cv::aruco::CharucoBoard Class Reference

ChArUco board Specific class for ChArUco boards. A ChArUco board is a planar board 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. This class also allows the easy creation and drawing of ChArUco boards. More...

#include <charuco.hpp>

Inheritance diagram for cv::aruco::CharucoBoard:

Public Member Functions
CV_WRAP void	draw (Size outSize, OutputArray img, int marginSize=0, int borderBits=1)
	Draw a ChArUco board. More...
CV_WRAP Size	getChessboardSize () const
CV_WRAP float	getMarkerLength () const
CV_WRAP float	getSquareLength () const

Static Public Member Functions
static CV_WRAP Ptr< CharucoBoard >	create (int squaresX, int squaresY, float squareLength, float markerLength, const Ptr< Dictionary > &dictionary)
	Create a CharucoBoard object. More...
Static Public Member Functions inherited from cv::aruco::Board
static CV_WRAP Ptr< Board >	create (InputArrayOfArrays objPoints, const Ptr< Dictionary > &dictionary, InputArray ids)
	Provide way to create Board by passing necessary data. Specially needed in Python. More...

Public Attributes
CV_PROP std::vector< Point3f >	chessboardCorners
CV_PROP std::vector< std::vector< int > >	nearestMarkerCorners
CV_PROP std::vector< std::vector< int > >	nearestMarkerIdx
Public Attributes inherited from cv::aruco::Board
CV_PROP Ptr< Dictionary >	dictionary
	the dictionary of markers employed for this board More...
CV_PROP std::vector< int >	ids
CV_PROP std::vector< std::vector< Point3f > >	objPoints

Private Member Functions
void	_getNearestMarkerCorners ()

Private Attributes
float	_markerLength
float	_squareLength
int	_squaresX
int	_squaresY

Detailed Description

ChArUco board Specific class for ChArUco boards. A ChArUco board is a planar board 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. This class also allows the easy creation and drawing of ChArUco boards.

Definition at line 62 of file charuco.hpp.

Member Function Documentation

_getNearestMarkerCorners()

void cv::aruco::CharucoBoard::_getNearestMarkerCorners ( )

private

Fill nearestMarkerIdx and nearestMarkerCorners arrays

Definition at line 179 of file charuco.cpp.

create()

Ptr< CharucoBoard > cv::aruco::CharucoBoard::create ( int  squaresX, int  squaresY, float  squareLength, float  markerLength, const Ptr< Dictionary > &  dictionary  )

static

Create a CharucoBoard object.

Parameters

squaresX	number of chessboard squares in X direction
squaresY	number of chessboard squares in Y direction
squareLength	chessboard square side length (normally in meters)
markerLength	marker side length (same unit than squareLength)
dictionary	dictionary of markers indicating the type of markers. The first markers in the dictionary are used to fill the white chessboard squares.

Returns

the output CharucoBoard object

This functions creates a CharucoBoard object given the number of squares in each direction and the size of the markers and chessboard squares.

Definition at line 124 of file charuco.cpp.

draw()

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

Draw a ChArUco board.

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.

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

Definition at line 54 of file charuco.cpp.

getChessboardSize()

CV_WRAP Size cv::aruco::CharucoBoard::getChessboardSize ( ) const

inline

Definition at line 106 of file charuco.hpp.

getMarkerLength()

CV_WRAP float cv::aruco::CharucoBoard::getMarkerLength ( ) const

inline

Definition at line 116 of file charuco.hpp.

getSquareLength()

CV_WRAP float cv::aruco::CharucoBoard::getSquareLength ( ) const

inline

Definition at line 111 of file charuco.hpp.

Member Data Documentation

_markerLength

float cv::aruco::CharucoBoard::_markerLength

private

Definition at line 128 of file charuco.hpp.

_squareLength

float cv::aruco::CharucoBoard::_squareLength

private

Definition at line 125 of file charuco.hpp.

_squaresX

int cv::aruco::CharucoBoard::_squaresX

private

Definition at line 122 of file charuco.hpp.

_squaresY

int cv::aruco::CharucoBoard::_squaresY

private

Definition at line 122 of file charuco.hpp.

chessboardCorners

CV_PROP std::vector< Point3f > cv::aruco::CharucoBoard::chessboardCorners

Definition at line 66 of file charuco.hpp.

nearestMarkerCorners

CV_PROP std::vector< std::vector< int > > cv::aruco::CharucoBoard::nearestMarkerCorners

Definition at line 70 of file charuco.hpp.

nearestMarkerIdx

CV_PROP std::vector< std::vector< int > > cv::aruco::CharucoBoard::nearestMarkerIdx

Definition at line 69 of file charuco.hpp.

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

• charuco.hpp
• charuco.cpp