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Merge pull request #24126 from AleksandrPanov:fix_charuco_checkBoard

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fix charuco checkBoard
This commit is contained in:
Alexander Smorkalov
2023-09-20 14:38:14 +03:00
committed by GitHub
parent 799bb0cd18 60ae973142
commit 224dac9427
4 changed files with 74 additions and 10 deletions
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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/charuco_detector.cpp
+16 -7
View File
@@ -5,6 +5,7 @@
#include "../precomp.hpp"
#include <opencv2/calib3d.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();
}