OpenCVForUnity.ObjdetectModule.CharucoBoard Class Reference

ChArUco board is a planar chessboard where the markers are placed inside the white squares of a chessboard. More...

Public Member Functions
	CharucoBoard (in Vec2d size, float squareLength, float markerLength, Dictionary dictionary)
	CharucoBoard constructor.
	CharucoBoard (in Vec2d size, float squareLength, float markerLength, Dictionary dictionary, Mat ids)
	CharucoBoard constructor.
	CharucoBoard (in(double width, double height) size, float squareLength, float markerLength, Dictionary dictionary)
	CharucoBoard constructor.
	CharucoBoard (in(double width, double height) size, float squareLength, float markerLength, Dictionary dictionary, Mat ids)
	CharucoBoard constructor.
	CharucoBoard (Size size, float squareLength, float markerLength, Dictionary dictionary)
	CharucoBoard constructor.
	CharucoBoard (Size size, float squareLength, float markerLength, Dictionary dictionary, Mat ids)
	CharucoBoard constructor.
bool	checkCharucoCornersCollinear (Mat charucoIds)
	check whether the ChArUco markers are collinear
MatOfPoint3f	getChessboardCorners ()
	get CharucoBoard::chessboardCorners
Size	getChessboardSize ()
double double height	getChessboardSizeAsValueTuple ()
Vec2d	getChessboardSizeAsVec2d ()
bool	getLegacyPattern ()
float	getMarkerLength ()
float	getSquareLength ()
void	setLegacyPattern (bool legacyPattern)
	set legacy chessboard pattern.
Public Member Functions inherited from OpenCVForUnity.ObjdetectModule.Board
	Board (List< Mat > objPoints, Dictionary dictionary, Mat ids)
	Common Board constructor.
void	generateImage (in Vec2d outSize, Mat img)
	Draw a planar board.
void	generateImage (in Vec2d outSize, Mat img, int marginSize)
	Draw a planar board.
void	generateImage (in Vec2d outSize, Mat img, int marginSize, int borderBits)
	Draw a planar board.
void	generateImage (in(double width, double height) outSize, Mat img)
	Draw a planar board.
void	generateImage (in(double width, double height) outSize, Mat img, int marginSize)
	Draw a planar board.
void	generateImage (in(double width, double height) outSize, Mat img, int marginSize, int borderBits)
	Draw a planar board.
void	generateImage (Size outSize, Mat img)
	Draw a planar board.
void	generateImage (Size outSize, Mat img, int marginSize)
	Draw a planar board.
void	generateImage (Size outSize, Mat img, int marginSize, int borderBits)
	Draw a planar board.
Dictionary	getDictionary ()
	return the Dictionary of markers employed for this board
MatOfInt	getIds ()
	vector of the identifiers of the markers in the board (should be the same size as objPoints)
IntPtr	getNativeObjAddr ()
List< MatOfPoint3f >	getObjPoints ()
	return array of object points of all the marker corners in the board.
Point3	getRightBottomCorner ()
	get coordinate of the bottom right corner of the board, is set when calling the function create()
double double double z	getRightBottomCornerAsValueTuple ()
Vec3d	getRightBottomCornerAsVec3d ()
	get coordinate of the bottom right corner of the board, is set when calling the function create()
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()
Public Member Functions inherited from OpenCVForUnity.DisposableObject
void	Dispose ()
void	ThrowIfDisposed ()

Static Public Member Functions
static new CharucoBoard	__fromPtr__ (IntPtr addr)
Static Public Member Functions inherited from OpenCVForUnity.ObjdetectModule.Board
static Board	__fromPtr__ (IntPtr addr)
Static Public Member Functions inherited from OpenCVForUnity.DisposableObject
static IntPtr	ThrowIfNullIntPtr (IntPtr ptr)

Public Attributes
double	width
Public Attributes inherited from OpenCVForUnity.ObjdetectModule.Board
double	x
	get coordinate of the bottom right corner of the board, is set when calling the function create()
double double	y

Protected Member Functions
override void	Dispose (bool disposing)
Protected Member Functions inherited from OpenCVForUnity.ObjdetectModule.Board
Protected Member Functions inherited from OpenCVForUnity.DisposableOpenCVObject
	DisposableOpenCVObject ()
	DisposableOpenCVObject (bool isEnabledDispose)
	DisposableOpenCVObject (IntPtr ptr)
	DisposableOpenCVObject (IntPtr ptr, bool isEnabledDispose)
override void	Dispose (bool disposing)
Protected Member Functions inherited from OpenCVForUnity.DisposableObject
	DisposableObject ()
	DisposableObject (bool isEnabledDispose)

Additional Inherited Members
Package Functions inherited from OpenCVForUnity.ObjdetectModule.Board
Package Attributes inherited from OpenCVForUnity.DisposableOpenCVObject
Properties inherited from OpenCVForUnity.DisposableObject
bool	IsDisposed [get, protected set]
bool	IsEnabledDispose [get, set]

Detailed Description

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.

Constructor & Destructor Documentation

CharucoBoard() [1/6]

OpenCVForUnity.ObjdetectModule.CharucoBoard.CharucoBoard	(	Size	size,
		float	squareLength,
		float	markerLength,
		Dictionary	dictionary,
		Mat	ids )

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.

CharucoBoard() [2/6]

OpenCVForUnity.ObjdetectModule.CharucoBoard.CharucoBoard	(	Size	size,
		float	squareLength,
		float	markerLength,
		Dictionary	dictionary )

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.

CharucoBoard() [3/6]

OpenCVForUnity.ObjdetectModule.CharucoBoard.CharucoBoard	(	in Vec2d	size,
		float	squareLength,
		float	markerLength,
		Dictionary	dictionary,
		Mat	ids )

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.

CharucoBoard() [4/6]

OpenCVForUnity.ObjdetectModule.CharucoBoard.CharucoBoard	(	in Vec2d	size,
		float	squareLength,
		float	markerLength,
		Dictionary	dictionary )

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.

CharucoBoard() [5/6]

OpenCVForUnity.ObjdetectModule.CharucoBoard.CharucoBoard	(	in(double width, double height)	size,
		float	squareLength,
		float	markerLength,
		Dictionary	dictionary,
		Mat	ids )

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.

CharucoBoard() [6/6]

OpenCVForUnity.ObjdetectModule.CharucoBoard.CharucoBoard	(	in(double width, double height)	size,
		float	squareLength,
		float	markerLength,
		Dictionary	dictionary )

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.

Member Function Documentation

__fromPtr__()

static new CharucoBoard OpenCVForUnity.ObjdetectModule.CharucoBoard.__fromPtr__ ( IntPtr addr )

static

checkCharucoCornersCollinear()

bool OpenCVForUnity.ObjdetectModule.CharucoBoard.checkCharucoCornersCollinear

(

Mat

charucoIds

)

check whether the ChArUco markers are collinear

Parameters

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.

Dispose()

override void OpenCVForUnity.ObjdetectModule.CharucoBoard.Dispose ( bool disposing )

protectedvirtual

Reimplemented from OpenCVForUnity.ObjdetectModule.Board.

getChessboardCorners()

MatOfPoint3f OpenCVForUnity.ObjdetectModule.CharucoBoard.getChessboardCorners

(

)

get CharucoBoard::chessboardCorners

getChessboardSize()

Size OpenCVForUnity.ObjdetectModule.CharucoBoard.getChessboardSize

(

)

getChessboardSizeAsValueTuple()

double double height OpenCVForUnity.ObjdetectModule.CharucoBoard.getChessboardSizeAsValueTuple

(

)

getChessboardSizeAsVec2d()

Vec2d OpenCVForUnity.ObjdetectModule.CharucoBoard.getChessboardSizeAsVec2d

(

)

getLegacyPattern()

bool OpenCVForUnity.ObjdetectModule.CharucoBoard.getLegacyPattern

(

)

getMarkerLength()

float OpenCVForUnity.ObjdetectModule.CharucoBoard.getMarkerLength

(

)

getSquareLength()

float OpenCVForUnity.ObjdetectModule.CharucoBoard.getSquareLength

(

)

setLegacyPattern()

void OpenCVForUnity.ObjdetectModule.CharucoBoard.setLegacyPattern

(

bool

legacyPattern

)

set legacy chessboard pattern.

Legacy setting creates chessboard patterns starting with a white box in the upper left corner if there is an even row count of chessboard boxes, otherwise it starts with a black box. This setting ensures compatibility to patterns created with OpenCV versions prior OpenCV 4.6.0. See https://github.com/opencv/opencv/issues/23152.

Default value: false.

Member Data Documentation

width

double OpenCVForUnity.ObjdetectModule.CharucoBoard.width

---

The documentation for this class was generated from the following files:

• OpenCVForUnity/Assets/OpenCVForUnity/org/opencv/objdetect/CharucoBoard.cs
• OpenCVForUnity/Assets/OpenCVForUnity/org/opencv/objdetect/CharucoBoard_Struct.cs
• OpenCVForUnity/Assets/OpenCVForUnity/org/opencv/objdetect/CharucoBoard_ValueTuple.cs