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89 lines
4.4 KiB
89 lines
4.4 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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#ifndef OPENCV_ARUCO_HPP |
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#define OPENCV_ARUCO_HPP |
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#include "opencv2/objdetect/aruco_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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/** |
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@deprecated Use class ArucoDetector::detectMarkers |
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*/ |
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CV_EXPORTS_W void detectMarkers(InputArray image, const Ptr<Dictionary> &dictionary, OutputArrayOfArrays corners, |
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OutputArray ids, const Ptr<DetectorParameters> ¶meters = makePtr<DetectorParameters>(), |
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OutputArrayOfArrays rejectedImgPoints = noArray()); |
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/** |
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@deprecated Use class ArucoDetector::refineDetectedMarkers |
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*/ |
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CV_EXPORTS_W void refineDetectedMarkers(InputArray image,const Ptr<Board> &board, |
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InputOutputArrayOfArrays detectedCorners, |
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InputOutputArray detectedIds, InputOutputArrayOfArrays rejectedCorners, |
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InputArray cameraMatrix = noArray(), InputArray distCoeffs = noArray(), |
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float minRepDistance = 10.f, float errorCorrectionRate = 3.f, |
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bool checkAllOrders = true, OutputArray recoveredIdxs = noArray(), |
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const Ptr<DetectorParameters> ¶meters = makePtr<DetectorParameters>()); |
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/** |
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@deprecated Use Board::draw |
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*/ |
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CV_EXPORTS_W void drawPlanarBoard(const Ptr<Board> &board, Size outSize, OutputArray img, int marginSize, |
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int borderBits); |
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/** |
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@deprecated Use Board::matchImagePoints |
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*/ |
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CV_EXPORTS_W void getBoardObjectAndImagePoints(const Ptr<Board> &board, InputArrayOfArrays detectedCorners, |
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InputArray detectedIds, OutputArray objPoints, OutputArray imgPoints); |
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/** @deprecated Use cv::solvePnP |
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*/ |
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CV_EXPORTS_W int estimatePoseBoard(InputArrayOfArrays corners, InputArray ids, const Ptr<Board> &board, |
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InputArray cameraMatrix, InputArray distCoeffs, InputOutputArray rvec, |
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InputOutputArray tvec, bool useExtrinsicGuess = false); |
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/** |
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* @brief Pose estimation for a ChArUco board given some of their corners |
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* @param charucoCorners vector of detected charuco corners |
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* @param charucoIds list of identifiers for each corner in charucoCorners |
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* @param board layout of ChArUco board. |
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* @param cameraMatrix input 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 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 rvec Output vector (e.g. cv::Mat) corresponding to the rotation vector of the board |
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* (see cv::Rodrigues). |
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* @param tvec Output vector (e.g. cv::Mat) corresponding to the translation vector of the board. |
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* @param useExtrinsicGuess defines whether initial guess for \b rvec and \b tvec will be used or not. |
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* |
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* This function estimates a Charuco board pose from some detected corners. |
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* The function checks if the input corners are enough and valid to perform pose estimation. |
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* If pose estimation is valid, returns true, else returns false. |
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* @sa use cv::drawFrameAxes to get world coordinate system axis for object points |
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*/ |
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CV_EXPORTS_W bool estimatePoseCharucoBoard(InputArray charucoCorners, InputArray charucoIds, |
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const Ptr<CharucoBoard> &board, InputArray cameraMatrix, |
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InputArray distCoeffs, InputOutputArray rvec, |
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InputOutputArray tvec, bool useExtrinsicGuess = false); |
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/** @deprecated Use cv::solvePnP |
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*/ |
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CV_EXPORTS_W void estimatePoseSingleMarkers(InputArrayOfArrays corners, float markerLength, |
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InputArray cameraMatrix, InputArray distCoeffs, |
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OutputArray rvecs, OutputArray tvecs, OutputArray objPoints = noArray(), |
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const Ptr<EstimateParameters>& estimateParameters = makePtr<EstimateParameters>()); |
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/** @deprecated Use CharucoBoard::checkCharucoCornersCollinear |
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*/ |
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CV_EXPORTS_W bool testCharucoCornersCollinear(const Ptr<CharucoBoard> &board, InputArray charucoIds); |
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} |
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} |
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#endif
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