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Merge pull request #22368 from AleksandrPanov:move_contrib_aruco_to_main_objdetect

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Megre together with https://github.com/opencv/opencv_contrib/pull/3325

1. Move aruco_detector, aruco_board, aruco_dictionary, aruco_utils to objdetect
1.1 add virtual Board::draw(), virtual ~Board()
1.2 move `testCharucoCornersCollinear` to Board classes (and rename to `checkCharucoCornersCollinear`)
1.3 add wrappers to keep the old api working
3. Reduce inludes
4. Fix java tests (add objdetect import)
5. Refactoring

### Pull Request Readiness Checklist

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

- [x] I agree to contribute to the project under Apache 2 License.
- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [x] The PR is proposed to the proper branch
- [x] There is a reference to the original bug report and related work
- [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
      Patch to opencv_extra has the same branch name.
- [x] The feature is well documented and sample code can be built with the project CMake

```
**WIP**
force_builders=linux,win64,docs,Linux x64 Debug,Custom
Xbuild_contrib:Docs=OFF

build_image:Custom=ubuntu:22.04
build_worker:Custom=linux-1
```
This commit is contained in:
Alexander Panov
2022-12-16 12:28:47 +03:00
committed by GitHub
parent 47fb79bd8c
commit b4b35cff15
27 changed files with 41433 additions and 11 deletions
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apps/interactive-calibration/frameProcessor.cpp
+4 -5
View File
@@ -79,7 +79,7 @@ bool CalibProcessor::detectAndParseChAruco(const cv::Mat &frame)
std::vector<std::vector<cv::Point2f> > corners, rejected;
std::vector<int> ids;
cv::aruco::detectMarkers(frame, mArucoDictionary, corners, ids, cv::aruco::DetectorParameters::create(), rejected);
cv::aruco::detectMarkers(frame, cv::makePtr<cv::aruco::Dictionary>(mArucoDictionary), corners, ids, cv::makePtr<cv::aruco::DetectorParameters>(), rejected);
cv::aruco::refineDetectedMarkers(frame, board, corners, ids, rejected);
cv::Mat currentCharucoCorners, currentCharucoIds;
if(ids.size() > 0)
@@ -266,8 +266,8 @@ bool CalibProcessor::checkLastFrame()
allObjPoints.reserve(mCurrentCharucoIds.total());
for(size_t i = 0; i < mCurrentCharucoIds.total(); i++) {
int pointID = mCurrentCharucoIds.at<int>((int)i);
CV_Assert(pointID >= 0 && pointID < (int)mCharucoBoard->chessboardCorners.size());
allObjPoints.push_back(mCharucoBoard->chessboardCorners[pointID]);
CV_Assert(pointID >= 0 && pointID < (int)mCharucoBoard->getChessboardCorners().size());
allObjPoints.push_back(mCharucoBoard->getChessboardCorners()[pointID]);
}
cv::solvePnP(allObjPoints, mCurrentCharucoCorners, tmpCamMatrix, mCalibData->distCoeffs, r, t);
@@ -300,8 +300,7 @@ CalibProcessor::CalibProcessor(cv::Ptr<calibrationData> data, captureParameters
{
case chAruco:
#ifdef HAVE_OPENCV_ARUCO
mArucoDictionary = cv::aruco::getPredefinedDictionary(
cv::aruco::PREDEFINED_DICTIONARY_NAME(capParams.charucoDictName));
mArucoDictionary = cv::aruco::getPredefinedDictionary(cv::aruco::PredefinedDictionaryType(capParams.charucoDictName));
mCharucoBoard = cv::aruco::CharucoBoard::create(mBoardSize.width, mBoardSize.height, capParams.charucoSquareLength,
capParams.charucoMarkerSize, mArucoDictionary);
#endif