

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