Merge branch 4.x

modules/objdetect/test/test_charucodetection.cpp

@@ -691,6 +691,58 @@ TEST(Charuco, testmatchImagePoints)
     }
 }
 
+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)));
@@ -719,4 +771,60 @@ TEST_P(CharucoBoard, testWrongSizeDetection)
     ASSERT_TRUE(detectedCharucoIds.empty());
 }
 
+// Temporary disabled in https://github.com/opencv/opencv/pull/24338
+// 5.x version produces conrnes with different shape than 4.x (32F_C2 instead of 2x 32FC1)
+TEST(Charuco, DISABLED_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