Package org.opencv.objdetect

Class CharucoBoard

java.lang.Object
org.opencv.objdetect.Board
org.opencv.objdetect.CharucoBoard
public class CharucoBoard
extends Board
ChArUco board is a planar chessboard 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. The board image can be drawn using generateImage() method.

  • Constructor Details

    • CharucoBoard

      protected CharucoBoard​(long addr)

    • CharucoBoard

      public CharucoBoard​(Size size, float squareLength, float markerLength, Dictionary dictionary, Mat ids)
      CharucoBoard constructor
      Parameters:
      size - number of chessboard squares in x and y directions
      squareLength - 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
      ids - array of id used markers The first markers in the dictionary are used to fill the white chessboard squares.

    • CharucoBoard

      public CharucoBoard​(Size size, float squareLength, float markerLength, Dictionary dictionary)
      CharucoBoard constructor
      Parameters:
      size - number of chessboard squares in x and y directions
      squareLength - 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.

  • Method Details

    • __fromPtr__

      public static CharucoBoard __fromPtr__​(long addr)

    • setLegacyPattern

      public void setLegacyPattern​(boolean legacyPattern)
      set legacy chessboard pattern. Legacy setting creates chessboard patterns starting with a white box in the upper left corner if there is an even row count of chessboard boxes, otherwise it starts with a black box. This setting ensures compatibility to patterns created with OpenCV versions prior OpenCV 4.6.0. See https://github.com/opencv/opencv/issues/23152. Default value: false.
      Parameters:
      legacyPattern - automatically generated

    • getLegacyPattern

      public boolean getLegacyPattern()

    • getChessboardSize

      public Size getChessboardSize()

    • getSquareLength

      public float getSquareLength()

    • getMarkerLength

      public float getMarkerLength()

    • getChessboardCorners

      public MatOfPoint3f getChessboardCorners()
      get CharucoBoard::chessboardCorners
      Returns:
      automatically generated

    • checkCharucoCornersCollinear

      public boolean checkCharucoCornersCollinear​(Mat charucoIds)
      check whether the ChArUco markers are collinear
      Parameters:
      charucoIds - list of identifiers for each corner in charucoCorners per frame.
      Returns:
      bool value, 1 (true) if detected corners form a line, 0 (false) if they do not. solvePnP, calibration functions will fail if the corners are collinear (true). The number of ids in charucoIDs should be <= the number of chessboard corners in the board. This functions checks whether the charuco corners are on a straight line (returns true, if so), or not (false). Axis parallel, as well as diagonal and other straight lines detected. Degenerate cases: for number of charucoIDs <= 2,the function returns true.

    • finalize

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