old/aruco/src/aruco/cvdrawingutils.cpp
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2 Copyright 2011 Rafael Muñoz Salinas. All rights reserved.
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28 #include <aruco/cvdrawingutils.h>
29 using namespace cv;
30 namespace aruco {
31  /****
32  *
33  *
34  *
35  ****/
36  void CvDrawingUtils::draw3dAxis(cv::Mat &Image,Marker &m,const CameraParameters &CP)
37  {
38 
39  float size=m.ssize*3;
40  Mat objectPoints (4,3,CV_32FC1);
41  objectPoints.at<float>(0,0)=0;
42  objectPoints.at<float>(0,1)=0;
43  objectPoints.at<float>(0,2)=0;
44  objectPoints.at<float>(1,0)=size;
45  objectPoints.at<float>(1,1)=0;
46  objectPoints.at<float>(1,2)=0;
47  objectPoints.at<float>(2,0)=0;
48  objectPoints.at<float>(2,1)=size;
49  objectPoints.at<float>(2,2)=0;
50  objectPoints.at<float>(3,0)=0;
51  objectPoints.at<float>(3,1)=0;
52  objectPoints.at<float>(3,2)=size;
53 
54  vector<Point2f> imagePoints;
55  cv::projectPoints( objectPoints, m.Rvec,m.Tvec, CP.CameraMatrix,CP.Distorsion, imagePoints);
56  //draw lines of different colours
57  cv::line(Image,imagePoints[0],imagePoints[1],Scalar(255,0,0,255),1,LINE_AA);
58  cv::line(Image,imagePoints[0],imagePoints[2],Scalar(0,255,0,255),1,LINE_AA);
59  cv::line(Image,imagePoints[0],imagePoints[3],Scalar(0,0,255,255),1,LINE_AA);
60  putText(Image,"x", imagePoints[1],FONT_HERSHEY_SIMPLEX, 0.6, Scalar(255,0,0,255),2);
61  putText(Image,"y", imagePoints[2],FONT_HERSHEY_SIMPLEX, 0.6, Scalar(0,255,0,255),2);
62  putText(Image,"z", imagePoints[3],FONT_HERSHEY_SIMPLEX, 0.6, Scalar(0,0,255,255),2);
63  }
64 
65  /****
66  *
67  *
68  *
69  ****/
70  void CvDrawingUtils::draw3dCube(cv::Mat &Image,Marker &m,const CameraParameters &CP)
71  {
72  Mat objectPoints (8,3,CV_32FC1);
73  double halfSize=m.ssize/2;
74  objectPoints.at<float>(0,0)=-halfSize;
75  objectPoints.at<float>(0,1)=0;
76  objectPoints.at<float>(0,2)=-halfSize;
77  objectPoints.at<float>(1,0)=halfSize;
78  objectPoints.at<float>(1,1)=0;
79  objectPoints.at<float>(1,2)=-halfSize;
80  objectPoints.at<float>(2,0)=halfSize;
81  objectPoints.at<float>(2,1)=0;
82  objectPoints.at<float>(2,2)=halfSize;
83  objectPoints.at<float>(3,0)=-halfSize;
84  objectPoints.at<float>(3,1)=0;
85  objectPoints.at<float>(3,2)=halfSize;
86 
87  objectPoints.at<float>(4,0)=-halfSize;
88  objectPoints.at<float>(4,1)=m.ssize;
89  objectPoints.at<float>(4,2)=-halfSize;
90  objectPoints.at<float>(5,0)=halfSize;
91  objectPoints.at<float>(5,1)=m.ssize;
92  objectPoints.at<float>(5,2)=-halfSize;
93  objectPoints.at<float>(6,0)=halfSize;
94  objectPoints.at<float>(6,1)=m.ssize;
95  objectPoints.at<float>(6,2)=halfSize;
96  objectPoints.at<float>(7,0)=-halfSize;
97  objectPoints.at<float>(7,1)=m.ssize;
98  objectPoints.at<float>(7,2)=halfSize;
99 
100  vector<Point2f> imagePoints;
101  projectPoints( objectPoints, m.Rvec,m.Tvec, CP.CameraMatrix,CP.Distorsion, imagePoints);
102  //draw lines of different colours
103  for (int i=0;i<4;i++)
104  cv::line(Image,imagePoints[i],imagePoints[(i+1)%4],Scalar(0,0,255,255),1,LINE_AA);
105 
106  for (int i=0;i<4;i++)
107  cv::line(Image,imagePoints[i+4],imagePoints[4+(i+1)%4],Scalar(0,0,255,255),1,LINE_AA);
108 
109  for (int i=0;i<4;i++)
110  cv::line(Image,imagePoints[i],imagePoints[i+4],Scalar(0,0,255,255),1,LINE_AA);
111 
112  }
113 
114 
115  /****
116  *
117  *
118  *
119  ****/
120  void CvDrawingUtils::draw3dAxis(cv::Mat &Image,Board &B,const CameraParameters &CP)
121  {
122  Mat objectPoints (4,3,CV_32FC1);
123  objectPoints.at<float>(0,0)=0;objectPoints.at<float>(0,1)=0;objectPoints.at<float>(0,2)=0;
124  objectPoints.at<float>(1,0)=2*B[0].ssize;objectPoints.at<float>(1,1)=0;objectPoints.at<float>(1,2)=0;
125  objectPoints.at<float>(2,0)=0;objectPoints.at<float>(2,1)=2*B[0].ssize;objectPoints.at<float>(2,2)=0;
126  objectPoints.at<float>(3,0)=0;objectPoints.at<float>(3,1)=0;objectPoints.at<float>(3,2)=2*B[0].ssize;
127 
128  vector<Point2f> imagePoints;
129  projectPoints( objectPoints, B.Rvec,B.Tvec, CP.CameraMatrix, CP.Distorsion, imagePoints);
130  //draw lines of different colours
131  cv::line(Image,imagePoints[0],imagePoints[1],Scalar(0,0,255,255),2,LINE_AA);
132  cv::line(Image,imagePoints[0],imagePoints[2],Scalar(0,255,0,255),2,LINE_AA);
133  cv::line(Image,imagePoints[0],imagePoints[3],Scalar(255,0,0,255),2,LINE_AA);
134 
135  putText(Image,"X", imagePoints[1],FONT_HERSHEY_SIMPLEX, 1, Scalar(0,0,255,255),2);
136  putText(Image,"Y", imagePoints[2],FONT_HERSHEY_SIMPLEX, 1, Scalar(0,255,0,255),2);
137  putText(Image,"Z", imagePoints[3],FONT_HERSHEY_SIMPLEX, 1, Scalar(255,0,0,255),2);
138  }
139 
140 
141  /****
142  *
143  *
144  *
145  ****/
146  void CvDrawingUtils::draw3dCube(cv::Mat &Image,Board &B,const CameraParameters &CP)
147  {
148 
149  float cubeSize=B[0].ssize;
150  float txz=-cubeSize/2;
151  Mat objectPoints (8,3,CV_32FC1);
152  objectPoints.at<float>(0,0)=txz;objectPoints.at<float>(0,1)=0;objectPoints.at<float>(0,2)=txz;
153  objectPoints.at<float>(1,0)=txz+cubeSize;objectPoints.at<float>(1,1)=0;objectPoints.at<float>(1,2)=txz;
154  objectPoints.at<float>(2,0)=txz+cubeSize;objectPoints.at<float>(2,1)=cubeSize;objectPoints.at<float>(2,2)=txz;
155  objectPoints.at<float>(3,0)=txz;objectPoints.at<float>(3,1)=cubeSize;objectPoints.at<float>(3,2)=txz;
156 
157  objectPoints.at<float>(4,0)=txz;objectPoints.at<float>(4,1)=0;objectPoints.at<float>(4,2)=txz+cubeSize;
158  objectPoints.at<float>(5,0)=txz+cubeSize;objectPoints.at<float>(5,1)=0;objectPoints.at<float>(5,2)=txz+cubeSize;
159  objectPoints.at<float>(6,0)=txz+cubeSize;objectPoints.at<float>(6,1)=cubeSize;objectPoints.at<float>(6,2)=txz+cubeSize;
160  objectPoints.at<float>(7,0)=txz;objectPoints.at<float>(7,1)=cubeSize;objectPoints.at<float>(7,2)=txz+cubeSize;
161 
162  vector<Point2f> imagePoints;
163  projectPoints( objectPoints,B.Rvec,B.Tvec, CP.CameraMatrix, CP.Distorsion, imagePoints);
164  //draw lines of different colours
165  for(int i=0;i<4;i++)
166  cv::line(Image,imagePoints[i],imagePoints[(i+1)%4],Scalar(0,0,255,255),1,LINE_AA);
167 
168  for(int i=0;i<4;i++)
169  cv::line(Image,imagePoints[i+4],imagePoints[4+(i+1)%4],Scalar(0,0,255,255),1,LINE_AA);
170 
171  for(int i=0;i<4;i++)
172  cv::line(Image,imagePoints[i],imagePoints[i+4],Scalar(0,0,255,255),1,LINE_AA);
173  }
174 
175 }

lidar_camera_calibration
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autogenerated on Sat Feb 6 2021 03:39:37