Class CharucoBoard

java.lang.Object
org.opencv.aruco.Board
org.opencv.aruco.CharucoBoard

public class CharucoBoard extends Board
ChArUco board Specific class for ChArUco boards. A ChArUco board is a planar board where the markers are placed inside the white squares of a chessboard. The benefits of ChArUco boards is that they provide both, ArUco markers versatility and chessboard corner precision, which is important for calibration and pose estimation. This class also allows the easy creation and drawing of ChArUco boards.
  • Constructor Details

    • CharucoBoard

      protected CharucoBoard(long addr)
  • Method Details

    • __fromPtr__

      public static CharucoBoard __fromPtr__(long addr)
    • draw

      public void draw(Size outSize, Mat img, int marginSize, int borderBits)
      Draw a ChArUco board
      Parameters:
      outSize - size of the output image in pixels.
      img - output image with the board. The size of this image will be outSize and the board will be on the center, keeping the board proportions.
      marginSize - minimum margins (in pixels) of the board in the output image
      borderBits - width of the marker borders. This function return the image of the ChArUco board, ready to be printed.
    • draw

      public void draw(Size outSize, Mat img, int marginSize)
      Draw a ChArUco board
      Parameters:
      outSize - size of the output image in pixels.
      img - output image with the board. The size of this image will be outSize and the board will be on the center, keeping the board proportions.
      marginSize - minimum margins (in pixels) of the board in the output image This function return the image of the ChArUco board, ready to be printed.
    • draw

      public void draw(Size outSize, Mat img)
      Draw a ChArUco board
      Parameters:
      outSize - size of the output image in pixels.
      img - output image with the board. The size of this image will be outSize and the board will be on the center, keeping the board proportions. This function return the image of the ChArUco board, ready to be printed.
    • create

      public static CharucoBoard create(int squaresX, int squaresY, float squareLength, float markerLength, Dictionary dictionary)
      Create a CharucoBoard object
      Parameters:
      squaresX - number of chessboard squares in X direction
      squaresY - number of chessboard squares in Y direction
      squareLength - chessboard square side length (normally in meters)
      markerLength - marker side length (same unit than squareLength)
      dictionary - dictionary of markers indicating the type of markers. The first markers in the dictionary are used to fill the white chessboard squares.
      Returns:
      the output CharucoBoard object This functions creates a CharucoBoard object given the number of squares in each direction and the size of the markers and chessboard squares.
    • getChessboardSize

      public Size getChessboardSize()
    • getSquareLength

      public float getSquareLength()
    • getMarkerLength

      public float getMarkerLength()
    • get_chessboardCorners

      public MatOfPoint3f get_chessboardCorners()
    • finalize

      protected void finalize() throws Throwable
      Overrides:
      finalize in class Board
      Throws:
      Throwable