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API Reference

ChArUcal's public API is organized into four modules. Here is a quick map of everything you are likely to need:

Calibration workflow

Class / Function Module Description
CalibrationPattern charucal.pattern Describes the physical ChArUco board
Calibrator charucal.calibrate Detects corners and computes homographies
CalibrationCapture charucal.calibrate Holds detected corners for one moment in time
CalibrationResult charucal.calibrate Holds the final homographies; can be saved and loaded

Runtime transformation

Class Module Description
CameraTransformer charucal.transform Transforms live frames into a top-down view
RenderDistance charucal.transform Specifies how much of the scene to render

Low-level

Class Module Description
CalibrationGrid charucal.grid Internal grid of detected ChArUco corners