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merge with https://github.com/opencv/opencv_contrib/pull/3394 move Charuco API from contrib to main repo: - add CharucoDetector: ``` CharucoDetector::detectBoard(InputArray image, InputOutputArrayOfArrays markerCorners, InputOutputArray markerIds, OutputArray charucoCorners, OutputArray charucoIds) const // detect charucoCorners and/or markerCorners CharucoDetector::detectDiamonds(InputArray image, InputOutputArrayOfArrays _markerCorners, InputOutputArrayOfArrays _markerIds, OutputArrayOfArrays _diamondCorners, OutputArray _diamondIds) const ``` - add `matchImagePoints()` for `CharucoBoard` - remove contrib aruco dependencies from interactive-calibration tool - move almost all aruco tests to objdetect ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [x] The PR is proposed to the proper branch - [x] There is a reference to the original bug report and related work - [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name. - [x] The feature is well documented and sample code can be built with the project CMake
43 lines
1.8 KiB
C++
43 lines
1.8 KiB
C++
// 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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#include "test_precomp.hpp"
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#include "opencv2/calib3d.hpp"
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namespace opencv_test {
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static inline double deg2rad(double deg) { return deg * CV_PI / 180.; }
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vector<Point2f> getAxis(InputArray _cameraMatrix, InputArray _distCoeffs, InputArray _rvec, InputArray _tvec,
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float length, const float offset = 0.f);
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vector<Point2f> getMarkerById(int id, const vector<vector<Point2f> >& corners, const vector<int>& ids);
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/**
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* @brief Get rvec and tvec from yaw, pitch and distance
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*/
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void getSyntheticRT(double yaw, double pitch, double distance, Mat& rvec, Mat& tvec);
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/**
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* @brief Project a synthetic marker
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*/
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void projectMarker(Mat& img, const aruco::Board& board, int markerIndex, Mat cameraMatrix, Mat rvec, Mat tvec,
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int markerBorder);
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/**
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* @brief Get a synthetic image of GridBoard in perspective
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*/
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Mat projectBoard(const aruco::GridBoard& board, Mat cameraMatrix, double yaw, double pitch, double distance,
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Size imageSize, int markerBorder);
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bool getCharucoBoardPose(InputArray charucoCorners, InputArray charucoIds, const aruco::CharucoBoard &board,
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InputArray cameraMatrix, InputArray distCoeffs, InputOutputArray rvec,
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InputOutputArray tvec, bool useExtrinsicGuess = false);
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void getMarkersPoses(InputArrayOfArrays corners, float markerLength, InputArray cameraMatrix, InputArray distCoeffs,
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OutputArray _rvecs, OutputArray _tvecs, OutputArray objPoints = noArray(),
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bool use_aruco_ccw_center = true, SolvePnPMethod solvePnPMethod = SolvePnPMethod::SOLVEPNP_ITERATIVE);
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}
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