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Merge pull request #28818 from jeevan6996:fix-charuco-detectdiamonds-clear-stale-output

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objdetect: clear stale outputs in CharucoDetector::detectDiamonds #28818

## Summary
- clear `diamondCorners`/`diamondIds` outputs at the beginning of `CharucoDetector::detectDiamonds`
- prevent stale detections from previous calls when the current call has fewer than 4 markers or finds no diamonds
- add a regression test that pre-fills outputs, calls `detectDiamonds` with 3 markers, and verifies outputs are empty

Fixes #28783.

## Testing
- built `opencv_test_objdetect` locally
- ran `opencv_test_objdetect --gtest_filter=Charuco.detectDiamondsClearsOutputsWithLessThanFourMarkers`
- result: PASS
This commit is contained in:
Jeevan Mohan Pawar
2026-04-22 13:42:37 +01:00
committed by GitHub
parent 1e61a2283d
commit 273e52ce8d
2 changed files with 44 additions and 7 deletions
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modules/objdetect/src/aruco/charuco_detector.cpp
+23 -7
View File
@@ -414,7 +414,12 @@ void CharucoDetector::detectDiamonds(InputArray image, OutputArrayOfArrays _diam
// stores if the detected markers have been assigned or not to a diamond
vector<bool> assigned(_markerIds.total(), false);
if(_markerIds.total() < 4ull) return; // a diamond need at least 4 markers
if(_markerIds.total() < 4ull)
{
if (_diamondCorners.needed()) _diamondCorners.release();
if (_diamondIds.needed()) _diamondIds.release();
return; // a diamond need at least 4 markers
}
// convert input image to grey
Mat grey;
@@ -518,16 +523,27 @@ void CharucoDetector::detectDiamonds(InputArray image, OutputArrayOfArrays _diam
if(diamondIds.size() > 0ull) {
// parse output
Mat(diamondIds).copyTo(_diamondIds);
if (_diamondIds.needed())
{
Mat(diamondIds).copyTo(_diamondIds);
}
_diamondCorners.create((int)diamondCorners.size(), 1, CV_32FC2);
for(unsigned int i = 0; i < diamondCorners.size(); i++) {
_diamondCorners.create(4, 1, CV_32FC2, i, true);
for(int j = 0; j < 4; j++) {
_diamondCorners.getMat(i).at<Point2f>(j) = diamondCorners[i][j];
if (_diamondCorners.needed())
{
_diamondCorners.create((int)diamondCorners.size(), 1, CV_32FC2);
for(unsigned int i = 0; i < diamondCorners.size(); i++) {
_diamondCorners.create(4, 1, CV_32FC2, i, true);
for(int j = 0; j < 4; j++) {
_diamondCorners.getMat(i).at<Point2f>(j) = diamondCorners[i][j];
}
}
}
}
else
{
if (_diamondCorners.needed()) _diamondCorners.release();
if (_diamondIds.needed()) _diamondIds.release();
}
}
void drawDetectedCornersCharuco(InputOutputArray _image, InputArray _charucoCorners,
modules/objdetect/test/test_charucodetection.cpp
+21
View File
@@ -703,6 +703,27 @@ TEST(Charuco, testmatchImagePoints)
}
}
TEST(Charuco, detectDiamondsClearsOutputsWithLessThanFourMarkers)
{
aruco::CharucoBoard board(Size(3, 3), 1.f, 0.5f, aruco::getPredefinedDictionary(aruco::DICT_4X4_50));
aruco::CharucoDetector detector(board);
vector<vector<Point2f>> markerCorners = {
{Point2f(10.f, 10.f), Point2f(20.f, 10.f), Point2f(20.f, 20.f), Point2f(10.f, 20.f)},
{Point2f(30.f, 10.f), Point2f(40.f, 10.f), Point2f(40.f, 20.f), Point2f(30.f, 20.f)},
{Point2f(10.f, 30.f), Point2f(20.f, 30.f), Point2f(20.f, 40.f), Point2f(10.f, 40.f)}
};
vector<int> markerIds = {0, 1, 2};
vector<vector<Point2f>> diamondCorners = {{Point2f(1.f, 1.f), Point2f(2.f, 1.f), Point2f(2.f, 2.f), Point2f(1.f, 2.f)}};
vector<Vec4i> diamondIds = {Vec4i(0, 1, 2, 3)};
detector.detectDiamonds(Mat(), diamondCorners, diamondIds, markerCorners, markerIds);
EXPECT_TRUE(diamondCorners.empty());
EXPECT_TRUE(diamondIds.empty());
}
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) {