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shimatshimat
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Merge pull request #1769 from okahiro1125/feature/add_charucoboard
Add DetectCharucoBoard and related functions
2 parents 7e98425 + 5108520 commit f848c80

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‎src/OpenCvSharp/Internal/PInvoke/NativeMethods/NativeMethods_aruco.cs‎

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@@ -48,6 +48,24 @@ public static extern ExceptionStatus aruco_drawDetectedDiamonds(
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[MarshalAs(UnmanagedType.LPArray)] IntPtr[] corners, int cornerSize1, int[] contoursSize2,
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IntPtr ids, Scalar borderColor);
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[Pure, DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern ExceptionStatus aruco_detectCharucoBoard(
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IntPtr image,
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int squaresX, int squaresY, float squareLength, float markerLength, int arucoDictId,
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IntPtr charucoCorners, IntPtr charucoIds, IntPtr markerCorners, IntPtr markerIds);
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[Pure, DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern ExceptionStatus aruco_interpolateCornersCharuco(
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IntPtr image,
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int squaresX, int squaresY, float squareLength, float markerLength, int arucoDictId,
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[MarshalAs(UnmanagedType.LPArray)] IntPtr[] markerCorners, int markerCornersSize1, int[] markerCornersSize2, IntPtr markerIds,
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IntPtr charucoCorners, IntPtr charucoIds);
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[Pure, DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern ExceptionStatus aruco_drawDetectedCornersCharuco(
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IntPtr image,
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IntPtr corners, IntPtr ids, Scalar cornerColor);
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#region Dictionary
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[Pure, DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]

‎src/OpenCvSharp/Modules/aruco/CvAruco.cs‎

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@@ -296,4 +296,137 @@ public static void DrawDetectedDiamonds(InputArray image,
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GC.KeepAlive(image);
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}
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/// <summary>
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/// Detect ChArUco Board.
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/// </summary>
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/// <param name="image">input image necessary for corner refinement.</param>
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/// <param name="squaresX">number of chessboard squares in x directions.</param>
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/// <param name="squaresY">number of chessboard squares in y directions.</param>
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/// <param name="squareLength">chessboard square side length (normally in meters).</param>
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/// <param name="markerLength">marker side length (same unit than squareLength).</param>
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/// <param name="arucoDictId">dictionary of markers indicating the type of markers.</param>
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/// <param name="charucoCorners">output list of detected charuco corners.</param>
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/// <param name="charucoIds">ids of the charucos in charucoCorners.</param>
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/// <param name="markerCorners">output list of detected marker corners.</param>
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/// <param name="markerIds">ids of the corners in markerCorners.</param>
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public static void DetectCharucoBoard(InputArray image, int squaresX, int squaresY, float squareLength, float markerLength,
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PredefinedDictionaryName arucoDictId,
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out Point2f[] charucoCorners, out int[] charucoIds,
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out Point2f[][] markerCorners, out int[] markerIds)
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{
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if (image is null)
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throw new ArgumentNullException(nameof(image));
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image.ThrowIfDisposed();
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using var charucoCornersVec = new VectorOfPoint2f();
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using var charucoIdsVec = new VectorOfInt32();
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using var markerCornersVec = new VectorOfVectorPoint2f();
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using var markerIdsVec = new VectorOfInt32();
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NativeMethods.HandleException(
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NativeMethods.aruco_detectCharucoBoard(
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image.CvPtr,
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squaresX, squaresY, squareLength, markerLength, (int)arucoDictId,
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charucoCornersVec.CvPtr, charucoIdsVec.CvPtr,
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markerCornersVec.CvPtr, markerIdsVec.CvPtr
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));
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charucoCorners = charucoCornersVec.ToArray();
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charucoIds = charucoIdsVec.ToArray();
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markerCorners = markerCornersVec.ToArray();
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markerIds = markerIdsVec.ToArray();
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GC.KeepAlive(image);
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}
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/// <param name="image">input image necessary for corner refinement.</param>
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/// <param name="squaresX">number of chessboard squares in x directions.</param>
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/// <param name="squaresY">number of chessboard squares in y directions.</param>
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/// <param name="squareLength">chessboard square side length (normally in meters).</param>
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/// <param name="markerLength">marker side length (same unit than squareLength).</param>
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/// <param name="arucoDictId">dictionary of markers indicating the type of markers.</param>
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/// <param name="markerCorners">list of detected marker corners.</param>
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/// <param name="markerIds">ids of the corners in markerCorners.</param>
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/// <param name="charucoCorners">output list of detected charuco corners.</param>
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/// <param name="charucoIds">ids of the charucos in charucoCorners.</param>
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public static void InterpolateCornersCharuco(InputArray image,
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int squaresX, int squaresY, float squareLength, float markerLength, PredefinedDictionaryName arucoDictId,
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Point2f[][] markerCorners, IEnumerable<int> markerIds,
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out Point2f[] charucoCorners, out int[] charucoIds)
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{
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if (image is null)
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throw new ArgumentNullException(nameof(image));
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if (markerCorners is null)
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throw new ArgumentNullException(nameof(markerCorners));
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if (markerIds is null)
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throw new ArgumentNullException(nameof(markerIds));
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image.ThrowIfDisposed();
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using var markerCornersAddress = new ArrayAddress2<Point2f>(markerCorners);
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using var markerIdsVec = new VectorOfInt32(markerIds);
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using var charucoCornersVec = new VectorOfPoint2f();
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using var charucoIdsVec = new VectorOfInt32();
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NativeMethods.HandleException(
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NativeMethods.aruco_interpolateCornersCharuco(
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image.CvPtr,
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squaresX, squaresY, squareLength, markerLength, (int)arucoDictId,
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markerCornersAddress.GetPointer(), markerCornersAddress.GetDim1Length(), markerCornersAddress.GetDim2Lengths(), markerIdsVec.CvPtr,
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charucoCornersVec.CvPtr, charucoIdsVec.CvPtr)
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);
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charucoCorners = charucoCornersVec.ToArray();
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charucoIds = charucoIdsVec.ToArray();
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GC.KeepAlive(image);
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}
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/// <summary>
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/// Draw a set of detected ChArUco Diamond markers.
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/// </summary>
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/// <param name="image">input/output image. It must have 1 or 3 channels. The number of channels is not altered.</param>
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/// <param name="charucoCorners">vector of detected charuco corners.</param>
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/// <param name="charucoIds">list of identifiers for each corner in charucoCorners.</param>
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public static void DrawDetectedCornersCharuco(InputArray image, Point2f[] charucoCorners, IEnumerable<int>? charucoIds = null)
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{
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DrawDetectedCornersCharuco(image, charucoCorners, charucoIds, new Scalar(0, 0, 255));
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}
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/// <summary>
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/// Draw a set of detected ChArUco Diamond markers.
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/// </summary>
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/// <param name="image">input/output image. It must have 1 or 3 channels. The number of channels is not altered.</param>
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/// <param name="charucoCorners">vector of detected charuco corners.</param>
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/// <param name="charucoIds">list of identifiers for each corner in charucoCorners.</param>
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/// <param name="cornerColor">color of the square surrounding each corner.</param>
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public static void DrawDetectedCornersCharuco(InputArray image,
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Point2f[] charucoCorners, IEnumerable<int>? charucoIds, Scalar cornerColor)
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{
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if (image is null)
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throw new ArgumentNullException(nameof(image));
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if (charucoCorners is null)
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throw new ArgumentNullException(nameof(charucoCorners));
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using var charucoCornersVec = new VectorOfPoint2f(charucoCorners);
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if (charucoIds is null)
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{
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NativeMethods.HandleException(
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NativeMethods.aruco_drawDetectedCornersCharuco(image.CvPtr,
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charucoCornersVec.CvPtr, IntPtr.Zero, cornerColor));
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}
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else
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{
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using var ids = new VectorOfInt32(charucoIds);
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NativeMethods.HandleException(
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NativeMethods.aruco_drawDetectedCornersCharuco(image.CvPtr,
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charucoCornersVec.CvPtr, ids.CvPtr, cornerColor));
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}
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GC.KeepAlive(image);
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}
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}

‎src/OpenCvSharpExtern/aruco.h‎

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Original file line numberDiff line numberDiff line change
@@ -301,3 +301,74 @@ CVAPI(ExceptionStatus) aruco_drawDetectedDiamonds(
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cv::aruco::drawDetectedDiamonds(*image, cornerVec, idArray, cpp(borderColor));
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END_WRAP
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}
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CVAPI(ExceptionStatus) aruco_detectCharucoBoard(
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cv::_InputArray* image,
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int squaresX,
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int squaresY,
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float squareLength,
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float markerLength,
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int arucoDictId,
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std::vector<cv::Point2f>* charucoCorners,
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std::vector<int>* charucoIds,
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std::vector< std::vector<cv::Point2f> >* markerCorners,
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std::vector<int>* markerIds
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)
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{
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BEGIN_WRAP
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cv::aruco::Dictionary dictionary = cv::aruco::getPredefinedDictionary(arucoDictId);
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cv::aruco::CharucoBoard charucoBoard(cv::Size(squaresX, squaresY), squareLength, markerLength, dictionary);
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cv::aruco::CharucoDetector detector(charucoBoard);
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cv::Mat charucoCorners_mat, charucoIds_mat;
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//detector.detectBoard(*image, *charucoCorners, *charucoIds, *markerCorners, *markerIds);
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detector.detectBoard(*image, charucoCorners_mat, charucoIds_mat, *markerCorners, *markerIds);
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for (int i = 0; i < charucoCorners_mat.rows; ++i)
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{
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charucoCorners->push_back(charucoCorners_mat.at<cv::Point2f>(i, 0));
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charucoIds->push_back(charucoIds_mat.at<int>(i, 0));
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}
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END_WRAP
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}
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CVAPI(ExceptionStatus) aruco_interpolateCornersCharuco(
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cv::_InputArray* image,
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int squaresX,
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int squaresY,
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float squareLength,
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float markerLength,
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int arucoDictId,
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cv::Point2f** markerCorners,
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int markerCornersSize1,
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int* markerCornersSize2,
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std::vector<int>* markerIds,
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std::vector<cv::Point2f>* charucoCorners,
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std::vector<int>* charucoIds
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)
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{
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BEGIN_WRAP
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std::vector< std::vector<cv::Point2f> > markerCornerVec(markerCornersSize1);
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for (int i = 0; i < markerCornersSize1; i++)
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markerCornerVec[i] = std::vector<cv::Point2f>(markerCorners[i], markerCorners[i] + markerCornersSize2[i]);
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cv::aruco::Dictionary dictionary = cv::aruco::getPredefinedDictionary(arucoDictId);
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cv::Ptr<cv::aruco::CharucoBoard> ptr_charucoBoard = new cv::aruco::CharucoBoard(cv::Size(squaresX, squaresY), squareLength, markerLength, dictionary);
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cv::Mat charucoCorners_mat, charucoIds_mat;
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cv::aruco::interpolateCornersCharuco(markerCornerVec, *markerIds, *image, ptr_charucoBoard, charucoCorners_mat, charucoIds_mat);
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for (int i = 0; i < charucoCorners_mat.rows; ++i)
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{
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charucoCorners->push_back(charucoCorners_mat.at<cv::Point2f>(i, 0));
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charucoIds->push_back(charucoIds_mat.at<int>(i, 0));
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}
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END_WRAP
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}
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CVAPI(ExceptionStatus) aruco_drawDetectedCornersCharuco(
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cv::_InputOutputArray* image,
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std::vector<cv::Point2f>* corners,
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std::vector<int>* ids,
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MyCvScalar cornerColor)
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{
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BEGIN_WRAP
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cv::aruco::drawDetectedCornersCharuco(*image, *corners, *ids, cpp(cornerColor));
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END_WRAP
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}

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