Merge pull request #3394 from AleksandrPanov:move_contrib_charuco_to_main_objdetect

Move contrib charuco to main objdetect

Author: asmorkalov

modules/aruco/include/opencv2/aruco.hpp

@@ -11,13 +11,24 @@ namespace cv {
 namespace aruco {
 
 /**
+ * @defgroup aruco Aruco markers, module functionality was moved to objdetect module
+ * @{
+ * ArUco Marker Detection, module functionality was moved to objdetect module
+ * @sa ArucoDetector, CharucoDetector, Board, GridBoard, CharucoBoard
+ * @}
+ */
+
+//! @addtogroup aruco
+//! @{
+
+/** @brief detect markers
 @deprecated Use class ArucoDetector::detectMarkers
 */
 CV_EXPORTS_W void detectMarkers(InputArray image, const Ptr<Dictionary> &dictionary, OutputArrayOfArrays corners,
                                 OutputArray ids, const Ptr<DetectorParameters> &parameters = makePtr<DetectorParameters>(),
                                 OutputArrayOfArrays rejectedImgPoints = noArray());
 
-/**
+/** @brief refine detected markers
 @deprecated Use class ArucoDetector::refineDetectedMarkers
 */
 CV_EXPORTS_W void refineDetectedMarkers(InputArray image,const  Ptr<Board> &board,
@@ -28,13 +39,13 @@ CV_EXPORTS_W void refineDetectedMarkers(InputArray image,const  Ptr<Board> &boar
                                         bool checkAllOrders = true, OutputArray recoveredIdxs = noArray(),
                                         const Ptr<DetectorParameters> &parameters = makePtr<DetectorParameters>());
 
-/**
-@deprecated Use Board::draw
+/** @brief draw planar board
+@deprecated Use Board::generateImage
 */
 CV_EXPORTS_W void drawPlanarBoard(const Ptr<Board> &board, Size outSize, OutputArray img, int marginSize,
                                   int borderBits);
 
-/**
+/** @brief get board object and image points
 @deprecated Use Board::matchImagePoints
 */
 CV_EXPORTS_W void getBoardObjectAndImagePoints(const Ptr<Board> &board, InputArrayOfArrays detectedCorners,
@@ -83,6 +94,8 @@ CV_EXPORTS_W void estimatePoseSingleMarkers(InputArrayOfArrays corners, float ma
  */
 CV_EXPORTS_W bool testCharucoCornersCollinear(const Ptr<CharucoBoard> &board, InputArray charucoIds);
 
+//! @}
+
 }
 }
 

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

@@ -7,7 +7,7 @@
 #include <opencv2/core.hpp>
 #include <vector>
 #include <opencv2/aruco.hpp>
-#include <opencv2/objdetect/aruco_detector.hpp>
+#include <opencv2/objdetect/charuco_detector.hpp>
 #include <opencv2/aruco/aruco_calib.hpp>
 
 
@@ -40,28 +40,15 @@ namespace aruco {
  * Only visible corners are returned. For each corner, its corresponding identifier is
  * also returned in charucoIds.
  * The function returns the number of interpolated corners.
+ *
+ * @deprecated Use CharucoDetector::detectBoard
  */
 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);
 
-/**
- * @brief Draws a set of Charuco corners
- * @param image input/output image. It must have 1 or 3 channels. The number of channels is not
- * altered.
- * @param charucoCorners vector of detected charuco corners
- * @param charucoIds list of identifiers for each corner in charucoCorners
- * @param cornerColor color of the square surrounding each corner
- *
- * This function draws a set of detected Charuco corners. If identifiers vector is provided, it also
- * draws the id of each corner.
- */
-CV_EXPORTS_W void drawDetectedCornersCharuco(InputOutputArray image, InputArray charucoCorners,
-                                             InputArray charucoIds = noArray(),
-                                             Scalar cornerColor = Scalar(255, 0, 0));
-
 /**
  * @brief Detect ChArUco Diamond markers
  *
@@ -83,7 +70,9 @@ CV_EXPORTS_W void drawDetectedCornersCharuco(InputOutputArray image, InputArray
  * 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.
+ *
+ * @deprecated Use CharucoDetector::detectDiamonds
  */
 CV_EXPORTS_W void detectCharucoDiamond(InputArray image, InputArrayOfArrays markerCorners,
                                        InputArray markerIds, float squareMarkerLengthRate,
@@ -94,32 +83,6 @@ 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/misc/python/test/test_aruco.py

@@ -35,34 +35,5 @@ def test_drawCharucoDiamond(self):
         img = cv.aruco.drawCharucoDiamond(aruco_dict, np.array([0, 1, 2, 3]), 100, 80)
         self.assertTrue(img is not None)
 
-    def test_write_read_dict(self):
-
-        try:
-            aruco_dict = cv.aruco.getPredefinedDictionary(cv.aruco.DICT_5X5_50)
-            markers_gold = aruco_dict.bytesList
-
-            # write aruco_dict
-            filename = "test_dict.yml"
-            fs_write = cv.FileStorage(filename, cv.FileStorage_WRITE)
-            aruco_dict.writeDictionary(fs_write)
-            fs_write.release()
-
-            # reset aruco_dict
-            aruco_dict = cv.aruco.getPredefinedDictionary(cv.aruco.DICT_6X6_250)
-
-            # read aruco_dict
-            fs_read = cv.FileStorage(filename, cv.FileStorage_READ)
-            aruco_dict.readDictionary(fs_read.root())
-            fs_read.release()
-
-            # check equal
-            self.assertEqual(aruco_dict.markerSize, 5)
-            self.assertEqual(aruco_dict.maxCorrectionBits, 3)
-            np.testing.assert_array_equal(aruco_dict.bytesList, markers_gold)
-
-        finally:
-            if os.path.exists(filename):
-                os.remove(filename)
-
 if __name__ == '__main__':
     NewOpenCVTests.bootstrap()