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Use map to manage unique marker size candidate trees.
Avoid code duplication.
Add a test to show double detection with overlapping dictionaries.
Generalize to marker sizes of not only predefined dictionaries.
This commit is contained in:
Benjamin Knecht
2025-03-04 15:24:03 +01:00
parent 3084f950cf
commit 1aa658fa75
2 changed files with 84 additions and 85 deletions
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modules/objdetect/test/test_arucodetection.cpp
+51 -29
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@@ -727,25 +727,55 @@ TEST(CV_ArucoMultiDict, multiMarkerDetection)
}
TEST(CV_ArucoMultiDict, multiMarkerDoubleDetection)
{
const int markerSidePixels = 100;
const int imageWidth = 2 * markerSidePixels + 3 * (markerSidePixels / 2);
const int imageHeight = markerSidePixels + 2 * (markerSidePixels / 2);
vector<aruco::Dictionary> usedDictionaries = {
aruco::getPredefinedDictionary(aruco::DICT_5X5_50),
aruco::getPredefinedDictionary(aruco::DICT_5X5_100)
};
// draw synthetic image
Mat img = Mat(imageHeight, imageWidth, CV_8UC1, Scalar::all(255));
for(int y = 0; y < 2; y++) {
Mat marker;
int id = 49 + y;
auto dict = aruco::getPredefinedDictionary(aruco::DICT_5X5_100);
aruco::generateImageMarker(dict, id, markerSidePixels, marker);
Point2f firstCorner(markerSidePixels / 2.f + y * (1.5f * markerSidePixels),
markerSidePixels / 2.f);
Mat aux = img(Rect((int)firstCorner.x, (int)firstCorner.y, markerSidePixels, markerSidePixels));
marker.copyTo(aux);
}
img.convertTo(img, CV_8UC3);
aruco::ArucoDetector detector(usedDictionaries);
vector<vector<Point2f> > markerCorners;
vector<int> markerIds;
vector<vector<Point2f> > rejectedImgPts;
vector<int> dictIds;
detector.detectMarkersMultiDict(img, markerCorners, markerIds, rejectedImgPts, dictIds);
ASSERT_EQ(markerIds.size(), 3u);
ASSERT_EQ(dictIds.size(), 3u);
EXPECT_EQ(dictIds[0], 0); // 5X5_50
EXPECT_EQ(dictIds[1], 1); // 5X5_100
EXPECT_EQ(dictIds[2], 1); // 5X5_100
}
TEST(CV_ArucoMultiDict, serialization)
{
const std::string fileName("test_aruco_serialization.json");
aruco::ArucoDetector detector;
{
FileStorage fs(fileName, FileStorage::Mode::WRITE);
if (!fs.isOpened()) {
cout << "[ SKIPPED ] " << "CV_ArucoMultiDict.serialization"
<< " - Skipping due to 'File system write error.'" << endl;
return;
}
detector.write(fs);
fs.release();
FileStorage test_fs(fileName, FileStorage::Mode::READ);
if (!test_fs.isOpened()) {
cout << "[ SKIPPED ] " << "CV_ArucoMultiDict.serialization"
<< " - Skipping due to 'File system read error.'" << endl;
return;
}
FileStorage fs_out(".json", FileStorage::WRITE + FileStorage::MEMORY);
ASSERT_TRUE(fs_out.isOpened());
detector.write(fs_out);
std::string serialized_string = fs_out.releaseAndGetString();
FileStorage test_fs(serialized_string, FileStorage::Mode::READ + FileStorage::MEMORY);
ASSERT_TRUE(test_fs.isOpened());
aruco::ArucoDetector test_detector;
test_detector.read(test_fs.root());
// compare default constructor result
@@ -753,20 +783,12 @@ TEST(CV_ArucoMultiDict, serialization)
}
detector.setDictionaries({aruco::getPredefinedDictionary(aruco::DICT_4X4_50), aruco::getPredefinedDictionary(aruco::DICT_5X5_100)});
{
FileStorage fs(fileName, FileStorage::Mode::WRITE);
if (!fs.isOpened()) {
cout << "[ SKIPPED ] " << "CV_ArucoMultiDict.serialization"
<< " - Skipping due to 'File system write error.'" << endl;
return;
}
detector.write(fs);
fs.release();
FileStorage test_fs(fileName, FileStorage::Mode::READ);
if (!test_fs.isOpened()) {
cout << "[ SKIPPED ] " << "CV_ArucoMultiDict.serialization"
<< " - Skipping due to 'File system read error.'" << endl;
return;
}
FileStorage fs_out(".json", FileStorage::WRITE + FileStorage::MEMORY);
ASSERT_TRUE(fs_out.isOpened());
detector.write(fs_out);
std::string serialized_string = fs_out.releaseAndGetString();
FileStorage test_fs(serialized_string, FileStorage::Mode::READ + FileStorage::MEMORY);
ASSERT_TRUE(test_fs.isOpened());
aruco::ArucoDetector test_detector;
test_detector.read(test_fs.root());
// check for one additional dictionary