create aruco_utils.hpp

modules/aruco/include/opencv2/aruco/aruco_utils.hpp

@@ -0,0 +1,96 @@
+// 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
+#ifndef __OPENCV_ARUCO_UTILS_HPP__
+#define __OPENCV_ARUCO_UTILS_HPP__
+
+#include <opencv2/core.hpp>
+#include <opencv2/imgproc.hpp>
+#include <vector>
+
+namespace cv {
+namespace aruco {
+
+/**
+ * @brief Copy the contents of a corners vector to an OutputArray, settings its size.
+ */
+static inline void _copyVector2Output(std::vector<std::vector<Point2f> > &vec, OutputArrayOfArrays out, const float scale = 1.f) {
+    out.create((int)vec.size(), 1, CV_32FC2);
+
+    if(out.isMatVector()) {
+        for (unsigned int i = 0; i < vec.size(); i++) {
+            out.create(4, 1, CV_32FC2, i);
+            Mat &m = out.getMatRef(i);
+            Mat(Mat(vec[i]).t()*scale).copyTo(m);
+        }
+    }
+    else if(out.isUMatVector()) {
+        for (unsigned int i = 0; i < vec.size(); i++) {
+            out.create(4, 1, CV_32FC2, i);
+            UMat &m = out.getUMatRef(i);
+            Mat(Mat(vec[i]).t()*scale).copyTo(m);
+        }
+    }
+    else if(out.kind() == _OutputArray::STD_VECTOR_VECTOR){
+        for (unsigned int i = 0; i < vec.size(); i++) {
+            out.create(4, 1, CV_32FC2, i);
+            Mat m = out.getMat(i);
+            Mat(Mat(vec[i]).t()*scale).copyTo(m);
+        }
+    }
+    else {
+        CV_Error(cv::Error::StsNotImplemented,
+                 "Only Mat vector, UMat vector, and vector<vector> OutputArrays are currently supported.");
+    }
+}
+/*
+static std::vector<std::vector<Point2f> > getVectors(InputArrayOfArrays& in) {
+    std::vector<std::vector<Point2f> > v;
+    if (in.isMatVector() || in.kind()) {
+        for (size_t i = 0; i < in.total(); i++) {
+            Mat m = in.getMat(i);
+            std::vector<Point2f> tmp;
+            m.copyTo(tmp);
+            v.push_back(tmp);
+        }
+    }
+    else if (in.isUMatVector()) {
+        for (size_t i = 0; i < in.total(); i++) {
+            UMat m = in.getUMat(i);
+            std::vector<Point2f> tmp;
+            m.copyTo(tmp);
+            v.push_back(tmp);
+        }
+    }
+    else if (in.kind() == _InputArray::STD_VECTOR_MAT) {
+        for (size_t i = 0; i < in.total(); i++) {
+            Mat m = in.getMat(i).reshape(2);
+            std::vector<Point2f> tmp;
+            m.copyTo(tmp);
+            v.push_back(tmp);
+        }
+    }
+    else {
+        CV_Error(cv::Error::StsNotImplemented,
+                 "Only Mat vector, UMat vector, and vector<vector> InputArrays are currently supported.");
+    }
+    return v;
+}
+*/
+/**
+  * @brief Convert input image to gray if it is a 3-channels image
+  */
+static void _convertToGrey(InputArray _in, OutputArray _out) {
+
+    CV_Assert(_in.type() == CV_8UC1 || _in.type() == CV_8UC3);
+
+    if(_in.type() == CV_8UC3)
+        cvtColor(_in, _out, COLOR_BGR2GRAY);
+    else
+        _in.copyTo(_out);
+}
+
+}
+}
+
+#endif

modules/aruco/src/aruco.cpp

@@ -38,7 +38,7 @@ the use of this software, even if advised of the possibility of such damage.
 
 #include "precomp.hpp"
 #include "opencv2/aruco.hpp"
-#include <opencv2/imgproc.hpp>
+#include "opencv2/aruco/aruco_utils.hpp"
 #include "apriltag/apriltag_quad_thresh.hpp"
 
 #include <cmath>
@@ -142,20 +142,6 @@ bool DetectorParameters::readDetectorParameters(const FileNode& fn)
 }
 
 
-/**
-  * @brief Convert input image to gray if it is a 3-channels image
-  */
-static void _convertToGrey(InputArray _in, OutputArray _out) {
-
-    CV_Assert(_in.type() == CV_8UC1 || _in.type() == CV_8UC3);
-
-    if(_in.type() == CV_8UC3)
-        cvtColor(_in, _out, COLOR_BGR2GRAY);
-    else
-        _in.copyTo(_out);
-}
-
-
 /**
   * @brief Threshold input image using adaptive thresholding
   */
@@ -630,39 +616,6 @@ static uint8_t _identifyOneCandidate(const Ptr<Dictionary>& dictionary, InputArr
     return typ;
 }
 
-/**
- * @brief Copy the contents of a corners vector to an OutputArray, settings its size.
- */
-static void _copyVector2Output(vector< vector< Point2f > > &vec, OutputArrayOfArrays out, const float scale = 1.f) {
-    out.create((int)vec.size(), 1, CV_32FC2);
-
-    if(out.isMatVector()) {
-        for (unsigned int i = 0; i < vec.size(); i++) {
-            out.create(4, 1, CV_32FC2, i);
-            Mat &m = out.getMatRef(i);
-            Mat(Mat(vec[i]).t()*scale).copyTo(m);
-        }
-    }
-    else if(out.isUMatVector()) {
-        for (unsigned int i = 0; i < vec.size(); i++) {
-            out.create(4, 1, CV_32FC2, i);
-            UMat &m = out.getUMatRef(i);
-            Mat(Mat(vec[i]).t()*scale).copyTo(m);
-        }
-    }
-    else if(out.kind() == _OutputArray::STD_VECTOR_VECTOR){
-        for (unsigned int i = 0; i < vec.size(); i++) {
-            out.create(4, 1, CV_32FC2, i);
-            Mat m = out.getMat(i);
-            Mat(Mat(vec[i]).t()*scale).copyTo(m);
-        }
-    }
-    else {
-        CV_Error(cv::Error::StsNotImplemented,
-                 "Only Mat vector, UMat vector, and vector<vector> OutputArrays are currently supported.");
-    }
-}
-
 /**
  * @brief rotate the initial corner to get to the right position
  */