opencv/opencv_contrib
1
0
Fork 0
mirror of https://github.com/opencv/opencv_contrib.git synced 2025-10-19 11:21:39 +08:00
Code Issues Releases Wiki Activity

Merge pull request #2080 from paroj:aruco_axes

Browse Source
This commit is contained in:
Alexander Alekhin
2019-04-11 16:17:14 +00:00
parent f26c98365d 0f030dd002
commit bc081719bc
2 changed files with 6 additions and 22 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
modules/aruco/include/opencv2/aruco.hpp
View File

@@ -471,6 +471,8 @@ CV_EXPORTS_W void drawDetectedMarkers(InputOutputArray image, InputArrayOfArrays
*
* 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);

26
modules/aruco/src/aruco.cpp
View File

@@ -1731,30 +1731,12 @@ void drawDetectedMarkers(InputOutputArray _image, InputArrayOfArrays _corners,
/**
*/
void drawAxis(InputOutputArray _image, InputArray _cameraMatrix, InputArray _distCoeffs,
InputArray _rvec, InputArray _tvec, float length) {
CV_Assert(_image.getMat().total() != 0 &&
(_image.getMat().channels() == 1 || _image.getMat().channels() == 3));
CV_Assert(length > 0);
// project axis points
vector< Point3f > axisPoints;
axisPoints.push_back(Point3f(0, 0, 0));
axisPoints.push_back(Point3f(length, 0, 0));
axisPoints.push_back(Point3f(0, length, 0));
axisPoints.push_back(Point3f(0, 0, length));
vector< Point2f > imagePoints;
projectPoints(axisPoints, _rvec, _tvec, _cameraMatrix, _distCoeffs, imagePoints);
// draw axis lines
line(_image, imagePoints[0], imagePoints[1], Scalar(0, 0, 255), 3);
line(_image, imagePoints[0], imagePoints[2], Scalar(0, 255, 0), 3);
line(_image, imagePoints[0], imagePoints[3], Scalar(255, 0, 0), 3);
void drawAxis(InputOutputArray _image, InputArray _cameraMatrix, InputArray _distCoeffs, InputArray _rvec,
InputArray _tvec, float length)
{
drawFrameAxes(_image, _cameraMatrix, _distCoeffs, _rvec, _tvec, length, 3);
}
/**
*/
void drawMarker(const Ptr<Dictionary> &dictionary, int id, int sidePixels, OutputArray _img, int borderBits) {