aruco.hpp

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#ifndef __OPENCV_ARUCO_HPP__
#define __OPENCV_ARUCO_HPP__

#include <opencv2/core.hpp>
#include <vector>
#include "opencv2/aruco/dictionary.hpp"

namespace cv {
namespace aruco {


enum CornerRefineMethod{
    CORNER_REFINE_NONE,     
    CORNER_REFINE_SUBPIX,   
    CORNER_REFINE_CONTOUR,  
    CORNER_REFINE_APRILTAG, 
};

struct CV_EXPORTS_W DetectorParameters {

    DetectorParameters();

    CV_WRAP static Ptr<DetectorParameters> create();

    CV_PROP_RW int adaptiveThreshWinSizeMin;
    CV_PROP_RW int adaptiveThreshWinSizeMax;
    CV_PROP_RW int adaptiveThreshWinSizeStep;
    CV_PROP_RW double adaptiveThreshConstant;
    CV_PROP_RW double minMarkerPerimeterRate;
    CV_PROP_RW double maxMarkerPerimeterRate;
    CV_PROP_RW double polygonalApproxAccuracyRate;
    CV_PROP_RW double minCornerDistanceRate;
    CV_PROP_RW int minDistanceToBorder;
    CV_PROP_RW double minMarkerDistanceRate;
    CV_PROP_RW int cornerRefinementMethod;
    CV_PROP_RW int cornerRefinementWinSize;
    CV_PROP_RW int cornerRefinementMaxIterations;
    CV_PROP_RW double cornerRefinementMinAccuracy;
    CV_PROP_RW int markerBorderBits;
    CV_PROP_RW int perspectiveRemovePixelPerCell;
    CV_PROP_RW double perspectiveRemoveIgnoredMarginPerCell;
    CV_PROP_RW double maxErroneousBitsInBorderRate;
    CV_PROP_RW double minOtsuStdDev;
    CV_PROP_RW double errorCorrectionRate;

    // April :: User-configurable parameters.
    CV_PROP_RW float aprilTagQuadDecimate;
    CV_PROP_RW float aprilTagQuadSigma;

    // April :: Internal variables
    CV_PROP_RW int aprilTagMinClusterPixels;
    CV_PROP_RW int aprilTagMaxNmaxima;
    CV_PROP_RW float aprilTagCriticalRad;
    CV_PROP_RW float aprilTagMaxLineFitMse;
    CV_PROP_RW int aprilTagMinWhiteBlackDiff;
    CV_PROP_RW int aprilTagDeglitch;

    // to detect white (inverted) markers
    CV_PROP_RW bool detectInvertedMarker;
};



CV_EXPORTS_W void detectMarkers(InputArray image, const Ptr<Dictionary> &dictionary, OutputArrayOfArrays corners,
                                OutputArray ids, const Ptr<DetectorParameters> &parameters = DetectorParameters::create(),
                                OutputArrayOfArrays rejectedImgPoints = noArray(), InputArray cameraMatrix= noArray(), InputArray distCoeff= noArray());



CV_EXPORTS_W void estimatePoseSingleMarkers(InputArrayOfArrays corners, float markerLength,
                                            InputArray cameraMatrix, InputArray distCoeffs,
                                            OutputArray rvecs, OutputArray tvecs, OutputArray _objPoints = noArray());



class CV_EXPORTS_W Board {

    public:
    CV_WRAP static Ptr<Board> create(InputArrayOfArrays objPoints, const Ptr<Dictionary> &dictionary, InputArray ids);
    CV_PROP std::vector< std::vector< Point3f > > objPoints;

    CV_PROP Ptr<Dictionary> dictionary;

    CV_PROP std::vector< int > ids;
};



class CV_EXPORTS_W GridBoard : public Board {

    public:
    CV_WRAP void draw(Size outSize, OutputArray img, int marginSize = 0, int borderBits = 1);


    CV_WRAP static Ptr<GridBoard> create(int markersX, int markersY, float markerLength,
                                         float markerSeparation, const Ptr<Dictionary> &dictionary, int firstMarker = 0);

    CV_WRAP Size getGridSize() const { return Size(_markersX, _markersY); }

    CV_WRAP float getMarkerLength() const { return _markerLength; }

    CV_WRAP float getMarkerSeparation() const { return _markerSeparation; }


    private:
    // number of markers in X and Y directions
    int _markersX, _markersY;

    // marker side lenght (normally in meters)
    float _markerLength;

    // separation between markers in the grid
    float _markerSeparation;
};



CV_EXPORTS_W int estimatePoseBoard(InputArrayOfArrays corners, InputArray ids, const Ptr<Board> &board,
                                   InputArray cameraMatrix, InputArray distCoeffs, OutputArray rvec,
                                   OutputArray tvec, bool useExtrinsicGuess = false);




CV_EXPORTS_W void refineDetectedMarkers(
    InputArray image,const  Ptr<Board> &board, InputOutputArrayOfArrays detectedCorners,
    InputOutputArray detectedIds, InputOutputArrayOfArrays rejectedCorners,
    InputArray cameraMatrix = noArray(), InputArray distCoeffs = noArray(),
    float minRepDistance = 10.f, float errorCorrectionRate = 3.f, bool checkAllOrders = true,
    OutputArray recoveredIdxs = noArray(), const Ptr<DetectorParameters> &parameters = DetectorParameters::create());



CV_EXPORTS_W void drawDetectedMarkers(InputOutputArray image, InputArrayOfArrays corners,
                                      InputArray ids = noArray(),
                                      Scalar borderColor = Scalar(0, 255, 0));



CV_EXPORTS_W void drawAxis(InputOutputArray image, InputArray cameraMatrix, InputArray distCoeffs,
                           InputArray rvec, InputArray tvec, float length);



CV_EXPORTS_W void drawMarker(const Ptr<Dictionary> &dictionary, int id, int sidePixels, OutputArray img,
                             int borderBits = 1);



CV_EXPORTS_W void drawPlanarBoard(const Ptr<Board> &board, Size outSize, OutputArray img,
                                  int marginSize = 0, int borderBits = 1);



void _drawPlanarBoardImpl(Board *board, Size outSize, OutputArray img,
                          int marginSize = 0, int borderBits = 1);



CV_EXPORTS_AS(calibrateCameraArucoExtended) double calibrateCameraAruco(
    InputArrayOfArrays corners, InputArray ids, InputArray counter, const Ptr<Board> &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));


CV_EXPORTS_W double calibrateCameraAruco(
  InputArrayOfArrays corners, InputArray ids, InputArray counter, const Ptr<Board> &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));


CV_EXPORTS_W void getBoardObjectAndImagePoints(const Ptr<Board> &board, InputArrayOfArrays detectedCorners,
  InputArray detectedIds, OutputArray objPoints, OutputArray imgPoints);


}
}

#endif