vendor: OpenCV 5.0.0 snapshot at 40738fb16ceddb5fb3fea747585f7ce6abb0605b

modules/objdetect/test/test_aruco_utils.hpp

@@ -0,0 +1,42 @@
+// 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.
+
+#include "test_precomp.hpp"
+#include "opencv2/geometry.hpp"
+
+namespace opencv_test {
+
+static inline double deg2rad(double deg) { return deg * CV_PI / 180.; }
+
+vector<Point2f> getAxis(InputArray _cameraMatrix, InputArray _distCoeffs, InputArray _rvec, InputArray _tvec,
+                        float length, const Point2f offset = Point2f(0, 0));
+
+vector<Point2f> getMarkerById(int id, const vector<vector<Point2f> >& corners, const vector<int>& ids);
+
+/**
+ * @brief Get rvec and tvec from yaw, pitch and distance
+ */
+void getSyntheticRT(double yaw, double pitch, double distance, Mat& rvec, Mat& tvec);
+
+/**
+ * @brief Project a synthetic marker
+ */
+void projectMarker(Mat& img, const aruco::Board& board, int markerIndex, Mat cameraMatrix, Mat rvec, Mat tvec,
+                   int markerBorder);
+
+/**
+ * @brief Get a synthetic image of GridBoard in perspective
+ */
+Mat projectBoard(const aruco::GridBoard& board, Mat cameraMatrix, double yaw, double pitch, double distance,
+                 Size imageSize, int markerBorder);
+
+bool getCharucoBoardPose(InputArray charucoCorners, InputArray charucoIds,  const aruco::CharucoBoard &board,
+                         InputArray cameraMatrix, InputArray distCoeffs, InputOutputArray rvec,
+                         InputOutputArray tvec, bool useExtrinsicGuess = false);
+
+void getMarkersPoses(InputArrayOfArrays corners, float markerLength, InputArray cameraMatrix, InputArray distCoeffs,
+                     OutputArray _rvecs, OutputArray _tvecs, OutputArray objPoints = noArray(),
+                     bool use_aruco_ccw_center = true, SolvePnPMethod solvePnPMethod = SolvePnPMethod::SOLVEPNP_ITERATIVE);
+
+}