200 lines
8.7 KiB
C++
200 lines
8.7 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_OBJDETECT_ARUCO_BOARD_HPP
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#define OPENCV_OBJDETECT_ARUCO_BOARD_HPP
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#include <opencv2/core.hpp>
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namespace cv {
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namespace aruco {
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//! @addtogroup objdetect_aruco
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//! @{
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class Dictionary;
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/** @brief Board of ArUco markers
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*
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* A board is a set of markers in the 3D space with a common coordinate system.
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* The common form of a board of marker is a planar (2D) board, however any 3D layout can be used.
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* A Board object is composed by:
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* - The object points of the marker corners, i.e. their coordinates respect to the board system.
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* - The dictionary which indicates the type of markers of the board
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* - The identifier of all the markers in the board.
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*/
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class CV_EXPORTS_W_SIMPLE Board {
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public:
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/** @brief Common Board constructor
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*
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* @param objPoints array of object points of all the marker corners in the board
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* @param dictionary the dictionary of markers employed for this board
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* @param ids vector of the identifiers of the markers in the board
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*/
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CV_WRAP Board(InputArrayOfArrays objPoints, const Dictionary& dictionary, InputArray ids);
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/** @brief return the Dictionary of markers employed for this board
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*/
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CV_WRAP const Dictionary& getDictionary() const;
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/** @brief return array of object points of all the marker corners in the board.
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*
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* Each marker include its 4 corners in this order:
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* - objPoints[i][0] - left-top point of i-th marker
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* - objPoints[i][1] - right-top point of i-th marker
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* - objPoints[i][2] - right-bottom point of i-th marker
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* - objPoints[i][3] - left-bottom point of i-th marker
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*
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* Markers are placed in a certain order - row by row, left to right in every row. For M markers, the size is Mx4.
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*/
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CV_WRAP const std::vector<std::vector<Point3f> >& getObjPoints() const;
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/** @brief vector of the identifiers of the markers in the board (should be the same size as objPoints)
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* @return vector of the identifiers of the markers
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*/
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CV_WRAP const std::vector<int>& getIds() const;
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/** @brief get coordinate of the bottom right corner of the board, is set when calling the function create()
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*/
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CV_WRAP const Point3f& getRightBottomCorner() const;
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/** @brief Given a board configuration and a set of detected markers, returns the corresponding
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* image points and object points, can be used in solvePnP()
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*
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* @param detectedCorners List of detected marker corners of the board.
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* For cv::Board and cv::GridBoard the method expects std::vector<std::vector<Point2f>> or std::vector<Mat> with Aruco marker corners.
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* For cv::CharucoBoard the method expects std::vector<Point2f> or Mat with ChAruco corners (chess board corners matched with Aruco markers).
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*
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* @param detectedIds List of identifiers for each marker or charuco corner.
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* For any Board class the method expects std::vector<int> or Mat.
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*
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* @param objPoints Vector of marker points in the board coordinate space.
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* For any Board class the method expects std::vector<cv::Point3f> objectPoints or cv::Mat
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*
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* @param imgPoints Vector of marker points in the image coordinate space.
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* For any Board class the method expects std::vector<cv::Point2f> objectPoints or cv::Mat
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*
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* @sa solvePnP
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*/
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CV_WRAP void matchImagePoints(InputArrayOfArrays detectedCorners, InputArray detectedIds,
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OutputArray objPoints, OutputArray imgPoints) const;
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/** @brief Draw a planar board
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*
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* @param outSize size of the output image in pixels.
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* @param img output image with the board. The size of this image will be outSize
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* and the board will be on the center, keeping the board proportions.
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* @param marginSize minimum margins (in pixels) of the board 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 the board, ready to be printed.
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*/
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CV_WRAP void generateImage(Size outSize, OutputArray img, int marginSize = 0, int borderBits = 1) const;
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CV_DEPRECATED_EXTERNAL // avoid using in C++ code, will be moved to "protected" (need to fix bindings first)
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Board();
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struct Impl;
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protected:
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Board(const Ptr<Impl>& impl);
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Ptr<Impl> impl;
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};
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/** @brief Planar board with grid arrangement of markers
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*
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* More common type of board. All markers are placed in the same plane in a grid arrangement.
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* The board image can be drawn using generateImage() method.
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*/
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class CV_EXPORTS_W_SIMPLE GridBoard : public Board {
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public:
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/**
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* @brief GridBoard constructor
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*
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* @param size number of markers in x and y directions
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* @param markerLength marker side length (normally in meters)
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* @param markerSeparation separation between two markers (same unit as markerLength)
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* @param dictionary dictionary of markers indicating the type of markers
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* @param ids set of marker ids in dictionary to use on board.
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*/
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CV_WRAP GridBoard(const Size& size, float markerLength, float markerSeparation,
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const Dictionary &dictionary, InputArray ids = noArray());
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CV_WRAP Size getGridSize() const;
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CV_WRAP float getMarkerLength() const;
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CV_WRAP float getMarkerSeparation() const;
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CV_DEPRECATED_EXTERNAL // avoid using in C++ code, will be moved to "protected" (need to fix bindings first)
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GridBoard();
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};
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/**
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* @brief ChArUco board is a planar chessboard where the markers are placed inside the white squares of a chessboard.
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*
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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.
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*/
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class CV_EXPORTS_W_SIMPLE CharucoBoard : public Board {
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public:
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/** @brief CharucoBoard constructor
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*
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* @param size number of chessboard squares in x and y directions
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* @param squareLength squareLength chessboard square side length (normally in meters)
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* @param markerLength marker side length (same unit than squareLength)
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* @param dictionary dictionary of markers indicating the type of markers
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* @param ids array of id used markers
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* The first markers in the dictionary are used to fill the white chessboard squares.
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*/
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CV_WRAP CharucoBoard(const Size& size, float squareLength, float markerLength,
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const Dictionary &dictionary, InputArray ids = noArray());
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/** @brief set legacy chessboard pattern.
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*
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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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*
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* Default value: false.
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*/
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CV_WRAP void setLegacyPattern(bool legacyPattern);
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CV_WRAP bool getLegacyPattern() const;
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CV_WRAP Size getChessboardSize() const;
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CV_WRAP float getSquareLength() const;
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CV_WRAP float getMarkerLength() const;
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/** @brief get CharucoBoard::chessboardCorners
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*/
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CV_WRAP std::vector<Point3f> getChessboardCorners() const;
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/** @brief get CharucoBoard::nearestMarkerIdx, for each charuco corner, nearest marker index in ids array
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*/
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CV_PROP std::vector<std::vector<int> > getNearestMarkerIdx() const;
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/** @brief get CharucoBoard::nearestMarkerCorners, for each charuco corner, nearest marker corner id of each marker
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*/
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CV_PROP std::vector<std::vector<int> > getNearestMarkerCorners() const;
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/** @brief check whether the ChArUco markers are collinear
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*
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* @param charucoIds list of identifiers for each corner in charucoCorners per frame.
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* @return 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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*
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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.
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*/
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CV_WRAP bool checkCharucoCornersCollinear(InputArray charucoIds) const;
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CV_DEPRECATED_EXTERNAL // avoid using in C++ code, will be moved to "protected" (need to fix bindings first)
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CharucoBoard();
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};
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//! @}
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}
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}
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#endif
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