(5.x) Merge 4.x

modules/aruco/include/opencv2/aruco/board.hpp

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+// 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:
+    CV_WRAP Board();
+
+    /** @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);
+
+    /** @brief change id for ids[index]
+     * @param index - element index in ids
+     * @param newId - new value for ids[index], should be less than Dictionary size
+     */
+    CV_WRAP void changeId(int index, int newId);
+    /** @brief return ids
+     */
+    CV_WRAP const std::vector<int>& getIds() const;
+
+    /** @brief set dictionary
+     */
+    CV_WRAP void setDictionary(const Ptr<Dictionary> &dictionary);
+
+    /** @brief return dictionary
+     */
+    CV_WRAP Ptr<Dictionary> getDictionary() const;
+
+    /** @brief set objPoints
+     */
+    CV_WRAP void setObjPoints(const std::vector<std::vector<Point3f> > &objPoints);
+
+    /** @brief get objPoints
+     */
+    CV_WRAP const std::vector<std::vector<Point3f> >& getObjPoints() const;
+
+    /** @brief get rightBottomBorder
+     */
+    CV_WRAP const Point3f& getRightBottomBorder() const;
+
+protected:
+    /** @brief 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;
+
+    /// coordinate of the bottom right corner of the board, is set when calling the function create()
+    CV_PROP Point3f rightBottomBorder;
+
+    /** @brief 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;
+};
+
+/**
+ * @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:
+    CV_WRAP GridBoard();
+    /**
+     * @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;
+    CV_WRAP float getMarkerLength() const;
+    CV_WRAP float getMarkerSeparation() const;
+
+protected:
+    struct GridImpl;
+    Ptr<GridImpl> gridImpl;
+    friend class CharucoBoard;
+};
+
+/**
+ * @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:
+    CV_WRAP CharucoBoard();
+
+    // 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;
+    CV_WRAP float getSquareLength() const;
+    CV_WRAP float getMarkerLength() const;
+
+protected:
+    struct CharucoImpl;
+    Ptr<CharucoImpl> charucoImpl;
+};
+
+/**
+ * @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