libopencv-contrib-dev 3.2.0+dfsg-4build2 / usr / include / opencv2 / aruco / 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 {

//! @addtogroup aruco
//! @{


/**
 * @brief ChArUco board
 * Specific class for ChArUco boards. A ChArUco board is a planar board where the markers are placed
 * inside the white squares of a chessboard. The benefits of ChArUco boards is that they provide
 * both, ArUco markers versatility and chessboard corner precision, which is important for
 * calibration and pose estimation.
 * This class also allows the easy creation and drawing of ChArUco boards.
 */
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;

    /**
     * @brief Draw a ChArUco board
     *
     * @param outSize size of the output image in pixels.
     * @param img output image with the board. The size of this image will be outSize
     * and the board will be on the center, keeping the board proportions.
     * @param marginSize minimum margins (in pixels) of the board in the output image
     * @param borderBits width of the marker borders.
     *
     * This function return the image of the ChArUco board, ready to be printed.
     */
    CV_WRAP void draw(Size outSize, OutputArray img, int marginSize = 0, int borderBits = 1);


    /**
     * @brief Create a CharucoBoard object
     *
     * @param squaresX number of chessboard squares in X direction
     * @param squaresY number of chessboard squares in Y direction
     * @param squareLength chessboard square side length (normally in meters)
     * @param markerLength marker side length (same unit than squareLength)
     * @param dictionary dictionary of markers indicating the type of markers.
     * The first markers in the dictionary are used to fill the white chessboard squares.
     * @return the output CharucoBoard object
     *
     * This functions creates a CharucoBoard object given the number of squares in each direction
     * and the size of the markers and chessboard squares.
     */
    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 lenght (normally in meters)
    float _markerLength;
};




/**
 * @brief Interpolate position of ChArUco board corners
 * @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.
 * @param markerIds list of identifiers for each marker in 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 board layout of ChArUco board.
 * @param charucoCorners interpolated chessboard corners
 * @param charucoIds interpolated chessboard corners identifiers
 * @param cameraMatrix optional 3x3 floating-point camera matrix
 * \f$A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$
 * @param distCoeffs optional vector of distortion coefficients
 * \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
 * @param minMarkers number of adjacent markers that must be detected to return a charuco corner
 *
 * 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 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.
 * The function returns the number of interpolated corners.
 */
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);




/**
 * @brief Pose estimation for a ChArUco board given some of their corners
 * @param charucoCorners vector of detected charuco corners
 * @param charucoIds list of identifiers for each corner in charucoCorners
 * @param board layout of ChArUco board.
 * @param cameraMatrix input 3x3 floating-point camera matrix
 * \f$A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$
 * @param distCoeffs vector of distortion coefficients
 * \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
 * @param rvec Output vector (e.g. cv::Mat) corresponding to the rotation vector of the board
 * (@sa Rodrigues).
 * @param tvec Output vector (e.g. cv::Mat) corresponding to the translation vector of the board.
 *
 * This function estimates a Charuco board pose from some detected corners.
 * The function checks if the input corners are enough and valid to perform pose estimation.
 * If pose estimation is valid, returns true, else returns false.
 */
CV_EXPORTS_W bool estimatePoseCharucoBoard(InputArray charucoCorners, InputArray charucoIds,
                                           const Ptr<CharucoBoard> &board, InputArray cameraMatrix,
                                           InputArray distCoeffs, OutputArray rvec, OutputArray tvec);




/**
 * @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 Calibrate a camera using Charuco corners
 *
 * @param charucoCorners vector of detected charuco corners per frame
 * @param charucoIds list of identifiers for each corner in charucoCorners per frame
 * @param board Marker Board layout
 * @param imageSize input image size
 * @param cameraMatrix Output 3x3 floating-point camera matrix
 * \f$A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$ . If CV\_CALIB\_USE\_INTRINSIC\_GUESS
 * and/or CV_CALIB_FIX_ASPECT_RATIO are specified, some or all of fx, fy, cx, cy must be
 * initialized before calling the function.
 * @param distCoeffs Output vector of distortion coefficients
 * \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
 * @param rvecs Output vector of rotation vectors (see Rodrigues ) estimated for each board view
 * (e.g. std::vector<cv::Mat>>). That is, each k-th rotation vector together with the corresponding
 * k-th translation vector (see the next output parameter description) brings the board pattern
 * from the model coordinate space (in which object points are specified) to the world coordinate
 * space, that is, a real position of the board pattern in the k-th pattern view (k=0.. *M* -1).
 * @param tvecs Output vector of translation vectors estimated for each pattern view.
 * @param stdDeviationsIntrinsics Output vector of standard deviations estimated for intrinsic parameters.
 * Order of deviations values:
 * \f$(f_x, f_y, c_x, c_y, k_1, k_2, p_1, p_2, k_3, k_4, k_5, k_6 , s_1, s_2, s_3,
 * s_4, \tau_x, \tau_y)\f$ If one of parameters is not estimated, it's deviation is equals to zero.
 * @param stdDeviationsExtrinsics Output vector of standard deviations estimated for extrinsic parameters.
 * Order of deviations values: \f$(R_1, T_1, \dotsc , R_M, T_M)\f$ where M is number of pattern views,
 * \f$R_i, T_i\f$ are concatenated 1x3 vectors.
 * @param perViewErrors Output vector of average re-projection errors estimated for each pattern view.
 * @param flags flags Different flags  for the calibration process (see #calibrateCamera for details).
 * @param criteria Termination criteria for the iterative optimization algorithm.
 *
 * This function calibrates a camera using a set of corners of a  Charuco Board. The function
 * receives a list of detected corners and its identifiers from several views of the Board.
 * The function returns the final re-projection error.
 */
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));

/** @brief It's the same function as #calibrateCameraCharuco but without calibration error estimation.
*/
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));



/**
 * @brief Detect ChArUco Diamond markers
 *
 * @param image input image necessary for corner subpixel.
 * @param markerCorners list of detected marker corners from detectMarkers function.
 * @param markerIds list of marker ids in markerCorners.
 * @param squareMarkerLengthRate rate between square and marker length:
 * squareMarkerLengthRate = squareLength/markerLength. The real units are not necessary.
 * @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 cameraMatrix Optional camera calibration matrix.
 * @param distCoeffs Optional camera distortion coefficients.
 *
 * 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 can slightly reduce the detection rate.
 */
CV_EXPORTS_W void detectCharucoDiamond(InputArray image, InputArrayOfArrays markerCorners,
                                       InputArray markerIds, float squareMarkerLengthRate,
                                       OutputArrayOfArrays diamondCorners, OutputArray diamondIds,
                                       InputArray cameraMatrix = noArray(),
                                       InputArray distCoeffs = noArray());



/**
 * @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));




/**
 * @brief Draw a ChArUco Diamond marker
 *
 * @param dictionary dictionary of markers indicating the type of markers.
 * @param ids list of 4 ids for each ArUco marker in the ChArUco marker.
 * @param squareLength size of the chessboard squares in pixels.
 * @param markerLength size of the markers in pixels.
 * @param img output image with the marker. The size of this image will be
 * 3*squareLength + 2*marginSize,.
 * @param marginSize minimum margins (in pixels) of the marker in the output image
 * @param borderBits width of the marker borders.
 *
 * This function return the image of a ChArUco marker, ready to be printed.
 */
// 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);




//! @}
}
}

#endif