CharucoBoard

Objective-C

@interface CharucoBoard : Board

Swift

class CharucoBoard : Board

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.

Member of Aruco

Methods


                    
                    
                    +create:squaresY:squareLength:markerLength:dictionary:

Create a 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.

Declaration

Objective-C

+ (nonnull CharucoBoard *)create:(int)squaresX
                        squaresY:(int)squaresY
                    squareLength:(float)squareLength
                    markerLength:(float)markerLength
                      dictionary:(nonnull Dictionary *)dictionary;

Swift

class func create(squaresX: Int32, squaresY: Int32, squareLength: Float, markerLength: Float, dictionary: Dictionary) -> CharucoBoard

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.

Return Value

the output CharucoBoard object


                    
                    
                    -getChessboardSize

Declaration

Objective-C

- (Size2i*)getChessboardSize NS_SWIFT_NAME(getChessboardSize());

Swift

func getChessboardSize() -> Size2i


                    
                    
                    -getMarkerLength

Declaration

Objective-C

- (float)getMarkerLength NS_SWIFT_NAME(getMarkerLength());

Swift

func getMarkerLength() -> Float


                    
                    
                    -getSquareLength

Declaration

Objective-C

- (float)getSquareLength NS_SWIFT_NAME(getSquareLength());

Swift

func getSquareLength() -> Float


                    
                    
                    -draw:img:marginSize:borderBits:

Draw a ChArUco board

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

Declaration

Objective-C

- (void)draw:(nonnull Size2i *)outSize
           img:(nonnull Mat *)img
    marginSize:(int)marginSize
    borderBits:(int)borderBits;

Swift

func draw(outSize: Size2i, img: Mat, marginSize: Int32, borderBits: Int32)

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.


                    
                    
                    -draw:img:marginSize:

Draw a ChArUco board

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

Declaration

Objective-C

- (void)draw:(nonnull Size2i *)outSize
           img:(nonnull Mat *)img
    marginSize:(int)marginSize;

Swift

func draw(outSize: Size2i, img: Mat, marginSize: Int32)

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


                    
                    
                    -draw:img:

Draw a ChArUco board

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

Declaration

Objective-C

- (void)draw:(nonnull Size2i *)outSize img:(nonnull Mat *)img;

Swift

func draw(outSize: Size2i, img: Mat)

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.


                    
                    
                    chessboardCorners

Declaration

Objective-C

@property (readonly) Point3f* chessboardCorners

Swift

var chessboardCorners: Point3f { get }


                    
                    
                    nearestMarkerIdx

Declaration

Objective-C

@property (readonly) IntVector* nearestMarkerIdx

Swift

var nearestMarkerIdx: IntVector { get }


                    
                    
                    nearestMarkerCorners

Declaration

Objective-C

@property (readonly) IntVector* nearestMarkerCorners

Swift

var nearestMarkerCorners: IntVector { get }