move drawDetectedDiamonds

Author: AleksandrPanov

modules/aruco/include/opencv2/aruco/charuco.hpp

@@ -68,7 +68,7 @@ CV_EXPORTS_W int interpolateCornersCharuco(InputArrayOfArrays markerCorners, Inp
  * This function detects Diamond markers from the previous detected ArUco markers. The diamonds
  * are returned in the diamondCorners and diamondIds parameters. If camera calibration parameters
  * are provided, the diamond search is based on reprojection. If not, diamond search is based on
- * homography. Homography is faster than reprojection but can slightly reduce the detection rate.
+ * homography. Homography is faster than reprojection, but less accurate.
  */
 CV_EXPORTS_W void detectCharucoDiamond(InputArray image, InputArrayOfArrays markerCorners,
                                        InputArray markerIds, float squareMarkerLengthRate,
@@ -79,32 +79,6 @@ CV_EXPORTS_W void detectCharucoDiamond(InputArray image, InputArrayOfArrays mark
                                                (getPredefinedDictionary(PredefinedDictionaryType::DICT_4X4_50)));
 
 
-
-/**
- * @brief Draw a set of detected ChArUco Diamond markers
- *
- * @param image input/output image. It must have 1 or 3 channels. The number of channels is not
- * altered.
- * @param diamondCorners positions of diamond corners in the same format returned by
- * detectCharucoDiamond(). (e.g std::vector<std::vector<cv::Point2f> > ). For N detected markers,
- * the dimensions of this array should be Nx4. The order of the corners should be clockwise.
- * @param diamondIds vector of identifiers for diamonds in diamondCorners, in the same format
- * returned by detectCharucoDiamond() (e.g. std::vector<Vec4i>).
- * Optional, if not provided, ids are not painted.
- * @param borderColor color of marker borders. Rest of colors (text color and first corner color)
- * are calculated based on this one.
- *
- * Given an array of detected diamonds, this functions draws them in the image. The marker borders
- * are painted and the markers identifiers if provided.
- * Useful for debugging purposes.
- */
-CV_EXPORTS_W void drawDetectedDiamonds(InputOutputArray image, InputArrayOfArrays diamondCorners,
-                                       InputArray diamondIds = noArray(),
-                                       Scalar borderColor = Scalar(0, 0, 255));
-
-
-
-
 /**
  * @brief Draw a ChArUco Diamond marker
  *

modules/aruco/src/charuco.cpp

@@ -128,7 +128,7 @@ static void _getMaximumSubPixWindowSizes(InputArrayOfArrays markerCorners, Input
 
     for(unsigned int i = 0; i < nCharucoCorners; i++) {
         if(charucoCorners.getMat().at< Point2f >(i) == Point2f(-1, -1)) continue;
-        if(board->getNearestMarkerIdx()[i].size() == 0) continue;
+        if(board->getNearestMarkerIdx()[i].empty()) continue;
 
         double minDist = -1;
         int counter = 0;
@@ -461,47 +461,5 @@ void drawCharucoDiamond(const Ptr<Dictionary> &dictionary, Vec4i ids, int square
     board->generateImage(outSize, _img, marginSize, borderBits);
 }
 
-
-void drawDetectedDiamonds(InputOutputArray _image, InputArrayOfArrays _corners, InputArray _ids, Scalar borderColor) {
-    CV_Assert(_image.getMat().total() != 0 &&
-              (_image.getMat().channels() == 1 || _image.getMat().channels() == 3));
-    CV_Assert((_corners.total() == _ids.total()) || _ids.total() == 0);
-
-    // calculate colors
-    Scalar textColor, cornerColor;
-    textColor = cornerColor = borderColor;
-    swap(textColor.val[0], textColor.val[1]);     // text color just sawp G and R
-    swap(cornerColor.val[1], cornerColor.val[2]); // corner color just sawp G and B
-
-    int nMarkers = (int)_corners.total();
-    for(int i = 0; i < nMarkers; i++) {
-        Mat currentMarker = _corners.getMat(i);
-        CV_Assert(currentMarker.total() == 4 && currentMarker.type() == CV_32FC2);
-
-        // draw marker sides
-        for(int j = 0; j < 4; j++) {
-            Point2f p0, p1;
-            p0 = currentMarker.at< Point2f >(j);
-            p1 = currentMarker.at< Point2f >((j + 1) % 4);
-            line(_image, p0, p1, borderColor, 1);
-        }
-
-        // draw first corner mark
-        rectangle(_image, currentMarker.at< Point2f >(0) - Point2f(3, 3),
-                  currentMarker.at< Point2f >(0) + Point2f(3, 3), cornerColor, 1, LINE_AA);
-
-        // draw id composed by four numbers
-        if(_ids.total() != 0) {
-            Point2f cent(0, 0);
-            for(int p = 0; p < 4; p++)
-                cent += currentMarker.at< Point2f >(p);
-            cent = cent / 4.;
-            stringstream s;
-            s << "id=" << _ids.getMat().at< Vec4i >(i);
-            putText(_image, s.str(), cent, FONT_HERSHEY_SIMPLEX, 0.5, textColor, 2);
-        }
-    }
-}
-
 }
 }