63 lines
2.6 KiB
C++
63 lines
2.6 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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#include "precomp.hpp"
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#include <opencv2/calib3d.hpp>
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#include "charuco.hpp"
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#include <opencv2/imgproc.hpp>
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namespace cv {
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namespace aruco {
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using namespace std;
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int interpolateCornersCharuco(InputArrayOfArrays _markerCorners, InputArray _markerIds,
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InputArray _image, const Ptr<CharucoBoard> &_board,
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OutputArray _charucoCorners, OutputArray _charucoIds,
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InputArray _cameraMatrix, InputArray _distCoeffs, int minMarkers) {
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CharucoParameters params;
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params.minMarkers = minMarkers;
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params.cameraMatrix = _cameraMatrix.getMat();
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params.distCoeffs = _distCoeffs.getMat();
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CharucoDetector detector(*_board, params);
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vector<Mat> markerCorners;
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_markerCorners.getMatVector(markerCorners);
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detector.detectBoard(_image, _charucoCorners, _charucoIds, markerCorners, _markerIds.getMat());
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return (int)_charucoIds.total();
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}
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void detectCharucoDiamond(InputArray _image, InputArrayOfArrays _markerCorners, InputArray _markerIds,
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float squareMarkerLengthRate, OutputArrayOfArrays _diamondCorners, OutputArray _diamondIds,
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InputArray _cameraMatrix, InputArray _distCoeffs, Ptr<Dictionary> dictionary) {
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CharucoParameters params;
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params.cameraMatrix = _cameraMatrix.getMat();
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params.distCoeffs = _distCoeffs.getMat();
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CharucoBoard board({3, 3}, squareMarkerLengthRate, 1.f, *dictionary);
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CharucoDetector detector(board, params);
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vector<Mat> markerCorners;
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_markerCorners.getMatVector(markerCorners);
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detector.detectDiamonds(_image, _diamondCorners, _diamondIds, markerCorners, _markerIds.getMat());
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}
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void drawCharucoDiamond(const Ptr<Dictionary> &dictionary, Vec4i ids, int squareLength, int markerLength,
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OutputArray _img, int marginSize, int borderBits) {
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CV_Assert(squareLength > 0 && markerLength > 0 && squareLength > markerLength);
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CV_Assert(marginSize >= 0 && borderBits > 0);
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// assign the charuco marker ids
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vector<int> tmpIds(4);
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for(int i = 0; i < 4; i++)
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tmpIds[i] = ids[i];
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// create a charuco board similar to a charuco marker and print it
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CharucoBoard board(Size(3, 3), (float)squareLength, (float)markerLength, *dictionary, tmpIds);
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Size outSize(3 * squareLength + 2 * marginSize, 3 * squareLength + 2 * marginSize);
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board.generateImage(outSize, _img, marginSize, borderBits);
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}
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}
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}
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