Package org.opencv.aruco

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.

Field Summary

Fields inherited from class org.opencv.aruco.Board

nativeObj

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	CharucoBoard(long addr)

Method Summary

Modifier and Type	Method	Description
static CharucoBoard	__fromPtr__(long addr)
static CharucoBoard	create(int squaresX, int squaresY, float squareLength, float markerLength, Dictionary dictionary)	Create a CharucoBoard object
void	draw(Size outSize, Mat img)	Draw a ChArUco board
void	draw(Size outSize, Mat img, int marginSize)	Draw a ChArUco board
void	draw(Size outSize, Mat img, int marginSize, int borderBits)	Draw a ChArUco board
protected void	finalize()
MatOfPoint3f	get_chessboardCorners()
Size	getChessboardSize()
float	getMarkerLength()
float	getSquareLength()

Methods inherited from class org.opencv.aruco.Board

create, get_dictionary, get_ids, get_objPoints, getNativeObjAddr, set_ids, setIds

Methods inherited from class java.lang.Object

clone, equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

CharucoBoard

protected CharucoBoard(long addr)

Method Detail

__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 java.lang.Throwable

Overrides:

finalize in class Board

Throws:

java.lang.Throwable