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163 lines
9.0 KiB
163 lines
9.0 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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* @defgroup aruco Aruco markers, module functionality was moved to objdetect module |
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* @{ |
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* ArUco Marker Detection, module functionality was moved to objdetect module |
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* @sa ArucoDetector, CharucoDetector, Board, GridBoard, CharucoBoard |
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* @} |
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*/ |
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//! @addtogroup aruco |
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//! @{ |
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/** @brief detect markers |
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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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/** @brief refine detected markers |
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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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/** @brief draw planar board |
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@deprecated Use Board::generateImage |
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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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/** @brief get board object and image points |
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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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/** |
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* @brief Pose estimation for a board of markers |
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* |
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* @param corners vector of already detected markers corners. For each marker, its four corners |
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* 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 ids list of identifiers for each marker in corners |
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* @param board layout of markers in the board. The layout is composed by the marker identifiers |
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* and the positions of each marker corner in the board reference system. |
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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). Used as initial guess if not empty. |
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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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* Used as initial guess if not empty. |
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* |
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* This function receives the detected markers and returns the pose of a marker board composed |
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* by those markers. |
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* A Board of marker has a single world coordinate system which is defined by the board layout. |
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* The returned transformation is the one that transforms points from the board coordinate system |
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* to the camera coordinate system. |
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* Input markers that are not included in the board layout are ignored. |
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* The function returns the number of markers from the input employed for the board pose estimation. |
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* Note that returning a 0 means the pose has not been estimated. |
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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 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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/** |
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* @brief Pose estimation for single markers |
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* |
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* @param corners vector of already detected markers corners. For each marker, its four corners |
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* are provided, (e.g std::vector<std::vector<cv::Point2f> > ). For N detected markers, |
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* the dimensions of this array should be Nx4. The order of the corners should be clockwise. |
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* @sa detectMarkers |
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* @param markerLength the length of the markers' side. The returning translation vectors will |
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* be in the same unit. Normally, unit is meters. |
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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 rvecs array of output rotation vectors (@sa Rodrigues) (e.g. std::vector<cv::Vec3d>). |
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* Each element in rvecs corresponds to the specific marker in imgPoints. |
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* @param tvecs array of output translation vectors (e.g. std::vector<cv::Vec3d>). |
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* Each element in tvecs corresponds to the specific marker in imgPoints. |
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* @param objPoints array of object points of all the marker corners |
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* @param estimateParameters set the origin of coordinate system and the coordinates of the four corners of the marker |
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* (default estimateParameters.pattern = PatternPositionType::ARUCO_CCW_CENTER, estimateParameters.useExtrinsicGuess = false, |
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* estimateParameters.solvePnPMethod = SOLVEPNP_ITERATIVE). |
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* |
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* This function receives the detected markers and returns their pose estimation respect to |
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* the camera individually. So for each marker, one rotation and translation vector is returned. |
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* The returned transformation is the one that transforms points from each marker coordinate system |
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* to the camera coordinate system. |
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* The marker coordinate system is centered on the middle (by default) or on the top-left corner of the marker, |
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* with the Z axis perpendicular to the marker plane. |
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* estimateParameters defines the coordinates of the four corners of the marker in its own coordinate system (by default) are: |
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* (-markerLength/2, markerLength/2, 0), (markerLength/2, markerLength/2, 0), |
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* (markerLength/2, -markerLength/2, 0), (-markerLength/2, -markerLength/2, 0) |
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* @sa use cv::drawFrameAxes to get world coordinate system axis for object points |
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* @sa @ref tutorial_aruco_detection |
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* @sa EstimateParameters |
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* @sa PatternPositionType |
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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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} |
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#endif
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