111 lines
5.6 KiB
C++
111 lines
5.6 KiB
C++
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// This file is part of OpenCV project.
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// It is subject to the license terms in the LICENSE file found in the top-level directory
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// of this distribution and at http://opencv.org/license.html
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#ifndef OPENCV_CHARUCO_HPP
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#define OPENCV_CHARUCO_HPP
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#include <opencv2/core.hpp>
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#include <vector>
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#include <opencv2/aruco.hpp>
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#include <opencv2/objdetect/charuco_detector.hpp>
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#include <opencv2/aruco/aruco_calib.hpp>
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namespace cv {
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namespace aruco {
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//! @addtogroup aruco
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//! @{
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/**
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* @brief Interpolate position of ChArUco board corners
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* @param markerCorners vector of already detected markers corners. For each marker, its four
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* corners are provided, (e.g std::vector<std::vector<cv::Point2f> > ). For N detected markers, the
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* dimensions of this array should be Nx4. The order of the corners should be clockwise.
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* @param markerIds list of identifiers for each marker in corners
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* @param image input image necesary for corner refinement. Note that markers are not detected and
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* should be sent in corners and ids parameters.
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* @param board layout of ChArUco board.
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* @param charucoCorners interpolated chessboard corners
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* @param charucoIds interpolated chessboard corners identifiers
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* @param cameraMatrix optional 3x3 floating-point camera matrix
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* \f$A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$
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* @param distCoeffs optional vector of distortion coefficients
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* \f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\f$ of 4, 5, 8 or 12 elements
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* @param minMarkers number of adjacent markers that must be detected to return a charuco corner
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*
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* This function receives the detected markers and returns the 2D position of the chessboard corners
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* from a ChArUco board using the detected Aruco markers. If camera parameters are provided,
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* the process is based in an approximated pose estimation, else it is based on local homography.
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* Only visible corners are returned. For each corner, its corresponding identifier is
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* also returned in charucoIds.
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* The function returns the number of interpolated corners.
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*
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* @deprecated Use CharucoDetector::detectBoard
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*/
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CV_EXPORTS_W int interpolateCornersCharuco(InputArrayOfArrays markerCorners, InputArray markerIds,
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InputArray image, const Ptr<CharucoBoard> &board,
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OutputArray charucoCorners, OutputArray charucoIds,
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InputArray cameraMatrix = noArray(),
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InputArray distCoeffs = noArray(), int minMarkers = 2);
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/**
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* @brief Detect ChArUco Diamond markers
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*
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* @param image input image necessary for corner subpixel.
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* @param markerCorners list of detected marker corners from detectMarkers function.
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* @param markerIds list of marker ids in markerCorners.
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* @param squareMarkerLengthRate rate between square and marker length:
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* squareMarkerLengthRate = squareLength/markerLength. The real units are not necessary.
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* @param diamondCorners output list of detected diamond corners (4 corners per diamond). The order
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* is the same than in marker corners: top left, top right, bottom right and bottom left. Similar
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* format than the corners returned by detectMarkers (e.g std::vector<std::vector<cv::Point2f> > ).
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* @param diamondIds ids of the diamonds in diamondCorners. The id of each diamond is in fact of
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* type Vec4i, so each diamond has 4 ids, which are the ids of the aruco markers composing the
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* diamond.
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* @param cameraMatrix Optional camera calibration matrix.
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* @param distCoeffs Optional camera distortion coefficients.
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* @param dictionary dictionary of markers indicating the type of markers.
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*
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* This function detects Diamond markers from the previous detected ArUco markers. The diamonds
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* are returned in the diamondCorners and diamondIds parameters. If camera calibration parameters
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* are provided, the diamond search is based on reprojection. If not, diamond search is based on
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* homography. Homography is faster than reprojection, but less accurate.
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*
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* @deprecated Use CharucoDetector::detectDiamonds
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*/
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CV_EXPORTS_W void detectCharucoDiamond(InputArray image, InputArrayOfArrays markerCorners,
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InputArray markerIds, float squareMarkerLengthRate,
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OutputArrayOfArrays diamondCorners, OutputArray diamondIds,
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InputArray cameraMatrix = noArray(),
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InputArray distCoeffs = noArray(),
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Ptr<Dictionary> dictionary = makePtr<Dictionary>
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(getPredefinedDictionary(PredefinedDictionaryType::DICT_4X4_50)));
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/**
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* @brief Draw a ChArUco Diamond marker
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*
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* @param dictionary dictionary of markers indicating the type of markers.
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* @param ids list of 4 ids for each ArUco marker in the ChArUco marker.
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* @param squareLength size of the chessboard squares in pixels.
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* @param markerLength size of the markers in pixels.
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* @param img output image with the marker. The size of this image will be
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* 3*squareLength + 2*marginSize,.
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* @param marginSize minimum margins (in pixels) of the marker in the output image
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* @param borderBits width of the marker borders.
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*
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* This function return the image of a ChArUco marker, ready to be printed.
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*
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* @deprecated Use CharucoBoard::generateImage()
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*/
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CV_EXPORTS_W void drawCharucoDiamond(const Ptr<Dictionary> &dictionary, Vec4i ids, int squareLength,
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int markerLength, OutputArray img, int marginSize = 0,
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int borderBits = 1);
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//! @}
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}
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}
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#endif
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