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move drawDetectedDiamonds

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This commit is contained in:
AleksandrPanov
2022-12-22 03:24:44 +03:00
parent f4868db30b
commit 522bba3d37
2 changed files with 2 additions and 70 deletions
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28
modules/aruco/include/opencv2/aruco/charuco.hpp
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@@ -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
*

44
modules/aruco/src/charuco.cpp
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@@ -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);
}
}
}
}
}