EstervQrCode
1.1.1
Library for qr code manipulation
ChArUco board is a planar chessboard where the markers are placed inside the white squares of a chessboard. More...
#include <aruco_board.hpp>
Public Member Functions | |
| CV_WRAP | CharucoBoard (const Size &size, float squareLength, float markerLength, const Dictionary &dictionary, InputArray ids=noArray()) |
| CharucoBoard constructor. More... | |
| CV_WRAP void | setLegacyPattern (bool legacyPattern) |
| set legacy chessboard pattern. More... | |
| CV_WRAP bool | getLegacyPattern () const |
| CV_WRAP Size | getChessboardSize () const |
| CV_WRAP float | getSquareLength () const |
| CV_WRAP float | getMarkerLength () const |
| CV_WRAP std::vector< Point3f > | getChessboardCorners () const |
| get CharucoBoard::chessboardCorners More... | |
| CV_PROP std::vector< std::vector< int > > | getNearestMarkerIdx () const |
| get CharucoBoard::nearestMarkerIdx, for each charuco corner, nearest marker index in ids array More... | |
| CV_PROP std::vector< std::vector< int > > | getNearestMarkerCorners () const |
| get CharucoBoard::nearestMarkerCorners, for each charuco corner, nearest marker corner id of each marker More... | |
| CV_WRAP bool | checkCharucoCornersCollinear (InputArray charucoIds) const |
| check whether the ChArUco markers are collinear More... | |
| CV_DEPRECATED_EXTERNAL | CharucoBoard () |
 Public Member Functions inherited from cv::aruco::Board | |
| CV_WRAP | Board (InputArrayOfArrays objPoints, const Dictionary &dictionary, InputArray ids) |
| Common Board constructor. More... | |
| CV_WRAP const Dictionary & | getDictionary () const |
| return the Dictionary of markers employed for this board More... | |
| CV_WRAP const std::vector< std::vector< Point3f > > & | getObjPoints () const |
| return array of object points of all the marker corners in the board. More... | |
| CV_WRAP const std::vector< int > & | getIds () const |
| vector of the identifiers of the markers in the board (should be the same size as objPoints) More... | |
| CV_WRAP const Point3f & | getRightBottomCorner () const |
| get coordinate of the bottom right corner of the board, is set when calling the function create() More... | |
| CV_WRAP 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() More... | |
| CV_WRAP void | generateImage (Size outSize, OutputArray img, int marginSize=0, int borderBits=1) const |
| Draw a planar board. More... | |
| CV_DEPRECATED_EXTERNAL | Board () |
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 |
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.
| CV_WRAP cv::aruco::CharucoBoard::CharucoBoard | ( | const Size & | size, |
| float | squareLength, | ||
| float | markerLength, | ||
| const Dictionary & | dictionary, | ||
| InputArray | ids = noArray() |
||
| ) |
CharucoBoard constructor.
| 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. |
| CV_DEPRECATED_EXTERNAL cv::aruco::CharucoBoard::CharucoBoard | ( | ) |
| CV_WRAP bool cv::aruco::CharucoBoard::checkCharucoCornersCollinear | ( | InputArray | charucoIds | ) | const |
check whether the ChArUco markers are collinear
| charucoIds | list of identifiers for each corner in charucoCorners per frame. |
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.
| CV_WRAP std::vector<Point3f> cv::aruco::CharucoBoard::getChessboardCorners | ( | ) | const |
get CharucoBoard::chessboardCorners
| CV_WRAP bool cv::aruco::CharucoBoard::getLegacyPattern | ( | ) | const |
| CV_WRAP float cv::aruco::CharucoBoard::getMarkerLength | ( | ) | const |
| CV_PROP std::vector<std::vector<int> > cv::aruco::CharucoBoard::getNearestMarkerCorners | ( | ) | const |
get CharucoBoard::nearestMarkerCorners, for each charuco corner, nearest marker corner id of each marker
| CV_PROP std::vector<std::vector<int> > cv::aruco::CharucoBoard::getNearestMarkerIdx | ( | ) | const |
get CharucoBoard::nearestMarkerIdx, for each charuco corner, nearest marker index in ids array
| CV_WRAP float cv::aruco::CharucoBoard::getSquareLength | ( | ) | const |
| CV_WRAP 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.