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Merge pull request #25938 from vrabaud:charuco

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Properly check markers when none are provided. #25938

CharucoDetectorImpl::detectBoard finds temporary markers when none are provided but those are discarded when
charucoDetectorImpl::checkBoard is called.

### 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.
- [x] The feature is well documented and sample code can be built with the project CMake
This commit is contained in:
Vincent Rabaud 2024-07-24 08:27:07 +02:00 committed by GitHub
parent 93b607dc72
commit c16927605d
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GPG Key ID: B5690EEEBB952194
2 changed files with 32 additions and 18 deletions
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24
modules/objdetect/src/aruco/charuco_detector.cpp
View File

@ -326,8 +326,21 @@ struct CharucoDetector::CharucoDetectorImpl {
interpolateCornersCharucoLocalHom(_markerCorners, _markerIds, image, charucoCorners, charucoIds);
// to return a charuco corner, its closest aruco markers should have been detected
filterCornersWithoutMinMarkers(charucoCorners, charucoIds, _markerIds, charucoCorners, charucoIds);
}
}
void detectBoardWithCheck(InputArray image, OutputArray charucoCorners, OutputArray charucoIds,
InputOutputArrayOfArrays markerCorners, InputOutputArray markerIds) {
vector<vector<Point2f>> tmpMarkerCorners;
vector<int> tmpMarkerIds;
InputOutputArrayOfArrays _markerCorners = markerCorners.needed() ? markerCorners : tmpMarkerCorners;
InputOutputArray _markerIds = markerIds.needed() ? markerIds : tmpMarkerIds;
detectBoard(image, charucoCorners, charucoIds, _markerCorners, _markerIds);
if (checkBoard(_markerCorners, _markerIds, charucoCorners, charucoIds) == false) {
CV_LOG_DEBUG(NULL, "ChArUco board is built incorrectly");
charucoCorners.release();
charucoIds.release();
}
}
};
CharucoDetector::CharucoDetector(const CharucoBoard &board, const CharucoParameters &charucoParams,
@ -370,12 +383,7 @@ void CharucoDetector::setRefineParameters(const RefineParameters& refineParamete
void CharucoDetector::detectBoard(InputArray image, OutputArray charucoCorners, OutputArray charucoIds,
InputOutputArrayOfArrays markerCorners, InputOutputArray markerIds) const {
charucoDetectorImpl->detectBoard(image, charucoCorners, charucoIds, markerCorners, markerIds);
if (charucoDetectorImpl->checkBoard(markerCorners, markerIds, charucoCorners, charucoIds) == false) {
CV_LOG_DEBUG(NULL, "ChArUco board is built incorrectly");
charucoCorners.release();
charucoIds.release();
}
charucoDetectorImpl->detectBoardWithCheck(image, charucoCorners, charucoIds, markerCorners, markerIds);
}
void CharucoDetector::detectDiamonds(InputArray image, OutputArrayOfArrays _diamondCorners, OutputArray _diamondIds,
@ -480,7 +488,7 @@ void CharucoDetector::detectDiamonds(InputArray image, OutputArrayOfArrays _diam
// interpolate the charuco corners of the diamond
vector<Point2f> currentMarkerCorners;
Mat aux;
charucoDetectorImpl->detectBoard(grey, currentMarkerCorners, aux, currentMarker, currentMarkerId);
charucoDetectorImpl->detectBoardWithCheck(grey, currentMarkerCorners, aux, currentMarker, currentMarkerId);
// if everything is ok, save the diamond
if(currentMarkerCorners.size() > 0ull) {

26
modules/objdetect/test/test_charucodetection.cpp
View File

@ -762,23 +762,29 @@ TEST_P(CharucoBoard, testWrongSizeDetection)
ASSERT_FALSE(boardSize.width == boardSize.height);
aruco::CharucoBoard board(boardSize, 1.f, 0.5f, aruco::getPredefinedDictionary(aruco::DICT_4X4_50));
vector<int> detectedCharucoIds, detectedArucoIds;
vector<Point2f> detectedCharucoCorners;
vector<vector<Point2f>> detectedArucoCorners;
Mat boardImage;
board.generateImage(boardSize*40, boardImage);
swap(boardSize.width, boardSize.height);
aruco::CharucoDetector detector(aruco::CharucoBoard(boardSize, 1.f, 0.5f, aruco::getPredefinedDictionary(aruco::DICT_4X4_50)));
// try detect board with wrong size
detector.detectBoard(boardImage, detectedCharucoCorners, detectedCharucoIds, detectedArucoCorners, detectedArucoIds);
for(int i: {0, 1}) {
vector<int> detectedCharucoIds, detectedArucoIds;
vector<Point2f> detectedCharucoCorners;
vector<vector<Point2f>> detectedArucoCorners;
if (i == 0) {
detector.detectBoard(boardImage, detectedCharucoCorners, detectedCharucoIds, detectedArucoCorners, detectedArucoIds);
// aruco markers must be found
ASSERT_EQ(detectedArucoIds.size(), board.getIds().size());
ASSERT_EQ(detectedArucoCorners.size(), board.getIds().size());
} else {
detector.detectBoard(boardImage, detectedCharucoCorners, detectedCharucoIds);
}
// aruco markers must be found
ASSERT_EQ(detectedArucoIds.size(), board.getIds().size());
ASSERT_EQ(detectedArucoCorners.size(), board.getIds().size());
// charuco corners should not be found in board with wrong size
ASSERT_TRUE(detectedCharucoCorners.empty());
ASSERT_TRUE(detectedCharucoIds.empty());
// charuco corners should not be found in board with wrong size
ASSERT_TRUE(detectedCharucoCorners.empty());
ASSERT_TRUE(detectedCharucoIds.empty());
}
}