ChArUco board is a planar chessboard where the markers are placed inside the white squares of a chessboard.
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| CharucoBoard (const Size &size, float squareLength, float markerLength, const Dictionary &dictionary, InputArray ids=noArray()) |
| CharucoBoard constructor. More...
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| CharucoBoard () |
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bool | checkCharucoCornersCollinear (InputArray charucoIds) const |
| check whether the ChArUco markers are collinear More...
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std::vector< Point3f > | getChessboardCorners () const |
| get CharucoBoard::chessboardCorners More...
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Size | getChessboardSize () const |
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float | getMarkerLength () const |
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std::vector< std::vector< int > > | getNearestMarkerCorners () const |
| get CharucoBoard::nearestMarkerCorners More...
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std::vector< std::vector< int > > | getNearestMarkerIdx () const |
| get CharucoBoard::nearestMarkerIdx More...
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float | getSquareLength () const |
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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 to call solvePnP() More...
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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.
bool cv::aruco::CharucoBoard::checkCharucoCornersCollinear |
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InputArray |
charucoIds | ) |
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| cv.aruco.CharucoBoard.checkCharucoCornersCollinear( | charucoIds | ) -> | retval |
check whether the ChArUco markers are collinear
- Parameters
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charucoIds | list 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.