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325 lines
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325 lines
22 KiB
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<!-- Generated by javadoc (17) on Wed Jul 02 13:16:04 UTC 2025 -->
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<title>CharucoBoard (OpenCV 4.12.0 Java documentation)</title>
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<div class="sub-title"><span class="package-label-in-type">Package</span> <a href="package-summary.html">org.opencv.objdetect</a></div>
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<h1 title="Class CharucoBoard" class="title">Class CharucoBoard</h1>
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</div>
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<div class="inheritance" title="Inheritance Tree"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">java.lang.Object</a>
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<div class="inheritance"><a href="Board.html" title="class in org.opencv.objdetect">org.opencv.objdetect.Board</a>
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<div class="inheritance">org.opencv.objdetect.CharucoBoard</div>
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</div>
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</div>
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<section class="class-description" id="class-description">
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<hr>
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<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">CharucoBoard</span>
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<span class="extends-implements">extends <a href="Board.html" title="class in org.opencv.objdetect">Board</a></span></div>
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<div class="block">ChArUco board is a planar chessboard where the markers are placed inside the white squares of a chessboard.
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The benefits of ChArUco boards is that they provide both, ArUco markers versatility and chessboard corner precision,
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which is important for calibration and pose estimation. The board image can be drawn using generateImage() method.</div>
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</section>
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<section class="summary">
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<ul class="summary-list">
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<!-- ======== CONSTRUCTOR SUMMARY ======== -->
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<li>
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<section class="constructor-summary" id="constructor-summary">
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<h2>Constructor Summary</h2>
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<div class="caption"><span>Constructors</span></div>
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<div class="summary-table two-column-summary">
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<div class="table-header col-first">Constructor</div>
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<div class="table-header col-last">Description</div>
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<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(org.opencv.core.Size,float,float,org.opencv.objdetect.Dictionary)" class="member-name-link">CharucoBoard</a><wbr>(<a href="../core/Size.html" title="class in org.opencv.core">Size</a> size,
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float squareLength,
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float markerLength,
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<a href="Dictionary.html" title="class in org.opencv.objdetect">Dictionary</a> dictionary)</code></div>
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<div class="col-last even-row-color">
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<div class="block">CharucoBoard constructor</div>
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</div>
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<div class="col-constructor-name odd-row-color"><code><a href="#%3Cinit%3E(org.opencv.core.Size,float,float,org.opencv.objdetect.Dictionary,org.opencv.core.Mat)" class="member-name-link">CharucoBoard</a><wbr>(<a href="../core/Size.html" title="class in org.opencv.core">Size</a> size,
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float squareLength,
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float markerLength,
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<a href="Dictionary.html" title="class in org.opencv.objdetect">Dictionary</a> dictionary,
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<a href="../core/Mat.html" title="class in org.opencv.core">Mat</a> ids)</code></div>
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<div class="col-last odd-row-color">
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<div class="block">CharucoBoard constructor</div>
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</div>
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</div>
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</section>
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</li>
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<!-- ========== METHOD SUMMARY =========== -->
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<li>
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<section class="method-summary" id="method-summary">
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<h2>Method Summary</h2>
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<div id="method-summary-table">
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<div class="table-tabs" role="tablist" aria-orientation="horizontal"><button id="method-summary-table-tab0" role="tab" aria-selected="true" aria-controls="method-summary-table.tabpanel" tabindex="0" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table', 3)" class="active-table-tab">All Methods</button><button id="method-summary-table-tab1" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab1', 3)" class="table-tab">Static Methods</button><button id="method-summary-table-tab2" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab2', 3)" class="table-tab">Instance Methods</button><button id="method-summary-table-tab4" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab4', 3)" class="table-tab">Concrete Methods</button></div>
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<div id="method-summary-table.tabpanel" role="tabpanel" aria-labelledby="method-summary-table-tab0">
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<div class="summary-table three-column-summary">
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<div class="table-header col-first">Modifier and Type</div>
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<div class="table-header col-second">Method</div>
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<div class="table-header col-last">Description</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static <a href="CharucoBoard.html" title="class in org.opencv.objdetect">CharucoBoard</a></code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#__fromPtr__(long)" class="member-name-link">__fromPtr__</a><wbr>(long addr)</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"> </div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>boolean</code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#checkCharucoCornersCollinear(org.opencv.core.Mat)" class="member-name-link">checkCharucoCornersCollinear</a><wbr>(<a href="../core/Mat.html" title="class in org.opencv.core">Mat</a> charucoIds)</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">check whether the ChArUco markers are collinear</div>
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</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="../core/MatOfPoint3f.html" title="class in org.opencv.core">MatOfPoint3f</a></code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getChessboardCorners()" class="member-name-link">getChessboardCorners</a>()</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">get CharucoBoard::chessboardCorners</div>
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</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="../core/Size.html" title="class in org.opencv.core">Size</a></code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getChessboardSize()" class="member-name-link">getChessboardSize</a>()</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"> </div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>boolean</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getLegacyPattern()" class="member-name-link">getLegacyPattern</a>()</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"> </div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>float</code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getMarkerLength()" class="member-name-link">getMarkerLength</a>()</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"> </div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>float</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getSquareLength()" class="member-name-link">getSquareLength</a>()</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"> </div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setLegacyPattern(boolean)" class="member-name-link">setLegacyPattern</a><wbr>(boolean legacyPattern)</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">set legacy chessboard pattern.</div>
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</div>
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</div>
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</div>
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</div>
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<div class="inherited-list">
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<h3 id="methods-inherited-from-class-org.opencv.objdetect.Board">Methods inherited from class org.opencv.objdetect.<a href="Board.html" title="class in org.opencv.objdetect">Board</a></h3>
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<code><a href="Board.html#generateImage(org.opencv.core.Size,org.opencv.core.Mat)">generateImage</a>, <a href="Board.html#generateImage(org.opencv.core.Size,org.opencv.core.Mat,int)">generateImage</a>, <a href="Board.html#generateImage(org.opencv.core.Size,org.opencv.core.Mat,int,int)">generateImage</a>, <a href="Board.html#getDictionary()">getDictionary</a>, <a href="Board.html#getIds()">getIds</a>, <a href="Board.html#getNativeObjAddr()">getNativeObjAddr</a>, <a href="Board.html#getObjPoints()">getObjPoints</a>, <a href="Board.html#getRightBottomCorner()">getRightBottomCorner</a>, <a href="Board.html#matchImagePoints(java.util.List,org.opencv.core.Mat,org.opencv.core.Mat,org.opencv.core.Mat)">matchImagePoints</a></code></div>
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<div class="inherited-list">
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<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
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<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
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</section>
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</li>
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</ul>
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</section>
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<section class="details">
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<ul class="details-list">
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<!-- ========= CONSTRUCTOR DETAIL ======== -->
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<li>
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<section class="constructor-details" id="constructor-detail">
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<h2>Constructor Details</h2>
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<ul class="member-list">
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<li>
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<section class="detail" id="<init>(org.opencv.core.Size,float,float,org.opencv.objdetect.Dictionary,org.opencv.core.Mat)">
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<h3>CharucoBoard</h3>
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<div class="member-signature"><span class="modifiers">public</span> <span class="element-name">CharucoBoard</span><wbr><span class="parameters">(<a href="../core/Size.html" title="class in org.opencv.core">Size</a> size,
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float squareLength,
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float markerLength,
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<a href="Dictionary.html" title="class in org.opencv.objdetect">Dictionary</a> dictionary,
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<a href="../core/Mat.html" title="class in org.opencv.core">Mat</a> ids)</span></div>
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<div class="block">CharucoBoard constructor</div>
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<dl class="notes">
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<dt>Parameters:</dt>
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<dd><code>size</code> - number of chessboard squares in x and y directions</dd>
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<dd><code>squareLength</code> - squareLength chessboard square side length (normally in meters)</dd>
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<dd><code>markerLength</code> - marker side length (same unit than squareLength)</dd>
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<dd><code>dictionary</code> - dictionary of markers indicating the type of markers</dd>
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<dd><code>ids</code> - array of id used markers
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The first markers in the dictionary are used to fill the white chessboard squares.</dd>
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</dl>
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</section>
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</li>
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<li>
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<section class="detail" id="<init>(org.opencv.core.Size,float,float,org.opencv.objdetect.Dictionary)">
|
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<h3>CharucoBoard</h3>
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<div class="member-signature"><span class="modifiers">public</span> <span class="element-name">CharucoBoard</span><wbr><span class="parameters">(<a href="../core/Size.html" title="class in org.opencv.core">Size</a> size,
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float squareLength,
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float markerLength,
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<a href="Dictionary.html" title="class in org.opencv.objdetect">Dictionary</a> dictionary)</span></div>
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<div class="block">CharucoBoard constructor</div>
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<dl class="notes">
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<dt>Parameters:</dt>
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<dd><code>size</code> - number of chessboard squares in x and y directions</dd>
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<dd><code>squareLength</code> - squareLength chessboard square side length (normally in meters)</dd>
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<dd><code>markerLength</code> - marker side length (same unit than squareLength)</dd>
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<dd><code>dictionary</code> - dictionary of markers indicating the type of markers
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The first markers in the dictionary are used to fill the white chessboard squares.</dd>
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</dl>
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</section>
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</li>
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</ul>
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</section>
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</li>
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<!-- ============ METHOD DETAIL ========== -->
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<li>
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<section class="method-details" id="method-detail">
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<h2>Method Details</h2>
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<ul class="member-list">
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<li>
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<section class="detail" id="__fromPtr__(long)">
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<h3>__fromPtr__</h3>
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<div class="member-signature"><span class="modifiers">public static</span> <span class="return-type"><a href="CharucoBoard.html" title="class in org.opencv.objdetect">CharucoBoard</a></span> <span class="element-name">__fromPtr__</span><wbr><span class="parameters">(long addr)</span></div>
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</section>
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</li>
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<li>
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<section class="detail" id="setLegacyPattern(boolean)">
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<h3>setLegacyPattern</h3>
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<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">setLegacyPattern</span><wbr><span class="parameters">(boolean legacyPattern)</span></div>
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<div class="block">set legacy chessboard pattern.
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Legacy setting creates chessboard patterns starting with a white box in the upper left corner
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if there is an even row count of chessboard boxes, otherwise it starts with a black box.
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This setting ensures compatibility to patterns created with OpenCV versions prior OpenCV 4.6.0.
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See https://github.com/opencv/opencv/issues/23152.
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Default value: false.</div>
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<dl class="notes">
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<dt>Parameters:</dt>
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<dd><code>legacyPattern</code> - automatically generated</dd>
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</dl>
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</section>
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</li>
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<li>
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<section class="detail" id="getLegacyPattern()">
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<h3>getLegacyPattern</h3>
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<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">boolean</span> <span class="element-name">getLegacyPattern</span>()</div>
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</section>
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</li>
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<li>
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<section class="detail" id="getChessboardSize()">
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<h3>getChessboardSize</h3>
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<div class="member-signature"><span class="modifiers">public</span> <span class="return-type"><a href="../core/Size.html" title="class in org.opencv.core">Size</a></span> <span class="element-name">getChessboardSize</span>()</div>
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</section>
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</li>
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<li>
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<section class="detail" id="getSquareLength()">
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<h3>getSquareLength</h3>
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<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">float</span> <span class="element-name">getSquareLength</span>()</div>
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</section>
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</li>
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<li>
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<section class="detail" id="getMarkerLength()">
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<h3>getMarkerLength</h3>
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<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">float</span> <span class="element-name">getMarkerLength</span>()</div>
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</section>
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</li>
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<li>
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<section class="detail" id="getChessboardCorners()">
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<h3>getChessboardCorners</h3>
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<div class="member-signature"><span class="modifiers">public</span> <span class="return-type"><a href="../core/MatOfPoint3f.html" title="class in org.opencv.core">MatOfPoint3f</a></span> <span class="element-name">getChessboardCorners</span>()</div>
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<div class="block">get CharucoBoard::chessboardCorners</div>
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<dl class="notes">
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<dt>Returns:</dt>
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<dd>automatically generated</dd>
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</dl>
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</section>
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</li>
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<li>
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<section class="detail" id="checkCharucoCornersCollinear(org.opencv.core.Mat)">
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<h3>checkCharucoCornersCollinear</h3>
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<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">boolean</span> <span class="element-name">checkCharucoCornersCollinear</span><wbr><span class="parameters">(<a href="../core/Mat.html" title="class in org.opencv.core">Mat</a> charucoIds)</span></div>
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<div class="block">check whether the ChArUco markers are collinear</div>
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<dl class="notes">
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<dt>Parameters:</dt>
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<dd><code>charucoIds</code> - list of identifiers for each corner in charucoCorners per frame.</dd>
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<dt>Returns:</dt>
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<dd>bool value, 1 (true) if detected corners form a line, 0 (false) if they do not.
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solvePnP, calibration functions will fail if the corners are collinear (true).
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The number of ids in charucoIDs should be <= the number of chessboard corners in the board.
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This functions checks whether the charuco corners are on a straight line (returns true, if so), or not (false).
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Axis parallel, as well as diagonal and other straight lines detected. Degenerate cases:
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for number of charucoIDs <= 2,the function returns true.</dd>
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</dl>
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</section>
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</li>
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</ul>
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</section>
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</li>
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</ul>
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</section>
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<!-- ========= END OF CLASS DATA ========= -->
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<p class="legal-copy"><small>Generated on 2025-07-02 13:16:04 / OpenCV 4.12.0</small></p>
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