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Merge pull request #23647 from AleksandrPanov:fix_charuco_board_detect
Add charuco board check #23647 Added charuco board checking to avoid detection of incorrect board. Fixes #23517 ### 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 - [ ] 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
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Alexander Panov
GitHub
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2849a774e3
commit
e7501b69ea
@ -23,6 +23,54 @@ struct CharucoDetector::CharucoDetectorImpl {
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arucoDetector(_arucoDetector)
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{}
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bool checkBoard(InputArrayOfArrays markerCorners, InputArray markerIds, InputArray charucoCorners, InputArray charucoIds) {
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vector<Mat> mCorners;
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markerCorners.getMatVector(mCorners);
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Mat mIds = markerIds.getMat();
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Mat chCorners = charucoCorners.getMat();
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Mat chIds = charucoIds.getMat();
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vector<vector<int> > nearestMarkerIdx = board.getNearestMarkerIdx();
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vector<Point2f> distance(board.getNearestMarkerIdx().size(), Point2f(0.f, std::numeric_limits<float>::max()));
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// distance[i].x: max distance from the i-th charuco corner to charuco corner-forming markers.
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// The two charuco corner-forming markers of i-th charuco corner are defined in getNearestMarkerIdx()[i]
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// distance[i].y: min distance from the charuco corner to other markers.
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for (size_t i = 0ull; i < chIds.total(); i++) {
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int chId = chIds.ptr<int>(0)[i];
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Point2f charucoCorner(chCorners.ptr<Point2f>(0)[i]);
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for (size_t j = 0ull; j < mIds.total(); j++) {
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int idMaker = mIds.ptr<int>(0)[j];
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Point2f centerMarker((mCorners[j].ptr<Point2f>(0)[0] + mCorners[j].ptr<Point2f>(0)[1] +
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mCorners[j].ptr<Point2f>(0)[2] + mCorners[j].ptr<Point2f>(0)[3]) / 4.f);
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float dist = sqrt(normL2Sqr<float>(centerMarker - charucoCorner));
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// check distance from the charuco corner to charuco corner-forming markers
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if (nearestMarkerIdx[chId][0] == idMaker || nearestMarkerIdx[chId][1] == idMaker) {
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int nearestCornerId = nearestMarkerIdx[chId][0] == idMaker ? board.getNearestMarkerCorners()[chId][0] : board.getNearestMarkerCorners()[chId][1];
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Point2f nearestCorner = mCorners[j].ptr<Point2f>(0)[nearestCornerId];
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float distToNearest = sqrt(normL2Sqr<float>(nearestCorner - charucoCorner));
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distance[chId].x = max(distance[chId].x, distToNearest);
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// check that nearestCorner is nearest point
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{
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Point2f mid1 = (mCorners[j].ptr<Point2f>(0)[(nearestCornerId + 1) % 4]+nearestCorner)*0.5f;
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Point2f mid2 = (mCorners[j].ptr<Point2f>(0)[(nearestCornerId + 3) % 4]+nearestCorner)*0.5f;
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float tmpDist = min(sqrt(normL2Sqr<float>(mid1 - charucoCorner)), sqrt(normL2Sqr<float>(mid2 - charucoCorner)));
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if (tmpDist < distToNearest)
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return false;
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}
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}
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// check distance from the charuco corner to other markers
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else
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distance[chId].y = min(distance[chId].y, dist);
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}
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// if distance from the charuco corner to charuco corner-forming markers more then distance from the charuco corner to other markers,
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// then a false board is found.
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if (distance[chId].x > 0.f && distance[chId].y < std::numeric_limits<float>::max() && distance[chId].x > distance[chId].y)
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return false;
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}
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return true;
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}
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/** Calculate the maximum window sizes for corner refinement for each charuco corner based on the distance
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* to their closest markers */
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vector<Size> getMaximumSubPixWindowSizes(InputArrayOfArrays markerCorners, InputArray markerIds,
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@ -246,6 +294,31 @@ struct CharucoDetector::CharucoDetectorImpl {
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Mat(filteredCharucoIds).copyTo(_filteredCharucoIds);
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return (int)_filteredCharucoIds.total();
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}
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void detectBoard(InputArray image, OutputArray charucoCorners, OutputArray charucoIds,
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InputOutputArrayOfArrays markerCorners, InputOutputArray markerIds) {
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CV_Assert((markerCorners.empty() && markerIds.empty() && !image.empty()) || (markerCorners.total() == markerIds.total()));
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vector<vector<Point2f>> tmpMarkerCorners;
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vector<int> tmpMarkerIds;
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InputOutputArrayOfArrays _markerCorners = markerCorners.needed() ? markerCorners : tmpMarkerCorners;
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InputOutputArray _markerIds = markerIds.needed() ? markerIds : tmpMarkerIds;
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if (markerCorners.empty() && markerIds.empty()) {
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vector<vector<Point2f> > rejectedMarkers;
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arucoDetector.detectMarkers(image, _markerCorners, _markerIds, rejectedMarkers);
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if (charucoParameters.tryRefineMarkers)
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arucoDetector.refineDetectedMarkers(image, board, _markerCorners, _markerIds, rejectedMarkers);
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}
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// if camera parameters are avaible, use approximated calibration
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if(!charucoParameters.cameraMatrix.empty())
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interpolateCornersCharucoApproxCalib(_markerCorners, _markerIds, image, charucoCorners, charucoIds);
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// else use local homography
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else
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interpolateCornersCharucoLocalHom(_markerCorners, _markerIds, image, charucoCorners, charucoIds);
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// to return a charuco corner, its closest aruco markers should have been detected
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filterCornersWithoutMinMarkers(charucoCorners, charucoIds, _markerIds, charucoCorners, charucoIds);
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}
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};
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CharucoDetector::CharucoDetector(const CharucoBoard &board, const CharucoParameters &charucoParams,
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@ -288,30 +361,11 @@ void CharucoDetector::setRefineParameters(const RefineParameters& refineParamete
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void CharucoDetector::detectBoard(InputArray image, OutputArray charucoCorners, OutputArray charucoIds,
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InputOutputArrayOfArrays markerCorners, InputOutputArray markerIds) const {
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CV_Assert((markerCorners.empty() && markerIds.empty() && !image.empty()) || (markerCorners.total() == markerIds.total()));
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vector<vector<Point2f>> tmpMarkerCorners;
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vector<int> tmpMarkerIds;
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InputOutputArrayOfArrays _markerCorners = markerCorners.needed() ? markerCorners : tmpMarkerCorners;
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InputOutputArray _markerIds = markerIds.needed() ? markerIds : tmpMarkerIds;
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if (markerCorners.empty() && markerIds.empty()) {
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vector<vector<Point2f> > rejectedMarkers;
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charucoDetectorImpl->arucoDetector.detectMarkers(image, _markerCorners, _markerIds, rejectedMarkers);
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if (charucoDetectorImpl->charucoParameters.tryRefineMarkers)
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charucoDetectorImpl->arucoDetector.refineDetectedMarkers(image, charucoDetectorImpl->board, _markerCorners,
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_markerIds, rejectedMarkers);
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charucoDetectorImpl->detectBoard(image, charucoCorners, charucoIds, markerCorners, markerIds);
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if (charucoDetectorImpl->checkBoard(markerCorners, markerIds, charucoCorners, charucoIds) == false) {
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charucoCorners.release();
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charucoIds.release();
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}
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// if camera parameters are avaible, use approximated calibration
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if(!charucoDetectorImpl->charucoParameters.cameraMatrix.empty())
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charucoDetectorImpl->interpolateCornersCharucoApproxCalib(_markerCorners, _markerIds, image, charucoCorners,
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charucoIds);
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// else use local homography
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else
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charucoDetectorImpl->interpolateCornersCharucoLocalHom(_markerCorners, _markerIds, image, charucoCorners,
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charucoIds);
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// to return a charuco corner, its closest aruco markers should have been detected
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charucoDetectorImpl->filterCornersWithoutMinMarkers(charucoCorners, charucoIds, _markerIds, charucoCorners,
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charucoIds);
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}
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void CharucoDetector::detectDiamonds(InputArray image, OutputArrayOfArrays _diamondCorners, OutputArray _diamondIds,
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@ -416,7 +470,7 @@ void CharucoDetector::detectDiamonds(InputArray image, OutputArrayOfArrays _diam
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// interpolate the charuco corners of the diamond
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vector<Point2f> currentMarkerCorners;
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Mat aux;
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detectBoard(grey, currentMarkerCorners, aux, currentMarker, currentMarkerId);
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charucoDetectorImpl->detectBoard(grey, currentMarkerCorners, aux, currentMarker, currentMarkerId);
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// if everything is ok, save the diamond
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if(currentMarkerCorners.size() > 0ull) {
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@ -689,4 +689,32 @@ TEST(Charuco, testmatchImagePoints)
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}
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}
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typedef testing::TestWithParam<cv::Size> CharucoBoard;
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INSTANTIATE_TEST_CASE_P(/**/, CharucoBoard, testing::Values(Size(3, 2), Size(3, 2), Size(6, 2), Size(2, 6),
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Size(3, 4), Size(4, 3), Size(7, 3), Size(3, 7)));
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TEST_P(CharucoBoard, testWrongSizeDetection)
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{
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cv::Size boardSize = GetParam();
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ASSERT_FALSE(boardSize.width == boardSize.height);
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aruco::CharucoBoard board(boardSize, 1.f, 0.5f, aruco::getPredefinedDictionary(aruco::DICT_4X4_50));
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vector<int> detectedCharucoIds, detectedArucoIds;
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vector<Point2f> detectedCharucoCorners;
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vector<vector<Point2f>> detectedArucoCorners;
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Mat boardImage;
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board.generateImage(boardSize*40, boardImage);
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swap(boardSize.width, boardSize.height);
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aruco::CharucoDetector detector(aruco::CharucoBoard(boardSize, 1.f, 0.5f, aruco::getPredefinedDictionary(aruco::DICT_4X4_50)));
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// try detect board with wrong size
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detector.detectBoard(boardImage, detectedCharucoCorners, detectedCharucoIds, detectedArucoCorners, detectedArucoIds);
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// aruco markers must be found
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ASSERT_EQ(detectedArucoIds.size(), board.getIds().size());
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ASSERT_EQ(detectedArucoCorners.size(), board.getIds().size());
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// charuco corners should not be found in board with wrong size
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ASSERT_TRUE(detectedCharucoCorners.empty());
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ASSERT_TRUE(detectedCharucoIds.empty());
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}
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}} // namespace
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