Struct opencv::aruco::CharucoBoard

pub struct CharucoBoard { /* private fields */ }

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.

Implementations

impl CharucoBoard

pub fn create(
    squares_x: i32,
    squares_y: i32,
    square_length: f32,
    marker_length: f32,
    dictionary: &Ptr<Dictionary>
) -> Result<Ptr<CharucoBoard>>

Create a CharucoBoard object

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.

Returns

the output 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.

Trait Implementations

impl BoardTrait for CharucoBoard

fn as_raw_mut_Board(&mut self) -> *mut c_void

fn set_obj_points(&mut self, val: Vector<Vector<Point3f>>)

array of object points of all the marker corners in the board each marker include its 4 corners in this order:

fn dictionary(&mut self) -> Ptr<Dictionary>

the dictionary of markers employed for this board

fn set_dictionary(&mut self, val: Ptr<Dictionary>)

the dictionary of markers employed for this board

fn set_ids(&mut self, val: Vector<i32>)

vector of the identifiers of the markers in the board (same size than objPoints) The identifiers refers to the board dictionary

fn set_right_bottom_border(&mut self, val: Point3f)

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

fn set_ids_1(&mut self, ids: &dyn ToInputArray) -> Result<()>

Set ids vector

impl BoardTraitConst for CharucoBoard

fn as_raw_Board(&self) -> *const c_void

fn obj_points(&self) -> Vector<Vector<Point3f>>

array of object points of all the marker corners in the board each marker include its 4 corners in this order:

fn ids(&self) -> Vector<i32>

vector of the identifiers of the markers in the board (same size than objPoints) The identifiers refers to the board dictionary

fn right_bottom_border(&self) -> Point3f

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

impl Boxed for CharucoBoard

unsafe fn from_raw(ptr: *mut c_void) -> Self

Wrap the specified raw pointer

fn into_raw(self) -> *mut c_void

Return an the underlying raw pointer while consuming this wrapper.

fn as_raw(&self) -> *const c_void

Return the underlying raw pointer.

fn as_raw_mut(&mut self) -> *mut c_void

Return the underlying mutable raw pointer

impl CharucoBoardTrait for CharucoBoard

fn as_raw_mut_CharucoBoard(&mut self) -> *mut c_void

fn set_chessboard_corners(&mut self, val: Vector<Point3f>)

fn set_nearest_marker_idx(&mut self, val: Vector<Vector<i32>>)

fn set_nearest_marker_corners(&mut self, val: Vector<Vector<i32>>)

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

Draw a ChArUco board

impl CharucoBoardTraitConst for CharucoBoard

fn as_raw_CharucoBoard(&self) -> *const c_void

fn chessboard_corners(&self) -> Vector<Point3f>

fn nearest_marker_idx(&self) -> Vector<Vector<i32>>

fn nearest_marker_corners(&self) -> Vector<Vector<i32>>

fn get_chessboard_size(&self) -> Result<Size>

fn get_square_length(&self) -> Result<f32>

fn get_marker_length(&self) -> Result<f32>

impl Drop for CharucoBoard

fn drop(&mut self)

Executes the destructor for this type.

impl From<CharucoBoard> for Board

fn from(s: CharucoBoard) -> Self

Converts to this type from the input type.

impl Send for CharucoBoard