move april module

create aruco_utils.hpp

move Board, GridBoard, CharucoBoard to board.hpp/board.cpp

refactoring _getSingleMarkerObjectPoints()

refactoring _extractBits()

refactoring _findMarkerContours()

fix _copyVector2Output() in detectMarkers()

move testCharucoCornersCollinear() to board.hpp/board.cpp

move poseEstimate()/calibAruco() to aruco_calib_pose.hpp

reduce include files

move detectMarkers() to class ArucoDetector

move refineDetectedMarkers() to class ArucoDetector

add C API wrapper to detectMarkers(), refineDetectedMarkers()

update tests and samples to class API

add py tests: test_aruco_detector, test_aruco_detector_refine

refactoring, fix docs

add java tests: testArucoIssue3133, testArucoDetector

add readWriteParameter(), update readParameter()

implemented cv::Algorithm - read/write, added read/write to RefineParameters, added write to DetectorParameters

merge PatternPos/EstimateParameters after rebase

remove empty docstring for private function

fixes

fixes license

Author: AleksandrPanov

modules/aruco/include/opencv2/aruco.hpp

@@ -0,0 +1,229 @@
+// This file is part of OpenCV project.
+// It is subject to the license terms in the LICENSE file found in the top-level directory
+// of this distribution and at http://opencv.org/license.html
+#ifndef __OPENCV_ARUCO_BOARD_HPP__
+#define __OPENCV_ARUCO_BOARD_HPP__
+
+#include <opencv2/core.hpp>
+#include <vector>
+
+namespace cv {
+namespace aruco {
+//! @addtogroup aruco
+//! @{
+
+class Dictionary;
+
+/**
+ * @brief Board of markers
+ *
+ * A board is a set of markers in the 3D space with a common coordinate system.
+ * The common form of a board of marker is a planar (2D) board, however any 3D layout can be used.
+ * A Board object is composed by:
+ * - The object points of the marker corners, i.e. their coordinates respect to the board system.
+ * - The dictionary which indicates the type of markers of the board
+ * - The identifier of all the markers in the board.
+ */
+class CV_EXPORTS_W Board {
+    public:
+    /**
+    * @brief Provide way to create Board by passing necessary data. Specially needed in Python.
+    *
+    * @param objPoints array of object points of all the marker corners in the board
+    * @param dictionary the dictionary of markers employed for this board
+    * @param ids vector of the identifiers of the markers in the board
+    *
+    */
+    CV_WRAP static Ptr<Board> create(InputArrayOfArrays objPoints, const Ptr<Dictionary> &dictionary, InputArray ids);
+
+    /**
+    * @brief Set ids vector
+    *
+    * @param ids vector of the identifiers of the markers in the board (should be the same size
+    * as objPoints)
+    *
+    * Recommended way to set ids vector, which will fail if the size of ids does not match size
+     * of objPoints.
+    */
+    CV_WRAP void setIds(InputArray ids);
+
+    /// array of object points of all the marker corners in the board
+    /// each marker include its 4 corners in this order:
+    ///-   objPoints[i][0] - left-top point of i-th marker
+    ///-   objPoints[i][1] - right-top point of i-th marker
+    ///-   objPoints[i][2] - right-bottom point of i-th marker
+    ///-   objPoints[i][3] - left-bottom point of i-th marker
+    ///
+    /// Markers are placed in a certain order - row by row, left to right in every row.
+    /// For M markers, the size is Mx4.
+    CV_PROP std::vector< std::vector< Point3f > > objPoints;
+
+    /// the dictionary of markers employed for this board
+    CV_PROP Ptr<Dictionary> dictionary;
+
+    /// vector of the identifiers of the markers in the board (same size than objPoints)
+    /// The identifiers refers to the board dictionary
+    CV_PROP_RW std::vector< int > ids;
+
+    /// coordinate of the bottom right corner of the board, is set when calling the function create()
+    CV_PROP Point3f rightBottomBorder;
+};
+
+/**
+ * @brief Draw a planar board
+ * @sa drawPlanarBoard
+ *
+ * @param board layout of the board that will be drawn. The board should be planar,
+ * z coordinate is ignored
+ * @param outSize size of the output image in pixels.
+ * @param img output image with the board. The size of this image will be outSize
+ * and the board will be on the center, keeping the board proportions.
+ * @param marginSize minimum margins (in pixels) of the board in the output image
+ * @param borderBits width of the marker borders.
+ *
+ * This function return the image of a planar board, ready to be printed. It assumes
+ * the Board layout specified is planar by ignoring the z coordinates of the object points.
+ */
+CV_EXPORTS_W void drawPlanarBoard(const Ptr<Board> &board, Size outSize, OutputArray img,
+                                  int marginSize = 0, int borderBits = 1);
+
+/**
+ * @brief Planar board with grid arrangement of markers
+ * More common type of board. All markers are placed in the same plane in a grid arrangement.
+ * The board can be drawn using drawPlanarBoard() function (@sa drawPlanarBoard)
+ */
+
+class CV_EXPORTS_W GridBoard : public Board {
+    public:
+    /**
+     * @brief Draw a GridBoard
+     *
+     * @param outSize size of the output image in pixels.
+     * @param img output image with the board. The size of this image will be outSize
+     * and the board will be on the center, keeping the board proportions.
+     * @param marginSize minimum margins (in pixels) of the board in the output image
+     * @param borderBits width of the marker borders.
+     *
+     * This function return the image of the GridBoard, ready to be printed.
+     */
+    CV_WRAP void draw(Size outSize, OutputArray img, int marginSize = 0, int borderBits = 1);
+
+    /**
+     * @brief Create a GridBoard object
+     *
+     * @param markersX number of markers in X direction
+     * @param markersY number of markers in Y direction
+     * @param markerLength marker side length (normally in meters)
+     * @param markerSeparation separation between two markers (same unit as markerLength)
+     * @param dictionary dictionary of markers indicating the type of markers
+     * @param firstMarker id of first marker in dictionary to use on board.
+     * @return the output GridBoard object
+     *
+     * This functions creates a GridBoard object given the number of markers in each direction and
+     * the marker size and marker separation.
+     */
+    CV_WRAP static Ptr<GridBoard> create(int markersX, int markersY, float markerLength, float markerSeparation,
+                                         const Ptr<Dictionary> &dictionary, int firstMarker = 0);
+
+    CV_WRAP Size getGridSize() const { return Size(_markersX, _markersY); }
+
+    CV_WRAP float getMarkerLength() const { return _markerLength; }
+
+    CV_WRAP float getMarkerSeparation() const { return _markerSeparation; }
+
+    private:
+    // number of markers in X and Y directions
+    int _markersX, _markersY;
+
+    // marker side length (normally in meters)
+    float _markerLength;
+
+    // separation between markers in the grid
+    float _markerSeparation;
+};
+
+/**
+ * @brief ChArUco board
+ * Specific class for ChArUco boards. A ChArUco board is a planar board where the markers are placed
+ * inside the white squares of a chessboard. The benefits of ChArUco boards is that they provide
+ * both, ArUco markers versatility and chessboard corner precision, which is important for
+ * calibration and pose estimation.
+ * This class also allows the easy creation and drawing of ChArUco boards.
+ */
+class CV_EXPORTS_W CharucoBoard : public Board {
+    public:
+    // vector of chessboard 3D corners precalculated
+    CV_PROP std::vector< Point3f > chessboardCorners;
+
+    // for each charuco corner, nearest marker id and nearest marker corner id of each marker
+    CV_PROP std::vector< std::vector< int > > nearestMarkerIdx;
+    CV_PROP std::vector< std::vector< int > > nearestMarkerCorners;
+
+    /**
+     * @brief Draw a ChArUco board
+     *
+     * @param outSize size of the output image in pixels.
+     * @param img output image with the board. The size of this image will be outSize
+     * and the board will be on the center, keeping the board proportions.
+     * @param marginSize minimum margins (in pixels) of the board in the output image
+     * @param borderBits width of the marker borders.
+     *
+     * This function return the image of the ChArUco board, ready to be printed.
+     */
+    CV_WRAP void draw(Size outSize, OutputArray img, int marginSize = 0, int borderBits = 1);
+
+
+    /**
+     * @brief Create a CharucoBoard object
+     *
+     * @param squaresX number of chessboard squares in X direction
+     * @param squaresY number of chessboard squares in Y direction
+     * @param squareLength chessboard square side length (normally in meters)
+     * @param markerLength marker side length (same unit than squareLength)
+     * @param dictionary dictionary of markers indicating the type of markers.
+     * The first markers in the dictionary are used to fill the white chessboard squares.
+     * @return the output CharucoBoard object
+     *
+     * This functions creates a CharucoBoard object given the number of squares in each direction
+     * and the size of the markers and chessboard squares.
+     */
+    CV_WRAP static Ptr<CharucoBoard> create(int squaresX, int squaresY, float squareLength,
+                                            float markerLength, const Ptr<Dictionary> &dictionary);
+
+    CV_WRAP Size getChessboardSize() const { return Size(_squaresX, _squaresY); }
+
+    CV_WRAP float getSquareLength() const { return _squareLength; }
+
+    CV_WRAP float getMarkerLength() const { return _markerLength; }
+
+    private:
+    void _getNearestMarkerCorners();
+
+    // number of markers in X and Y directions
+    int _squaresX, _squaresY;
+
+    // size of chessboard squares side (normally in meters)
+    float _squareLength;
+
+    // marker side length (normally in meters)
+    float _markerLength;
+};
+
+/**
+ * @brief test whether the ChArUco markers are collinear
+ *
+ * @param board layout of ChArUco board.
+ * @param charucoIds list of identifiers for each corner in charucoCorners per frame.
+ * @return bool value, 1 (true) if detected corners form a line, 0 (false) if they do not.
+      solvePnP, calibration functions will fail if the corners are collinear (true).
+ *
+ * The number of ids in charucoIDs should be <= the number of chessboard corners in the board.  This functions checks whether the charuco corners are on a straight line (returns true, if so), or not (false).  Axis parallel, as well as diagonal and other straight lines detected.  Degenerate cases: for number of charucoIDs <= 2, the function returns true.
+ */
+CV_EXPORTS_W bool testCharucoCornersCollinear(const Ptr<CharucoBoard> &board, InputArray charucoIds);
+
+//! @}
+
+}
+}
+
+#endif