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Merge branch 4.x

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This commit is contained in:
Alexander Smorkalov
2023-09-28 16:42:08 +03:00
parent c5ff405d94 b8d4ac589d
commit 163d544ecf
202 changed files with 14784 additions and 7242 deletions
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modules/objdetect/src/aruco/apriltag/apriltag_quad_thresh.cpp
+1 -1
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@@ -349,7 +349,7 @@ int quad_segment_maxima(const DetectorParameters &td, int sz, struct line_fit_pt
}
y[iy] = acc;
}
copy(y.begin(), y.end(), errs.begin());
std::copy(y.begin(), y.end(), errs.begin());
}
std::vector<int> maxima(sz);
modules/objdetect/src/aruco/aruco_board.cpp
+2 -1
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@@ -319,8 +319,9 @@ struct CharucoBoardImpl : Board::Impl {
// vector of chessboard 3D corners precalculated
std::vector<Point3f> chessboardCorners;
// for each charuco corner, nearest marker id and nearest marker corner id of each marker
// for each charuco corner, nearest marker index in ids array
std::vector<std::vector<int> > nearestMarkerIdx;
// for each charuco corner, nearest marker corner id of each marker
std::vector<std::vector<int> > nearestMarkerCorners;
void createCharucoBoard();
modules/objdetect/src/aruco/aruco_detector.cpp
+10 -8
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@@ -1321,24 +1321,26 @@ void drawDetectedMarkers(InputOutputArray _image, InputArrayOfArrays _corners,
int nMarkers = (int)_corners.total();
for(int i = 0; i < nMarkers; i++) {
Mat currentMarker = _corners.getMat(i);
CV_Assert(currentMarker.total() == 4 && currentMarker.type() == CV_32FC2);
CV_Assert(currentMarker.total() == 4 && currentMarker.channels() == 2);
if (currentMarker.type() != CV_32SC2)
currentMarker.convertTo(currentMarker, CV_32SC2);
// draw marker sides
for(int j = 0; j < 4; j++) {
Point2f p0, p1;
p0 = currentMarker.ptr<Point2f>(0)[j];
p1 = currentMarker.ptr<Point2f>(0)[(j + 1) % 4];
Point p0, p1;
p0 = currentMarker.ptr<Point>(0)[j];
p1 = currentMarker.ptr<Point>(0)[(j + 1) % 4];
line(_image, p0, p1, borderColor, 1);
}
// draw first corner mark
rectangle(_image, currentMarker.ptr<Point2f>(0)[0] - Point2f(3, 3),
currentMarker.ptr<Point2f>(0)[0] + Point2f(3, 3), cornerColor, 1, LINE_AA);
rectangle(_image, currentMarker.ptr<Point>(0)[0] - Point(3, 3),
currentMarker.ptr<Point>(0)[0] + Point(3, 3), cornerColor, 1, LINE_AA);
// draw ID
if(_ids.total() != 0) {
Point2f cent(0, 0);
Point cent(0, 0);
for(int p = 0; p < 4; p++)
cent += currentMarker.ptr<Point2f>(0)[p];
cent += currentMarker.ptr<Point>(0)[p];
cent = cent / 4.;
stringstream s;
s << "id=" << _ids.getMat().ptr<int>(0)[i];
modules/objdetect/src/aruco/charuco_detector.cpp
+40 -22
View File
@@ -5,6 +5,7 @@
#include "../precomp.hpp"
#include <opencv2/3d.hpp>
#include <opencv2/core/utils/logger.hpp>
#include "opencv2/objdetect/charuco_detector.hpp"
#include "aruco_utils.hpp"
@@ -26,12 +27,13 @@ struct CharucoDetector::CharucoDetectorImpl {
bool checkBoard(InputArrayOfArrays markerCorners, InputArray markerIds, InputArray charucoCorners, InputArray charucoIds) {
vector<Mat> mCorners;
markerCorners.getMatVector(mCorners);
Mat mIds = markerIds.getMat();
const Mat& mIds = markerIds.getMat();
Mat chCorners = charucoCorners.getMat();
Mat chIds = charucoIds.getMat();
const Mat& chCorners = charucoCorners.getMat();
const Mat& chIds = charucoIds.getMat();
const vector<int>& boardIds = board.getIds();
vector<vector<int> > nearestMarkerIdx = board.getNearestMarkerIdx();
const vector<vector<int> >& nearestMarkerIdx = board.getNearestMarkerIdx();
vector<Point2f> distance(board.getNearestMarkerIdx().size(), Point2f(0.f, std::numeric_limits<float>::max()));
// distance[i].x: max distance from the i-th charuco corner to charuco corner-forming markers.
// The two charuco corner-forming markers of i-th charuco corner are defined in getNearestMarkerIdx()[i]
@@ -41,13 +43,19 @@ struct CharucoDetector::CharucoDetectorImpl {
Point2f charucoCorner(chCorners.ptr<Point2f>(0)[i]);
for (size_t j = 0ull; j < mIds.total(); j++) {
int idMaker = mIds.ptr<int>(0)[j];
// skip the check if the marker is not in the current board.
if (find(boardIds.begin(), boardIds.end(), idMaker) == boardIds.end())
continue;
Point2f centerMarker((mCorners[j].ptr<Point2f>(0)[0] + mCorners[j].ptr<Point2f>(0)[1] +
mCorners[j].ptr<Point2f>(0)[2] + mCorners[j].ptr<Point2f>(0)[3]) / 4.f);
float dist = sqrt(normL2Sqr<float>(centerMarker - charucoCorner));
// check distance from the charuco corner to charuco corner-forming markers
if (nearestMarkerIdx[chId][0] == idMaker || nearestMarkerIdx[chId][1] == idMaker) {
int nearestCornerId = nearestMarkerIdx[chId][0] == idMaker ? board.getNearestMarkerCorners()[chId][0] : board.getNearestMarkerCorners()[chId][1];
// nearestMarkerIdx contains for each charuco corner, nearest marker index in ids array
const int nearestMarkerId1 = boardIds[nearestMarkerIdx[chId][0]];
const int nearestMarkerId2 = boardIds[nearestMarkerIdx[chId][1]];
if (nearestMarkerId1 == idMaker || nearestMarkerId2 == idMaker) {
int nearestCornerId = nearestMarkerId1 == idMaker ? board.getNearestMarkerCorners()[chId][0] : board.getNearestMarkerCorners()[chId][1];
Point2f nearestCorner = mCorners[j].ptr<Point2f>(0)[nearestCornerId];
// distToNearest: distance from the charuco corner to charuco corner-forming markers
float distToNearest = sqrt(normL2Sqr<float>(nearestCorner - charucoCorner));
distance[chId].x = max(distance[chId].x, distToNearest);
// check that nearestCorner is nearest point
@@ -363,6 +371,7 @@ void CharucoDetector::detectBoard(InputArray image, OutputArray charucoCorners,
InputOutputArrayOfArrays markerCorners, InputOutputArray markerIds) const {
charucoDetectorImpl->detectBoard(image, charucoCorners, charucoIds, markerCorners, markerIds);
if (charucoDetectorImpl->checkBoard(markerCorners, markerIds, charucoCorners, charucoIds) == false) {
CV_LOG_DEBUG(NULL, "ChArUco board is built incorrectly");
charucoCorners.release();
charucoIds.release();
}
@@ -511,20 +520,27 @@ void drawDetectedCornersCharuco(InputOutputArray _image, InputArray _charucoCorn
InputArray _charucoIds, Scalar cornerColor) {
CV_Assert(!_image.getMat().empty() &&
(_image.getMat().channels() == 1 || _image.getMat().channels() == 3));
CV_Assert((_charucoCorners.getMat().total() == _charucoIds.getMat().total()) ||
_charucoIds.getMat().total() == 0);
CV_Assert((_charucoCorners.total() == _charucoIds.total()) ||
_charucoIds.total() == 0);
CV_Assert(_charucoCorners.channels() == 2);
size_t nCorners = _charucoCorners.getMat().total();
Mat charucoCorners = _charucoCorners.getMat();
if (charucoCorners.type() != CV_32SC2)
charucoCorners.convertTo(charucoCorners, CV_32SC2);
Mat charucoIds;
if (!_charucoIds.empty())
charucoIds = _charucoIds.getMat();
size_t nCorners = charucoCorners.total();
for(size_t i = 0; i < nCorners; i++) {
Point2f corner = _charucoCorners.getMat().at<Point2f>((int)i);
Point corner = charucoCorners.at<Point>((int)i);
// draw first corner mark
rectangle(_image, corner - Point2f(3, 3), corner + Point2f(3, 3), cornerColor, 1, LINE_AA);
rectangle(_image, corner - Point(3, 3), corner + Point(3, 3), cornerColor, 1, LINE_AA);
// draw ID
if(!_charucoIds.empty()) {
int id = _charucoIds.getMat().at<int>((int)i);
int id = charucoIds.at<int>((int)i);
stringstream s;
s << "id=" << id;
putText(_image, s.str(), corner + Point2f(5, -5), FONT_HERSHEY_SIMPLEX, 0.5,
putText(_image, s.str(), corner + Point(5, -5), FONT_HERSHEY_SIMPLEX, 0.5,
cornerColor, 2);
}
}
@@ -544,25 +560,27 @@ void drawDetectedDiamonds(InputOutputArray _image, InputArrayOfArrays _corners,
int nMarkers = (int)_corners.total();
for(int i = 0; i < nMarkers; i++) {
Mat currentMarker = _corners.getMat(i);
CV_Assert(currentMarker.total() == 4 && currentMarker.type() == CV_32FC2);
CV_Assert(currentMarker.total() == 4 && currentMarker.channels() == 2);
if (currentMarker.type() != CV_32SC2)
currentMarker.convertTo(currentMarker, CV_32SC2);
// draw marker sides
for(int j = 0; j < 4; j++) {
Point2f p0, p1;
p0 = currentMarker.at< Point2f >(j);
p1 = currentMarker.at< Point2f >((j + 1) % 4);
Point p0, p1;
p0 = currentMarker.at<Point>(j);
p1 = currentMarker.at<Point>((j + 1) % 4);
line(_image, p0, p1, borderColor, 1);
}
// draw first corner mark
rectangle(_image, currentMarker.at< Point2f >(0) - Point2f(3, 3),
currentMarker.at< Point2f >(0) + Point2f(3, 3), cornerColor, 1, LINE_AA);
rectangle(_image, currentMarker.at<Point>(0) - Point(3, 3),
currentMarker.at<Point>(0) + Point(3, 3), cornerColor, 1, LINE_AA);
// draw id composed by four numbers
if(_ids.total() != 0) {
Point2f cent(0, 0);
Point cent(0, 0);
for(int p = 0; p < 4; p++)
cent += currentMarker.at< Point2f >(p);
cent += currentMarker.at<Point>(p);
cent = cent / 4.;
stringstream s;
s << "id=" << _ids.getMat().at< Vec4i >(i);