org.bytedeco.opencv.opencv_objdetect

Class CharucoBoard

java.lang.Object

org.bytedeco.javacpp.Pointer

org.bytedeco.opencv.opencv_objdetect.Board

org.bytedeco.opencv.opencv_objdetect.CharucoBoard

All Implemented Interfaces:

AutoCloseable

@Namespace(value="cv::aruco")
 @Properties(inherit=opencv_objdetect.class)
public class CharucoBoard
extends Board

\brief 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.

Nested Class Summary

Nested classes/interfaces inherited from class org.bytedeco.opencv.opencv_objdetect.Board

Board.Impl

Nested classes/interfaces inherited from class org.bytedeco.javacpp.Pointer

Pointer.CustomDeallocator, Pointer.Deallocator, Pointer.NativeDeallocator, Pointer.ReferenceCounter

Field Summary

Fields inherited from class org.bytedeco.javacpp.Pointer

address, capacity, limit, position

Constructor Summary

Constructors

Constructor and Description
CharucoBoard() Deprecated.
CharucoBoard(long size) Native array allocator.
CharucoBoard(Pointer p) Pointer cast constructor.
CharucoBoard(Size size, float squareLength, float markerLength, Dictionary dictionary)
CharucoBoard(Size size, float squareLength, float markerLength, Dictionary dictionary, GpuMat ids)
CharucoBoard(Size size, float squareLength, float markerLength, Dictionary dictionary, Mat ids) \brief CharucoBoard constructor
CharucoBoard(Size size, float squareLength, float markerLength, Dictionary dictionary, UMat ids)

Method Summary

Modifier and Type	Method and Description
boolean	checkCharucoCornersCollinear(GpuMat charucoIds)
boolean	checkCharucoCornersCollinear(Mat charucoIds) \brief check whether the ChArUco markers are collinear
boolean	checkCharucoCornersCollinear(UMat charucoIds)
Point3fVector	getChessboardCorners() \brief get CharucoBoard::chessboardCorners
Size	getChessboardSize()
boolean	getLegacyPattern()
float	getMarkerLength()
IntVectorVector	getNearestMarkerCorners() \brief get CharucoBoard::nearestMarkerCorners, for each charuco corner, nearest marker corner id of each marker
IntVectorVector	getNearestMarkerIdx() \brief get CharucoBoard::nearestMarkerIdx, for each charuco corner, nearest marker index in ids array
CharucoBoard	getPointer(long i)
float	getSquareLength()
CharucoBoard	position(long position)
void	setLegacyPattern(boolean legacyPattern) \brief set legacy chessboard pattern.

Methods inherited from class org.bytedeco.opencv.opencv_objdetect.Board

generateImage, generateImage, generateImage, generateImage, generateImage, generateImage, getDictionary, getIds, getObjPoints, getRightBottomCorner, matchImagePoints, matchImagePoints, matchImagePoints, matchImagePoints, matchImagePoints, matchImagePoints, matchImagePoints, matchImagePoints, matchImagePoints

Methods inherited from class org.bytedeco.javacpp.Pointer

address, asBuffer, asByteBuffer, availablePhysicalBytes, calloc, capacity, capacity, close, deallocate, deallocate, deallocateReferences, deallocator, deallocator, equals, fill, formatBytes, free, getDirectBufferAddress, getPointer, getPointer, getPointer, hashCode, interruptDeallocatorThread, isNull, isNull, limit, limit, malloc, maxBytes, maxPhysicalBytes, memchr, memcmp, memcpy, memmove, memset, offsetAddress, offsetof, offsetof, parseBytes, physicalBytes, physicalBytesInaccurate, position, put, realloc, referenceCount, releaseReference, retainReference, setNull, sizeof, sizeof, toString, totalBytes, totalCount, totalPhysicalBytes, withDeallocator, zero

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Constructor Detail

CharucoBoard

public CharucoBoard(Pointer p)

Pointer cast constructor. Invokes Pointer(Pointer).

CharucoBoard

public CharucoBoard(long size)

Native array allocator. Access with Pointer.position(long).

CharucoBoard

public CharucoBoard(@Const @ByRef
                    Size size,
                    float squareLength,
                    float markerLength,
                    @Const @ByRef
                    Dictionary dictionary,
                    @ByVal(nullValue="cv::InputArray(cv::noArray())")
                    Mat ids)

\brief 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(@Const @ByRef
                    Size size,
                    float squareLength,
                    float markerLength,
                    @Const @ByRef
                    Dictionary dictionary)

CharucoBoard

public CharucoBoard(@Const @ByRef
                    Size size,
                    float squareLength,
                    float markerLength,
                    @Const @ByRef
                    Dictionary dictionary,
                    @ByVal(nullValue="cv::InputArray(cv::noArray())")
                    UMat ids)

CharucoBoard

public CharucoBoard(@Const @ByRef
                    Size size,
                    float squareLength,
                    float markerLength,
                    @Const @ByRef
                    Dictionary dictionary,
                    @ByVal(nullValue="cv::InputArray(cv::noArray())")
                    GpuMat ids)

CharucoBoard

@Deprecated
public CharucoBoard()

Deprecated.

Method Detail

position

public CharucoBoard position(long position)

Overrides:

position in class Board

getPointer

public CharucoBoard getPointer(long i)

Overrides:

getPointer in class Board

setLegacyPattern

public void setLegacyPattern(@Cast(value="bool")
                             boolean legacyPattern)

\brief 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.

getLegacyPattern

@Cast(value="bool")
public boolean getLegacyPattern()

getChessboardSize

@ByVal
public Size getChessboardSize()

getSquareLength

public float getSquareLength()

getMarkerLength

public float getMarkerLength()

getChessboardCorners

@ByVal
 @Cast(value="std::vector<cv::Point3f>*")
public Point3fVector getChessboardCorners()

\brief get CharucoBoard::chessboardCorners

getNearestMarkerIdx

@ByVal
public IntVectorVector getNearestMarkerIdx()

\brief get CharucoBoard::nearestMarkerIdx, for each charuco corner, nearest marker index in ids array

getNearestMarkerCorners

@ByVal
public IntVectorVector getNearestMarkerCorners()

\brief get CharucoBoard::nearestMarkerCorners, for each charuco corner, nearest marker corner id of each marker

checkCharucoCornersCollinear

@Cast(value="bool")
public boolean checkCharucoCornersCollinear(@ByVal
                                                                 Mat charucoIds)

\brief 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.

checkCharucoCornersCollinear

@Cast(value="bool")
public boolean checkCharucoCornersCollinear(@ByVal
                                                                 UMat charucoIds)

checkCharucoCornersCollinear

@Cast(value="bool")
public boolean checkCharucoCornersCollinear(@ByVal
                                                                 GpuMat charucoIds)