Trait opencv::objdetect::BoardTraitConst

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pub trait BoardTraitConst {
    // Required method
    fn as_raw_Board(&self) -> *const c_void;

    // Provided methods
    fn get_dictionary(&self) -> Result<Dictionary> { ... }
    fn get_obj_points(&self) -> Result<Vector<Vector<Point3f>>> { ... }
    fn get_ids(&self) -> Result<Vector<i32>> { ... }
    fn get_right_bottom_corner(&self) -> Result<Point3f> { ... }
    fn match_image_points(
        &self,
        detected_corners: &impl ToInputArray,
        detected_ids: &impl ToInputArray,
        obj_points: &mut impl ToOutputArray,
        img_points: &mut impl ToOutputArray
    ) -> Result<()> { ... }
    fn generate_image(
        &self,
        out_size: Size,
        img: &mut impl ToOutputArray,
        margin_size: i32,
        border_bits: i32
    ) -> Result<()> { ... }
    fn generate_image_def(
        &self,
        out_size: Size,
        img: &mut impl ToOutputArray
    ) -> Result<()> { ... }
}
Expand description

Constant methods for crate::objdetect::Board

Required Methods§

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fn as_raw_Board(&self) -> *const c_void

Provided Methods§

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fn get_dictionary(&self) -> Result<Dictionary>

return the Dictionary of markers employed for this board

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fn get_obj_points(&self) -> Result<Vector<Vector<Point3f>>>

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.

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fn get_ids(&self) -> Result<Vector<i32>>

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

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fn get_right_bottom_corner(&self) -> Result<Point3f>

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

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fn match_image_points( &self, detected_corners: &impl ToInputArray, detected_ids: &impl ToInputArray, obj_points: &mut impl ToOutputArray, img_points: &mut impl ToOutputArray ) -> Result<()>

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> or std::vector with Aruco marker corners. For cv::CharucoBoard the method expects std::vector 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 or Mat.

  • objPoints: Vector of marker points in the board coordinate space. For any Board class the method expects std::vectorcv::Point3f objectPoints or cv::Mat

  • imgPoints: Vector of marker points in the image coordinate space. For any Board class the method expects std::vectorcv::Point2f objectPoints or cv::Mat

§See also

solvePnP

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fn generate_image( &self, out_size: Size, img: &mut impl ToOutputArray, margin_size: i32, border_bits: i32 ) -> Result<()>

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.

§C++ default parameters
  • margin_size: 0
  • border_bits: 1
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fn generate_image_def( &self, out_size: Size, img: &mut impl ToOutputArray ) -> Result<()>

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.

§Note

This alternative version of BoardTraitConst::generate_image function uses the following default values for its arguments:

  • margin_size: 0
  • border_bits: 1

Object Safety§

This trait is not object safe.

Implementors§