Struct CharucoBoard 

pub struct CharucoBoard { /* private fields */ }

Precomputed board mapping helpers.

Implementations

impl CharucoBoard

pub fn new(spec: CharucoBoardSpec) -> Result<Self, CharucoBoardError>

Validate and create a board from a spec.

pub fn spec(&self) -> CharucoBoardSpec

Return the underlying board specification.

pub fn expected_inner_rows(&self) -> u32

Expected number of inner chessboard corners in vertical direction.

pub fn expected_inner_cols(&self) -> u32

Expected number of inner chessboard corners in horizontal direction.

pub fn marker_position(&self, id: u32) -> Option<BoardCell>

Mapping from marker id -> board cell (square) coordinates.

pub fn marker_cell(&self, marker_id: i32) -> Option<(usize, usize)>

Square-cell coordinates (sx, sy) for the given marker id.

These are chessboard square indices in the board coordinate system.

pub fn marker_surrounding_charuco_corners( &self, marker_id: i32, ) -> Option<[usize; 4]>

Return the four surrounding ChArUco corner ids for a marker (TL, TR, BR, BL).

Returns None if the marker is unknown or lies on the board border (i.e. not surrounded by 4 internal intersections).

pub fn marker_count(&self) -> usize

Number of markers on the board.

pub fn charuco_corner_id_from_board_corner(&self, i: i32, j: i32) -> Option<u32>

Convert a board corner coordinate (i, j) into a ChArUco corner id.

Returns None if the corner is outside the inner corner range.

pub fn charuco_object_xy(&self, id: u32) -> Option<Point2<f32>>

Physical 2D point (board plane) for a ChArUco corner id.

Coordinates are in the board reference frame with origin at the top-left board corner.

Trait Implementations

impl Clone for CharucoBoard

fn clone(&self) -> CharucoBoard

Returns a duplicate 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.