fixed cerr, added deprecated

Author: AleksandrPanov

modules/aruco/include/opencv2/aruco.hpp

@@ -52,7 +52,7 @@ CV_EXPORTS_W void getBoardObjectAndImagePoints(const Ptr<Board> &board, InputArr
                                                InputArray detectedIds, OutputArray objPoints, OutputArray imgPoints);
 
 
-/** @deprecated Use cv::solvePnP
+/** @deprecated Use Board::matchImagePoints and cv::solvePnP
  */
 CV_EXPORTS_W int estimatePoseBoard(InputArrayOfArrays corners, InputArray ids, const Ptr<Board> &board,
                                    InputArray cameraMatrix, InputArray distCoeffs, InputOutputArray rvec,
@@ -75,6 +75,7 @@ CV_EXPORTS_W int estimatePoseBoard(InputArrayOfArrays corners, InputArray ids, c
  * This function estimates a Charuco board pose from some detected corners.
  * The function checks if the input corners are enough and valid to perform pose estimation.
  * If pose estimation is valid, returns true, else returns false.
+ * @deprecated Use CharucoBoard::matchImagePoints and cv::solvePnP
  * @sa use cv::drawFrameAxes to get world coordinate system axis for object points
  */
 CV_EXPORTS_W bool estimatePoseCharucoBoard(InputArray charucoCorners, InputArray charucoIds,

modules/aruco/include/opencv2/aruco/aruco_calib.hpp

@@ -16,17 +16,17 @@ namespace aruco {
  * PatternPositionType defines center this system and axes direction.
  * Axis X (red color) - first coordinate, axis Y (green color) - second coordinate,
  * axis Z (blue color) - third coordinate.
- * @sa estimatePoseSingleMarkers(), check tutorial_aruco_detection in aruco contrib
+ *
+ * @deprecated Use Board::matchImagePoints and cv::solvePnP
+ *
+ * @sa estimatePoseSingleMarkers()
  */
 enum PatternPositionType {
     /** @brief The marker coordinate system is centered on the middle of the marker.
      *
      * The coordinates of the four corners (CCW order) of the marker in its own coordinate system are:
      * (-markerLength/2, markerLength/2, 0), (markerLength/2, markerLength/2, 0),
      * (markerLength/2, -markerLength/2, 0), (-markerLength/2, -markerLength/2, 0).
-     *
-     * These pattern points define this coordinate system:
-     * ![Image with axes drawn](tutorials/images/singlemarkersaxes2.jpg)
      */
     ARUCO_CCW_CENTER,
     /** @brief The marker coordinate system is centered on the top-left corner of the marker.
@@ -35,9 +35,6 @@ enum PatternPositionType {
      * (0, 0, 0), (markerLength, 0, 0),
      * (markerLength, markerLength, 0), (0, markerLength, 0).
      *
-     * These pattern points define this coordinate system:
-     * ![Image with axes drawn](tutorials/images/singlemarkersaxes.jpg)
-     *
      * These pattern dots are convenient to use with a chessboard/ChArUco board.
      */
     ARUCO_CW_TOP_LEFT_CORNER
@@ -50,7 +47,10 @@ enum PatternPositionType {
  * rvec and tvec values as initial approximations of the rotation and translation vectors, respectively, and further
  * optimizes them (default false).
  * @param solvePnPMethod Method for solving a PnP problem: see @ref calib3d_solvePnP_flags (default SOLVEPNP_ITERATIVE).
- * @sa PatternPositionType, solvePnP(), check tutorial_aruco_detection in aruco contrib
+ *
+ * @deprecated Use Board::matchImagePoints and cv::solvePnP
+ *
+ * @sa PatternPositionType, solvePnP()
  */
 struct CV_EXPORTS_W_SIMPLE EstimateParameters {
     CV_PROP_RW PatternPositionType pattern;
@@ -95,6 +95,8 @@ struct CV_EXPORTS_W_SIMPLE EstimateParameters {
  * This function calibrates a camera using an Aruco Board. The function receives a list of
  * detected markers from several views of the Board. The process is similar to the chessboard
  * calibration in calibrateCamera(). The function returns the final re-projection error.
+ *
+ * @deprecated Use Board::matchImagePoints and cv::solvePnP
  */
 CV_EXPORTS_AS(calibrateCameraArucoExtended)
 double calibrateCameraAruco(InputArrayOfArrays corners, InputArray ids, InputArray counter, const Ptr<Board> &board,
@@ -105,6 +107,7 @@ double calibrateCameraAruco(InputArrayOfArrays corners, InputArray ids, InputArr
 
 /** @overload
  * @brief It's the same function as #calibrateCameraAruco but without calibration error estimation.
+ * @deprecated Use Board::matchImagePoints and cv::solvePnP
  */
 CV_EXPORTS_W double calibrateCameraAruco(InputArrayOfArrays corners, InputArray ids, InputArray counter,
                                          const Ptr<Board> &board, Size imageSize, InputOutputArray cameraMatrix,
@@ -147,6 +150,8 @@ CV_EXPORTS_W double calibrateCameraAruco(InputArrayOfArrays corners, InputArray
  * This function calibrates a camera using a set of corners of a  Charuco Board. The function
  * receives a list of detected corners and its identifiers from several views of the Board.
  * The function returns the final re-projection error.
+ *
+ * @deprecated Use CharucoBoard::matchImagePoints and cv::solvePnP
  */
 CV_EXPORTS_AS(calibrateCameraCharucoExtended)
 double calibrateCameraCharuco(InputArrayOfArrays charucoCorners, InputArrayOfArrays charucoIds,
@@ -158,6 +163,8 @@ double calibrateCameraCharuco(InputArrayOfArrays charucoCorners, InputArrayOfArr
 
 /**
  * @brief It's the same function as #calibrateCameraCharuco but without calibration error estimation.
+ *
+ * @deprecated Use CharucoBoard::matchImagePoints and cv::solvePnP
  */
 CV_EXPORTS_W double calibrateCameraCharuco(InputArrayOfArrays charucoCorners, InputArrayOfArrays charucoIds,
                                            const Ptr<CharucoBoard> &board, Size imageSize,

modules/aruco/include/opencv2/aruco/charuco.hpp

@@ -96,6 +96,8 @@ CV_EXPORTS_W void detectCharucoDiamond(InputArray image, InputArrayOfArrays mark
  * @param borderBits width of the marker borders.
  *
  * This function return the image of a ChArUco marker, ready to be printed.
+ *
+ * @deprecated Use CharucoBoard::generateImage()
  */
 CV_EXPORTS_W void drawCharucoDiamond(const Ptr<Dictionary> &dictionary, Vec4i ids, int squareLength,
                                      int markerLength, OutputArray img, int marginSize = 0,

modules/aruco/samples/aruco_samples_utility.hpp

@@ -52,8 +52,7 @@ inline static cv::aruco::DetectorParameters readDetectorParamsFromCommandLine(cv
         cv::FileStorage fs(parser.get<std::string>("dp"), cv::FileStorage::READ);
         bool readOk = detectorParams.readDetectorParameters(fs.root());
         if(!readOk) {
-            std::cerr << "Invalid detector parameters file" << std::endl;
-            throw -1;
+            throw std::runtime_error("Invalid detector parameters file\n");
         }
     }
     return detectorParams;
@@ -64,8 +63,7 @@ inline static void readCameraParamsFromCommandLine(cv::CommandLineParser &parser
     if(parser.has("c")) {
         bool readOk = readCameraParameters(parser.get<std::string>("c"), camMatrix, distCoeffs);
         if(!readOk) {
-            std::cerr << "Invalid camera file" << std::endl;
-            throw -1;
+            throw std::runtime_error("Invalid camera file\n");
         }
     }
     //! [camDistCoeffs]
@@ -77,8 +75,7 @@ inline static cv::aruco::Dictionary readDictionatyFromCommandLine(cv::CommandLin
         cv::FileStorage fs(parser.get<std::string>("cd"), cv::FileStorage::READ);
         bool readOk = dictionary.readDictionary(fs.root());
         if(!readOk) {
-            std::cerr << "Invalid dictionary file" << std::endl;
-            throw -1;
+            throw std::runtime_error("Invalid dictionary file\n");
         }
     }
     else {

modules/aruco/samples/calibrate_camera.cpp

@@ -143,8 +143,7 @@ int main(int argc, char *argv[]) {
     //! [CalibrationWithArucoBoard2]
 
     if(allMarkerIds.empty()) {
-        cerr << "Not enough captures for calibration" << endl;
-        return 0;
+        throw std::runtime_error("Not enough captures for calibration\n");
     }
 
     //! [CalibrationWithArucoBoard3]
@@ -180,8 +179,7 @@ int main(int argc, char *argv[]) {
                                    cameraMatrix, distCoeffs, repError);
 
     if(!saveOk) {
-        cerr << "Cannot save output file" << endl;
-        return 0;
+        throw std::runtime_error("Cannot save output file\n");
     }
 
     cout << "Rep Error: " << repError << endl;

modules/aruco/samples/create_diamond.cpp

@@ -51,9 +51,7 @@ int main(int argc, char *argv[]) {
     while(getline(ss, token, ','))
         splittedIds.push_back(token);
     if(splittedIds.size() < 4) {
-        cerr << "Incorrect ids format" << endl;
-        parser.printMessage();
-        return 0;
+        throw std::runtime_error("Incorrect ids format\n");
     }
     Vec4i ids;
     for(int i = 0; i < 4; i++)