338 lines
12 KiB
Go
338 lines
12 KiB
Go
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package gocv
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/*
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#include <stdlib.h>
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#include "aruco.h"
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#include "core.h"
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*/
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import "C"
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import (
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"reflect"
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"unsafe"
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)
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type ArucoDetector struct {
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p C.ArucoDetector
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}
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// NewArucoDetector returns a new ArucoDetector.
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func NewArucoDetector() ArucoDetector {
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return ArucoDetector{p: C.ArucoDetector_New()}
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}
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// NewArucoDetectorWithParams returns a new ArucoDetector.
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func NewArucoDetectorWithParams(dictionary ArucoDictionary, params ArucoDetectorParameters) ArucoDetector {
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return ArucoDetector{p: C.ArucoDetector_NewWithParams(dictionary.p, params.p)}
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}
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// Close deletes the ArucoDetector's pointer.
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func (a *ArucoDetector) Close() error {
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C.ArucoDetector_Close(a.p)
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a.p = nil
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return nil
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}
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// DetectMarkers does basic marker detection.
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//
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// For further details, please see:
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// https://docs.opencv.org/master/d9/d6a/group__aruco.html#gab9159aa69250d8d3642593e508cb6baa
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func (a *ArucoDetector) DetectMarkers(input Mat) (
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markerCorners [][]Point2f, markerIds []int, rejectedCandidates [][]Point2f,
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) {
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pvsCorners := NewPoints2fVector()
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defer pvsCorners.Close()
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pvsRejected := NewPoints2fVector()
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defer pvsRejected.Close()
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cmarkerIds := C.IntVector{}
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defer C.free(unsafe.Pointer(cmarkerIds.val))
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C.ArucoDetector_DetectMarkers(a.p, C.Mat(input.Ptr()), C.Points2fVector(pvsCorners.P()),
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&cmarkerIds, C.Points2fVector(pvsRejected.P()))
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h := &reflect.SliceHeader{
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Data: uintptr(unsafe.Pointer(cmarkerIds.val)),
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Len: int(cmarkerIds.length),
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Cap: int(cmarkerIds.length),
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}
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pcids := *(*[]C.int)(unsafe.Pointer(h))
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markerIds = []int{}
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for i := 0; i < int(cmarkerIds.length); i++ {
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markerIds = append(markerIds, int(pcids[i]))
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}
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return pvsCorners.ToPoints(), markerIds, pvsRejected.ToPoints()
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}
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func ArucoDrawDetectedMarkers(img Mat, markerCorners [][]Point2f, markerIds []int, borderColor Scalar) {
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cMarkerIds := make([]C.int, len(markerIds))
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for i, s := range markerIds {
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cMarkerIds[i] = C.int(s)
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}
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markerIdsIntVec := C.IntVector{
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val: (*C.int)(&cMarkerIds[0]),
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length: C.int(len(cMarkerIds)),
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}
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_markerCorners := NewPoints2fVectorFromPoints(markerCorners)
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cBorderColor := C.struct_Scalar{
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val1: C.double(borderColor.Val1),
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val2: C.double(borderColor.Val2),
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val3: C.double(borderColor.Val3),
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val4: C.double(borderColor.Val4),
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}
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C.ArucoDrawDetectedMarkers(
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C.Mat(img.Ptr()),
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C.Points2fVector(_markerCorners.P()),
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markerIdsIntVec,
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cBorderColor,
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)
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}
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func ArucoGenerateImageMarker(dictionaryId ArucoDictionaryCode, id int, sidePixels int, img Mat, borderBits int) {
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C.ArucoGenerateImageMarker(C.int(dictionaryId), C.int(id), C.int(sidePixels), C.Mat(img.Ptr()), C.int(borderBits))
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}
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type ArucoDetectorParameters struct {
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p C.ArucoDetectorParameters
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}
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// NewArucoDetectorParameters returns the default parameters for the SimpleBobDetector
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func NewArucoDetectorParameters() ArucoDetectorParameters {
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return ArucoDetectorParameters{p: C.ArucoDetectorParameters_Create()}
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}
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func (ap *ArucoDetectorParameters) SetAdaptiveThreshWinSizeMin(adaptiveThreshWinSizeMin int) {
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C.ArucoDetectorParameters_SetAdaptiveThreshWinSizeMin(ap.p, C.int(adaptiveThreshWinSizeMin))
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}
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func (ap *ArucoDetectorParameters) GetAdaptiveThreshWinSizeMin() int {
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return int(C.ArucoDetectorParameters_GetAdaptiveThreshWinSizeMin(ap.p))
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}
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func (ap *ArucoDetectorParameters) SetAdaptiveThreshWinSizeMax(adaptiveThreshWinSizeMax int) {
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C.ArucoDetectorParameters_SetAdaptiveThreshWinSizeMax(ap.p, C.int(adaptiveThreshWinSizeMax))
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}
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func (ap *ArucoDetectorParameters) GetAdaptiveThreshWinSizeMax() int {
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return int(C.ArucoDetectorParameters_GetAdaptiveThreshWinSizeMax(ap.p))
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}
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func (ap *ArucoDetectorParameters) SetAdaptiveThreshWinSizeStep(adaptiveThreshWinSizeStep int) {
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C.ArucoDetectorParameters_SetAdaptiveThreshWinSizeStep(ap.p, C.int(adaptiveThreshWinSizeStep))
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}
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func (ap *ArucoDetectorParameters) GetAdaptiveThreshWinSizeStep() int {
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return int(C.ArucoDetectorParameters_GetAdaptiveThreshWinSizeStep(ap.p))
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}
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func (ap *ArucoDetectorParameters) SetAdaptiveThreshConstant(adaptiveThreshConstant float64) {
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C.ArucoDetectorParameters_SetAdaptiveThreshConstant(ap.p, C.double(adaptiveThreshConstant))
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}
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func (ap *ArucoDetectorParameters) GetAdaptiveThreshConstant() float64 {
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return float64(C.ArucoDetectorParameters_GetAdaptiveThreshConstant(ap.p))
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}
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func (ap *ArucoDetectorParameters) SetMinMarkerPerimeterRate(minMarkerPerimeterRate float64) {
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C.ArucoDetectorParameters_SetMinMarkerPerimeterRate(ap.p, C.double(minMarkerPerimeterRate))
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}
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func (ap *ArucoDetectorParameters) GetMinMarkerPerimeterRate() float64 {
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return float64(C.ArucoDetectorParameters_GetMinMarkerPerimeterRate(ap.p))
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}
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func (ap *ArucoDetectorParameters) SetMaxMarkerPerimeterRate(maxMarkerPerimeterRate float64) {
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C.ArucoDetectorParameters_SetMaxMarkerPerimeterRate(ap.p, C.double(maxMarkerPerimeterRate))
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}
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func (ap *ArucoDetectorParameters) GetMaxMarkerPerimeterRate() float64 {
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return float64(C.ArucoDetectorParameters_GetMaxMarkerPerimeterRate(ap.p))
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}
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func (ap *ArucoDetectorParameters) SetPolygonalApproxAccuracyRate(polygonalApproxAccuracyRate float64) {
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C.ArucoDetectorParameters_SetPolygonalApproxAccuracyRate(ap.p, C.double(polygonalApproxAccuracyRate))
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}
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func (ap *ArucoDetectorParameters) GetPolygonalApproxAccuracyRate() float64 {
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return float64(C.ArucoDetectorParameters_GetPolygonalApproxAccuracyRate(ap.p))
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}
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func (ap *ArucoDetectorParameters) SetMinCornerDistanceRate(minCornerDistanceRate float64) {
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C.ArucoDetectorParameters_SetMinCornerDistanceRate(ap.p, C.double(minCornerDistanceRate))
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}
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func (ap *ArucoDetectorParameters) GetMinCornerDistanceRate() float64 {
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return float64(C.ArucoDetectorParameters_GetMinCornerDistanceRate(ap.p))
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}
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func (ap *ArucoDetectorParameters) SetMinDistanceToBorder(minDistanceToBorder int) {
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C.ArucoDetectorParameters_SetMinDistanceToBorder(ap.p, C.int(minDistanceToBorder))
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}
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func (ap *ArucoDetectorParameters) GetMinDistanceToBorder() int {
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return int(C.ArucoDetectorParameters_GetMinDistanceToBorder(ap.p))
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}
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func (ap *ArucoDetectorParameters) SetMinMarkerDistanceRate(minMarkerDistanceRate float64) {
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C.ArucoDetectorParameters_SetMinMarkerDistanceRate(ap.p, C.double(minMarkerDistanceRate))
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}
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func (ap *ArucoDetectorParameters) GetMinMarkerDistanceRate() float64 {
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return float64(C.ArucoDetectorParameters_GetMinMarkerDistanceRate(ap.p))
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}
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func (ap *ArucoDetectorParameters) SetCornerRefinementMethod(cornerRefinementMethod int) {
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C.ArucoDetectorParameters_SetCornerRefinementMethod(ap.p, C.int(cornerRefinementMethod))
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}
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func (ap *ArucoDetectorParameters) GetCornerRefinementMethod() int {
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return int(C.ArucoDetectorParameters_GetCornerRefinementMethod(ap.p))
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}
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func (ap *ArucoDetectorParameters) SetCornerRefinementWinSize(cornerRefinementWinSize int) {
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C.ArucoDetectorParameters_SetCornerRefinementWinSize(ap.p, C.int(cornerRefinementWinSize))
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}
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func (ap *ArucoDetectorParameters) GetCornerRefinementWinSize() int {
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return int(C.ArucoDetectorParameters_GetCornerRefinementWinSize(ap.p))
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}
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func (ap *ArucoDetectorParameters) SetCornerRefinementMaxIterations(cornerRefinementMaxIterations int) {
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C.ArucoDetectorParameters_SetCornerRefinementMaxIterations(ap.p, C.int(cornerRefinementMaxIterations))
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}
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func (ap *ArucoDetectorParameters) GetCornerRefinementMaxIterations() int {
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return int(C.ArucoDetectorParameters_GetCornerRefinementMaxIterations(ap.p))
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}
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func (ap *ArucoDetectorParameters) SetCornerRefinementMinAccuracy(cornerRefinementMinAccuracy float64) {
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C.ArucoDetectorParameters_SetCornerRefinementMinAccuracy(ap.p, C.double(cornerRefinementMinAccuracy))
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}
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func (ap *ArucoDetectorParameters) GetCornerRefinementMinAccuracy() float64 {
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return float64(C.ArucoDetectorParameters_GetCornerRefinementMinAccuracy(ap.p))
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}
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func (ap *ArucoDetectorParameters) SetMarkerBorderBits(markerBorderBits int) {
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C.ArucoDetectorParameters_SetMarkerBorderBits(ap.p, C.int(markerBorderBits))
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}
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func (ap *ArucoDetectorParameters) GetMarkerBorderBits() int {
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return int(C.ArucoDetectorParameters_GetMarkerBorderBits(ap.p))
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}
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func (ap *ArucoDetectorParameters) SetPerspectiveRemovePixelPerCell(perspectiveRemovePixelPerCell int) {
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C.ArucoDetectorParameters_SetPerspectiveRemovePixelPerCell(ap.p, C.int(perspectiveRemovePixelPerCell))
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}
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func (ap *ArucoDetectorParameters) GetPerspectiveRemovePixelPerCell() int {
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return int(C.ArucoDetectorParameters_GetPerspectiveRemovePixelPerCell(ap.p))
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}
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func (ap *ArucoDetectorParameters) SetPerspectiveRemoveIgnoredMarginPerCell(perspectiveRemoveIgnoredMarginPerCell float64) {
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C.ArucoDetectorParameters_SetPerspectiveRemoveIgnoredMarginPerCell(ap.p, C.double(perspectiveRemoveIgnoredMarginPerCell))
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}
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func (ap *ArucoDetectorParameters) GetPerspectiveRemoveIgnoredMarginPerCell() float64 {
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return float64(C.ArucoDetectorParameters_GetPerspectiveRemoveIgnoredMarginPerCell(ap.p))
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}
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func (ap *ArucoDetectorParameters) SetMaxErroneousBitsInBorderRate(maxErroneousBitsInBorderRate float64) {
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C.ArucoDetectorParameters_SetMaxErroneousBitsInBorderRate(ap.p, C.double(maxErroneousBitsInBorderRate))
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}
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func (ap *ArucoDetectorParameters) GetMaxErroneousBitsInBorderRate() float64 {
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return float64(C.ArucoDetectorParameters_GetMaxErroneousBitsInBorderRate(ap.p))
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}
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func (ap *ArucoDetectorParameters) SetMinOtsuStdDev(minOtsuStdDev float64) {
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C.ArucoDetectorParameters_SetMinOtsuStdDev(ap.p, C.double(minOtsuStdDev))
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}
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func (ap *ArucoDetectorParameters) GetMinOtsuStdDev() float64 {
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return float64(C.ArucoDetectorParameters_GetMinOtsuStdDev(ap.p))
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}
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func (ap *ArucoDetectorParameters) SetErrorCorrectionRate(errorCorrectionRate float64) {
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C.ArucoDetectorParameters_SetErrorCorrectionRate(ap.p, C.double(errorCorrectionRate))
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}
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func (ap *ArucoDetectorParameters) GetErrorCorrectionRate() float64 {
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return float64(C.ArucoDetectorParameters_GetErrorCorrectionRate(ap.p))
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}
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func (ap *ArucoDetectorParameters) SetAprilTagQuadDecimate(aprilTagQuadDecimate float32) {
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C.ArucoDetectorParameters_SetAprilTagQuadDecimate(ap.p, C.float(aprilTagQuadDecimate))
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}
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func (ap *ArucoDetectorParameters) GetAprilTagQuadDecimate() float32 {
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return float32(C.ArucoDetectorParameters_GetAprilTagQuadDecimate(ap.p))
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}
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func (ap *ArucoDetectorParameters) SetAprilTagQuadSigma(aprilTagQuadSigma float32) {
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C.ArucoDetectorParameters_SetAprilTagQuadSigma(ap.p, C.float(aprilTagQuadSigma))
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}
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func (ap *ArucoDetectorParameters) GetAprilTagQuadSigma() float32 {
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return float32(C.ArucoDetectorParameters_GetAprilTagQuadSigma(ap.p))
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}
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func (ap *ArucoDetectorParameters) SetAprilTagMinClusterPixels(aprilTagMinClusterPixels int) {
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C.ArucoDetectorParameters_SetAprilTagMinClusterPixels(ap.p, C.int(aprilTagMinClusterPixels))
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}
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func (ap *ArucoDetectorParameters) GetAprilTagMinClusterPixels() int {
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return int(C.ArucoDetectorParameters_GetAprilTagMinClusterPixels(ap.p))
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}
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func (ap *ArucoDetectorParameters) SetAprilTagMaxNmaxima(aprilTagMaxNmaxima int) {
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C.ArucoDetectorParameters_SetAprilTagMaxNmaxima(ap.p, C.int(aprilTagMaxNmaxima))
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}
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func (ap *ArucoDetectorParameters) GetAprilTagMaxNmaxima() int {
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return int(C.ArucoDetectorParameters_GetAprilTagMaxNmaxima(ap.p))
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}
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func (ap *ArucoDetectorParameters) SetAprilTagCriticalRad(aprilTagCriticalRad float32) {
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C.ArucoDetectorParameters_SetAprilTagCriticalRad(ap.p, C.float(aprilTagCriticalRad))
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}
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func (ap *ArucoDetectorParameters) GetAprilTagCriticalRad() float32 {
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return float32(C.ArucoDetectorParameters_GetAprilTagCriticalRad(ap.p))
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}
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func (ap *ArucoDetectorParameters) SetAprilTagMaxLineFitMse(aprilTagMaxLineFitMse float32) {
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C.ArucoDetectorParameters_SetAprilTagMaxLineFitMse(ap.p, C.float(aprilTagMaxLineFitMse))
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}
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func (ap *ArucoDetectorParameters) GetAprilTagMaxLineFitMse() float32 {
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return float32(C.ArucoDetectorParameters_GetAprilTagMaxLineFitMse(ap.p))
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}
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func (ap *ArucoDetectorParameters) SetAprilTagMinWhiteBlackDiff(aprilTagMinWhiteBlackDiff int) {
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C.ArucoDetectorParameters_SetAprilTagMinWhiteBlackDiff(ap.p, C.int(aprilTagMinWhiteBlackDiff))
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}
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func (ap *ArucoDetectorParameters) GetAprilTagMinWhiteBlackDiff() int {
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return int(C.ArucoDetectorParameters_GetAprilTagMinWhiteBlackDiff(ap.p))
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}
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func (ap *ArucoDetectorParameters) SetAprilTagDeglitch(aprilTagDeglitch int) {
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C.ArucoDetectorParameters_SetAprilTagDeglitch(ap.p, C.int(aprilTagDeglitch))
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}
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func (ap *ArucoDetectorParameters) GetAprilTagDeglitch() int {
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return int(C.ArucoDetectorParameters_GetAprilTagDeglitch(ap.p))
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}
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func (ap *ArucoDetectorParameters) SetDetectInvertedMarker(detectInvertedMarker bool) {
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C.ArucoDetectorParameters_SetDetectInvertedMarker(ap.p, C.bool(detectInvertedMarker))
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}
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func (ap *ArucoDetectorParameters) GetDetectInvertedMarker() bool {
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return bool(C.ArucoDetectorParameters_GetDetectInvertedMarker(ap.p))
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}
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