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fix test

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This commit is contained in:
Alex 2023-03-29 15:29:56 +03:00
parent 39e2ebbde4
commit c643af0b85
1 changed files with 4 additions and 26 deletions
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30
modules/objdetect/test/test_charucodetection.cpp
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@ -213,7 +213,7 @@ void CV_CharucoPoseEstimation::run(int) {
Mat distCoeffs(5, 1, CV_64FC1, Scalar::all(0)); Mat distCoeffs(5, 1, CV_64FC1, Scalar::all(0));
// for different perspectives // for different perspectives
for(double distance : {0.2, 0.3}) { for(double distance : {0.2, 0.25}) {
for(int yaw = -55; yaw <= 50; yaw += 25) { for(int yaw = -55; yaw <= 50; yaw += 25) {
for(int pitch = -55; pitch <= 50; pitch += 25) { for(int pitch = -55; pitch <= 50; pitch += 25) {
@ -244,18 +244,6 @@ void CV_CharucoPoseEstimation::run(int) {
detector.setCharucoParameters(charucoParameters); detector.setCharucoParameters(charucoParameters);
detector.detectBoard(img, charucoCorners, charucoIds, corners, ids); 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()); ASSERT_EQ(ids.size(), board.getIds().size());
if(charucoIds.size() == 0) continue; if(charucoIds.size() == 0) continue;
@ -323,7 +311,7 @@ void CV_CharucoDiamondDetection::run(int) {
int iter = 0; int iter = 0;
Mat cameraMatrix = Mat::eye(3, 3, CV_64FC1); Mat cameraMatrix = Mat::eye(3, 3, CV_64FC1);
Size imgSize(750, 750); Size imgSize(500, 500);
aruco::DetectorParameters params; aruco::DetectorParameters params;
params.minDistanceToBorder = 0; params.minDistanceToBorder = 0;
float squareLength = 0.03f; float squareLength = 0.03f;
@ -333,7 +321,7 @@ void CV_CharucoDiamondDetection::run(int) {
aruco::CharucoDetector detector(board); aruco::CharucoDetector detector(board);
cameraMatrix.at<double>(0, 0) = cameraMatrix.at< double >(1, 1) = 1000; cameraMatrix.at<double>(0, 0) = cameraMatrix.at< double >(1, 1) = 650;
cameraMatrix.at<double>(0, 2) = imgSize.width / 2; cameraMatrix.at<double>(0, 2) = imgSize.width / 2;
cameraMatrix.at<double>(1, 2) = imgSize.height / 2; cameraMatrix.at<double>(1, 2) = imgSize.height / 2;
@ -344,7 +332,7 @@ void CV_CharucoDiamondDetection::run(int) {
detector.setCharucoParameters(charucoParameters); detector.setCharucoParameters(charucoParameters);
// for different perspectives // for different perspectives
for(double distance : {0.2, 0.3}) { for(double distance : {0.2, 0.22}) {
for(int yaw = -50; yaw <= 50; yaw += 25) { for(int yaw = -50; yaw <= 50; yaw += 25) {
for(int pitch = -50; pitch <= 50; pitch += 25) { for(int pitch = -50; pitch <= 50; pitch += 25) {
@ -376,16 +364,6 @@ void CV_CharucoDiamondDetection::run(int) {
detector.detectDiamonds(img, diamondCorners, diamondIds, corners, ids); 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 // check detect
if(ids.size() != 4) { if(ids.size() != 4) {
ts->printf(cvtest::TS::LOG, "Not enough markers for diamond detection"); ts->printf(cvtest::TS::LOG, "Not enough markers for diamond detection");