cvdrawingutils.cpp
Go to the documentation of this file.
1 /*****************************
2 Copyright 2011 Rafael Muñoz Salinas. All rights reserved.
3 
4 Redistribution and use in source and binary forms, with or without modification, are
5 permitted provided that the following conditions are met:
6 
7  1. Redistributions of source code must retain the above copyright notice, this list of
8  conditions and the following disclaimer.
9 
10  2. Redistributions in binary form must reproduce the above copyright notice, this list
11  of conditions and the following disclaimer in the documentation and/or other materials
12  provided with the distribution.
13 
14 THIS SOFTWARE IS PROVIDED BY Rafael Muñoz Salinas ''AS IS'' AND ANY EXPRESS OR IMPLIED
15 WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
16 FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Rafael Muñoz Salinas OR
17 CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
18 CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
19 SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
20 ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
21 NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
22 ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
23 
24 The views and conclusions contained in the software and documentation are those of the
25 authors and should not be interpreted as representing official policies, either expressed
26 or implied, of Rafael Muñoz Salinas.
27 ********************************/
28 #include "cvdrawingutils.h"
29 #include <opencv2/highgui/highgui.hpp>
30 #include <opencv2/calib3d/calib3d.hpp>
31 #include <opencv2/imgproc/imgproc.hpp>
32 
33 using namespace cv;
34 namespace aruco {
35 void CvDrawingUtils::draw3dAxis(cv::Mat &Image, const CameraParameters &CP, const cv::Mat &Rvec,const cv::Mat &Tvec,float axis_size ){
36 
37  Mat objectPoints(4, 3, CV_32FC1);
38  objectPoints.at< float >(0, 0) = 0;
39  objectPoints.at< float >(0, 1) = 0;
40  objectPoints.at< float >(0, 2) = 0;
41  objectPoints.at< float >(1, 0) = axis_size;
42  objectPoints.at< float >(1, 1) = 0;
43  objectPoints.at< float >(1, 2) = 0;
44  objectPoints.at< float >(2, 0) = 0;
45  objectPoints.at< float >(2, 1) = axis_size;
46  objectPoints.at< float >(2, 2) = 0;
47  objectPoints.at< float >(3, 0) = 0;
48  objectPoints.at< float >(3, 1) = 0;
49  objectPoints.at< float >(3, 2) = axis_size;
50 
51  vector< Point2f > imagePoints;
52  cv::projectPoints(objectPoints, Rvec, Tvec, CP.CameraMatrix, CP.Distorsion, imagePoints);
53  // draw lines of different colours
54  cv::line(Image, imagePoints[0], imagePoints[1], Scalar(0, 0, 255, 255), 1, CV_AA);
55  cv::line(Image, imagePoints[0], imagePoints[2], Scalar(0, 255, 0, 255), 1, CV_AA);
56  cv::line(Image, imagePoints[0], imagePoints[3], Scalar(255, 0, 0, 255), 1, CV_AA);
57  putText(Image, "x", imagePoints[1], FONT_HERSHEY_SIMPLEX, 0.6, Scalar(0, 0, 255, 255), 2);
58  putText(Image, "y", imagePoints[2], FONT_HERSHEY_SIMPLEX, 0.6, Scalar(0, 255, 0, 255), 2);
59  putText(Image, "z", imagePoints[3], FONT_HERSHEY_SIMPLEX, 0.6, Scalar(255, 0, 0, 255), 2);
60 }
61 
62 /****
63  *
64  *
65  *
66  ****/
67 void CvDrawingUtils::draw3dAxis(cv::Mat &Image, Marker &m, const CameraParameters &CP) {
68 
69  float size = m.ssize * 3;
70  Mat objectPoints(4, 3, CV_32FC1);
71  objectPoints.at< float >(0, 0) = 0;
72  objectPoints.at< float >(0, 1) = 0;
73  objectPoints.at< float >(0, 2) = 0;
74  objectPoints.at< float >(1, 0) = size;
75  objectPoints.at< float >(1, 1) = 0;
76  objectPoints.at< float >(1, 2) = 0;
77  objectPoints.at< float >(2, 0) = 0;
78  objectPoints.at< float >(2, 1) = size;
79  objectPoints.at< float >(2, 2) = 0;
80  objectPoints.at< float >(3, 0) = 0;
81  objectPoints.at< float >(3, 1) = 0;
82  objectPoints.at< float >(3, 2) = size;
83 
84  vector< Point2f > imagePoints;
85  cv::projectPoints(objectPoints, m.Rvec, m.Tvec, CP.CameraMatrix, CP.Distorsion, imagePoints);
86  // draw lines of different colours
87  cv::line(Image, imagePoints[0], imagePoints[1], Scalar(0, 0, 255, 255), 1, CV_AA);
88  cv::line(Image, imagePoints[0], imagePoints[2], Scalar(0, 255, 0, 255), 1, CV_AA);
89  cv::line(Image, imagePoints[0], imagePoints[3], Scalar(255, 0, 0, 255), 1, CV_AA);
90  putText(Image, "x", imagePoints[1], FONT_HERSHEY_SIMPLEX, 0.6, Scalar(0, 0, 255, 255), 2);
91  putText(Image, "y", imagePoints[2], FONT_HERSHEY_SIMPLEX, 0.6, Scalar(0, 255, 0, 255), 2);
92  putText(Image, "z", imagePoints[3], FONT_HERSHEY_SIMPLEX, 0.6, Scalar(255, 0, 0, 255), 2);
93 }
94 
95 /****
96  *
97  *
98  *
99  ****/
100 void CvDrawingUtils::draw3dCube(cv::Mat &Image, Marker &m, const CameraParameters &CP, bool setYperpendicular) {
101  Mat objectPoints(8, 3, CV_32FC1);
102  double halfSize = m.ssize / 2;
103 
104 
105  if (setYperpendicular) {
106  objectPoints.at< float >(0, 0) = -halfSize;
107  objectPoints.at< float >(0, 1) = 0;
108  objectPoints.at< float >(0, 2) = -halfSize;
109  objectPoints.at< float >(1, 0) = halfSize;
110  objectPoints.at< float >(1, 1) = 0;
111  objectPoints.at< float >(1, 2) = -halfSize;
112  objectPoints.at< float >(2, 0) = halfSize;
113  objectPoints.at< float >(2, 1) = 0;
114  objectPoints.at< float >(2, 2) = halfSize;
115  objectPoints.at< float >(3, 0) = -halfSize;
116  objectPoints.at< float >(3, 1) = 0;
117  objectPoints.at< float >(3, 2) = halfSize;
118 
119  objectPoints.at< float >(4, 0) = -halfSize;
120  objectPoints.at< float >(4, 1) = m.ssize;
121  objectPoints.at< float >(4, 2) = -halfSize;
122  objectPoints.at< float >(5, 0) = halfSize;
123  objectPoints.at< float >(5, 1) = m.ssize;
124  objectPoints.at< float >(5, 2) = -halfSize;
125  objectPoints.at< float >(6, 0) = halfSize;
126  objectPoints.at< float >(6, 1) = m.ssize;
127  objectPoints.at< float >(6, 2) = halfSize;
128  objectPoints.at< float >(7, 0) = -halfSize;
129  objectPoints.at< float >(7, 1) = m.ssize;
130  objectPoints.at< float >(7, 2) = halfSize;
131  } else {
132  objectPoints.at< float >(0, 0) = -halfSize;
133  objectPoints.at< float >(0, 1) = -halfSize;
134  objectPoints.at< float >(0, 2) = 0;
135  objectPoints.at< float >(1, 0) = halfSize;
136  objectPoints.at< float >(1, 1) = -halfSize;
137  objectPoints.at< float >(1, 2) = 0;
138  objectPoints.at< float >(2, 0) = halfSize;
139  objectPoints.at< float >(2, 1) = halfSize;
140  objectPoints.at< float >(2, 2) = 0;
141  objectPoints.at< float >(3, 0) = -halfSize;
142  objectPoints.at< float >(3, 1) = halfSize;
143  objectPoints.at< float >(3, 2) = 0;
144 
145  objectPoints.at< float >(4, 0) = -halfSize;
146  objectPoints.at< float >(4, 1) = -halfSize;
147  objectPoints.at< float >(4, 2) = m.ssize;
148  objectPoints.at< float >(5, 0) = halfSize;
149  objectPoints.at< float >(5, 1) = -halfSize;
150  objectPoints.at< float >(5, 2) = m.ssize;
151  objectPoints.at< float >(6, 0) = halfSize;
152  objectPoints.at< float >(6, 1) = halfSize;
153  objectPoints.at< float >(6, 2) = m.ssize;
154  objectPoints.at< float >(7, 0) = -halfSize;
155  objectPoints.at< float >(7, 1) = halfSize;
156  objectPoints.at< float >(7, 2) = m.ssize;
157  }
158 
159  vector< Point2f > imagePoints;
160  projectPoints(objectPoints, m.Rvec, m.Tvec, CP.CameraMatrix, CP.Distorsion, imagePoints);
161  // draw lines of different colours
162  for (int i = 0; i < 4; i++)
163  cv::line(Image, imagePoints[i], imagePoints[(i + 1) % 4], Scalar(0, 0, 255, 255), 1, CV_AA);
164 
165  for (int i = 0; i < 4; i++)
166  cv::line(Image, imagePoints[i + 4], imagePoints[4 + (i + 1) % 4], Scalar(0, 0, 255, 255), 1, CV_AA);
167 
168  for (int i = 0; i < 4; i++)
169  cv::line(Image, imagePoints[i], imagePoints[i + 4], Scalar(0, 0, 255, 255), 1, CV_AA);
170 }
171 
172 
173 //void CvDrawingUtils::draw3dAxis(cv::Mat &Image, MarkerMap &B, const CameraParameters &CP) {
174 // Mat objectPoints(4, 3, CV_32FC1);
175 // objectPoints.at< float >(0, 0) = 0;
176 // objectPoints.at< float >(0, 1) = 0;
177 // objectPoints.at< float >(0, 2) = 0;
178 // objectPoints.at< float >(1, 0) = 2 * B[0].ssize;
179 // objectPoints.at< float >(1, 1) = 0;
180 // objectPoints.at< float >(1, 2) = 0;
181 // objectPoints.at< float >(2, 0) = 0;
182 // objectPoints.at< float >(2, 1) = 2 * B[0].ssize;
183 // objectPoints.at< float >(2, 2) = 0;
184 // objectPoints.at< float >(3, 0) = 0;
185 // objectPoints.at< float >(3, 1) = 0;
186 // objectPoints.at< float >(3, 2) = 2 * B[0].ssize;
187 
188 // vector< Point2f > imagePoints;
189 // projectPoints(objectPoints, B.Rvec, B.Tvec, CP.CameraMatrix, CP.Distorsion, imagePoints);
190 // // draw lines of different colours
191 // cv::line(Image, imagePoints[0], imagePoints[1], Scalar(0, 0, 255, 255), 2, CV_AA);
192 // cv::line(Image, imagePoints[0], imagePoints[2], Scalar(0, 255, 0, 255), 2, CV_AA);
193 // cv::line(Image, imagePoints[0], imagePoints[3], Scalar(255, 0, 0, 255), 2, CV_AA);
194 
195 // putText(Image, "X", imagePoints[1], FONT_HERSHEY_SIMPLEX, 1, Scalar(0, 0, 255, 255), 2);
196 // putText(Image, "Y", imagePoints[2], FONT_HERSHEY_SIMPLEX, 1, Scalar(0, 255, 0, 255), 2);
197 // putText(Image, "Z", imagePoints[3], FONT_HERSHEY_SIMPLEX, 1, Scalar(255, 0, 0, 255), 2);
198 //}
199 
200 
201 
202 //void CvDrawingUtils::draw3dCube(cv::Mat &Image, MarkerMap &B, const CameraParameters &CP, bool setYperpendicular) {
203 
204 // float cubeSize = B[0].ssize;
205 // float txz = -cubeSize / 2;
206 // Mat objectPoints(8, 3, CV_32FC1);
207 
208 // if (setYperpendicular) {
209 // objectPoints.at< float >(0, 0) = txz;
210 // objectPoints.at< float >(0, 1) = 0;
211 // objectPoints.at< float >(0, 2) = txz;
212 // objectPoints.at< float >(1, 0) = txz + cubeSize;
213 // objectPoints.at< float >(1, 1) = 0;
214 // objectPoints.at< float >(1, 2) = txz;
215 // objectPoints.at< float >(2, 0) = txz + cubeSize;
216 // objectPoints.at< float >(2, 1) = cubeSize;
217 // objectPoints.at< float >(2, 2) = txz;
218 // objectPoints.at< float >(3, 0) = txz;
219 // objectPoints.at< float >(3, 1) = cubeSize;
220 // objectPoints.at< float >(3, 2) = txz;
221 
222 // objectPoints.at< float >(4, 0) = txz;
223 // objectPoints.at< float >(4, 1) = 0;
224 // objectPoints.at< float >(4, 2) = txz + cubeSize;
225 // objectPoints.at< float >(5, 0) = txz + cubeSize;
226 // objectPoints.at< float >(5, 1) = 0;
227 // objectPoints.at< float >(5, 2) = txz + cubeSize;
228 // objectPoints.at< float >(6, 0) = txz + cubeSize;
229 // objectPoints.at< float >(6, 1) = cubeSize;
230 // objectPoints.at< float >(6, 2) = txz + cubeSize;
231 // objectPoints.at< float >(7, 0) = txz;
232 // objectPoints.at< float >(7, 1) = cubeSize;
233 // objectPoints.at< float >(7, 2) = txz + cubeSize;
234 // } else {
235 // objectPoints.at< float >(0, 0) = txz;
236 // objectPoints.at< float >(0, 2) = 0;
237 // objectPoints.at< float >(0, 1) = txz;
238 // objectPoints.at< float >(1, 0) = txz + cubeSize;
239 // objectPoints.at< float >(1, 2) = 0;
240 // objectPoints.at< float >(1, 1) = txz;
241 // objectPoints.at< float >(2, 0) = txz + cubeSize;
242 // objectPoints.at< float >(2, 2) = -cubeSize;
243 // objectPoints.at< float >(2, 1) = txz;
244 // objectPoints.at< float >(3, 0) = txz;
245 // objectPoints.at< float >(3, 2) = -cubeSize;
246 // objectPoints.at< float >(3, 1) = txz;
247 
248 // objectPoints.at< float >(4, 0) = txz;
249 // objectPoints.at< float >(4, 2) = 0;
250 // objectPoints.at< float >(4, 1) = txz + cubeSize;
251 // objectPoints.at< float >(5, 0) = txz + cubeSize;
252 // objectPoints.at< float >(5, 2) = 0;
253 // objectPoints.at< float >(5, 1) = txz + cubeSize;
254 // objectPoints.at< float >(6, 0) = txz + cubeSize;
255 // objectPoints.at< float >(6, 2) = -cubeSize;
256 // objectPoints.at< float >(6, 1) = txz + cubeSize;
257 // objectPoints.at< float >(7, 0) = txz;
258 // objectPoints.at< float >(7, 2) = -cubeSize;
259 // objectPoints.at< float >(7, 1) = txz + cubeSize;
260 // }
261 
262 // vector< Point2f > imagePoints;
263 // projectPoints(objectPoints, B.Rvec, B.Tvec, CP.CameraMatrix, CP.Distorsion, imagePoints);
264 // // draw lines of different colours
265 // for (int i = 0; i < 4; i++)
266 // cv::line(Image, imagePoints[i], imagePoints[(i + 1) % 4], Scalar(0, 0, 255, 255), 1, CV_AA);
267 
268 // for (int i = 0; i < 4; i++)
269 // cv::line(Image, imagePoints[i + 4], imagePoints[4 + (i + 1) % 4], Scalar(0, 0, 255, 255), 1, CV_AA);
270 
271 // for (int i = 0; i < 4; i++)
272 // cv::line(Image, imagePoints[i], imagePoints[i + 4], Scalar(0, 0, 255, 255), 1, CV_AA);
273 //}
274 }
aruco::Marker::Rvec
cv::Mat Rvec
Definition: marker.h:49
aruco::Marker
This class represents a marker. It is a vector of the fours corners ot the marker.
Definition: marker.h:42
aruco::CameraParameters
Parameters of the camera.
Definition: cameraparameters.h:38
aruco::Marker::ssize
float ssize
Definition: marker.h:47
aruco::Marker::Tvec
cv::Mat Tvec
Definition: marker.h:49

tuw_aruco
Author(s): Lukas Pfeifhofer
autogenerated on Mon Jun 10 2019 15:40:47