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Code Issues Releases Wiki Activity

Board refactoring.

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This commit is contained in:
Alexander Smorkalov
2022-12-27 19:53:33 +03:00
parent e2ba6ca3f6
commit 49bdf7b03a
9 changed files with 19 additions and 26 deletions
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5
modules/aruco/samples/calibrate_camera.cpp
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@@ -154,8 +154,7 @@ int main(int argc, char *argv[]) {
} }
// create board object // create board object
Ptr<aruco::GridBoard> gridboard = Ptr<aruco::GridBoard> gridboard = new aruco::GridBoard(Size(markersX, markersY), markerLength, markerSeparation, dictionary);
aruco::GridBoard::create(markersX, markersY, markerLength, markerSeparation, dictionary);
Ptr<aruco::Board> board = gridboard.staticCast<aruco::Board>(); Ptr<aruco::Board> board = gridboard.staticCast<aruco::Board>();
// collected frames for calibration // collected frames for calibration
@@ -176,7 +175,7 @@ int main(int argc, char *argv[]) {
detector.detectMarkers(image, corners, ids, rejected); detector.detectMarkers(image, corners, ids, rejected);
// refind strategy to detect more markers // refind strategy to detect more markers
if(refindStrategy) detector.refineDetectedMarkers(image, board, corners, ids, rejected); if(refindStrategy) detector.refineDetectedMarkers(image, *board, corners, ids, rejected);
// draw results // draw results
image.copyTo(imageCopy); image.copyTo(imageCopy);

3
modules/aruco/samples/calibrate_camera_charuco.cpp
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@@ -154,8 +154,7 @@ int main(int argc, char *argv[]) {
} }
// create charuco board object // create charuco board object
Ptr<aruco::CharucoBoard> charucoboard = Ptr<aruco::CharucoBoard> charucoboard = new aruco::CharucoBoard(Size(squaresX, squaresY), squareLength, markerLength, dictionary);
aruco::CharucoBoard::create(squaresX, squaresY, squareLength, markerLength, dictionary);
Ptr<aruco::Board> board = charucoboard.staticCast<aruco::Board>(); Ptr<aruco::Board> board = charucoboard.staticCast<aruco::Board>();
// collect data from each frame // collect data from each frame

5
modules/aruco/samples/create_board.cpp
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@@ -115,12 +115,11 @@ int main(int argc, char *argv[]) {
return 0; return 0;
} }
Ptr<aruco::GridBoard> board = aruco::GridBoard::create(markersX, markersY, float(markerLength), aruco::GridBoard board(Size(markersX, markersY), float(markerLength), float(markerSeparation), dictionary);
float(markerSeparation), dictionary);
// show created board // show created board
Mat boardImage; Mat boardImage;
board->generateImage(imageSize, boardImage, margins, borderBits); board.generateImage(imageSize, boardImage, margins, borderBits);
if(showImage) { if(showImage) {
imshow("board", boardImage); imshow("board", boardImage);

5
modules/aruco/samples/create_board_charuco.cpp
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@@ -115,12 +115,11 @@ int main(int argc, char *argv[]) {
imageSize.width = squaresX * squareLength + 2 * margins; imageSize.width = squaresX * squareLength + 2 * margins;
imageSize.height = squaresY * squareLength + 2 * margins; imageSize.height = squaresY * squareLength + 2 * margins;
Ptr<aruco::CharucoBoard> board = aruco::CharucoBoard::create(squaresX, squaresY, (float)squareLength, aruco::CharucoBoard board(Size(squaresX, squaresY), (float)squareLength, (float)markerLength, dictionary);
(float)markerLength, dictionary);
// show created board // show created board
Mat boardImage; Mat boardImage;
board->generateImage(imageSize, boardImage, margins, borderBits); board.generateImage(imageSize, boardImage, margins, borderBits);
if(showImage) { if(showImage) {
imshow("board", boardImage); imshow("board", boardImage);

5
modules/aruco/samples/detect_board.cpp
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@@ -150,8 +150,7 @@ int main(int argc, char *argv[]) {
markerSeparation); markerSeparation);
// create board object // create board object
Ptr<aruco::GridBoard> gridboard = Ptr<aruco::GridBoard> gridboard = new aruco::GridBoard(Size(markersX, markersY), markerLength, markerSeparation, dictionary);
aruco::GridBoard::create(markersX, markersY, markerLength, markerSeparation, dictionary);
Ptr<aruco::Board> board = gridboard.staticCast<aruco::Board>(); Ptr<aruco::Board> board = gridboard.staticCast<aruco::Board>();
double totalTime = 0; double totalTime = 0;
@@ -172,7 +171,7 @@ int main(int argc, char *argv[]) {
// refind strategy to detect more markers // refind strategy to detect more markers
if(refindStrategy) if(refindStrategy)
detector.refineDetectedMarkers(image, board, corners, ids, rejected, camMatrix, detector.refineDetectedMarkers(image, *board, corners, ids, rejected, camMatrix,
distCoeffs); distCoeffs);
// estimate board pose // estimate board pose

3
modules/aruco/samples/detect_board_charuco.cpp
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@@ -145,8 +145,7 @@ int main(int argc, char *argv[]) {
float axisLength = 0.5f * ((float)min(squaresX, squaresY) * (squareLength)); float axisLength = 0.5f * ((float)min(squaresX, squaresY) * (squareLength));
// create charuco board object // create charuco board object
Ptr<aruco::CharucoBoard> charucoboard = Ptr<aruco::CharucoBoard> charucoboard = new aruco::CharucoBoard(Size(squaresX, squaresY), squareLength, markerLength, dictionary);
aruco::CharucoBoard::create(squaresX, squaresY, squareLength, markerLength, dictionary);
Ptr<aruco::Board> board = charucoboard.staticCast<aruco::Board>(); Ptr<aruco::Board> board = charucoboard.staticCast<aruco::Board>();
double totalTime = 0; double totalTime = 0;

8
modules/aruco/samples/tutorial_charuco_create_detect.cpp
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@@ -15,9 +15,9 @@ static inline void createBoard()
{ {
cv::aruco::Dictionary dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250); cv::aruco::Dictionary dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250);
//! [createBoard] //! [createBoard]
cv::Ptr<cv::aruco::CharucoBoard> board = cv::aruco::CharucoBoard::create(5, 7, 0.04f, 0.02f, dictionary); cv::aruco::CharucoBoard board(cv::Size(5, 7), 0.04f, 0.02f, dictionary);
cv::Mat boardImage; cv::Mat boardImage;
board->generateImage(cv::Size(600, 500), boardImage, 10, 1); board.generateImage(cv::Size(600, 500), boardImage, 10, 1);
//! [createBoard] //! [createBoard]
cv::imwrite("BoardImage.jpg", boardImage); cv::imwrite("BoardImage.jpg", boardImage);
} }
@@ -37,7 +37,7 @@ static inline void detectCharucoBoardWithCalibrationPose()
} else { } else {
//! [dictboard] //! [dictboard]
cv::aruco::Dictionary dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250); cv::aruco::Dictionary dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250);
cv::Ptr<cv::aruco::CharucoBoard> board = cv::aruco::CharucoBoard::create(5, 7, 0.04f, 0.02f, dictionary); cv::Ptr<cv::aruco::CharucoBoard> board = new cv::aruco::CharucoBoard(cv::Size(5, 7), 0.04f, 0.02f, dictionary);
cv::Ptr<cv::aruco::DetectorParameters> params = cv::makePtr<cv::aruco::DetectorParameters>(); cv::Ptr<cv::aruco::DetectorParameters> params = cv::makePtr<cv::aruco::DetectorParameters>();
//! [dictboard] //! [dictboard]
while (inputVideo.grab()) { while (inputVideo.grab()) {
@@ -90,7 +90,7 @@ static inline void detectCharucoBoardWithoutCalibration()
cv::VideoCapture inputVideo; cv::VideoCapture inputVideo;
inputVideo.open(0); inputVideo.open(0);
cv::aruco::Dictionary dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250); cv::aruco::Dictionary dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250);
cv::Ptr<cv::aruco::CharucoBoard> board = cv::aruco::CharucoBoard::create(5, 7, 0.04f, 0.02f, dictionary); cv::Ptr<cv::aruco::CharucoBoard> board = new cv::aruco::CharucoBoard(cv::Size(5, 7), 0.04f, 0.02f, dictionary);
cv::Ptr<cv::aruco::DetectorParameters> params = cv::makePtr<cv::aruco::DetectorParameters>(); cv::Ptr<cv::aruco::DetectorParameters> params = cv::makePtr<cv::aruco::DetectorParameters>();
params->cornerRefinementMethod = cv::aruco::CORNER_REFINE_NONE; params->cornerRefinementMethod = cv::aruco::CORNER_REFINE_NONE;

2
modules/aruco/src/aruco.cpp
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@@ -26,7 +26,7 @@ void refineDetectedMarkers(InputArray _image, const Ptr<Board> &_board,
const Ptr<DetectorParameters> &_params) { const Ptr<DetectorParameters> &_params) {
RefineParameters refineParams(minRepDistance, errorCorrectionRate, checkAllOrders); RefineParameters refineParams(minRepDistance, errorCorrectionRate, checkAllOrders);
ArucoDetector detector(_board->getDictionary(), *_params, refineParams); ArucoDetector detector(_board->getDictionary(), *_params, refineParams);
detector.refineDetectedMarkers(_image, _board, _detectedCorners, _detectedIds, _rejectedCorners, _cameraMatrix, detector.refineDetectedMarkers(_image, *_board, _detectedCorners, _detectedIds, _rejectedCorners, _cameraMatrix,
_distCoeffs, _recoveredIdxs); _distCoeffs, _recoveredIdxs);
} }

9
modules/aruco/src/charuco.cpp
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@@ -383,14 +383,13 @@ void detectCharucoDiamond(InputArray _image, InputArrayOfArrays _markerCorners,
// current id is assigned to [0], so it is the marker on the top // current id is assigned to [0], so it is the marker on the top
tmpIds[0] = currentId; tmpIds[0] = currentId;
// create Charuco board layout for diamond (3x3 layout) // create Charuco board layout for diamond (3x3 layout)
Ptr<CharucoBoard> _charucoDiamondLayout = CharucoBoard::create(3, 3, squareMarkerLengthRate, 1., *dictionary, Ptr<CharucoBoard> _charucoDiamondLayout = new CharucoBoard(Size(3, 3), squareMarkerLengthRate, 1., *dictionary, tmpIds);
tmpIds);
// try to find the rest of markers in the diamond // try to find the rest of markers in the diamond
vector< int > acceptedIdxs; vector< int > acceptedIdxs;
RefineParameters refineParameters(minRepDistance, -1.f, false); RefineParameters refineParameters(minRepDistance, -1.f, false);
ArucoDetector detector(*dictionary, DetectorParameters(), refineParameters); ArucoDetector detector(*dictionary, DetectorParameters(), refineParameters);
detector.refineDetectedMarkers(grey, _charucoDiamondLayout, currentMarker, currentMarkerId, candidates, detector.refineDetectedMarkers(grey, *_charucoDiamondLayout, currentMarker, currentMarkerId, candidates,
noArray(), noArray(), acceptedIdxs); noArray(), noArray(), acceptedIdxs);
// if found, we have a diamond // if found, we have a diamond
@@ -456,9 +455,9 @@ void drawCharucoDiamond(const Ptr<Dictionary> &dictionary, Vec4i ids, int square
for(int i = 0; i < 4; i++) for(int i = 0; i < 4; i++)
tmpIds[i] = ids[i]; tmpIds[i] = ids[i];
// create a charuco board similar to a charuco marker and print it // create a charuco board similar to a charuco marker and print it
Ptr<CharucoBoard> board = CharucoBoard::create(3, 3, (float)squareLength, (float)markerLength, *dictionary, tmpIds); CharucoBoard board(Size(3, 3), (float)squareLength, (float)markerLength, *dictionary, tmpIds);
Size outSize(3 * squareLength + 2 * marginSize, 3 * squareLength + 2 * marginSize); Size outSize(3 * squareLength + 2 * marginSize, 3 * squareLength + 2 * marginSize);
board->generateImage(outSize, _img, marginSize, borderBits); board.generateImage(outSize, _img, marginSize, borderBits);
} }
} }