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

    All Methods Static Methods Instance Methods Concrete Methods
    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`

    - ### 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)

    - #### 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()

    - #### getMarkerLength

          public float getMarkerLength()

    - #### getSquareLength

          public float getSquareLength()

    - #### 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.

    - #### get_chessboardCorners

          public MatOfPoint3f get_chessboardCorners()

    - #### finalize

          protected void finalize()
                           throws java.lang.Throwable

      Overrides:
        `finalize` in class `Board`
      Throws:
        `java.lang.Throwable`