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Open Source Computer Vision Library
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42 lines
1.8 KiB
42 lines
1.8 KiB
// 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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#include "test_precomp.hpp" |
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#include "opencv2/calib3d.hpp" |
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namespace opencv_test { |
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static inline double deg2rad(double deg) { return deg * CV_PI / 180.; } |
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vector<Point2f> getAxis(InputArray _cameraMatrix, InputArray _distCoeffs, InputArray _rvec, InputArray _tvec, |
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float length, const Point2f offset = Point2f(0, 0)); |
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vector<Point2f> getMarkerById(int id, const vector<vector<Point2f> >& corners, const vector<int>& ids); |
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/** |
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* @brief Get rvec and tvec from yaw, pitch and distance |
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*/ |
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void getSyntheticRT(double yaw, double pitch, double distance, Mat& rvec, Mat& tvec); |
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/** |
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* @brief Project a synthetic marker |
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*/ |
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void projectMarker(Mat& img, const aruco::Board& board, int markerIndex, Mat cameraMatrix, Mat rvec, Mat tvec, |
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int markerBorder); |
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/** |
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* @brief Get a synthetic image of GridBoard in perspective |
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*/ |
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Mat projectBoard(const aruco::GridBoard& board, Mat cameraMatrix, double yaw, double pitch, double distance, |
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Size imageSize, int markerBorder); |
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bool getCharucoBoardPose(InputArray charucoCorners, InputArray charucoIds, const aruco::CharucoBoard &board, |
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InputArray cameraMatrix, InputArray distCoeffs, InputOutputArray rvec, |
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InputOutputArray tvec, bool useExtrinsicGuess = false); |
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void getMarkersPoses(InputArrayOfArrays corners, float markerLength, InputArray cameraMatrix, InputArray distCoeffs, |
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OutputArray _rvecs, OutputArray _tvecs, OutputArray objPoints = noArray(), |
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bool use_aruco_ccw_center = true, SolvePnPMethod solvePnPMethod = SolvePnPMethod::SOLVEPNP_ITERATIVE); |
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}
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