ChArUco board is a planar chessboard where the markers are placed inside the white squares of a chessboard.
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| CharucoBoard (Size size, float squareLength, float markerLength, Dictionary dictionary, Mat ids) |
| CharucoBoard constructor. More...
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| CharucoBoard (Size size, float squareLength, float markerLength, Dictionary dictionary) |
| CharucoBoard constructor. More...
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void | setLegacyPattern (bool legacyPattern) |
| set legacy chessboard pattern. More...
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bool | getLegacyPattern () |
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Size | getChessboardSize () |
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float | getSquareLength () |
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float | getMarkerLength () |
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MatOfPoint3f | getChessboardCorners () |
| get CharucoBoard::chessboardCorners More...
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bool | checkCharucoCornersCollinear (Mat charucoIds) |
| check whether the ChArUco markers are collinear More...
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IntPtr | getNativeObjAddr () |
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| Board (List< Mat > objPoints, Dictionary dictionary, Mat ids) |
| Common Board constructor. More...
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Dictionary | getDictionary () |
| return the Dictionary of markers employed for this board More...
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List< MatOfPoint3f > | getObjPoints () |
| return array of object points of all the marker corners in the board. More...
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MatOfInt | getIds () |
| vector of the identifiers of the markers in the board (should be the same size as objPoints) More...
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Point3 | getRightBottomCorner () |
| get coordinate of the bottom right corner of the board, is set when calling the function create() More...
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void | matchImagePoints (List< Mat > detectedCorners, Mat detectedIds, Mat objPoints, Mat imgPoints) |
| Given a board configuration and a set of detected markers, returns the corresponding image points and object points, can be used in solvePnP() More...
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void | generateImage (Size outSize, Mat img, int marginSize, int borderBits) |
| Draw a planar board. More...
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void | generateImage (Size outSize, Mat img, int marginSize) |
| Draw a planar board. More...
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void | generateImage (Size outSize, Mat img) |
| Draw a planar board. More...
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void | Dispose () |
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void | ThrowIfDisposed () |
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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.
bool OpenCVForUnity.ObjdetectModule.CharucoBoard.checkCharucoCornersCollinear |
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Mat |
charucoIds | ) |
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check whether the ChArUco markers are collinear
- Parameters
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charucoIds | list of identifiers for each corner in charucoCorners per frame. |
- Returns
- bool value, 1 (true) if detected corners form a line, 0 (false) if they do not. solvePnP, calibration functions will fail if the corners are collinear (true).
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.