Struct CharucoBoard

pub struct CharucoBoard { /* private fields */ }

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.

Implementations

impl CharucoBoard

pub fn new( size: Size, square_length: f32, marker_length: f32, dictionary: &impl DictionaryTraitConst, ids: &impl ToInputArray, ) -> Result<CharucoBoard>

CharucoBoard constructor

Parameters

• 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.

C++ default parameters

• ids: noArray()

pub fn new_def( size: Size, square_length: f32, marker_length: f32, dictionary: &impl DictionaryTraitConst, ) -> Result<CharucoBoard>

CharucoBoard constructor

Parameters

• 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.

Note

This alternative version of [new] function uses the following default values for its arguments:

• ids: noArray()

pub fn default() -> Result<CharucoBoard>

Trait Implementations

impl BoardTrait for CharucoBoard

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

impl BoardTraitConst for CharucoBoard

fn as_raw_Board(&self) -> *const c_void

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

return the Dictionary of markers employed for this board

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

return array of object points of all the marker corners in the board.

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

vector of the identifiers of the markers in the board (should be the same size as objPoints)

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()

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()

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

Draw a planar board

fn generate_image_def( &self, out_size: Size, img: &mut impl ToOutputArray, ) -> Result<()>

Draw a planar board

impl Boxed for CharucoBoard

unsafe fn from_raw( ptr: <CharucoBoard as OpenCVFromExtern>::ExternReceive, ) -> Self

Wrap the specified raw pointer

fn into_raw(self) -> <CharucoBoard as OpenCVTypeExternContainer>::ExternSendMut

Return the underlying raw pointer while consuming this wrapper.

fn as_raw(&self) -> <CharucoBoard as OpenCVTypeExternContainer>::ExternSend

Return the underlying raw pointer.

fn as_raw_mut( &mut self, ) -> <CharucoBoard as OpenCVTypeExternContainer>::ExternSendMut

Return the underlying mutable raw pointer

impl CharucoBoardTrait for CharucoBoard

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

fn set_legacy_pattern(&mut self, legacy_pattern: bool) -> Result<()>

set legacy chessboard pattern.

impl CharucoBoardTraitConst for CharucoBoard

fn as_raw_CharucoBoard(&self) -> *const c_void

fn get_legacy_pattern(&self) -> Result<bool>

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

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

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

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

get CharucoBoard::chessboardCorners

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

get CharucoBoard::nearestMarkerIdx, for each charuco corner, nearest marker index in ids array

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

get CharucoBoard::nearestMarkerCorners, for each charuco corner, nearest marker corner id of each marker

fn check_charuco_corners_collinear( &self, charuco_ids: &impl ToInputArray, ) -> Result<bool>

check whether the ChArUco markers are collinear

impl Clone for CharucoBoard

fn clone(&self) -> Self

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for CharucoBoard

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

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