charuco_detector.hpp

// 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_OBJDETECT_CHARUCO_DETECTOR_HPP
#define OPENCV_OBJDETECT_CHARUCO_DETECTOR_HPP
 
#include "opencv2/objdetect/aruco_detector.hpp"
 
namespace cv {
namespace aruco {
 
 
struct CV_EXPORTS_W_SIMPLE CharucoParameters {
    CV_WRAP CharucoParameters() {
        minMarkers = 2;
        tryRefineMarkers = false;
    }
    CV_PROP_RW Mat cameraMatrix;
 
    CV_PROP_RW Mat distCoeffs;
 
    CV_PROP_RW int minMarkers;
 
    CV_PROP_RW bool tryRefineMarkers;
};
 
class CV_EXPORTS_W CharucoDetector : public Algorithm {
public:
    CV_WRAP CharucoDetector(const CharucoBoard& board,
                            const CharucoParameters& charucoParams = CharucoParameters(),
                            const DetectorParameters &detectorParams = DetectorParameters(),
                            const RefineParameters& refineParams = RefineParameters());
 
    CV_WRAP const CharucoBoard& getBoard() const;
    CV_WRAP void setBoard(const CharucoBoard& board);
 
    CV_WRAP const CharucoParameters& getCharucoParameters() const;
    CV_WRAP void setCharucoParameters(CharucoParameters& charucoParameters);
 
    CV_WRAP const DetectorParameters& getDetectorParameters() const;
    CV_WRAP void setDetectorParameters(const DetectorParameters& detectorParameters);
 
    CV_WRAP const RefineParameters& getRefineParameters() const;
    CV_WRAP void setRefineParameters(const RefineParameters& refineParameters);
 
    CV_WRAP void detectBoard(InputArray image, OutputArray charucoCorners, OutputArray charucoIds,
                             InputOutputArrayOfArrays markerCorners = noArray(),
                             InputOutputArray markerIds = noArray()) const;
 
    CV_WRAP void detectDiamonds(InputArray image, OutputArrayOfArrays diamondCorners, OutputArray diamondIds,
                                InputOutputArrayOfArrays markerCorners = noArray(),
                                InputOutputArray markerIds = noArray()) const;
protected:
    struct CharucoDetectorImpl;
    Ptr<CharucoDetectorImpl> charucoDetectorImpl;
};
 
CV_EXPORTS_W void drawDetectedCornersCharuco(InputOutputArray image, InputArray charucoCorners,
                                             InputArray charucoIds = noArray(), Scalar cornerColor = Scalar(255, 0, 0));
 
CV_EXPORTS_W void drawDetectedDiamonds(InputOutputArray image, InputArrayOfArrays diamondCorners,
                                       InputArray diamondIds = noArray(),
                                       Scalar borderColor = Scalar(0, 0, 255));
 
 
}
}
 
#endif