move aruco from contrib to objdetect in main repository

modules/aruco/CMakeLists.txt

@@ -1,5 +1,5 @@
 set(the_description "ArUco Marker Detection")
-ocv_define_module(aruco opencv_core opencv_imgproc opencv_calib3d WRAP python java objc js)
+ocv_define_module(aruco opencv_core opencv_imgproc opencv_calib3d opencv_objdetect WRAP python java objc js)
 ocv_include_directories(${CMAKE_CURRENT_BINARY_DIR})
 
 ocv_add_testdata(samples/ contrib/aruco

modules/aruco/include/opencv2/aruco.hpp

@@ -1,33 +1,148 @@
 // 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_HPP__
-#define __OPENCV_ARUCO_HPP__
+#ifndef OPENCV_ARUCO_HPP
+#define OPENCV_ARUCO_HPP
 
-#include "opencv2/aruco_detector.hpp"
-#include "opencv2/aruco/aruco_calib_pose.hpp"
+#include "opencv2/objdetect/aruco_detector.hpp"
+#include "opencv2/aruco/aruco_calib.hpp"
 
 namespace cv {
 namespace aruco {
 
-
 /**
-@deprecated Use class ArucoDetector
+@deprecated Use class ArucoDetector::detectMarkers
 */
 CV_EXPORTS_W void detectMarkers(InputArray image, const Ptr<Dictionary> &dictionary, OutputArrayOfArrays corners,
-                                OutputArray ids, const Ptr<DetectorParameters> &parameters = DetectorParameters::create(),
+                                OutputArray ids, const Ptr<DetectorParameters> &parameters = makePtr<DetectorParameters>(),
                                 OutputArrayOfArrays rejectedImgPoints = noArray());
 
 /**
-@deprecated Use class ArucoDetector
+@deprecated Use class ArucoDetector::refineDetectedMarkers
 */
 CV_EXPORTS_W void refineDetectedMarkers(InputArray image,const  Ptr<Board> &board,
                                         InputOutputArrayOfArrays detectedCorners,
                                         InputOutputArray detectedIds, InputOutputArrayOfArrays rejectedCorners,
                                         InputArray cameraMatrix = noArray(), InputArray distCoeffs = noArray(),
                                         float minRepDistance = 10.f, float errorCorrectionRate = 3.f,
                                         bool checkAllOrders = true, OutputArray recoveredIdxs = noArray(),
-                                        const Ptr<DetectorParameters> &parameters = DetectorParameters::create());
+                                        const Ptr<DetectorParameters> &parameters = makePtr<DetectorParameters>());
+
+/**
+@deprecated Use Board::draw
+*/
+CV_EXPORTS_W void drawPlanarBoard(const Ptr<Board> &board, Size outSize, OutputArray img, int marginSize,
+                                  int borderBits);
+
+/**
+@deprecated Use Board::matchImagePoints
+*/
+CV_EXPORTS_W void getBoardObjectAndImagePoints(const Ptr<Board> &board, InputArrayOfArrays detectedCorners,
+                                               InputArray detectedIds, OutputArray objPoints, OutputArray imgPoints);
+
+
+/**
+ * @brief Pose estimation for a board of markers
+ *
+ * @param corners vector of already detected markers corners. For each marker, its four corners
+ * are provided, (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 ids list of identifiers for each marker in corners
+ * @param board layout of markers in the board. The layout is composed by the marker identifiers
+ * and the positions of each marker corner in the board reference system.
+ * @param cameraMatrix input 3x3 floating-point camera matrix
+ * \f$A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$
+ * @param distCoeffs vector of distortion coefficients
+ * \f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\f$ of 4, 5, 8 or 12 elements
+ * @param rvec Output vector (e.g. cv::Mat) corresponding to the rotation vector of the board
+ * (see cv::Rodrigues). Used as initial guess if not empty.
+ * @param tvec Output vector (e.g. cv::Mat) corresponding to the translation vector of the board.
+ * @param useExtrinsicGuess defines whether initial guess for \b rvec and \b tvec will be used or not.
+ * Used as initial guess if not empty.
+ *
+ * This function receives the detected markers and returns the pose of a marker board composed
+ * by those markers.
+ * A Board of marker has a single world coordinate system which is defined by the board layout.
+ * The returned transformation is the one that transforms points from the board coordinate system
+ * to the camera coordinate system.
+ * Input markers that are not included in the board layout are ignored.
+ * The function returns the number of markers from the input employed for the board pose estimation.
+ * Note that returning a 0 means the pose has not been estimated.
+ * @sa use cv::drawFrameAxes to get world coordinate system axis for object points
+ */
+CV_EXPORTS_W int estimatePoseBoard(InputArrayOfArrays corners, InputArray ids, const Ptr<Board> &board,
+                                   InputArray cameraMatrix, InputArray distCoeffs, InputOutputArray rvec,
+                                   InputOutputArray tvec, bool useExtrinsicGuess = false);
+
+/**
+ * @brief Pose estimation for a ChArUco board given some of their corners
+ * @param charucoCorners vector of detected charuco corners
+ * @param charucoIds list of identifiers for each corner in charucoCorners
+ * @param board layout of ChArUco board.
+ * @param cameraMatrix input 3x3 floating-point camera matrix
+ * \f$A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$
+ * @param distCoeffs vector of distortion coefficients
+ * \f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\f$ of 4, 5, 8 or 12 elements
+ * @param rvec Output vector (e.g. cv::Mat) corresponding to the rotation vector of the board
+ * (see cv::Rodrigues).
+ * @param tvec Output vector (e.g. cv::Mat) corresponding to the translation vector of the board.
+ * @param useExtrinsicGuess defines whether initial guess for \b rvec and \b tvec will be used or not.
+ *
+ * This function estimates a Charuco board pose from some detected corners.
+ * The function checks if the input corners are enough and valid to perform pose estimation.
+ * If pose estimation is valid, returns true, else returns false.
+ * @sa use cv::drawFrameAxes to get world coordinate system axis for object points
+ */
+CV_EXPORTS_W bool estimatePoseCharucoBoard(InputArray charucoCorners, InputArray charucoIds,
+                                           const Ptr<CharucoBoard> &board, InputArray cameraMatrix,
+                                           InputArray distCoeffs, InputOutputArray rvec,
+                                           InputOutputArray tvec, bool useExtrinsicGuess = false);
+
+/**
+ * @brief Pose estimation for single markers
+ *
+ * @param corners vector of already detected markers corners. For each marker, its four corners
+ * are provided, (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.
+ * @sa detectMarkers
+ * @param markerLength the length of the markers' side. The returning translation vectors will
+ * be in the same unit. Normally, unit is meters.
+ * @param cameraMatrix input 3x3 floating-point camera matrix
+ * \f$A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$
+ * @param distCoeffs vector of distortion coefficients
+ * \f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\f$ of 4, 5, 8 or 12 elements
+ * @param rvecs array of output rotation vectors (@sa Rodrigues) (e.g. std::vector<cv::Vec3d>).
+ * Each element in rvecs corresponds to the specific marker in imgPoints.
+ * @param tvecs array of output translation vectors (e.g. std::vector<cv::Vec3d>).
+ * Each element in tvecs corresponds to the specific marker in imgPoints.
+ * @param objPoints array of object points of all the marker corners
+ * @param estimateParameters set the origin of coordinate system and the coordinates of the four corners of the marker
+ * (default estimateParameters.pattern = PatternPositionType::ARUCO_CCW_CENTER, estimateParameters.useExtrinsicGuess = false,
+ * estimateParameters.solvePnPMethod = SOLVEPNP_ITERATIVE).
+ *
+ * This function receives the detected markers and returns their pose estimation respect to
+ * the camera individually. So for each marker, one rotation and translation vector is returned.
+ * The returned transformation is the one that transforms points from each marker coordinate system
+ * to the camera coordinate system.
+ * The marker coordinate system is centered on the middle (by default) or on the top-left corner of the marker,
+ * with the Z axis perpendicular to the marker plane.
+ * estimateParameters defines the coordinates of the four corners of the marker in its own coordinate system (by default) are:
+ * (-markerLength/2, markerLength/2, 0), (markerLength/2, markerLength/2, 0),
+ * (markerLength/2, -markerLength/2, 0), (-markerLength/2, -markerLength/2, 0)
+ * @sa use cv::drawFrameAxes to get world coordinate system axis for object points
+ * @sa @ref tutorial_aruco_detection
+ * @sa EstimateParameters
+ * @sa PatternPositionType
+ */
+CV_EXPORTS_W void estimatePoseSingleMarkers(InputArrayOfArrays corners, float markerLength,
+                                            InputArray cameraMatrix, InputArray distCoeffs,
+                                            OutputArray rvecs, OutputArray tvecs, OutputArray objPoints = noArray(),
+                                            const Ptr<EstimateParameters>& estimateParameters = makePtr<EstimateParameters>());
+
+
+/** @deprecated Use CharucoBoard::checkCharucoCornersCollinear
+ */
+CV_EXPORTS_W bool testCharucoCornersCollinear(const Ptr<CharucoBoard> &board, InputArray charucoIds);
 
 }
 }