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 {



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;

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


    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;
};




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);




CV_EXPORTS_W bool estimatePoseCharucoBoard(InputArray charucoCorners, InputArray charucoIds,
                                           const Ptr<CharucoBoard> &board, InputArray cameraMatrix,
                                           InputArray distCoeffs, OutputArray rvec, OutputArray tvec,
                                           bool useExtrinsicGuess = false);




CV_EXPORTS_W void drawDetectedCornersCharuco(InputOutputArray image, InputArray charucoCorners,
                                             InputArray charucoIds = noArray(),
                                             Scalar cornerColor = Scalar(255, 0, 0));



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));

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));



CV_EXPORTS_W void detectCharucoDiamond(InputArray image, InputArrayOfArrays markerCorners,
                                       InputArray markerIds, float squareMarkerLengthRate,
                                       OutputArrayOfArrays diamondCorners, OutputArray diamondIds,
                                       InputArray cameraMatrix = noArray(),
                                       InputArray distCoeffs = noArray());



CV_EXPORTS_W void drawDetectedDiamonds(InputOutputArray image, InputArrayOfArrays diamondCorners,
                                       InputArray diamondIds = noArray(),
                                       Scalar borderColor = Scalar(0, 0, 255));




// 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