SEMS-data-collection/include/opencv2/objdetect/charuco_detector.hpp

// This file is part of OpenCV project.
// It is subject to the license terms in the LICENSE file found in the top-level directory
// of this distribution and at http://opencv.org/license.html
#ifndef OPENCV_OBJDETECT_CHARUCO_DETECTOR_HPP
#define OPENCV_OBJDETECT_CHARUCO_DETECTOR_HPP

#include "opencv2/objdetect/aruco_detector.hpp"

namespace cv {
namespace aruco {

//! @addtogroup objdetect_aruco
//! @{

struct CV_EXPORTS_W_SIMPLE CharucoParameters {
    CV_WRAP CharucoParameters() {
        minMarkers = 2;
        tryRefineMarkers = false;
    }
    /// cameraMatrix optional 3x3 floating-point camera matrix
    CV_PROP_RW Mat cameraMatrix;

    /// distCoeffs optional vector of distortion coefficients
    CV_PROP_RW Mat distCoeffs;

    /// minMarkers number of adjacent markers that must be detected to return a charuco corner, default = 2
    CV_PROP_RW int minMarkers;

    /// try to use refine board, default false
    CV_PROP_RW bool tryRefineMarkers;
};

class CV_EXPORTS_W CharucoDetector : public Algorithm {
public:
    /** @brief Basic CharucoDetector constructor
     *
     * @param board ChAruco board
     * @param charucoParams charuco detection parameters
     * @param detectorParams marker detection parameters
     * @param refineParams marker refine detection parameters
     */
    CV_WRAP CharucoDetector(const CharucoBoard& board,
                            const CharucoParameters& charucoParams = CharucoParameters(),
                            const DetectorParameters &detectorParams = DetectorParameters(),
                            const RefineParameters& refineParams = RefineParameters());

    CV_WRAP const CharucoBoard& getBoard() const;
    CV_WRAP void setBoard(const CharucoBoard& board);

    CV_WRAP const CharucoParameters& getCharucoParameters() const;
    CV_WRAP void setCharucoParameters(CharucoParameters& charucoParameters);

    CV_WRAP const DetectorParameters& getDetectorParameters() const;
    CV_WRAP void setDetectorParameters(const DetectorParameters& detectorParameters);

    CV_WRAP const RefineParameters& getRefineParameters() const;
    CV_WRAP void setRefineParameters(const RefineParameters& refineParameters);

    /**
     * @brief detect aruco markers and interpolate position of ChArUco board corners
     * @param image input image necesary for corner refinement. Note that markers are not detected and
     * should be sent in corners and ids parameters.
     * @param charucoCorners interpolated chessboard corners.
     * @param charucoIds interpolated chessboard corners identifiers.
     * @param markerCorners vector of already detected markers corners. For each marker, its four
     * corners are provided, (e.g std::vector<std::vector<cv::Point2f> > ). For N detected markers, the
     * dimensions of this array should be Nx4. The order of the corners should be clockwise.
     * If markerCorners and markerCorners are empty, the function detect aruco markers and ids.
     * @param markerIds list of identifiers for each marker in corners.
     *  If markerCorners and markerCorners are empty, the function detect aruco markers and ids.
     *
     * This function receives the detected markers and returns the 2D position of the chessboard corners
     * from a ChArUco board using the detected Aruco markers.
     *
     * If markerCorners and markerCorners are empty, the detectMarkers() will run and detect aruco markers and ids.
     *
     * If camera parameters are provided, the process is based in an approximated pose estimation, else it is based on local homography.
     * Only visible corners are returned. For each corner, its corresponding identifier is also returned in charucoIds.
     * @sa findChessboardCorners
     */
    CV_WRAP void detectBoard(InputArray image, OutputArray charucoCorners, OutputArray charucoIds,
                             InputOutputArrayOfArrays markerCorners = noArray(),
                             InputOutputArray markerIds = noArray()) const;

    /**
     * @brief Detect ChArUco Diamond markers
     *
     * @param image input image necessary for corner subpixel.
     * @param diamondCorners output list of detected diamond corners (4 corners per diamond). The order
     * is the same than in marker corners: top left, top right, bottom right and bottom left. Similar
     * format than the corners returned by detectMarkers (e.g std::vector<std::vector<cv::Point2f> > ).
     * @param diamondIds ids of the diamonds in diamondCorners. The id of each diamond is in fact of
     * type Vec4i, so each diamond has 4 ids, which are the ids of the aruco markers composing the
     * diamond.
     * @param markerCorners list of detected marker corners from detectMarkers function.
     * If markerCorners and markerCorners are empty, the function detect aruco markers and ids.
     * @param markerIds list of marker ids in markerCorners.
     * If markerCorners and markerCorners are empty, the function detect aruco markers and ids.
     *
     * This function detects Diamond markers from the previous detected ArUco markers. The diamonds
     * are returned in the diamondCorners and diamondIds parameters. If camera calibration parameters
     * are provided, the diamond search is based on reprojection. If not, diamond search is based on
     * homography. Homography is faster than reprojection, but less accurate.
     */
    CV_WRAP void detectDiamonds(InputArray image, OutputArrayOfArrays diamondCorners, OutputArray diamondIds,
                                InputOutputArrayOfArrays markerCorners = noArray(),
                                InputOutputArray markerIds = noArray()) const;
protected:
    struct CharucoDetectorImpl;
    Ptr<CharucoDetectorImpl> charucoDetectorImpl;
};

/**
 * @brief Draws a set of Charuco corners
 * @param image input/output image. It must have 1 or 3 channels. The number of channels is not
 * altered.
 * @param charucoCorners vector of detected charuco corners
 * @param charucoIds list of identifiers for each corner in charucoCorners
 * @param cornerColor color of the square surrounding each corner
 *
 * This function draws a set of detected Charuco corners. If identifiers vector is provided, it also
 * draws the id of each corner.
 */
CV_EXPORTS_W void drawDetectedCornersCharuco(InputOutputArray image, InputArray charucoCorners,
                                             InputArray charucoIds = noArray(), Scalar cornerColor = Scalar(255, 0, 0));

/**
 * @brief Draw a set of detected ChArUco Diamond markers
 *
 * @param image input/output image. It must have 1 or 3 channels. The number of channels is not
 * altered.
 * @param diamondCorners positions of diamond corners in the same format returned by
 * detectCharucoDiamond(). (e.g std::vector<std::vector<cv::Point2f> > ). For N detected markers,
 * the dimensions of this array should be Nx4. The order of the corners should be clockwise.
 * @param diamondIds vector of identifiers for diamonds in diamondCorners, in the same format
 * returned by detectCharucoDiamond() (e.g. std::vector<Vec4i>).
 * Optional, if not provided, ids are not painted.
 * @param borderColor color of marker borders. Rest of colors (text color and first corner color)
 * are calculated based on this one.
 *
 * Given an array of detected diamonds, this functions draws them in the image. The marker borders
 * are painted and the markers identifiers if provided.
 * Useful for debugging purposes.
 */
CV_EXPORTS_W void drawDetectedDiamonds(InputOutputArray image, InputArrayOfArrays diamondCorners,
                                       InputArray diamondIds = noArray(),
                                       Scalar borderColor = Scalar(0, 0, 255));

//! @}

}
}

#endif