Class 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 Detail

      • CharucoBoard

        protected CharucoBoard​(long addr)
      • CharucoBoard

        public CharucoBoard()
    • 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