cv::aruco::Board Class Reference

Board of ArUco markers. More...

#include <opencv2/objdetect/aruco_board.hpp>

Inheritance diagram for cv::aruco::Board:

Public Member Functions
	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()

Protected Member Functions
	Board (const Ptr< Impl > &impl)

Protected Attributes
Ptr< Impl >	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() [1/3]

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

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() [2/3]

cv::aruco::Board::Board

(

)

Board() [3/3]

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

protected

Member Function Documentation

generateImage()

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

Draw a planar 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 board, ready to be printed.

getDictionary()

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

(

)

const

return the Dictionary of markers employed for this board

getIds()

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

(

)

const

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

(

)

const

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

(

)

const

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
	)		const

Given a board configuration and a set of detected markers, returns the corresponding image points and object points, can be used in solvePnP()

Parameters

detectedCorners	List of detected marker corners of the board. For cv::Board and cv::GridBoard the method expects std::vector<std::vector<Point2f>> or std::vector<Mat> with Aruco marker corners. For cv::CharucoBoard the method expects std::vector<Point2f> 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<int> 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

See also

solvePnP

Member Data Documentation

impl

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

protected

---

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

• opencv2/objdetect/aruco_board.hpp