@spec charucoBoard(
  {number(), number()},
  number(),
  number(),
  Evision.ArUco.Dictionary.t()
) ::
  t() | {:error, String.t()}

CharucoBoard constructor

Positional Arguments

• size: Size.

  number of chessboard squares in x and y directions

• squareLength: float.

  squareLength chessboard square side length (normally in meters)

• markerLength: float.

  marker side length (same unit than squareLength)

• dictionary: Dictionary.

  dictionary of markers indicating the type of markers

Keyword Arguments

• ids: Evision.Mat.

  array of id used markers The first markers in the dictionary are used to fill the white chessboard squares.

Return

• self: Evision.ArUco.CharucoBoard.t()

Python prototype (for reference only):

CharucoBoard(size, squareLength, markerLength, dictionary[, ids]) -> <aruco_CharucoBoard object>

@spec charucoBoard(
  {number(), number()},
  number(),
  number(),
  Evision.ArUco.Dictionary.t(),
  [{:ids, term()}] | nil
) :: t() | {:error, String.t()}

CharucoBoard constructor

Positional Arguments

• size: Size.

  number of chessboard squares in x and y directions

• squareLength: float.

  squareLength chessboard square side length (normally in meters)

• markerLength: float.

  marker side length (same unit than squareLength)

• dictionary: Dictionary.

  dictionary of markers indicating the type of markers

Keyword Arguments

• ids: Evision.Mat.

  array of id used markers The first markers in the dictionary are used to fill the white chessboard squares.

Return

• self: Evision.ArUco.CharucoBoard.t()

Python prototype (for reference only):

CharucoBoard(size, squareLength, markerLength, dictionary[, ids]) -> <aruco_CharucoBoard object>

@spec checkCharucoCornersCollinear(t(), Evision.Mat.maybe_mat_in()) ::
  boolean() | {:error, String.t()}

check whether the ChArUco markers are collinear

Positional Arguments

• self: Evision.ArUco.CharucoBoard.t()

• charucoIds: Evision.Mat.

  list of identifiers for each corner in charucoCorners per frame.

Return

• retval: bool

@return 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.

Python prototype (for reference only):

checkCharucoCornersCollinear(charucoIds) -> retval

@spec getChessboardCorners(Keyword.t()) :: any() | {:error, String.t()}

@spec getChessboardCorners(t()) ::
  [{number(), number(), number()}] | {:error, String.t()}

get CharucoBoard::chessboardCorners

Positional Arguments

• self: Evision.ArUco.CharucoBoard.t()

Return

• retval: [Point3f]

Python prototype (for reference only):

getChessboardCorners() -> retval

@spec getChessboardSize(Keyword.t()) :: any() | {:error, String.t()}

@spec getChessboardSize(t()) :: {number(), number()} | {:error, String.t()}

getChessboardSize

Positional Arguments

• self: Evision.ArUco.CharucoBoard.t()

Return

• retval: Size

Python prototype (for reference only):

getChessboardSize() -> retval

@spec getLegacyPattern(Keyword.t()) :: any() | {:error, String.t()}

@spec getLegacyPattern(t()) :: boolean() | {:error, String.t()}

getLegacyPattern

Positional Arguments

• self: Evision.ArUco.CharucoBoard.t()

Return

• retval: bool

Python prototype (for reference only):

getLegacyPattern() -> retval

@spec getMarkerLength(Keyword.t()) :: any() | {:error, String.t()}

@spec getMarkerLength(t()) :: number() | {:error, String.t()}

getMarkerLength

Positional Arguments

• self: Evision.ArUco.CharucoBoard.t()

Return

• retval: float

Python prototype (for reference only):

getMarkerLength() -> retval

@spec getSquareLength(Keyword.t()) :: any() | {:error, String.t()}

@spec getSquareLength(t()) :: number() | {:error, String.t()}

getSquareLength

Positional Arguments

• self: Evision.ArUco.CharucoBoard.t()

Return

• retval: float

Python prototype (for reference only):

getSquareLength() -> retval

@spec setLegacyPattern(t(), boolean()) :: t() | {:error, String.t()}

set legacy chessboard pattern.

Positional Arguments

• self: Evision.ArUco.CharucoBoard.t()
• legacyPattern: bool

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.

Python prototype (for reference only):

setLegacyPattern(legacyPattern) -> None