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CharucoBoard.html

CharucoBoard.html 21 KB
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  104. <div class="subTitle">org.opencv.objdetect</div>
    105. 

  105. <h2 title="Class CharucoBoard" class="title">Class CharucoBoard</h2>
    106. 

  106. </div>
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  107. <div class="contentContainer">
    108. 

  108. <ul class="inheritance">
    109. 

  109. <li>java.lang.Object</li>
    110. 

  110. <li>
    111. 

  111. <ul class="inheritance">
    112. 

  112. <li><a href="../../../org/opencv/objdetect/Board.html" title="class in org.opencv.objdetect">org.opencv.objdetect.Board</a></li>
    113. 

  113. <li>
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  114. <ul class="inheritance">
    115. 

  115. <li>org.opencv.objdetect.CharucoBoard</li>
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  126. <pre>public class <span class="typeNameLabel">CharucoBoard</span>
    127. 

  127. extends <a href="../../../org/opencv/objdetect/Board.html" title="class in org.opencv.objdetect">Board</a></pre>
    128. 

  128. <div class="block">ChArUco board is a planar chessboard where the markers are placed inside the white squares of a chessboard.
    129. 

  129. 

  130.  The benefits of ChArUco boards is that they provide both, ArUco markers versatility and chessboard corner precision,
    131. 

  131.  which is important for calibration and pose estimation. The board image can be drawn using generateImage() method.</div>
    132. 

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    145. 

  145. <caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
    146. 

  146. <tr>
    147. 

  147. <th class="colOne" scope="col">Constructor and Description</th>
    148. 

  148. </tr>
    149. 

  149. <tr class="altColor">
    150. 

  150. <td class="colOne"><code><span class="memberNameLink"><a href="../../../org/opencv/objdetect/CharucoBoard.html#CharucoBoard-org.opencv.core.Size-float-float-org.opencv.objdetect.Dictionary-">CharucoBoard</a></span>(<a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a>&nbsp;size,
    151. 

  151.             float&nbsp;squareLength,
    152. 

  152.             float&nbsp;markerLength,
    153. 

  153.             <a href="../../../org/opencv/objdetect/Dictionary.html" title="class in org.opencv.objdetect">Dictionary</a>&nbsp;dictionary)</code>
    154. 

  154. <div class="block">CharucoBoard constructor</div>
    155. 

  155. </td>
    156. 

  156. </tr>
    157. 

  157. <tr class="rowColor">
    158. 

  158. <td class="colOne"><code><span class="memberNameLink"><a href="../../../org/opencv/objdetect/CharucoBoard.html#CharucoBoard-org.opencv.core.Size-float-float-org.opencv.objdetect.Dictionary-org.opencv.core.Mat-">CharucoBoard</a></span>(<a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a>&nbsp;size,
    159. 

  159.             float&nbsp;squareLength,
    160. 

  160.             float&nbsp;markerLength,
    161. 

  161.             <a href="../../../org/opencv/objdetect/Dictionary.html" title="class in org.opencv.objdetect">Dictionary</a>&nbsp;dictionary,
    162. 

  162.             <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>&nbsp;ids)</code>
    163. 

  163. <div class="block">CharucoBoard constructor</div>
    164. 

  164. </td>
    165. 

  165. </tr>
    166. 

  166. </table>
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  174. <h3>Method Summary</h3>
    175. 

  175. <table class="memberSummary" border="0" cellpadding="3" cellspacing="0" summary="Method Summary table, listing methods, and an explanation">
    176. 

  176. <caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t1" class="tableTab"><span><a href="javascript:show(1);">Static Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
    177. 

  177. <tr>
    178. 

  178. <th class="colFirst" scope="col">Modifier and Type</th>
    179. 

  179. <th class="colLast" scope="col">Method and Description</th>
    180. 

  180. </tr>
    181. 

  181. <tr id="i0" class="altColor">
    182. 

  182. <td class="colFirst"><code>static <a href="../../../org/opencv/objdetect/CharucoBoard.html" title="class in org.opencv.objdetect">CharucoBoard</a></code></td>
    183. 

  183. <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/objdetect/CharucoBoard.html#Z:Z__fromPtr__-long-">__fromPtr__</a></span>(long&nbsp;addr)</code>&nbsp;</td>
    184. 

  184. </tr>
    185. 

  185. <tr id="i1" class="rowColor">
    186. 

  186. <td class="colFirst"><code>boolean</code></td>
    187. 

  187. <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/objdetect/CharucoBoard.html#checkCharucoCornersCollinear-org.opencv.core.Mat-">checkCharucoCornersCollinear</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>&nbsp;charucoIds)</code>
    188. 

  188. <div class="block">check whether the ChArUco markers are collinear</div>
    189. 

  189. </td>
    190. 

  190. </tr>
    191. 

  191. <tr id="i2" class="altColor">
    192. 

  192. <td class="colFirst"><code><a href="../../../org/opencv/core/MatOfPoint3f.html" title="class in org.opencv.core">MatOfPoint3f</a></code></td>
    193. 

  193. <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/objdetect/CharucoBoard.html#getChessboardCorners--">getChessboardCorners</a></span>()</code>
    194. 

  194. <div class="block">get CharucoBoard::chessboardCorners</div>
    195. 

  195. </td>
    196. 

  196. </tr>
    197. 

  197. <tr id="i3" class="rowColor">
    198. 

  198. <td class="colFirst"><code><a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a></code></td>
    199. 

  199. <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/objdetect/CharucoBoard.html#getChessboardSize--">getChessboardSize</a></span>()</code>&nbsp;</td>
    200. 

  200. </tr>
    201. 

  201. <tr id="i4" class="altColor">
    202. 

  202. <td class="colFirst"><code>boolean</code></td>
    203. 

  203. <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/objdetect/CharucoBoard.html#getLegacyPattern--">getLegacyPattern</a></span>()</code>&nbsp;</td>
    204. 

  204. </tr>
    205. 

  205. <tr id="i5" class="rowColor">
    206. 

  206. <td class="colFirst"><code>float</code></td>
    207. 

  207. <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/objdetect/CharucoBoard.html#getMarkerLength--">getMarkerLength</a></span>()</code>&nbsp;</td>
    208. 

  208. </tr>
    209. 

  209. <tr id="i6" class="altColor">
    210. 

  210. <td class="colFirst"><code>float</code></td>
    211. 

  211. <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/objdetect/CharucoBoard.html#getSquareLength--">getSquareLength</a></span>()</code>&nbsp;</td>
    212. 

  212. </tr>
    213. 

  213. <tr id="i7" class="rowColor">
    214. 

  214. <td class="colFirst"><code>void</code></td>
    215. 

  215. <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/objdetect/CharucoBoard.html#setLegacyPattern-boolean-">setLegacyPattern</a></span>(boolean&nbsp;legacyPattern)</code>
    216. 

  216. <div class="block">set legacy chessboard pattern.</div>
    217. 

  217. </td>
    218. 

  218. </tr>
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  222. <!--   -->
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  223. </a>
    224. 

  224. <h3>Methods inherited from class&nbsp;org.opencv.objdetect.<a href="../../../org/opencv/objdetect/Board.html" title="class in org.opencv.objdetect">Board</a></h3>
    225. 

  225. <code><a href="../../../org/opencv/objdetect/Board.html#generateImage-org.opencv.core.Size-org.opencv.core.Mat-">generateImage</a>, <a href="../../../org/opencv/objdetect/Board.html#generateImage-org.opencv.core.Size-org.opencv.core.Mat-int-">generateImage</a>, <a href="../../../org/opencv/objdetect/Board.html#generateImage-org.opencv.core.Size-org.opencv.core.Mat-int-int-">generateImage</a>, <a href="../../../org/opencv/objdetect/Board.html#getDictionary--">getDictionary</a>, <a href="../../../org/opencv/objdetect/Board.html#getIds--">getIds</a>, <a href="../../../org/opencv/objdetect/Board.html#getNativeObjAddr--">getNativeObjAddr</a>, <a href="../../../org/opencv/objdetect/Board.html#getObjPoints--">getObjPoints</a>, <a href="../../../org/opencv/objdetect/Board.html#getRightBottomCorner--">getRightBottomCorner</a>, <a href="../../../org/opencv/objdetect/Board.html#matchImagePoints-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">matchImagePoints</a></code></li>
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  231. <h3>Methods inherited from class&nbsp;java.lang.Object</h3>
    232. 

  232. <code>equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait</code></li>
    233. 

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  245. <!--   -->
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  246. </a>
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  247. <h3>Constructor Detail</h3>
    248. 

  248. <a name="CharucoBoard-org.opencv.core.Size-float-float-org.opencv.objdetect.Dictionary-">
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  253. <h4>CharucoBoard</h4>
    254. 

  254. <pre>public&nbsp;CharucoBoard(<a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a>&nbsp;size,
    255. 

  255.                     float&nbsp;squareLength,
    256. 

  256.                     float&nbsp;markerLength,
    257. 

  257.                     <a href="../../../org/opencv/objdetect/Dictionary.html" title="class in org.opencv.objdetect">Dictionary</a>&nbsp;dictionary)</pre>
    258. 

  258. <div class="block">CharucoBoard constructor</div>
    259. 

  259. <dl>
    260. 

  260. <dt><span class="paramLabel">Parameters:</span></dt>
    261. 

  261. <dd><code>size</code> - number of chessboard squares in x and y directions</dd>
    262. 

  262. <dd><code>squareLength</code> - squareLength chessboard square side length (normally in meters)</dd>
    263. 

  263. <dd><code>markerLength</code> - marker side length (same unit than squareLength)</dd>
    264. 

  264. <dd><code>dictionary</code> - dictionary of markers indicating the type of markers
    265. 

  265.  The first markers in the dictionary are used to fill the white chessboard squares.</dd>
    266. 

  266. </dl>
    267. 

  267. </li>
    268. 

  268. </ul>
    269. 

  269. <a name="CharucoBoard-org.opencv.core.Size-float-float-org.opencv.objdetect.Dictionary-org.opencv.core.Mat-">
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    274. 

  274. <h4>CharucoBoard</h4>
    275. 

  275. <pre>public&nbsp;CharucoBoard(<a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a>&nbsp;size,
    276. 

  276.                     float&nbsp;squareLength,
    277. 

  277.                     float&nbsp;markerLength,
    278. 

  278.                     <a href="../../../org/opencv/objdetect/Dictionary.html" title="class in org.opencv.objdetect">Dictionary</a>&nbsp;dictionary,
    279. 

  279.                     <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>&nbsp;ids)</pre>
    280. 

  280. <div class="block">CharucoBoard constructor</div>
    281. 

  281. <dl>
    282. 

  282. <dt><span class="paramLabel">Parameters:</span></dt>
    283. 

  283. <dd><code>size</code> - number of chessboard squares in x and y directions</dd>
    284. 

  284. <dd><code>squareLength</code> - squareLength chessboard square side length (normally in meters)</dd>
    285. 

  285. <dd><code>markerLength</code> - marker side length (same unit than squareLength)</dd>
    286. 

  286. <dd><code>dictionary</code> - dictionary of markers indicating the type of markers</dd>
    287. 

  287. <dd><code>ids</code> - array of id used markers
    288. 

  288.  The first markers in the dictionary are used to fill the white chessboard squares.</dd>
    289. 

  289. </dl>
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  299. <h3>Method Detail</h3>
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  305. <h4>__fromPtr__</h4>
    306. 

  306. <pre>public static&nbsp;<a href="../../../org/opencv/objdetect/CharucoBoard.html" title="class in org.opencv.objdetect">CharucoBoard</a>&nbsp;__fromPtr__(long&nbsp;addr)</pre>
    307. 

  307. </li>
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    309. 

  309. <a name="checkCharucoCornersCollinear-org.opencv.core.Mat-">
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  314. <h4>checkCharucoCornersCollinear</h4>
    315. 

  315. <pre>public&nbsp;boolean&nbsp;checkCharucoCornersCollinear(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>&nbsp;charucoIds)</pre>
    316. 

  316. <div class="block">check whether the ChArUco markers are collinear</div>
    317. 

  317. <dl>
    318. 

  318. <dt><span class="paramLabel">Parameters:</span></dt>
    319. 

  319. <dd><code>charucoIds</code> - list of identifiers for each corner in charucoCorners per frame.</dd>
    320. 

  320. <dt><span class="returnLabel">Returns:</span></dt>
    321. 

  321. <dd>bool value, 1 (true) if detected corners form a line, 0 (false) if they do not.
    322. 

  322.  solvePnP, calibration functions will fail if the corners are collinear (true).
    323. 

  323. 

  324.  The number of ids in charucoIDs should be &lt;= the number of chessboard corners in the board.
    325. 

  325.  This functions checks whether the charuco corners are on a straight line (returns true, if so), or not (false).
    326. 

  326.  Axis parallel, as well as diagonal and other straight lines detected.  Degenerate cases:
    327. 

  327.  for number of charucoIDs &lt;= 2,the function returns true.</dd>
    328. 

  328. </dl>
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    331. 

  331. <a name="getChessboardCorners--">
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  336. <h4>getChessboardCorners</h4>
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  337. <pre>public&nbsp;<a href="../../../org/opencv/core/MatOfPoint3f.html" title="class in org.opencv.core">MatOfPoint3f</a>&nbsp;getChessboardCorners()</pre>
    338. 

  338. <div class="block">get CharucoBoard::chessboardCorners</div>
    339. 

  339. <dl>
    340. 

  340. <dt><span class="returnLabel">Returns:</span></dt>
    341. 

  341. <dd>automatically generated</dd>
    342. 

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  350. <h4>getChessboardSize</h4>
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  351. <pre>public&nbsp;<a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a>&nbsp;getChessboardSize()</pre>
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  359. <h4>getLegacyPattern</h4>
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  360. <pre>public&nbsp;boolean&nbsp;getLegacyPattern()</pre>
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  369. <pre>public&nbsp;float&nbsp;getMarkerLength()</pre>
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  378. <pre>public&nbsp;float&nbsp;getSquareLength()</pre>
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  386. <h4>setLegacyPattern</h4>
    387. 

  387. <pre>public&nbsp;void&nbsp;setLegacyPattern(boolean&nbsp;legacyPattern)</pre>
    388. 

  388. <div class="block">set legacy chessboard pattern.
    389. 

  389. 

  390.  Legacy setting creates chessboard patterns starting with a white box in the upper left corner
    391. 

  391.  if there is an even row count of chessboard boxes, otherwise it starts with a black box.
    392. 

  392.  This setting ensures compatibility to patterns created with OpenCV versions prior OpenCV 4.6.0.
    393. 

  393.  See https://github.com/opencv/opencv/issues/23152.
    394. 

  394. 

  395.  Default value: false.</div>
    396. 

  396. <dl>
    397. 

  397. <dt><span class="paramLabel">Parameters:</span></dt>
    398. 

  398. <dd><code>legacyPattern</code> - automatically generated</dd>
    399. 

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