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Merge pull request #24139 from AleksandrPanov:fix_refineDetectedMarkers

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fix refineDetectedMarkers
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Alexander Smorkalov 2023-09-05 15:24:57 +03:00 committed by GitHub
commit c9d70d46b1
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2 changed files with 40 additions and 1 deletions
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33
modules/objdetect/misc/python/test/test_objdetect_aruco.py
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@ -186,6 +186,39 @@ class aruco_objdetect_test(NewOpenCVTests):
self.assertEqual((1, 4, 2), refine_corners[0].shape)
np.testing.assert_array_equal(corners, refine_corners)
def test_charuco_refine(self):
aruco_dict = cv.aruco.getPredefinedDictionary(cv.aruco.DICT_6X6_50)
board_size = (3, 4)
board = cv.aruco.CharucoBoard(board_size, 1., .7, aruco_dict)
aruco_detector = cv.aruco.ArucoDetector(aruco_dict)
charuco_detector = cv.aruco.CharucoDetector(board)
cell_size = 100
image = board.generateImage((cell_size*board_size[0], cell_size*board_size[1]))
camera = np.array([[1, 0, 0.5],
[0, 1, 0.5],
[0, 0, 1]])
dist = np.array([0, 0, 0, 0, 0], dtype=np.float32).reshape(1, -1)
# generate gold corners of the ArUco markers for the test
gold_corners = np.array(board.getObjPoints())[:, :, 0:2]*cell_size
# detect corners
markerCorners, markerIds, _ = aruco_detector.detectMarkers(image)
# test refine
rejected = [markerCorners[-1]]
markerCorners, markerIds = markerCorners[:-1], markerIds[:-1]
markerCorners, markerIds, _, _ = aruco_detector.refineDetectedMarkers(image, board, markerCorners, markerIds,
rejected, cameraMatrix=camera, distCoeffs=dist)
charucoCorners, charucoIds, _, _ = charuco_detector.detectBoard(image, markerCorners=markerCorners,
markerIds=markerIds)
self.assertEqual(len(charucoIds), 6)
self.assertEqual(len(markerIds), 6)
for i, id in enumerate(markerIds.reshape(-1)):
np.testing.assert_allclose(gold_corners[id], markerCorners[i].reshape(4, 2), 0.01, 1.)
def test_write_read_dictionary(self):
try:
aruco_dict = cv.aruco.getPredefinedDictionary(cv.aruco.DICT_5X5_50)

8
modules/objdetect/src/aruco/aruco_detector.cpp
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@ -1000,7 +1000,13 @@ static inline void _projectUndetectedMarkers(const Board &board, InputOutputArra
OutputArray undetectedMarkersIds) {
Mat rvec, tvec; // first estimate board pose with the current avaible markers
Mat objPoints, imgPoints; // object and image points for the solvePnP function
board.matchImagePoints(detectedCorners, detectedIds, objPoints, imgPoints);
// To refine corners of ArUco markers the function refineDetectedMarkers() find an aruco markers pose from 3D-2D point correspondences.
// To find 3D-2D point correspondences uses matchImagePoints().
// The method matchImagePoints() works with ArUco corners (in Board/GridBoard cases) or with ChArUco corners (in CharucoBoard case).
// To refine corners of ArUco markers we need work with ArUco corners only in all boards.
// To call matchImagePoints() with ArUco corners for all boards we need to call matchImagePoints() from base class Board.
// The method matchImagePoints() implemented in Pimpl and we need to create temp Board object to call the base method.
Board(board.getObjPoints(), board.getDictionary(), board.getIds()).matchImagePoints(detectedCorners, detectedIds, objPoints, imgPoints);
if (objPoints.total() < 4ull) // at least one marker from board so rvec and tvec are valid
return;
solvePnP(objPoints, imgPoints, cameraMatrix, distCoeffs, rvec, tvec);