add drawCustomAxis()

Author: AleksandrPanov

modules/aruco/include/opencv2/aruco.hpp

@@ -484,7 +484,7 @@ CV_EXPORTS_W void drawDetectedMarkers(InputOutputArray image, InputArrayOfArrays
 
 
 /**
- * @brief Draw coordinate system axis from pose estimation
+ * @brief Draw custom coordinate system axis from pose estimation
  *
  * @param image input/output image. It must have 1 or 3 channels. The number of channels is not
  * altered.
@@ -495,14 +495,18 @@ CV_EXPORTS_W void drawDetectedMarkers(InputOutputArray image, InputArrayOfArrays
  * @param rvec rotation vector of the coordinate system that will be drawn. (@sa Rodrigues).
  * @param tvec translation vector of the coordinate system that will be drawn.
  * @param length length of the painted axis in the same unit than tvec (usually in meters)
+ * @param thickness Line thickness of the painted axes.
+ * @param center center of custom coordinate system axis
+ * @param axisCoefficient coefficient specifying the direction of the coordinate axes x, y, z. Default is (1.f, 1.f, 1.f)
  *
  * 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.
+ * coordinate system (with default params), i.e. the system centered on the marker/board. Useful for debugging purposes.
  *
- * @deprecated use cv::drawFrameAxes
+ * @sa use default params or cv::drawFrameAxes to get world coordinate system axis for object points
  */
-CV_EXPORTS_W void drawAxis(InputOutputArray image, InputArray cameraMatrix, InputArray distCoeffs,
-                           InputArray rvec, InputArray tvec, float length, int thickness=3);
+CV_EXPORTS_W void drawCustomAxis(InputOutputArray image, InputArray cameraMatrix, InputArray distCoeffs, InputArray rvec,
+                                 InputArray tvec, float length, int thickness=3, Point3f center = Point3f(0.f, 0.f, 0.f),
+                                 Point3f axisCoefficient = Point3f(1.f, 1.f, 1.f));
 
 
 

modules/aruco/samples/detect_board.cpp

@@ -199,7 +199,7 @@ int main(int argc, char *argv[]) {
             aruco::drawDetectedMarkers(imageCopy, rejected, noArray(), Scalar(100, 0, 255));
 
         if(markersOfBoardDetected > 0)
-            aruco::drawAxis(imageCopy, camMatrix, distCoeffs, rvec, tvec, axisLength);
+            aruco::drawCustomAxis(imageCopy, camMatrix, distCoeffs, rvec, tvec, axisLength);
 
         imshow("out", imageCopy);
         char key = (char)waitKey(waitTime);

modules/aruco/samples/detect_board_charuco.cpp

@@ -213,7 +213,7 @@ int main(int argc, char *argv[]) {
         }
 
         if(validPose)
-            aruco::drawAxis(imageCopy, camMatrix, distCoeffs, rvec, tvec, axisLength);
+            aruco::drawCustomAxis(imageCopy, camMatrix, distCoeffs, rvec, tvec, axisLength);
 
         imshow("out", imageCopy);
         char key = (char)waitKey(waitTime);

modules/aruco/samples/detect_diamonds.cpp

@@ -219,7 +219,7 @@ int main(int argc, char *argv[]) {
 
             if(estimatePose) {
                 for(unsigned int i = 0; i < diamondIds.size(); i++)
-                    aruco::drawAxis(imageCopy, camMatrix, distCoeffs, rvecs[i], tvecs[i],
+                    aruco::drawCustomAxis(imageCopy, camMatrix, distCoeffs, rvecs[i], tvecs[i],
                                     squareLength * 0.5f);
             }
         }

modules/aruco/samples/detect_markers.cpp

@@ -179,7 +179,7 @@ int main(int argc, char *argv[]) {
 
             if(estimatePose) {
                 for(unsigned int i = 0; i < ids.size(); i++)
-                    aruco::drawAxis(imageCopy, camMatrix, distCoeffs, rvecs[i], tvecs[i],
+                    aruco::drawCustomAxis(imageCopy, camMatrix, distCoeffs, rvecs[i], tvecs[i],
                                     markerLength * 0.5f);
             }
         }

modules/aruco/samples/tutorial_charuco_create_detect.cpp

@@ -72,7 +72,7 @@ static inline void detectCharucoBoardWithCalibrationPose()
                     //! [pose]
                     // if charuco pose is valid
                     if (valid)
-                        cv::aruco::drawAxis(imageCopy, cameraMatrix, distCoeffs, rvec, tvec, 0.1f);
+                        cv::aruco::drawCustomAxis(imageCopy, cameraMatrix, distCoeffs, rvec, tvec, 0.1f);
                 }
             }
             cv::imshow("out", imageCopy);

modules/aruco/src/aruco.cpp

@@ -1786,16 +1786,16 @@ void drawDetectedMarkers(InputOutputArray _image, InputArrayOfArrays _corners,
 
 /**
  */
-void drawAxis(InputOutputArray _image, InputArray _cameraMatrix, InputArray _distCoeffs, InputArray _rvec,
-              InputArray _tvec, float length, int thickness)
+void drawCustomAxis(InputOutputArray _image, InputArray _cameraMatrix, InputArray _distCoeffs, InputArray _rvec,
+              InputArray _tvec, float length, int thickness, Point3f center, Point3f axisCoefficient)
 {
-    vector<Point3f> axis;
-    axis.push_back(Point3f(0.f, 0.f, 0.f));
-    axis.push_back(Point3f(length, 0.f, 0.f));
-    axis.push_back(Point3f(0.f, length, 0.f));
-    axis.push_back(Point3f(0.f, 0.f, -length));
+    vector<Point3f> axis_points;
+    axis_points.push_back(center);
+    axis_points.push_back(center+Point3f(length*axisCoefficient.x, 0.f, 0.f));
+    axis_points.push_back(center+Point3f(0.f, length*axisCoefficient.y, 0.f));
+    axis_points.push_back(center+Point3f(0.f, 0.f, length*axisCoefficient.z));
     vector<Point2f> axis_to_img;
-    projectPoints(axis, _rvec, _tvec, _cameraMatrix, _distCoeffs, axis_to_img);
+    projectPoints(axis_points, _rvec, _tvec, _cameraMatrix, _distCoeffs, axis_to_img);
     line(_image, Point2i(axis_to_img[0]), Point2i(axis_to_img[1]), Scalar(255,0,0), thickness);
     line(_image, Point2i(axis_to_img[0]), Point2i(axis_to_img[2]), Scalar(0,255,0), thickness);
     line(_image, Point2i(axis_to_img[0]), Point2i(axis_to_img[3]), Scalar(0,0,255), thickness);

modules/aruco/test/test_aruco_utils.hpp

@@ -5,15 +5,14 @@
 namespace opencv_test {
 namespace {
 
-static inline vector<Point2f> getAxis(InputArray _cameraMatrix, InputArray _distCoeffs,
-                                      InputArray _rvec, InputArray _tvec, float length,
-                                            const float offset = 0.f)
+static inline vector<Point2f> getAxis(InputArray _cameraMatrix, InputArray _distCoeffs, InputArray _rvec,
+                                      InputArray _tvec, float length, const float offset = 0.f)
 {
     vector<Point3f> axis;
     axis.push_back(Point3f(offset, offset, 0.f));
     axis.push_back(Point3f(length+offset, offset, 0.f));
     axis.push_back(Point3f(offset, length+offset, 0.f));
-    axis.push_back(Point3f(offset, offset, -length));
+    axis.push_back(Point3f(offset, offset, length));
     vector<Point2f> axis_to_img;
     projectPoints(axis, _rvec, _tvec, _cameraMatrix, _distCoeffs, axis_to_img);
     return axis_to_img;