charuco.hpp

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#ifndef __OPENCV_CHARUCO_HPP__




#define __OPENCV_CHARUCO_HPP__








#include <opencv2/core.hpp>




#include <vector>




#include <opencv2/aruco.hpp>












namespace

cv
{



namespace
aruco {















class
CV_EXPORTS_W
CharucoBoard
:
public
Board
{







public:



// vector of chessboard 3D corners precalculated




CV_PROP std::vector< Point3f > chessboardCorners;







// for each charuco corner, nearest marker id and nearest marker corner id of each marker




CV_PROP std::vector< std::vector< int > > nearestMarkerIdx;



CV_PROP std::vector< std::vector< int > > nearestMarkerCorners;







CV_WRAP
void
draw(Size
outSize,
OutputArray
img,
int
marginSize = 0,
int
borderBits = 1);











CV_WRAP
static
Ptr<CharucoBoard>
create(int
squaresX,
int
squaresY,
float
squareLength,



float
markerLength,
const
Ptr<Dictionary>
&dictionary);







CV_WRAP
Size
getChessboardSize()
const
{
return
Size(_squaresX, _squaresY); }







CV_WRAP
float
getSquareLength()
const
{
return
_squareLength; }







CV_WRAP
float
getMarkerLength()
const
{
return
_markerLength; }







private:



void
_getNearestMarkerCorners();







// number of markers in X and Y directions




int
_squaresX, _squaresY;







// size of chessboard squares side (normally in meters)




float
_squareLength;







// marker side length (normally in meters)




float
_markerLength;


};


















CV_EXPORTS_W
int
interpolateCornersCharuco(InputArrayOfArrays markerCorners, InputArray markerIds,



InputArray image,
const
Ptr<CharucoBoard>
&board,



OutputArray
charucoCorners,
OutputArray
charucoIds,



InputArray cameraMatrix = noArray(),



InputArray distCoeffs = noArray(),
int
minMarkers = 2);


















CV_EXPORTS_W
bool
estimatePoseCharucoBoard(InputArray charucoCorners, InputArray charucoIds,



const
Ptr<CharucoBoard>
&board, InputArray cameraMatrix,



InputArray distCoeffs,
InputOutputArray
rvec,



InputOutputArray
tvec,
bool
useExtrinsicGuess =
false);


















CV_EXPORTS_W
void
drawDetectedCornersCharuco(InputOutputArray
image, InputArray charucoCorners,



InputArray charucoIds = noArray(),



Scalar
cornerColor =
Scalar(255, 0, 0));















CV_EXPORTS_AS(calibrateCameraCharucoExtended)
double
calibrateCameraCharuco(



InputArrayOfArrays charucoCorners, InputArrayOfArrays charucoIds,
const
Ptr<CharucoBoard>
&board,



Size
imageSize,
InputOutputArray
cameraMatrix,
InputOutputArray
distCoeffs,



OutputArrayOfArrays
rvecs,
OutputArrayOfArrays
tvecs,



OutputArray
stdDeviationsIntrinsics,
OutputArray
stdDeviationsExtrinsics,



OutputArray
perViewErrors,
int
flags = 0,



TermCriteria
criteria =
TermCriteria(TermCriteria::COUNT
+
TermCriteria::EPS, 30, DBL_EPSILON));






CV_EXPORTS_W
double
calibrateCameraCharuco(



InputArrayOfArrays charucoCorners, InputArrayOfArrays charucoIds,
const
Ptr<CharucoBoard>
&board,



Size
imageSize,
InputOutputArray
cameraMatrix,
InputOutputArray
distCoeffs,



OutputArrayOfArrays
rvecs = noArray(),
OutputArrayOfArrays
tvecs = noArray(),
int
flags = 0,



TermCriteria
criteria =
TermCriteria(TermCriteria::COUNT
+
TermCriteria::EPS, 30, DBL_EPSILON));














CV_EXPORTS_W
void
detectCharucoDiamond(InputArray image, InputArrayOfArrays markerCorners,



InputArray markerIds,
float
squareMarkerLengthRate,



OutputArrayOfArrays
diamondCorners,
OutputArray
diamondIds,



InputArray cameraMatrix = noArray(),



InputArray distCoeffs = noArray());














CV_EXPORTS_W
void
drawDetectedDiamonds(InputOutputArray
image, InputArrayOfArrays diamondCorners,



InputArray diamondIds = noArray(),



Scalar
borderColor =
Scalar(0, 0, 255));



















// TODO cannot be exported yet; conversion from/to Vec4i is not wrapped in core



CV_EXPORTS
void
drawCharucoDiamond(const
Ptr<Dictionary>
&dictionary,
Vec4i
ids,
int
squareLength,



int
markerLength,
OutputArray
img,
int
marginSize = 0,



int
borderBits = 1);










CV_EXPORTS_W
bool
testCharucoCornersCollinear(const
Ptr<CharucoBoard>
&_board,



InputArray _charucoIds);






}


}







#endif