mirror/opencv
1
0
Fork 0
mirror of https://github.com/opencv/opencv.git synced 2025-08-05 22:19:14 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

add dynamic window in aruco cornerRefinement

Browse Source
This commit is contained in:
Alex 2023-10-06 16:44:09 +03:00
parent 4e60392040
commit fd4af21350
2 changed files with 47 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

21
modules/objdetect/include/opencv2/objdetect/aruco_detector.hpp
View File

@ -36,6 +36,7 @@ struct CV_EXPORTS_W_SIMPLE DetectorParameters {
minMarkerDistanceRate = 0.05;
cornerRefinementMethod = (int)CORNER_REFINE_NONE;
cornerRefinementWinSize = 5;
relativeCornerRefinmentWinSize = 0.3f;
cornerRefinementMaxIterations = 30;
cornerRefinementMinAccuracy = 0.1;
markerBorderBits = 1;
@ -108,9 +109,27 @@ struct CV_EXPORTS_W_SIMPLE DetectorParameters {
/** @brief default value CORNER_REFINE_NONE */
CV_PROP_RW int cornerRefinementMethod;
/// window size for the corner refinement process (in pixels) (default 5).
/** @brief maximum window size for the corner refinement process (in pixels) (default 5).
*
* The window size may decrease if the ArUco marker is too small, check relativeCornerRefinmentWinSize.
* The final window size is calculated as:
* min(cornerRefinementWinSize, averageArucoModuleSize*relativeCornerRefinmentWinSize),
* where averageArucoModuleSize is average module size of ArUco marker in pixels.
* (ArUco marker is composed of black and white modules)
*/
CV_PROP_RW int cornerRefinementWinSize;
/** @brief Dynamic window size for corner refinement relative to Aruco module size (default 0.3).
*
* The final window size is calculated as:
* min(cornerRefinementWinSize, averageArucoModuleSize*relativeCornerRefinmentWinSize),
* where averageArucoModuleSize is average module size of ArUco marker in pixels.
* (ArUco marker is composed of black and white modules)
* In the case of markers located far from each other, it may be useful to increase the value of the parameter to 0.4-0.5.
* In the case of markers located close to each other, it may be useful to decrease the parameter value to 0.1-0.2.
*/
CV_PROP_RW float relativeCornerRefinmentWinSize;
/// maximum number of iterations for stop criteria of the corner refinement process (default 30).
CV_PROP_RW int cornerRefinementMaxIterations;

35
modules/objdetect/src/aruco/aruco_detector.cpp
View File

@ -35,6 +35,8 @@ static inline bool readWrite(DetectorParameters &params, const FileNode* readNod
check |= readWriteParameter("minMarkerDistanceRate", params.minMarkerDistanceRate, readNode, writeStorage);
check |= readWriteParameter("cornerRefinementMethod", params.cornerRefinementMethod, readNode, writeStorage);
check |= readWriteParameter("cornerRefinementWinSize", params.cornerRefinementWinSize, readNode, writeStorage);
check |= readWriteParameter("relativeCornerRefinmentWinSize", params.relativeCornerRefinmentWinSize, readNode,
writeStorage);
check |= readWriteParameter("cornerRefinementMaxIterations", params.cornerRefinementMaxIterations,
readNode, writeStorage);
check |= readWriteParameter("cornerRefinementMinAccuracy", params.cornerRefinementMinAccuracy,
@ -847,6 +849,16 @@ struct ArucoDetector::ArucoDetectorImpl {
const RefineParameters& _refineParams): dictionary(_dictionary),
detectorParams(_detectorParams), refineParams(_refineParams) {}
float getAverageArucoPinSize(vector<Point2f> markerCorners) {
float averageArucoModuleSize = 0.f;
int numPins = dictionary.markerSize + detectorParams.markerBorderBits * 2;
for (size_t i = 0ull; i < markerCorners.size(); i++) {
averageArucoModuleSize += sqrt(normL2Sqr<float>(Point2f(markerCorners[i] - markerCorners[(i+1ull)%markerCorners.size()])));
}
averageArucoModuleSize /= ((float)markerCorners.size()*numPins);
return averageArucoModuleSize;
}
};
ArucoDetector::ArucoDetector(const Dictionary &_dictionary,
@ -951,13 +963,15 @@ void ArucoDetector::detectMarkers(InputArray _image, OutputArrayOfArrays _corner
const float scale_init = (float) grey_pyramid[closest_pyr_image_idx].cols / grey.cols;
findCornerInPyrImage(scale_init, closest_pyr_image_idx, grey_pyramid, Mat(candidates[i]), detectorParams);
}
else
cornerSubPix(grey, Mat(candidates[i]),
Size(detectorParams.cornerRefinementWinSize, detectorParams.cornerRefinementWinSize),
Size(-1, -1),
TermCriteria(TermCriteria::MAX_ITER | TermCriteria::EPS,
detectorParams.cornerRefinementMaxIterations,
detectorParams.cornerRefinementMinAccuracy));
else {
int cornerRefinementWinSize = std::max(1, cvRound(detectorParams.relativeCornerRefinmentWinSize*
arucoDetectorImpl->getAverageArucoPinSize(candidates[i])));
cornerRefinementWinSize = min(cornerRefinementWinSize, detectorParams.cornerRefinementWinSize);
cornerSubPix(grey, Mat(candidates[i]), Size(cornerRefinementWinSize, cornerRefinementWinSize), Size(-1, -1),
TermCriteria(TermCriteria::MAX_ITER | TermCriteria::EPS,
detectorParams.cornerRefinementMaxIterations,
detectorParams.cornerRefinementMinAccuracy));
}
}
});
}
@ -1223,8 +1237,13 @@ void ArucoDetector::refineDetectedMarkers(InputArray _image, const Board& _board
CV_Assert(detectorParams.cornerRefinementWinSize > 0 &&
detectorParams.cornerRefinementMaxIterations > 0 &&
detectorParams.cornerRefinementMinAccuracy > 0);
std::vector<Point2f> marker(closestRotatedMarker.begin<Point2f>(), closestRotatedMarker.end<Point2f>());
int cornerRefinementWinSize = std::max(1, cvRound(detectorParams.relativeCornerRefinmentWinSize*
arucoDetectorImpl->getAverageArucoPinSize(marker)));
cornerRefinementWinSize = min(cornerRefinementWinSize, detectorParams.cornerRefinementWinSize);
cornerSubPix(grey, closestRotatedMarker,
Size(detectorParams.cornerRefinementWinSize, detectorParams.cornerRefinementWinSize),
Size(cornerRefinementWinSize, cornerRefinementWinSize),
Size(-1, -1), TermCriteria(TermCriteria::MAX_ITER | TermCriteria::EPS,
detectorParams.cornerRefinementMaxIterations,
detectorParams.cornerRefinementMinAccuracy));