Commit bc081719 authored by Alexander Alekhin's avatar Alexander Alekhin
Browse files

Merge pull request #2080 from paroj:aruco_axes

parents f26c9836 0f030dd0

modules/aruco/include/opencv2/aruco.hpp

+2 −0
Original line number Diff line number Diff line
@@ -471,6 +471,8 @@ CV_EXPORTS_W void drawDetectedMarkers(InputOutputArray image, InputArrayOfArrays 
 *

 * Given the pose estimation of a marker or board, this function draws the axis of the world

 * coordinate system, i.e. the system centered on the marker/board. Useful for debugging purposes.

 *

 * @deprecated use cv::drawFrameAxes

 */

CV_EXPORTS_W void drawAxis(InputOutputArray image, InputArray cameraMatrix, InputArray distCoeffs,

                           InputArray rvec, InputArray tvec, float length);

modules/aruco/src/aruco.cpp

+4 −22
Original line number Diff line number Diff line
@@ -1731,30 +1731,12 @@ void drawDetectedMarkers(InputOutputArray _image, InputArrayOfArrays _corners, 


/**

 */

void drawAxis(InputOutputArray _image, InputArray _cameraMatrix, InputArray _distCoeffs,

              InputArray _rvec, InputArray _tvec, float length) {



    CV_Assert(_image.getMat().total() != 0 &&

              (_image.getMat().channels() == 1 || _image.getMat().channels() == 3));

    CV_Assert(length > 0);



    // project axis points

    vector< Point3f > axisPoints;

    axisPoints.push_back(Point3f(0, 0, 0));

    axisPoints.push_back(Point3f(length, 0, 0));

    axisPoints.push_back(Point3f(0, length, 0));

    axisPoints.push_back(Point3f(0, 0, length));

    vector< Point2f > imagePoints;

    projectPoints(axisPoints, _rvec, _tvec, _cameraMatrix, _distCoeffs, imagePoints);



    // draw axis lines

    line(_image, imagePoints[0], imagePoints[1], Scalar(0, 0, 255), 3);

    line(_image, imagePoints[0], imagePoints[2], Scalar(0, 255, 0), 3);

    line(_image, imagePoints[0], imagePoints[3], Scalar(255, 0, 0), 3);

void drawAxis(InputOutputArray _image, InputArray _cameraMatrix, InputArray _distCoeffs, InputArray _rvec,

              InputArray _tvec, float length)

{

    drawFrameAxes(_image, _cameraMatrix, _distCoeffs, _rvec, _tvec, length, 3);

}







/**

 */

void drawMarker(const Ptr<Dictionary> &dictionary, int id, int sidePixels, OutputArray _img, int borderBits) {