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827 lines
31 KiB
C++
827 lines
31 KiB
C++
// This file is part of OpenCV project.
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// It is subject to the license terms in the LICENSE file found in the top-level directory
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// of this distribution and at http://opencv.org/license.html.
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#include "test_precomp.hpp"
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#include "test_aruco_utils.hpp"
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namespace opencv_test { namespace {
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/**
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* @brief Get a synthetic image of Chessboard in perspective
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*/
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static Mat projectChessboard(int squaresX, int squaresY, float squareSize, Size imageSize,
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Mat cameraMatrix, Mat rvec, Mat tvec, bool legacyPattern) {
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Mat img(imageSize, CV_8UC1, Scalar::all(255));
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Mat distCoeffs(5, 1, CV_64FC1, Scalar::all(0));
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for(int y = 0; y < squaresY; y++) {
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float startY = float(y) * squareSize;
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for(int x = 0; x < squaresX; x++) {
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if(legacyPattern && (squaresY % 2 == 0)) {
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if((y + 1) % 2 != x % 2) continue;
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} else {
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if(y % 2 != x % 2) continue;
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}
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float startX = float(x) * squareSize;
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vector< Point3f > squareCorners;
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squareCorners.push_back(Point3f(startX, startY, 0) - Point3f(squaresX*squareSize/2.f, squaresY*squareSize/2.f, 0.f));
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squareCorners.push_back(squareCorners[0] + Point3f(squareSize, 0, 0));
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squareCorners.push_back(squareCorners[0] + Point3f(squareSize, squareSize, 0));
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squareCorners.push_back(squareCorners[0] + Point3f(0, squareSize, 0));
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vector< vector< Point2f > > projectedCorners;
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projectedCorners.push_back(vector< Point2f >());
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projectPoints(squareCorners, rvec, tvec, cameraMatrix, distCoeffs, projectedCorners[0]);
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vector< vector< Point > > projectedCornersInt;
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projectedCornersInt.push_back(vector< Point >());
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for(int k = 0; k < 4; k++)
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projectedCornersInt[0]
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.push_back(Point((int)projectedCorners[0][k].x, (int)projectedCorners[0][k].y));
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fillPoly(img, projectedCornersInt, Scalar::all(0));
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}
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}
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return img;
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}
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/**
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* @brief Check pose estimation of charuco board
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*/
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static Mat projectCharucoBoard(aruco::CharucoBoard& board, Mat cameraMatrix, double yaw,
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double pitch, double distance, Size imageSize, int markerBorder,
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Mat &rvec, Mat &tvec) {
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getSyntheticRT(yaw, pitch, distance, rvec, tvec);
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// project markers
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Mat img = Mat(imageSize, CV_8UC1, Scalar::all(255));
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for(unsigned int indexMarker = 0; indexMarker < board.getIds().size(); indexMarker++) {
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projectMarker(img, board, indexMarker, cameraMatrix, rvec, tvec, markerBorder);
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}
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// project chessboard
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Mat chessboard =
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projectChessboard(board.getChessboardSize().width, board.getChessboardSize().height,
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board.getSquareLength(), imageSize, cameraMatrix, rvec, tvec, board.getLegacyPattern());
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for(unsigned int i = 0; i < chessboard.total(); i++) {
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if(chessboard.ptr< unsigned char >()[i] == 0) {
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img.ptr< unsigned char >()[i] = 0;
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}
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}
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return img;
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}
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/**
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* @brief Check Charuco detection
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*/
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class CV_CharucoDetection : public cvtest::BaseTest {
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public:
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CV_CharucoDetection(bool _legacyPattern) : legacyPattern(_legacyPattern) {}
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protected:
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void run(int);
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bool legacyPattern;
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};
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void CV_CharucoDetection::run(int) {
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int iter = 0;
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Mat cameraMatrix = Mat::eye(3, 3, CV_64FC1);
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Size imgSize(500, 500);
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aruco::DetectorParameters params;
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params.minDistanceToBorder = 3;
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aruco::CharucoBoard board(Size(4, 4), 0.03f, 0.015f, aruco::getPredefinedDictionary(aruco::DICT_6X6_250));
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board.setLegacyPattern(legacyPattern);
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aruco::CharucoDetector detector(board, aruco::CharucoParameters(), params);
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cameraMatrix.at<double>(0, 0) = cameraMatrix.at<double>(1, 1) = 600;
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cameraMatrix.at<double>(0, 2) = imgSize.width / 2;
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cameraMatrix.at<double>(1, 2) = imgSize.height / 2;
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Mat distCoeffs(5, 1, CV_64FC1, Scalar::all(0));
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// for different perspectives
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for(double distance : {0.2, 0.4}) {
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for(int yaw = -55; yaw <= 50; yaw += 25) {
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for(int pitch = -55; pitch <= 50; pitch += 25) {
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int markerBorder = iter % 2 + 1;
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iter++;
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// create synthetic image
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Mat rvec, tvec;
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Mat img = projectCharucoBoard(board, cameraMatrix, deg2rad(yaw), deg2rad(pitch),
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distance, imgSize, markerBorder, rvec, tvec);
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// detect markers and interpolate charuco corners
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vector<vector<Point2f> > corners;
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vector<Point2f> charucoCorners;
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vector<int> ids, charucoIds;
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params.markerBorderBits = markerBorder;
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detector.setDetectorParameters(params);
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//detector.detectMarkers(img, corners, ids);
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if(iter % 2 == 0) {
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detector.detectBoard(img, charucoCorners, charucoIds, corners, ids);
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} else {
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aruco::CharucoParameters charucoParameters;
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charucoParameters.cameraMatrix = cameraMatrix;
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charucoParameters.distCoeffs = distCoeffs;
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detector.setCharucoParameters(charucoParameters);
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detector.detectBoard(img, charucoCorners, charucoIds, corners, ids);
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}
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ASSERT_GT(ids.size(), std::vector< int >::size_type(0)) << "Marker detection failed";
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// check results
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vector< Point2f > projectedCharucoCorners;
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// copy chessboardCorners
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vector<Point3f> copyChessboardCorners = board.getChessboardCorners();
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// move copyChessboardCorners points
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for (size_t i = 0; i < copyChessboardCorners.size(); i++)
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copyChessboardCorners[i] -= board.getRightBottomCorner() / 2.f;
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projectPoints(copyChessboardCorners, rvec, tvec, cameraMatrix, distCoeffs,
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projectedCharucoCorners);
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for(unsigned int i = 0; i < charucoIds.size(); i++) {
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int currentId = charucoIds[i];
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ASSERT_LT(currentId, (int)board.getChessboardCorners().size()) << "Invalid Charuco corner id";
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double repError = cv::norm(charucoCorners[i] - projectedCharucoCorners[currentId]); // TODO cvtest
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ASSERT_LE(repError, 5.) << "Charuco corner reprojection error too high";
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}
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}
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}
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}
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}
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/**
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* @brief Check charuco pose estimation
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*/
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class CV_CharucoPoseEstimation : public cvtest::BaseTest {
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public:
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CV_CharucoPoseEstimation(bool _legacyPattern) : legacyPattern(_legacyPattern) {}
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protected:
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void run(int);
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bool legacyPattern;
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};
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void CV_CharucoPoseEstimation::run(int) {
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int iter = 0;
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Mat cameraMatrix = Mat::eye(3, 3, CV_64FC1);
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Size imgSize(750, 750);
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aruco::DetectorParameters params;
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params.minDistanceToBorder = 3;
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aruco::CharucoBoard board(Size(4, 4), 0.03f, 0.015f, aruco::getPredefinedDictionary(aruco::DICT_6X6_250));
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board.setLegacyPattern(legacyPattern);
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aruco::CharucoDetector detector(board, aruco::CharucoParameters(), params);
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cameraMatrix.at<double>(0, 0) = cameraMatrix.at< double >(1, 1) = 1000;
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cameraMatrix.at<double>(0, 2) = imgSize.width / 2;
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cameraMatrix.at<double>(1, 2) = imgSize.height / 2;
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Mat distCoeffs(5, 1, CV_64FC1, Scalar::all(0));
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// for different perspectives
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for(double distance : {0.2, 0.25}) {
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for(int yaw = -55; yaw <= 50; yaw += 25) {
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for(int pitch = -55; pitch <= 50; pitch += 25) {
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int markerBorder = iter % 2 + 1;
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iter++;
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// get synthetic image
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Mat rvec, tvec;
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Mat img = projectCharucoBoard(board, cameraMatrix, deg2rad(yaw), deg2rad(pitch),
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distance, imgSize, markerBorder, rvec, tvec);
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// detect markers
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vector<vector<Point2f> > corners;
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vector<int> ids;
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params.markerBorderBits = markerBorder;
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detector.setDetectorParameters(params);
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// detect markers and interpolate charuco corners
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vector<Point2f> charucoCorners;
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vector<int> charucoIds;
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if(iter % 2 == 0) {
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detector.detectBoard(img, charucoCorners, charucoIds, corners, ids);
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} else {
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aruco::CharucoParameters charucoParameters;
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charucoParameters.cameraMatrix = cameraMatrix;
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charucoParameters.distCoeffs = distCoeffs;
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detector.setCharucoParameters(charucoParameters);
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detector.detectBoard(img, charucoCorners, charucoIds, corners, ids);
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}
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ASSERT_EQ(ids.size(), board.getIds().size());
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if(charucoIds.size() == 0) continue;
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// estimate charuco pose
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getCharucoBoardPose(charucoCorners, charucoIds, board, cameraMatrix, distCoeffs, rvec, tvec);
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// check axes
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const float aruco_offset = (board.getSquareLength() - board.getMarkerLength()) / 2.f;
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Point2f offset;
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vector<Point2f> topLeft, bottomLeft;
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if(legacyPattern) { // white box in upper left corner for even row count chessboard patterns
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offset = Point2f(aruco_offset + board.getSquareLength(), aruco_offset);
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topLeft = getMarkerById(board.getIds()[1], corners, ids);
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bottomLeft = getMarkerById(board.getIds()[2], corners, ids);
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} else { // always a black box in the upper left corner
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offset = Point2f(aruco_offset, aruco_offset);
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topLeft = getMarkerById(board.getIds()[0], corners, ids);
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bottomLeft = getMarkerById(board.getIds()[2], corners, ids);
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}
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vector<Point2f> axes = getAxis(cameraMatrix, distCoeffs, rvec, tvec, board.getSquareLength(), offset);
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ASSERT_NEAR(topLeft[0].x, axes[1].x, 3.f);
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ASSERT_NEAR(topLeft[0].y, axes[1].y, 3.f);
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ASSERT_NEAR(bottomLeft[0].x, axes[2].x, 3.f);
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ASSERT_NEAR(bottomLeft[0].y, axes[2].y, 3.f);
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// check estimate result
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vector< Point2f > projectedCharucoCorners;
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projectPoints(board.getChessboardCorners(), rvec, tvec, cameraMatrix, distCoeffs,
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projectedCharucoCorners);
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for(unsigned int i = 0; i < charucoIds.size(); i++) {
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int currentId = charucoIds[i];
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ASSERT_LT(currentId, (int)board.getChessboardCorners().size()) << "Invalid Charuco corner id";
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double repError = cv::norm(charucoCorners[i] - projectedCharucoCorners[currentId]); // TODO cvtest
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ASSERT_LE(repError, 5.) << "Charuco corner reprojection error too high";
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}
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}
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}
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}
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}
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/**
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* @brief Check diamond detection
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*/
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class CV_CharucoDiamondDetection : public cvtest::BaseTest {
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public:
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CV_CharucoDiamondDetection();
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protected:
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void run(int);
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};
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CV_CharucoDiamondDetection::CV_CharucoDiamondDetection() {}
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void CV_CharucoDiamondDetection::run(int) {
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int iter = 0;
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Mat cameraMatrix = Mat::eye(3, 3, CV_64FC1);
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Size imgSize(500, 500);
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aruco::DetectorParameters params;
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params.minDistanceToBorder = 0;
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float squareLength = 0.03f;
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float markerLength = 0.015f;
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aruco::CharucoBoard board(Size(3, 3), squareLength, markerLength,
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aruco::getPredefinedDictionary(aruco::DICT_6X6_250));
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aruco::CharucoDetector detector(board);
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cameraMatrix.at<double>(0, 0) = cameraMatrix.at< double >(1, 1) = 650;
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cameraMatrix.at<double>(0, 2) = imgSize.width / 2;
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cameraMatrix.at<double>(1, 2) = imgSize.height / 2;
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Mat distCoeffs(5, 1, CV_64FC1, Scalar::all(0));
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aruco::CharucoParameters charucoParameters;
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charucoParameters.cameraMatrix = cameraMatrix;
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charucoParameters.distCoeffs = distCoeffs;
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detector.setCharucoParameters(charucoParameters);
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// for different perspectives
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for(double distance : {0.2, 0.22}) {
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for(int yaw = -50; yaw <= 50; yaw += 25) {
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for(int pitch = -50; pitch <= 50; pitch += 25) {
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int markerBorder = iter % 2 + 1;
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vector<int> idsTmp;
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for(int i = 0; i < 4; i++)
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idsTmp.push_back(4 * iter + i);
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board = aruco::CharucoBoard(Size(3, 3), squareLength, markerLength,
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aruco::getPredefinedDictionary(aruco::DICT_6X6_250), idsTmp);
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detector.setBoard(board);
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iter++;
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// get synthetic image
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Mat rvec, tvec;
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Mat img = projectCharucoBoard(board, cameraMatrix, deg2rad(yaw), deg2rad(pitch),
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distance, imgSize, markerBorder, rvec, tvec);
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// detect markers
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vector<vector<Point2f>> corners;
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vector<int> ids;
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params.markerBorderBits = markerBorder;
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detector.setDetectorParameters(params);
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//detector.detectMarkers(img, corners, ids);
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// detect diamonds
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vector<vector<Point2f>> diamondCorners;
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vector<Vec4i> diamondIds;
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detector.detectDiamonds(img, diamondCorners, diamondIds, corners, ids);
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// check detect
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if(ids.size() != 4) {
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ts->printf(cvtest::TS::LOG, "Not enough markers for diamond detection");
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ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
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return;
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}
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// check results
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if(diamondIds.size() != 1) {
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ts->printf(cvtest::TS::LOG, "Diamond not detected correctly");
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ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
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return;
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}
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for(int i = 0; i < 4; i++) {
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if(diamondIds[0][i] != board.getIds()[i]) {
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ts->printf(cvtest::TS::LOG, "Incorrect diamond ids");
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ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
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return;
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}
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}
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vector< Point2f > projectedDiamondCorners;
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// copy chessboardCorners
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vector<Point3f> copyChessboardCorners = board.getChessboardCorners();
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// move copyChessboardCorners points
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for (size_t i = 0; i < copyChessboardCorners.size(); i++)
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copyChessboardCorners[i] -= board.getRightBottomCorner() / 2.f;
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projectPoints(copyChessboardCorners, rvec, tvec, cameraMatrix, distCoeffs,
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projectedDiamondCorners);
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vector< Point2f > projectedDiamondCornersReorder(4);
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projectedDiamondCornersReorder[0] = projectedDiamondCorners[0];
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projectedDiamondCornersReorder[1] = projectedDiamondCorners[1];
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projectedDiamondCornersReorder[2] = projectedDiamondCorners[3];
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projectedDiamondCornersReorder[3] = projectedDiamondCorners[2];
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for(unsigned int i = 0; i < 4; i++) {
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double repError = cv::norm(diamondCorners[0][i] - projectedDiamondCornersReorder[i]); // TODO cvtest
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if(repError > 5.) {
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ts->printf(cvtest::TS::LOG, "Diamond corner reprojection error too high");
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ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
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return;
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}
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}
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// estimate diamond pose
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vector< Vec3d > estimatedRvec, estimatedTvec;
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getMarkersPoses(diamondCorners, squareLength, cameraMatrix, distCoeffs, estimatedRvec,
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estimatedTvec, noArray(), false);
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// check result
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vector< Point2f > projectedDiamondCornersPose;
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vector< Vec3f > diamondObjPoints(4);
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diamondObjPoints[0] = Vec3f(0.f, 0.f, 0);
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diamondObjPoints[1] = Vec3f(squareLength, 0.f, 0);
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diamondObjPoints[2] = Vec3f(squareLength, squareLength, 0);
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diamondObjPoints[3] = Vec3f(0.f, squareLength, 0);
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projectPoints(diamondObjPoints, estimatedRvec[0], estimatedTvec[0], cameraMatrix,
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distCoeffs, projectedDiamondCornersPose);
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for(unsigned int i = 0; i < 4; i++) {
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double repError = cv::norm(projectedDiamondCornersReorder[i] - projectedDiamondCornersPose[i]); // TODO cvtest
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if(repError > 5.) {
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ts->printf(cvtest::TS::LOG, "Charuco pose error too high");
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ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
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return;
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}
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}
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}
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}
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}
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}
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/**
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* @brief Check charuco board creation
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*/
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class CV_CharucoBoardCreation : public cvtest::BaseTest {
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public:
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CV_CharucoBoardCreation();
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protected:
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void run(int);
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};
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CV_CharucoBoardCreation::CV_CharucoBoardCreation() {}
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void CV_CharucoBoardCreation::run(int)
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{
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aruco::Dictionary dictionary = aruco::getPredefinedDictionary(aruco::DICT_5X5_250);
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int n = 6;
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float markerSizeFactor = 0.5f;
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for (float squareSize_mm = 5.0f; squareSize_mm < 35.0f; squareSize_mm += 0.1f)
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{
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aruco::CharucoBoard board_meters(Size(n, n), squareSize_mm*1e-3f,
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squareSize_mm * markerSizeFactor * 1e-3f, dictionary);
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aruco::CharucoBoard board_millimeters(Size(n, n), squareSize_mm,
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squareSize_mm * markerSizeFactor, dictionary);
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|
|
|
for (size_t i = 0; i < board_meters.getNearestMarkerIdx().size(); i++)
|
|
{
|
|
if (board_meters.getNearestMarkerIdx()[i].size() != board_millimeters.getNearestMarkerIdx()[i].size() ||
|
|
board_meters.getNearestMarkerIdx()[i][0] != board_millimeters.getNearestMarkerIdx()[i][0])
|
|
{
|
|
ts->printf(cvtest::TS::LOG,
|
|
cv::format("Charuco board topology is sensitive to scale with squareSize=%.1f\n",
|
|
squareSize_mm).c_str());
|
|
ts->set_failed_test_info(cvtest::TS::FAIL_INVALID_OUTPUT);
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
TEST(CV_CharucoDetection, accuracy) {
|
|
const bool legacyPattern = false;
|
|
CV_CharucoDetection test(legacyPattern);
|
|
test.safe_run();
|
|
}
|
|
|
|
TEST(CV_CharucoDetection, accuracy_legacyPattern) {
|
|
const bool legacyPattern = true;
|
|
CV_CharucoDetection test(legacyPattern);
|
|
test.safe_run();
|
|
}
|
|
|
|
TEST(CV_CharucoPoseEstimation, accuracy) {
|
|
const bool legacyPattern = false;
|
|
CV_CharucoPoseEstimation test(legacyPattern);
|
|
test.safe_run();
|
|
}
|
|
|
|
TEST(CV_CharucoPoseEstimation, accuracy_legacyPattern) {
|
|
const bool legacyPattern = true;
|
|
CV_CharucoPoseEstimation test(legacyPattern);
|
|
test.safe_run();
|
|
}
|
|
|
|
TEST(CV_CharucoDiamondDetection, accuracy) {
|
|
CV_CharucoDiamondDetection test;
|
|
test.safe_run();
|
|
}
|
|
|
|
TEST(CV_CharucoBoardCreation, accuracy) {
|
|
CV_CharucoBoardCreation test;
|
|
test.safe_run();
|
|
}
|
|
|
|
TEST(Charuco, testCharucoCornersCollinear_true)
|
|
{
|
|
int squaresX = 13;
|
|
int squaresY = 28;
|
|
float squareLength = 300;
|
|
float markerLength = 150;
|
|
int dictionaryId = 11;
|
|
|
|
aruco::Dictionary dictionary = aruco::getPredefinedDictionary(aruco::PredefinedDictionaryType(dictionaryId));
|
|
|
|
aruco::CharucoBoard charucoBoard(Size(squaresX, squaresY), squareLength, markerLength, dictionary);
|
|
|
|
// consistency with C++98
|
|
const int arrLine[9] = {192, 204, 216, 228, 240, 252, 264, 276, 288};
|
|
vector<int> charucoIdsAxisLine(9, 0);
|
|
|
|
for (int i = 0; i < 9; i++){
|
|
charucoIdsAxisLine[i] = arrLine[i];
|
|
}
|
|
|
|
const int arrDiag[7] = {198, 209, 220, 231, 242, 253, 264};
|
|
|
|
vector<int> charucoIdsDiagonalLine(7, 0);
|
|
|
|
for (int i = 0; i < 7; i++){
|
|
charucoIdsDiagonalLine[i] = arrDiag[i];
|
|
}
|
|
|
|
bool resultAxisLine = charucoBoard.checkCharucoCornersCollinear(charucoIdsAxisLine);
|
|
EXPECT_TRUE(resultAxisLine);
|
|
|
|
bool resultDiagonalLine = charucoBoard.checkCharucoCornersCollinear(charucoIdsDiagonalLine);
|
|
EXPECT_TRUE(resultDiagonalLine);
|
|
}
|
|
|
|
TEST(Charuco, testCharucoCornersCollinear_false)
|
|
{
|
|
int squaresX = 13;
|
|
int squaresY = 28;
|
|
float squareLength = 300;
|
|
float markerLength = 150;
|
|
int dictionaryId = 11;
|
|
|
|
aruco::Dictionary dictionary = aruco::getPredefinedDictionary(aruco::PredefinedDictionaryType(dictionaryId));
|
|
|
|
aruco::CharucoBoard charucoBoard(Size(squaresX, squaresY), squareLength, markerLength, dictionary);
|
|
|
|
// consistency with C++98
|
|
const int arr[63] = {192, 193, 194, 195, 196, 197, 198, 204, 205, 206, 207, 208,
|
|
209, 210, 216, 217, 218, 219, 220, 221, 222, 228, 229, 230,
|
|
231, 232, 233, 234, 240, 241, 242, 243, 244, 245, 246, 252,
|
|
253, 254, 255, 256, 257, 258, 264, 265, 266, 267, 268, 269,
|
|
270, 276, 277, 278, 279, 280, 281, 282, 288, 289, 290, 291,
|
|
292, 293, 294};
|
|
|
|
vector<int> charucoIds(63, 0);
|
|
for (int i = 0; i < 63; i++){
|
|
charucoIds[i] = arr[i];
|
|
}
|
|
|
|
bool result = charucoBoard.checkCharucoCornersCollinear(charucoIds);
|
|
|
|
EXPECT_FALSE(result);
|
|
}
|
|
|
|
// test that ChArUco board detection is subpixel accurate
|
|
TEST(Charuco, testBoardSubpixelCoords)
|
|
{
|
|
cv::Size res{500, 500};
|
|
cv::Mat K = (cv::Mat_<double>(3,3) <<
|
|
0.5*res.width, 0, 0.5*res.width,
|
|
0, 0.5*res.height, 0.5*res.height,
|
|
0, 0, 1);
|
|
|
|
// set expected_corners values
|
|
cv::Mat expected_corners = (cv::Mat_<float>(9,2) <<
|
|
200, 200,
|
|
250, 200,
|
|
300, 200,
|
|
200, 250,
|
|
250, 250,
|
|
300, 250,
|
|
200, 300,
|
|
250, 300,
|
|
300, 300
|
|
);
|
|
|
|
cv::Mat gray;
|
|
|
|
aruco::Dictionary dict = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_APRILTAG_36h11);
|
|
aruco::CharucoBoard board(Size(4, 4), 1.f, .8f, dict);
|
|
|
|
// generate ChArUco board
|
|
board.generateImage(Size(res.width, res.height), gray, 150);
|
|
cv::GaussianBlur(gray, gray, Size(5, 5), 1.0);
|
|
|
|
aruco::DetectorParameters params;
|
|
params.cornerRefinementMethod = (int)cv::aruco::CORNER_REFINE_APRILTAG;
|
|
|
|
aruco::CharucoParameters charucoParameters;
|
|
charucoParameters.cameraMatrix = K;
|
|
aruco::CharucoDetector detector(board, charucoParameters);
|
|
detector.setDetectorParameters(params);
|
|
|
|
std::vector<int> ids;
|
|
std::vector<std::vector<cv::Point2f>> corners;
|
|
cv::Mat c_ids, c_corners;
|
|
|
|
detector.detectBoard(gray, c_corners, c_ids, corners, ids);
|
|
|
|
ASSERT_EQ(ids.size(), size_t(8));
|
|
ASSERT_EQ(c_corners.rows, expected_corners.rows);
|
|
EXPECT_NEAR(0, cvtest::norm(expected_corners, c_corners.reshape(1), NORM_INF), 1e-1);
|
|
}
|
|
|
|
TEST(Charuco, issue_14014)
|
|
{
|
|
string imgPath = cvtest::findDataFile("aruco/recover.png");
|
|
Mat img = imread(imgPath);
|
|
|
|
aruco::DetectorParameters detectorParams;
|
|
detectorParams.cornerRefinementMethod = (int)aruco::CORNER_REFINE_SUBPIX;
|
|
detectorParams.cornerRefinementMinAccuracy = 0.01;
|
|
aruco::ArucoDetector detector(aruco::getPredefinedDictionary(aruco::DICT_7X7_250), detectorParams);
|
|
aruco::CharucoBoard board(Size(8, 5), 0.03455f, 0.02164f, detector.getDictionary());
|
|
|
|
vector<Mat> corners, rejectedPoints;
|
|
vector<int> ids;
|
|
|
|
detector.detectMarkers(img, corners, ids, rejectedPoints);
|
|
|
|
ASSERT_EQ(corners.size(), 19ull);
|
|
EXPECT_EQ(Size(4, 1), corners[0].size()); // check dimension of detected corners
|
|
|
|
size_t numRejPoints = rejectedPoints.size();
|
|
ASSERT_EQ(rejectedPoints.size(), 26ull); // optional check to track regressions
|
|
EXPECT_EQ(Size(4, 1), rejectedPoints[0].size()); // check dimension of detected corners
|
|
|
|
detector.refineDetectedMarkers(img, board, corners, ids, rejectedPoints);
|
|
|
|
ASSERT_EQ(corners.size(), 20ull);
|
|
EXPECT_EQ(Size(4, 1), corners[0].size()); // check dimension of rejected corners after successfully refine
|
|
|
|
ASSERT_EQ(rejectedPoints.size() + 1, numRejPoints);
|
|
EXPECT_EQ(Size(4, 1), rejectedPoints[0].size()); // check dimension of rejected corners after successfully refine
|
|
}
|
|
|
|
|
|
TEST(Charuco, testmatchImagePoints)
|
|
{
|
|
aruco::CharucoBoard board(Size(2, 3), 1.f, 0.5f, aruco::getPredefinedDictionary(aruco::DICT_4X4_50));
|
|
auto chessboardPoints = board.getChessboardCorners();
|
|
|
|
vector<int> detectedIds;
|
|
vector<Point2f> detectedCharucoCorners;
|
|
for (const Point3f& point : chessboardPoints) {
|
|
detectedIds.push_back((int)detectedCharucoCorners.size());
|
|
detectedCharucoCorners.push_back({2.f*point.x, 2.f*point.y});
|
|
}
|
|
|
|
vector<Point3f> objPoints;
|
|
vector<Point2f> imagePoints;
|
|
board.matchImagePoints(detectedCharucoCorners, detectedIds, objPoints, imagePoints);
|
|
|
|
ASSERT_EQ(detectedCharucoCorners.size(), objPoints.size());
|
|
ASSERT_EQ(detectedCharucoCorners.size(), imagePoints.size());
|
|
|
|
for (size_t i = 0ull; i < detectedCharucoCorners.size(); i++) {
|
|
EXPECT_EQ(detectedCharucoCorners[i], imagePoints[i]);
|
|
EXPECT_EQ(chessboardPoints[i].x, objPoints[i].x);
|
|
EXPECT_EQ(chessboardPoints[i].y, objPoints[i].y);
|
|
}
|
|
}
|
|
|
|
typedef testing::TestWithParam<int> CharucoDraw;
|
|
INSTANTIATE_TEST_CASE_P(/**/, CharucoDraw, testing::Values(CV_8UC2, CV_8SC2, CV_16UC2, CV_16SC2, CV_32SC2, CV_32FC2, CV_64FC2));
|
|
TEST_P(CharucoDraw, testDrawDetected) {
|
|
vector<vector<Point>> detected_golds = {{Point(20, 20), Point(80, 20), Point(80, 80), Point2f(20, 80)}};
|
|
Point center_gold = (detected_golds[0][0] + detected_golds[0][1] + detected_golds[0][2] + detected_golds[0][3]) / 4;
|
|
int type = GetParam();
|
|
vector<Mat> detected(detected_golds[0].size(), Mat(4, 1, type));
|
|
// copy detected_golds to detected with any 2 channels type
|
|
for (size_t i = 0ull; i < detected_golds[0].size(); i++) {
|
|
detected[0].row((int)i) = Scalar(detected_golds[0][i].x, detected_golds[0][i].y);
|
|
}
|
|
vector<vector<Point>> contours;
|
|
Point detectedCenter;
|
|
Moments m;
|
|
Mat img;
|
|
|
|
// check drawDetectedMarkers
|
|
img = Mat::zeros(100, 100, CV_8UC1);
|
|
ASSERT_NO_THROW(aruco::drawDetectedMarkers(img, detected, noArray(), Scalar(255, 255, 255)));
|
|
// check that the marker borders are painted
|
|
findContours(img, contours, RETR_EXTERNAL, CHAIN_APPROX_SIMPLE);
|
|
ASSERT_EQ(contours.size(), 1ull);
|
|
m = moments(contours[0]);
|
|
detectedCenter = Point(cvRound(m.m10/m.m00), cvRound(m.m01/m.m00));
|
|
ASSERT_EQ(detectedCenter, center_gold);
|
|
|
|
|
|
// check drawDetectedCornersCharuco
|
|
img = Mat::zeros(100, 100, CV_8UC1);
|
|
ASSERT_NO_THROW(aruco::drawDetectedCornersCharuco(img, detected[0], noArray(), Scalar(255, 255, 255)));
|
|
// check that the 4 charuco corners are painted
|
|
findContours(img, contours, RETR_EXTERNAL, CHAIN_APPROX_SIMPLE);
|
|
ASSERT_EQ(contours.size(), 4ull);
|
|
for (size_t i = 0ull; i < 4ull; i++) {
|
|
m = moments(contours[i]);
|
|
detectedCenter = Point(cvRound(m.m10/m.m00), cvRound(m.m01/m.m00));
|
|
// detectedCenter must be in detected_golds
|
|
ASSERT_TRUE(find(detected_golds[0].begin(), detected_golds[0].end(), detectedCenter) != detected_golds[0].end());
|
|
}
|
|
|
|
|
|
// check drawDetectedDiamonds
|
|
img = Mat::zeros(100, 100, CV_8UC1);
|
|
ASSERT_NO_THROW(aruco::drawDetectedDiamonds(img, detected, noArray(), Scalar(255, 255, 255)));
|
|
// check that the diamonds borders are painted
|
|
findContours(img, contours, RETR_EXTERNAL, CHAIN_APPROX_SIMPLE);
|
|
ASSERT_EQ(contours.size(), 1ull);
|
|
m = moments(contours[0]);
|
|
detectedCenter = Point(cvRound(m.m10/m.m00), cvRound(m.m01/m.m00));
|
|
ASSERT_EQ(detectedCenter, center_gold);
|
|
}
|
|
|
|
typedef testing::TestWithParam<cv::Size> CharucoBoard;
|
|
INSTANTIATE_TEST_CASE_P(/**/, CharucoBoard, testing::Values(Size(3, 2), Size(3, 2), Size(6, 2), Size(2, 6),
|
|
Size(3, 4), Size(4, 3), Size(7, 3), Size(3, 7)));
|
|
TEST_P(CharucoBoard, testWrongSizeDetection)
|
|
{
|
|
cv::Size boardSize = GetParam();
|
|
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);
|
|
|
|
// 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());
|
|
}
|
|
|
|
TEST(Charuco, testSeveralBoardsWithCustomIds)
|
|
{
|
|
Size res{500, 500};
|
|
Mat K = (Mat_<double>(3,3) <<
|
|
0.5*res.width, 0, 0.5*res.width,
|
|
0, 0.5*res.height, 0.5*res.height,
|
|
0, 0, 1);
|
|
|
|
Mat expected_corners = (Mat_<float>(9,2) <<
|
|
200, 200,
|
|
250, 200,
|
|
300, 200,
|
|
200, 250,
|
|
250, 250,
|
|
300, 250,
|
|
200, 300,
|
|
250, 300,
|
|
300, 300
|
|
);
|
|
|
|
|
|
aruco::Dictionary dict = cv::aruco::getPredefinedDictionary(aruco::DICT_4X4_50);
|
|
vector<int> ids1 = {0, 1, 33, 3, 4, 5, 6, 8}, ids2 = {7, 9, 44, 11, 12, 13, 14, 15};
|
|
aruco::CharucoBoard board1(Size(4, 4), 1.f, .8f, dict, ids1), board2(Size(4, 4), 1.f, .8f, dict, ids2);
|
|
|
|
// generate ChArUco board
|
|
Mat gray;
|
|
{
|
|
Mat gray1, gray2;
|
|
board1.generateImage(Size(res.width, res.height), gray1, 150);
|
|
board2.generateImage(Size(res.width, res.height), gray2, 150);
|
|
hconcat(gray1, gray2, gray);
|
|
}
|
|
|
|
aruco::CharucoParameters charucoParameters;
|
|
charucoParameters.cameraMatrix = K;
|
|
aruco::CharucoDetector detector1(board1, charucoParameters), detector2(board2, charucoParameters);
|
|
|
|
vector<int> ids;
|
|
vector<Mat> corners;
|
|
Mat c_ids1, c_ids2, c_corners1, c_corners2;
|
|
|
|
detector1.detectBoard(gray, c_corners1, c_ids1, corners, ids);
|
|
detector2.detectBoard(gray, c_corners2, c_ids2, corners, ids);
|
|
|
|
ASSERT_EQ(ids.size(), size_t(16));
|
|
ASSERT_EQ(c_corners1.rows, expected_corners.rows);
|
|
EXPECT_NEAR(0, cvtest::norm(expected_corners, c_corners1.reshape(1), NORM_INF), 3e-1);
|
|
|
|
ASSERT_EQ(c_corners2.rows, expected_corners.rows);
|
|
expected_corners.col(0) += 500;
|
|
EXPECT_NEAR(0, cvtest::norm(expected_corners, c_corners2.reshape(1), NORM_INF), 3e-1);
|
|
}
|
|
|
|
}} // namespace
|