Functions missing from aruco module

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Functions missing from aruco module #971

Closed nickanthony-dgl closed 3 months ago

nickanthony-dgl commented 5 months ago

Expected behaviour

Aruco module has the functions that are described in the documentation

Actual behaviour

Various functions are missing from the module. Many of these are deprecated and can be achieved through calls to a class method. However, some of them do not seem to have any alternative available. For example, cv2.aruco.estimatePoseCharucoBoard and all the other "estimatePose" functions are missing.

Steps to reproduce

tested on Windows with version 4.9.0.80

asmorkalov commented 3 months ago

OpenCV contains 2 instances of Aruco for now: old one (deprecated) in OpenCV Contrib and the modern one in OpenCV objdetect module. estimatePoseCharucoBoard and pose related functions were removed during migration to main repo by several reasons:

The existing API does not work with non-pinhole cameras, e.g. fisheye and is not extendable.
The same behavour may be easily achieved with 2 calls: detect board + solvePnP family function. I recommend you to do the same. See https://docs.opencv.org/4.x/df/d4a/tutorial_charuco_detection.html#autotoc_md1083.