fix axes and add charuco dict

Author: AleksandrPanov

modules/aruco/include/opencv2/aruco.hpp

@@ -502,7 +502,7 @@ CV_EXPORTS_W void drawDetectedMarkers(InputOutputArray image, InputArrayOfArrays
  * @deprecated use cv::drawFrameAxes
  */
 CV_EXPORTS_W void drawAxis(InputOutputArray image, InputArray cameraMatrix, InputArray distCoeffs,
-                           InputArray rvec, InputArray tvec, float length);
+                           InputArray rvec, InputArray tvec, float length, int thickness=3);
 
 
 

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

@@ -285,7 +285,8 @@ 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> dict = getPredefinedDictionary(PREDEFINED_DICTIONARY_NAME(0)));
 
 
 

modules/aruco/src/aruco.cpp

@@ -1787,9 +1787,18 @@ void drawDetectedMarkers(InputOutputArray _image, InputArrayOfArrays _corners,
 /**
  */
 void drawAxis(InputOutputArray _image, InputArray _cameraMatrix, InputArray _distCoeffs, InputArray _rvec,
-              InputArray _tvec, float length)
+              InputArray _tvec, float length, int thickness)
 {
-    drawFrameAxes(_image, _cameraMatrix, _distCoeffs, _rvec, _tvec, length, 3);
+    vector<Point3f> axis;
+    axis.push_back(Point3f(0.f, 0.f, 0.f));
+    axis.push_back(Point3f(length, 0.f, 0.f));
+    axis.push_back(Point3f(0.f, length, 0.f));
+    axis.push_back(Point3f(0.f, 0.f, -length));
+    vector<Point2f> axis_to_img;
+    projectPoints(axis, _rvec, _tvec, _cameraMatrix, _distCoeffs, axis_to_img);
+    line(_image, Point2i(axis_to_img[0]), Point2i(axis_to_img[1]), Scalar(255,0,0), thickness);
+    line(_image, Point2i(axis_to_img[0]), Point2i(axis_to_img[2]), Scalar(0,255,0), thickness);
+    line(_image, Point2i(axis_to_img[0]), Point2i(axis_to_img[3]), Scalar(0,0,255), thickness);
 }
 
 /**

modules/aruco/src/charuco.cpp

@@ -743,14 +743,13 @@ double calibrateCameraCharuco(InputArrayOfArrays _charucoCorners, InputArrayOfAr
 void detectCharucoDiamond(InputArray _image, InputArrayOfArrays _markerCorners,
                           InputArray _markerIds, float squareMarkerLengthRate,
                           OutputArrayOfArrays _diamondCorners, OutputArray _diamondIds,
-                          InputArray _cameraMatrix, InputArray _distCoeffs) {
+                          InputArray _cameraMatrix, InputArray _distCoeffs, Ptr<Dictionary> dict) {
 
     CV_Assert(_markerIds.total() > 0 && _markerIds.total() == _markerCorners.total());
 
     const float minRepDistanceRate = 1.302455f;
 
     // create Charuco board layout for diamond (3x3 layout)
-    Ptr<Dictionary> dict = getPredefinedDictionary(PREDEFINED_DICTIONARY_NAME(0));
     Ptr<CharucoBoard> _charucoDiamondLayout = CharucoBoard::create(3, 3, squareMarkerLengthRate, 1., dict);