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Merge pull request #25808 from DmitryYurov:bug-25806-checkerboard-marker-black-tile

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Enable checkerboard detection with a central / corner marker on a black tile #25808

This pull request closes the issue #25806.

The issue doesn't require any documentation - it's quite intuitive that the detection result shouldn't depend on the color of the marker's tile.

### Pull Request Readiness Checklist

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

- [x] I agree to contribute to the project under Apache 2 License.
- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [x] The PR is proposed to the proper branch
- [x] There is a reference to the original bug report and related work
- [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
      Patch to opencv_extra has the same branch name.
- [ ] The feature is well documented and sample code can be built with the project CMake
This commit is contained in:
Dmitry Yurov 2024-07-08 11:36:56 +02:00 committed by GitHub
parent a54de7d55e
commit 31b308f882
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GPG Key ID: B5690EEEBB952194
2 changed files with 41 additions and 27 deletions
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48
modules/calib3d/src/chessboard.cpp
View File

@ -1625,36 +1625,30 @@ bool Chessboard::Board::normalizeMarkerOrientation()
if(!current_cell->marker || !current_cell->right || !current_cell->right->marker) if(!current_cell->marker || !current_cell->right || !current_cell->right->marker)
continue; continue;
if(current_cell->black) if(current_cell->right->top && current_cell->right->top->marker)
{ {
if(current_cell->right->top && current_cell->right->top->marker) rotateLeft();
{ rotateLeft();
rotateLeft(); pcell = current_cell->right;
rotateLeft(); break;
pcell = current_cell->right;
break;
}
if(current_cell->right->bottom && current_cell->right->bottom->marker)
{
rotateLeft();
pcell = current_cell->right;
break;
}
} }
else if(current_cell->right->bottom && current_cell->right->bottom->marker)
{ {
if(current_cell->top && current_cell->top->marker) rotateLeft();
{ pcell = current_cell->right;
rotateRight(); break;
pcell = current_cell; }
break; if(current_cell->top && current_cell->top->marker)
} {
if(current_cell->bottom && current_cell->bottom->marker) rotateRight();
{ pcell = current_cell;
// correct orientation break;
pcell = current_cell; }
break; if(current_cell->bottom && current_cell->bottom->marker)
} {
// correct orientation
pcell = current_cell;
break;
} }
} }
} }

20
modules/calib3d/test/test_chesscorners.cpp
View File

@ -679,6 +679,26 @@ TEST(Calib3d_AsymmetricCirclesPatternDetector, accuracy) { CV_ChessboardDetector
TEST(Calib3d_AsymmetricCirclesPatternDetectorWithClustering, accuracy) { CV_ChessboardDetectorTest test( ASYMMETRIC_CIRCLES_GRID, CALIB_CB_CLUSTERING ); test.safe_run(); } TEST(Calib3d_AsymmetricCirclesPatternDetectorWithClustering, accuracy) { CV_ChessboardDetectorTest test( ASYMMETRIC_CIRCLES_GRID, CALIB_CB_CLUSTERING ); test.safe_run(); }
#endif #endif
TEST(Calib3d_ChessboardWithMarkers, regression_25806_white)
{
const cv::String dataDir = string(TS::ptr()->get_data_path()) + "cv/cameracalibration/";
const cv::Mat image = cv::imread(dataDir + "checkerboard_marker_white.png");
std::vector<Point2f> corners;
const bool success = cv::findChessboardCornersSB(image, Size(9, 14), corners, CALIB_CB_MARKER);
ASSERT_TRUE(success);
}
TEST(Calib3d_ChessboardWithMarkers, regression_25806_black)
{
const cv::String dataDir = string(TS::ptr()->get_data_path()) + "cv/cameracalibration/";
const cv::Mat image = cv::imread(dataDir + "checkerboard_marker_black.png");
std::vector<Point2f> corners;
const bool success = cv::findChessboardCornersSB(image, Size(9, 14), corners, CALIB_CB_MARKER);
ASSERT_TRUE(success);
}
TEST(Calib3d_CirclesPatternDetectorWithClustering, accuracy) TEST(Calib3d_CirclesPatternDetectorWithClustering, accuracy)
{ {
cv::String dataDir = string(TS::ptr()->get_data_path()) + "cv/cameracalibration/circles/"; cv::String dataDir = string(TS::ptr()->get_data_path()) + "cv/cameracalibration/circles/";