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fix charuco matchImagePoints

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Alex
2023-04-21 00:43:03 +03:00
committed by Alexander Smorkalov
parent 4c06a721ef
commit 4ba06c3ed0
5 changed files with 131 additions and 49 deletions
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modules/objdetect/include/opencv2/objdetect/aruco_board.hpp
+14 -6
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@@ -58,14 +58,22 @@ public:
CV_WRAP const Point3f& getRightBottomCorner() const;
/** @brief Given a board configuration and a set of detected markers, returns the corresponding
* image points and object points to call solvePnP()
* image points and object points, can be used in solvePnP()
*
* @param detectedCorners List of detected marker corners of the board.
* For CharucoBoard class you can set list of charuco corners.
* @param detectedIds List of identifiers for each marker or list of charuco identifiers for each corner.
* For CharucoBoard class you can set list of charuco identifiers for each corner.
* @param objPoints Vector of vectors of board marker points in the board coordinate space.
* @param imgPoints Vector of vectors of the projections of board marker corner points.
* For cv::Board and cv::GridBoard the method expects std::vector<std::vector<Point2f>> or std::vector<Mat> with Aruco marker corners.
* For cv::CharucoBoard the method expects std::vector<Point2f> or Mat with ChAruco corners (chess board corners matched with Aruco markers).
*
* @param detectedIds List of identifiers for each marker or charuco corner.
* For any Board class the method expects std::vector<int> or Mat.
*
* @param objPoints Vector of marker points in the board coordinate space.
* For any Board class the method expects std::vector<cv::Point3f> objectPoints or cv::Mat
*
* @param imgPoints Vector of marker points in the image coordinate space.
* For any Board class the method expects std::vector<cv::Point2f> objectPoints or cv::Mat
*
* @sa solvePnP
*/
CV_WRAP void matchImagePoints(InputArrayOfArrays detectedCorners, InputArray detectedIds,
OutputArray objPoints, OutputArray imgPoints) const;