move estimatePoseBoard() to board class

Author: AleksandrPanov

modules/aruco/include/opencv2/aruco.hpp

@@ -12,14 +12,14 @@ namespace aruco {
 
 
 /**
-@deprecated Use class ArucoDetector
+@deprecated Use class ArucoDetector::detectMarkers
 */
 CV_EXPORTS_W void detectMarkers(InputArray image, const Ptr<Dictionary> &dictionary, OutputArrayOfArrays corners,
                                 OutputArray ids, const Ptr<DetectorParameters> &parameters = DetectorParameters::create(),
                                 OutputArrayOfArrays rejectedImgPoints = noArray());
 
 /**
-@deprecated Use class ArucoDetector
+@deprecated Use class ArucoDetector::refineDetectedMarkers
 */
 CV_EXPORTS_W void refineDetectedMarkers(InputArray image,const  Ptr<Board> &board,
                                         InputOutputArrayOfArrays detectedCorners,
@@ -30,11 +30,33 @@ CV_EXPORTS_W void refineDetectedMarkers(InputArray image,const  Ptr<Board> &boar
                                         const Ptr<DetectorParameters> &parameters = DetectorParameters::create());
 
 /**
-@deprecated Use Board::draw()
+@deprecated Use Board::draw
 */
 CV_EXPORTS_W void drawPlanarBoard(const Ptr<Board> &board, Size outSize, OutputArray img, int marginSize,
                                   int borderBits);
 
+/**
+@deprecated Use Board::getBoardObjectAndImagePoints
+*/
+CV_EXPORTS_W void getBoardObjectAndImagePoints(const Ptr<Board> &board, InputArrayOfArrays detectedCorners,
+                                               InputArray detectedIds, OutputArray objPoints, OutputArray imgPoints);
+
+
+/**
+@deprecated Use Board::estimatePose
+*/
+CV_EXPORTS_W int estimatePoseBoard(InputArrayOfArrays corners, InputArray ids, const Ptr<Board> &board,
+                                   InputArray cameraMatrix, InputArray distCoeffs, InputOutputArray rvec,
+                                   InputOutputArray tvec, bool useExtrinsicGuess = false);
+
+/**
+@deprecated Use CharucoBoard::estimatePose
+*/
+CV_EXPORTS_W bool estimatePoseCharucoBoard(InputArray charucoCorners, InputArray charucoIds,
+                                           const Ptr<CharucoBoard> &board, InputArray cameraMatrix,
+                                           InputArray distCoeffs, InputOutputArray rvec,
+                                           InputOutputArray tvec, bool useExtrinsicGuess = false);
+
 }
 }
 

modules/aruco/samples/detect_board.cpp

@@ -180,7 +180,7 @@ int main(int argc, char *argv[]) {
         int markersOfBoardDetected = 0;
         if(ids.size() > 0)
             markersOfBoardDetected =
-                aruco::estimatePoseBoard(corners, ids, board, camMatrix, distCoeffs, rvec, tvec);
+                board->estimatePose(corners, ids, camMatrix, distCoeffs, rvec, tvec);
 
         double currentTime = ((double)getTickCount() - tick) / getTickFrequency();
         totalTime += currentTime;

modules/aruco/samples/detect_board_charuco.cpp

@@ -182,8 +182,7 @@ int main(int argc, char *argv[]) {
         // estimate charuco board pose
         bool validPose = false;
         if(camMatrix.total() != 0)
-            validPose = aruco::estimatePoseCharucoBoard(charucoCorners, charucoIds, charucoboard,
-                                                        camMatrix, distCoeffs, rvec, tvec);
+            validPose = charucoboard->estimateCharucoPose(charucoCorners, charucoIds, camMatrix, distCoeffs, rvec, tvec);
 
 
 

modules/aruco/src/aruco.cpp

@@ -32,5 +32,23 @@ void drawPlanarBoard(const Ptr<Board> &board, Size outSize, const _OutputArray &
     board->draw(outSize, img, marginSize, borderBits);
 }
 
+void getBoardObjectAndImagePoints(const Ptr<Board> &board, InputArrayOfArrays detectedCorners, InputArray detectedIds,
+                                  OutputArray objPoints, OutputArray imgPoints) {
+    board->getBoardObjectAndImagePoints(detectedCorners, detectedIds, objPoints, imgPoints);
+}
+
+int estimatePoseBoard(InputArrayOfArrays _corners, InputArray _ids, const Ptr<Board> &board,
+                      InputArray _cameraMatrix, InputArray _distCoeffs, InputOutputArray _rvec,
+                      InputOutputArray _tvec, bool useExtrinsicGuess) {
+    return board->estimatePose(_corners, _ids, _cameraMatrix, _distCoeffs, _rvec, _tvec, useExtrinsicGuess);
+}
+
+bool estimatePoseCharucoBoard(InputArray charucoCorners, InputArray charucoIds,
+                                           const Ptr<CharucoBoard> &board, InputArray cameraMatrix,
+                                           InputArray distCoeffs, InputOutputArray rvec,
+                                           InputOutputArray tvec, bool useExtrinsicGuess) {
+    return board->estimateCharucoPose(charucoCorners, charucoIds, cameraMatrix, distCoeffs, rvec, tvec, useExtrinsicGuess);
+}
+
 }
 }

modules/aruco/src/aruco_calib.cpp

@@ -36,7 +36,7 @@ double calibrateCameraAruco(InputArrayOfArrays _corners, InputArray _ids, InputA
         }
         markerCounter += nMarkersInThisFrame;
         Mat currentImgPoints, currentObjPoints;
-        getBoardObjectAndImagePoints(board, thisFrameCorners, thisFrameIds, currentObjPoints,
+        board->getBoardObjectAndImagePoints(thisFrameCorners, thisFrameIds, currentObjPoints,
             currentImgPoints);
         if(currentImgPoints.total() > 0 && currentObjPoints.total() > 0) {
             processedImagePoints.push_back(currentImgPoints);

modules/aruco/test/test_boarddetection.cpp

@@ -107,7 +107,7 @@ void CV_ArucoBoardPose::run(int) {
 
                 // estimate pose
                 Mat rvec, tvec;
-                aruco::estimatePoseBoard(corners, ids, board, cameraMatrix, distCoeffs, rvec, tvec);
+                board->estimatePose(corners, ids, cameraMatrix, distCoeffs, rvec, tvec);
 
                 // check axes
                 vector<Point2f> axes = getAxis(cameraMatrix, distCoeffs, rvec, tvec, gridboard->getRightBottomBorder().x);

modules/aruco/test/test_charucodetection.cpp

@@ -284,8 +284,7 @@ void CV_CharucoPoseEstimation::run(int) {
                 if(charucoIds.size() == 0) continue;
 
                 // estimate charuco pose
-                aruco::estimatePoseCharucoBoard(charucoCorners, charucoIds, board, cameraMatrix,
-                                                distCoeffs, rvec, tvec);
+                board->estimateCharucoPose(charucoCorners, charucoIds, cameraMatrix, distCoeffs, rvec, tvec);
 
 
                 // check axes