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Merge pull request #25808 from DmitryYurov:bug-25806-checkerboard-marker-black-tile

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Enable checkerboard detection with a central / corner marker on a black tile #25808

This pull request closes the issue #25806.

The issue doesn't require any documentation - it's quite intuitive that the detection result shouldn't depend on the color of the marker's tile.

### Pull Request Readiness Checklist

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

- [x] I agree to contribute to the project under Apache 2 License.
- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [x] The PR is proposed to the proper branch
- [x] There is a reference to the original bug report and related work
- [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
      Patch to opencv_extra has the same branch name.
- [ ] The feature is well documented and sample code can be built with the project CMake
This commit is contained in:
Dmitry Yurov
2024-07-08 11:36:56 +02:00
committed by GitHub
parent a54de7d55e
commit 31b308f882
2 changed files with 41 additions and 27 deletions
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modules/calib3d/src/chessboard.cpp
+21 -27
View File
@@ -1625,36 +1625,30 @@ bool Chessboard::Board::normalizeMarkerOrientation()
if(!current_cell->marker || !current_cell->right || !current_cell->right->marker)
continue;
if(current_cell->black)
if(current_cell->right->top && current_cell->right->top->marker)
{
if(current_cell->right->top && current_cell->right->top->marker)
{
rotateLeft();
rotateLeft();
pcell = current_cell->right;
break;
}
if(current_cell->right->bottom && current_cell->right->bottom->marker)
{
rotateLeft();
pcell = current_cell->right;
break;
}
rotateLeft();
rotateLeft();
pcell = current_cell->right;
break;
}
else
if(current_cell->right->bottom && current_cell->right->bottom->marker)
{
if(current_cell->top && current_cell->top->marker)
{
rotateRight();
pcell = current_cell;
break;
}
if(current_cell->bottom && current_cell->bottom->marker)
{
// correct orientation
pcell = current_cell;
break;
}
rotateLeft();
pcell = current_cell->right;
break;
}
if(current_cell->top && current_cell->top->marker)
{
rotateRight();
pcell = current_cell;
break;
}
if(current_cell->bottom && current_cell->bottom->marker)
{
// correct orientation
pcell = current_cell;
break;
}
}
}