CharucoTarget

SUMMARY

CharucoTarget is a chessboard with embedded ArUco markers. Per-corner ids let the detector recover partial views, the recommended target for eye-in-hand and multi-camera calibration. See All Supported Targets for the other target types.

The Skill

from telekinesis.axon.targets import CharucoTarget

charuco = CharucoTarget(
    squares_x=6,
    squares_y=9,
    square_length=0.012,
    marker_length=0.009,
    aruco_dict_id="DICT_4X4_1000",  # or the raw cv2.aruco.DICT_4X4_1000 int
)

A ChArUco board: chessboard squares with embedded ArUco markers

Initialization

Parameter	Type	Description
squares_x, squares_y	int	Chessboard grid dimensions, in squares.
square_length	float	Chessboard square edge length, in meters.
marker_length	float	ArUco marker edge length, in meters.
aruco_dict_id	int | str	ArUco dictionary, by OpenCV enum value or name (e.g. "DICT_4X4_1000"). Defaults to DICT_4X4_1000.

Skills

Method	Returns	Description
detect_and_annotate(image)	(ndarray, int)	Detect ChArUco corners on a BGR image; returns the annotated image and the number of corners found. The only target type that currently supports it.