Merge remote-tracking branch 'upstream/3.4' into merge-3.4

Author: alalek

modules/aruco/include/opencv2/aruco.hpp

@@ -230,21 +230,19 @@ struct CV_EXPORTS_W DetectorParameters {
  * @param parameters marker detection parameters
  * @param rejectedImgPoints contains the imgPoints of those squares whose inner code has not a
  * correct codification. Useful for debugging purposes.
- * @param cameraMatrix optional input 3x3 floating-point camera matrix
- * \f$A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$
- * @param distCoeff optional vector of distortion coefficients
- * \f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\f$ of 4, 5, 8 or 12 elements
  *
  * Performs marker detection in the input image. Only markers included in the specific dictionary
  * are searched. For each detected marker, it returns the 2D position of its corner in the image
  * and its corresponding identifier.
  * Note that this function does not perform pose estimation.
- * @sa estimatePoseSingleMarkers,  estimatePoseBoard
+ * @note The function does not correct lens distortion or takes it into account. It's recommended to undistort
+ * input image with corresponging camera model, if camera parameters are known
+ * @sa undistort, estimatePoseSingleMarkers,  estimatePoseBoard
  *
  */
 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());
+                                OutputArrayOfArrays rejectedImgPoints = noArray());
 
 
 
@@ -274,8 +272,9 @@ CV_EXPORTS_W void detectMarkers(InputArray image, const Ptr<Dictionary> &diction
  * The marker corrdinate system is centered on the middle of the marker, with the Z axis
  * perpendicular to the marker plane.
  * The coordinates of the four corners of the marker in its own coordinate system are:
- * (-markerLength/2, markerLength/2, 0), (markerLength/2, markerLength/2, 0),
- * (markerLength/2, -markerLength/2, 0), (-markerLength/2, -markerLength/2, 0)
+ * (0, 0, 0), (markerLength, 0, 0),
+ * (markerLength, markerLength, 0), (0, markerLength, 0)
+ * @sa use cv::drawFrameAxes to get world coordinate system axis for object points
  */
 CV_EXPORTS_W void estimatePoseSingleMarkers(InputArrayOfArrays corners, float markerLength,
                                             InputArray cameraMatrix, InputArray distCoeffs,
@@ -318,7 +317,14 @@ class CV_EXPORTS_W Board {
     CV_WRAP void setIds(InputArray ids);
 
     /// array of object points of all the marker corners in the board
-    /// each marker include its 4 corners in CCW order. For M markers, the size is Mx4.
+    /// each marker include its 4 corners in this order:
+    ///-   objPoints[i][0] - left-top point of i-th marker
+    ///-   objPoints[i][1] - right-top point of i-th marker
+    ///-   objPoints[i][2] - right-bottom point of i-th marker
+    ///-   objPoints[i][3] - left-bottom point of i-th marker
+    ///
+    /// Markers are placed in a certain order - row by row, left to right in every row.
+    /// For M markers, the size is Mx4.
     CV_PROP std::vector< std::vector< Point3f > > objPoints;
 
     /// the dictionary of markers employed for this board
@@ -327,6 +333,9 @@ class CV_EXPORTS_W Board {
     /// vector of the identifiers of the markers in the board (same size than objPoints)
     /// The identifiers refers to the board dictionary
     CV_PROP_RW std::vector< int > ids;
+
+    /// coordinate of the bottom right corner of the board, is set when calling the function create()
+    CV_PROP Point3f rightBottomBorder;
 };
 
 
@@ -426,6 +435,7 @@ class CV_EXPORTS_W GridBoard : public Board {
  * Input markers that are not included in the board layout are ignored.
  * The function returns the number of markers from the input employed for the board pose estimation.
  * Note that returning a 0 means the pose has not been estimated.
+ * @sa use cv::drawFrameAxes to get world coordinate system axis for object points
  */
 CV_EXPORTS_W int estimatePoseBoard(InputArrayOfArrays corners, InputArray ids, const Ptr<Board> &board,
                                    InputArray cameraMatrix, InputArray distCoeffs, InputOutputArray rvec,
@@ -490,36 +500,14 @@ CV_EXPORTS_W void refineDetectedMarkers(
  * Given an array of detected marker corners and its corresponding ids, this functions draws
  * the markers in the image. The marker borders are painted and the markers identifiers if provided.
  * Useful for debugging purposes.
+ *
  */
 CV_EXPORTS_W void drawDetectedMarkers(InputOutputArray image, InputArrayOfArrays corners,
                                       InputArray ids = noArray(),
                                       Scalar borderColor = Scalar(0, 255, 0));
 
 
 
-/**
- * @brief Draw coordinate system axis from pose estimation
- *
- * @param image input/output image. It must have 1 or 3 channels. The number of channels is not
- * altered.
- * @param cameraMatrix input 3x3 floating-point camera matrix
- * \f$A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$
- * @param distCoeffs vector of distortion coefficients
- * \f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\f$ of 4, 5, 8 or 12 elements
- * @param rvec rotation vector of the coordinate system that will be drawn. (@sa Rodrigues).
- * @param tvec translation vector of the coordinate system that will be drawn.
- * @param length length of the painted axis in the same unit than tvec (usually in meters)
- *
- * Given the pose estimation of a marker or board, this function draws the axis of the world
- * coordinate system, i.e. the system centered on the marker/board. Useful for debugging purposes.
- *
- * @deprecated use cv::drawFrameAxes
- */
-CV_EXPORTS_W void drawAxis(InputOutputArray image, InputArray cameraMatrix, InputArray distCoeffs,
-                           InputArray rvec, InputArray tvec, float length);
-
-
-
 /**
  * @brief Draw a canonical marker image
  *

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

@@ -181,6 +181,7 @@ CV_EXPORTS_W int interpolateCornersCharuco(InputArrayOfArrays markerCorners, Inp
  * This function estimates a Charuco board pose from some detected corners.
  * The function checks if the input corners are enough and valid to perform pose estimation.
  * If pose estimation is valid, returns true, else returns false.
+ * @sa use cv::drawFrameAxes to get world coordinate system axis for object points
  */
 CV_EXPORTS_W bool estimatePoseCharucoBoard(InputArray charucoCorners, InputArray charucoIds,
                                            const Ptr<CharucoBoard> &board, InputArray cameraMatrix,
@@ -275,6 +276,7 @@ CV_EXPORTS_W double calibrateCameraCharuco(
  * diamond.
  * @param cameraMatrix Optional camera calibration matrix.
  * @param distCoeffs Optional camera distortion coefficients.
+ * @param dictionary dictionary of markers indicating the type of markers.
  *
  * 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
@@ -285,7 +287,8 @@ CV_EXPORTS_W void detectCharucoDiamond(InputArray image, InputArrayOfArrays mark
                                        InputArray markerIds, float squareMarkerLengthRate,
                                        OutputArrayOfArrays diamondCorners, OutputArray diamondIds,
                                        InputArray cameraMatrix = noArray(),
-                                       InputArray distCoeffs = noArray());
+                                       InputArray distCoeffs = noArray(),
+                                       Ptr<Dictionary> dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::PREDEFINED_DICTIONARY_NAME::DICT_4X4_50));
 
 
 

modules/aruco/samples/calibrate_camera.cpp

@@ -101,7 +101,7 @@ int main(int argc, char *argv[]) {
     if(parser.get<bool>("zt")) calibrationFlags |= CALIB_ZERO_TANGENT_DIST;
     if(parser.get<bool>("pc")) calibrationFlags |= CALIB_FIX_PRINCIPAL_POINT;
 
-    Ptr<aruco::DetectorParameters> detectorParams;
+    Ptr<aruco::DetectorParameters> detectorParams = aruco::DetectorParameters::create();
     if(parser.has("dp")) {
         FileStorage fs(parser.get<string>("dp"), FileStorage::READ);
         bool readOk = aruco::DetectorParameters::readDetectorParameters(fs.root(), detectorParams);

modules/aruco/samples/calibrate_camera_charuco.cpp

@@ -102,7 +102,7 @@ int main(int argc, char *argv[]) {
     if(parser.get<bool>("zt")) calibrationFlags |= CALIB_ZERO_TANGENT_DIST;
     if(parser.get<bool>("pc")) calibrationFlags |= CALIB_FIX_PRINCIPAL_POINT;
 
-    Ptr<aruco::DetectorParameters> detectorParams;
+    Ptr<aruco::DetectorParameters> detectorParams = aruco::DetectorParameters::create();
     if(parser.has("dp")) {
         FileStorage fs(parser.get<string>("dp"), FileStorage::READ);
         bool readOk = aruco::DetectorParameters::readDetectorParameters(fs.root(), detectorParams);

modules/aruco/samples/detect_board.cpp

@@ -97,7 +97,7 @@ int main(int argc, char *argv[]) {
         }
     }
 
-    Ptr<aruco::DetectorParameters> detectorParams;
+    Ptr<aruco::DetectorParameters> detectorParams = aruco::DetectorParameters::create();
     if(parser.has("dp")) {
         FileStorage fs(parser.get<string>("dp"), FileStorage::READ);
         bool readOk = aruco::DetectorParameters::readDetectorParameters(fs.root(), detectorParams);
@@ -199,7 +199,7 @@ int main(int argc, char *argv[]) {
             aruco::drawDetectedMarkers(imageCopy, rejected, noArray(), Scalar(100, 0, 255));
 
         if(markersOfBoardDetected > 0)
-            aruco::drawAxis(imageCopy, camMatrix, distCoeffs, rvec, tvec, axisLength);
+            cv::drawFrameAxes(imageCopy, camMatrix, distCoeffs, rvec, tvec, axisLength);
 
         imshow("out", imageCopy);
         char key = (char)waitKey(waitTime);

modules/aruco/samples/detect_board_charuco.cpp

@@ -99,7 +99,7 @@ int main(int argc, char *argv[]) {
         }
     }
 
-    Ptr<aruco::DetectorParameters> detectorParams;
+    Ptr<aruco::DetectorParameters> detectorParams = aruco::DetectorParameters::create();
     if(parser.has("dp")) {
         FileStorage fs(parser.get<string>("dp"), FileStorage::READ);
         bool readOk = aruco::DetectorParameters::readDetectorParameters(fs.root(), detectorParams);
@@ -213,7 +213,7 @@ int main(int argc, char *argv[]) {
         }
 
         if(validPose)
-            aruco::drawAxis(imageCopy, camMatrix, distCoeffs, rvec, tvec, axisLength);
+            cv::drawFrameAxes(imageCopy, camMatrix, distCoeffs, rvec, tvec, axisLength);
 
         imshow("out", imageCopy);
         char key = (char)waitKey(waitTime);

modules/aruco/samples/detect_diamonds.cpp

@@ -87,7 +87,7 @@ int main(int argc, char *argv[]) {
     bool autoScale = parser.has("as");
     float autoScaleFactor = autoScale ? parser.get<float>("as") : 1.f;
 
-    Ptr<aruco::DetectorParameters> detectorParams;
+    Ptr<aruco::DetectorParameters> detectorParams = aruco::DetectorParameters::create();
     if(parser.has("dp")) {
         FileStorage fs(parser.get<string>("dp"), FileStorage::READ);
         bool readOk = aruco::DetectorParameters::readDetectorParameters(fs.root(), detectorParams);
@@ -219,8 +219,8 @@ int main(int argc, char *argv[]) {
 
             if(estimatePose) {
                 for(unsigned int i = 0; i < diamondIds.size(); i++)
-                    aruco::drawAxis(imageCopy, camMatrix, distCoeffs, rvecs[i], tvecs[i],
-                                    squareLength * 0.5f);
+                    cv::drawFrameAxes(imageCopy, camMatrix, distCoeffs, rvecs[i], tvecs[i],
+                                      squareLength * 1.1f);
             }
         }
 

modules/aruco/samples/detect_markers.cpp

@@ -80,7 +80,7 @@ int main(int argc, char *argv[]) {
     bool estimatePose = parser.has("c");
     float markerLength = parser.get<float>("l");
 
-    Ptr<aruco::DetectorParameters> detectorParams;
+    Ptr<aruco::DetectorParameters> detectorParams = aruco::DetectorParameters::create();
     if(parser.has("dp")) {
         FileStorage fs(parser.get<string>("dp"), FileStorage::READ);
         bool readOk = aruco::DetectorParameters::readDetectorParameters(fs.root(), detectorParams);
@@ -179,8 +179,7 @@ int main(int argc, char *argv[]) {
 
             if(estimatePose) {
                 for(unsigned int i = 0; i < ids.size(); i++)
-                    aruco::drawAxis(imageCopy, camMatrix, distCoeffs, rvecs[i], tvecs[i],
-                                    markerLength * 0.5f);
+                    cv::drawFrameAxes(imageCopy, camMatrix, distCoeffs, rvecs[i], tvecs[i], markerLength * 1.5f, 2);
             }
         }
 

modules/aruco/samples/tutorial_charuco_create_detect.cpp

@@ -72,7 +72,7 @@ static inline void detectCharucoBoardWithCalibrationPose()
                     //! [pose]
                     // if charuco pose is valid
                     if (valid)
-                        cv::aruco::drawAxis(imageCopy, cameraMatrix, distCoeffs, rvec, tvec, 0.1f);
+                        cv::drawFrameAxes(imageCopy, cameraMatrix, distCoeffs, rvec, tvec, 0.1f);
                 }
             }
             cv::imshow("out", imageCopy);