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Aruco/Charuco test case fixes for floating point for loops

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This commit is contained in:
Stefan Becker 2023-02-07 10:22:38 +01:00
parent 20dac7ea48
commit 39e2ebbde4
3 changed files with 30 additions and 8 deletions
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2
modules/objdetect/test/test_arucodetection.cpp
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@ -247,7 +247,7 @@ void CV_ArucoDetectionPerspective::run(int) {
aruco::ArucoDetector detector(aruco::getPredefinedDictionary(aruco::DICT_6X6_250), params);
// detect from different positions
for(double distance = 0.1; distance < 0.7; distance += 0.2) {
for(double distance : {0.1, 0.3, 0.5, 0.7}) {
for(int pitch = 0; pitch < 360; pitch += (distance == 0.1? 60:180)) {
for(int yaw = 70; yaw <= 120; yaw += 40){
int currentId = iter % 250;

4
modules/objdetect/test/test_boarddetection.cpp
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@ -51,7 +51,7 @@ void CV_ArucoBoardPose::run(int) {
aruco::DetectorParameters detectorParameters = detector.getDetectorParameters();
// for different perspectives
for(double distance = 0.2; distance <= 0.4; distance += 0.15) {
for(double distance : {0.2, 0.35}) {
for(int yaw = -55; yaw <= 50; yaw += 25) {
for(int pitch = -55; pitch <= 50; pitch += 25) {
vector<int> tmpIds;
@ -162,7 +162,7 @@ void CV_ArucoRefine::run(int) {
aruco::DetectorParameters detectorParameters = detector.getDetectorParameters();
// for different perspectives
for(double distance = 0.2; distance <= 0.4; distance += 0.2) {
for(double distance : {0.2, 0.4}) {
for(int yaw = -60; yaw < 60; yaw += 30) {
for(int pitch = -60; pitch <= 60; pitch += 30) {
aruco::GridBoard gridboard(Size(3, 3), 0.02f, 0.005f, detector.getDictionary());

32
modules/objdetect/test/test_charucodetection.cpp
View File

@ -109,7 +109,7 @@ void CV_CharucoDetection::run(int) {
Mat distCoeffs(5, 1, CV_64FC1, Scalar::all(0));
// for different perspectives
for(double distance = 0.2; distance <= 0.4; distance += 0.2) {
for(double distance : {0.2, 0.4}) {
for(int yaw = -55; yaw <= 50; yaw += 25) {
for(int pitch = -55; pitch <= 50; pitch += 25) {
@ -213,7 +213,7 @@ void CV_CharucoPoseEstimation::run(int) {
Mat distCoeffs(5, 1, CV_64FC1, Scalar::all(0));
// for different perspectives
for(double distance = 0.2; distance <= 0.3; distance += 0.1) {
for(double distance : {0.2, 0.3}) {
for(int yaw = -55; yaw <= 50; yaw += 25) {
for(int pitch = -55; pitch <= 50; pitch += 25) {
@ -244,6 +244,18 @@ void CV_CharucoPoseEstimation::run(int) {
detector.setCharucoParameters(charucoParameters);
detector.detectBoard(img, charucoCorners, charucoIds, corners, ids);
}
// // create debug images
// Mat rgb_image;
// cv::cvtColor(img, rgb_image, COLOR_GRAY2RGB);
// aruco::drawDetectedCornersCharuco(rgb_image, charucoCorners, charucoIds);
// aruco::drawDetectedMarkers(rgb_image, corners, ids);
// cv::imwrite("Debug_CV_CharucoPoseEstimation"
// + (legacyPattern ? std::string("_legacy") : std::string(""))
// + "_dist" + std::to_string(distance)
// + "_yaw" + std::to_string(yaw)
// + "_pitch" + std::to_string(pitch) + ".png", rgb_image);
ASSERT_EQ(ids.size(), board.getIds().size());
if(charucoIds.size() == 0) continue;
@ -311,7 +323,7 @@ void CV_CharucoDiamondDetection::run(int) {
int iter = 0;
Mat cameraMatrix = Mat::eye(3, 3, CV_64FC1);
Size imgSize(500, 500);
Size imgSize(750, 750);
aruco::DetectorParameters params;
params.minDistanceToBorder = 0;
float squareLength = 0.03f;
@ -321,7 +333,7 @@ void CV_CharucoDiamondDetection::run(int) {
aruco::CharucoDetector detector(board);
cameraMatrix.at<double>(0, 0) = cameraMatrix.at< double >(1, 1) = 650;
cameraMatrix.at<double>(0, 0) = cameraMatrix.at< double >(1, 1) = 1000;
cameraMatrix.at<double>(0, 2) = imgSize.width / 2;
cameraMatrix.at<double>(1, 2) = imgSize.height / 2;
@ -332,7 +344,7 @@ void CV_CharucoDiamondDetection::run(int) {
detector.setCharucoParameters(charucoParameters);
// for different perspectives
for(double distance = 0.2; distance <= 0.3; distance += 0.1) {
for(double distance : {0.2, 0.3}) {
for(int yaw = -50; yaw <= 50; yaw += 25) {
for(int pitch = -50; pitch <= 50; pitch += 25) {
@ -364,6 +376,16 @@ void CV_CharucoDiamondDetection::run(int) {
detector.detectDiamonds(img, diamondCorners, diamondIds, corners, ids);
// // create debug images
// Mat rgb_image;
// cv::cvtColor(img, rgb_image, COLOR_GRAY2RGB);
// aruco::drawDetectedDiamonds(rgb_image, diamondCorners, diamondIds);
// aruco::drawDetectedMarkers(rgb_image, corners, ids);
// cv::imwrite(std::string("Debug_CV_CharucoDiamondDetection")
// + "_dist" + std::to_string(distance)
// + "_yaw" + std::to_string(yaw)
// + "_pitch" + std::to_string(pitch) + ".png", rgb_image);
// check detect
if(ids.size() != 4) {
ts->printf(cvtest::TS::LOG, "Not enough markers for diamond detection");