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 ()

	CharucoBoard (const Size &size, float squareLength, float markerLength, const Dictionary &dictionary, InputArray ids=noArray())
	CharucoBoard constructor.

bool	checkCharucoCornersCollinear (InputArray charucoIds) const
	check whether the ChArUco markers are collinear

std::vector< Point3f >	getChessboardCorners () const
	get CharucoBoard::chessboardCorners

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

std::vector< std::vector< int > >	getNearestMarkerIdx () const
	get CharucoBoard::nearestMarkerIdx, for each charuco corner, nearest marker index in ids array

float	getSquareLength () const

void	setLegacyPattern (bool legacyPattern)
	set legacy chessboard pattern.

Public Member Functions inherited from cv::aruco::Board
	Board ()

	Board (InputArrayOfArrays objPoints, const Dictionary &dictionary, InputArray ids)
	Common Board constructor.

void	generateImage (Size outSize, OutputArray img, int marginSize=0, int borderBits=1) const
	Draw a planar board.

const Dictionary &	getDictionary () const
	return the Dictionary of markers employed for this board

const std::vector< int > &	getIds () const
	vector of the identifiers of the markers in the board (should be the same size as objPoints)

const std::vector< std::vector< Point3f > > &	getObjPoints () const
	return array of object points of all the marker corners in the board.

const Point3f &	getRightBottomCorner () const
	get coordinate of the bottom right corner of the board, is set when calling the function create()

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()

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.

Parameters

size	number of chessboard squares in x and y directions
squareLength	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
ids	array 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

check whether the ChArUco markers are collinear

Parameters

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.

◆ getChessboardCorners()

std::vector< Point3f > cv::aruco::CharucoBoard::getChessboardCorners ( ) const

get CharucoBoard::chessboardCorners

◆ getChessboardSize()

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

◆ getLegacyPattern()

bool cv::aruco::CharucoBoard::getLegacyPattern ( ) const

◆ getMarkerLength()

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

◆ 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

◆ setLegacyPattern()

void cv::aruco::CharucoBoard::setLegacyPattern ( bool legacyPattern )

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:

opencv2/objdetect/aruco_board.hpp

Public Member Functions

Additional Inherited Members