Table of Contents

Class Board

Namespace
OpenCvSharp.Aruco
Assembly
OpenCvSharp.dll

Board of ArUco markers. A board is a set of markers in the 3D space with a common coordinate system. The common form of a board of marker is a planar (2D) board, however any 3D layout can be used. A Board object is composed by:

  • The object points of the marker corners, i.e. their coordinates respect to the board system.
  • The dictionary which indicates the type of markers of the board
  • The identifier of all the markers in the board.
public class Board : CvObject, IDisposable
Inheritance
Board
Implements
Derived
Inherited Members

Constructors

Board(IEnumerable<Point3f[]>, Dictionary, IEnumerable<int>)

Common Board constructor

Methods

GenerateImage(Size, OutputArray, int, int)

Draw a planar board. This function return the image of the board, ready to be printed.

GetDictionary()

return the Dictionary of markers employed for this board

GetIds()

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

GetObjPoints()

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

  • objPoints[i][0] - left-top point of i-th marker
  • objPoints[i][1] - right-top point of i-th marker
  • objPoints[i][2] - right-bottom point of i-th marker
  • objPoints[i][3] - left-bottom point of i-th marker Markers are placed in a certain order - row by row, left to right in every row. For M markers, the size is Mx4.
GetRightBottomCorner()

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

MatchImagePoints(Point2f[][], InputArray, OutputArray, OutputArray)

Given a board configuration and a set of detected markers, returns the corresponding image points and object points, can be used in solvePnP()

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