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Merge branch 4.x

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This commit is contained in:
Alexander Smorkalov
2023-07-27 18:38:25 +03:00
parent 0e8748746f 677a28fd2a
commit 47188b7c7e
151 changed files with 5199 additions and 1111 deletions
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modules/objdetect/misc/python/test/test_objdetect_aruco.py
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@@ -238,6 +238,27 @@ class aruco_objdetect_test(NewOpenCVTests):
self.assertEqual(charucoIds[i], i)
np.testing.assert_allclose(gold_corners, charucoCorners.reshape(-1, 2), 0.01, 0.1)
def test_detect_diamonds(self):
aruco_dict = cv.aruco.getPredefinedDictionary(cv.aruco.DICT_6X6_250)
board_size = (3, 3)
board = cv.aruco.CharucoBoard(board_size, 1.0, .8, aruco_dict)
charuco_detector = cv.aruco.CharucoDetector(board)
cell_size = 120
image = board.generateImage((cell_size*board_size[0], cell_size*board_size[1]))
list_gold_corners = [(cell_size, cell_size), (2*cell_size, cell_size), (2*cell_size, 2*cell_size),
(cell_size, 2*cell_size)]
gold_corners = np.array(list_gold_corners, dtype=np.float32)
diamond_corners, diamond_ids, marker_corners, marker_ids = charuco_detector.detectDiamonds(image)
self.assertEqual(diamond_ids.size, 4)
self.assertEqual(marker_ids.size, 4)
for i in range(0, 4):
self.assertEqual(diamond_ids[0][0][i], i)
np.testing.assert_allclose(gold_corners, np.array(diamond_corners, dtype=np.float32).reshape(-1, 2), 0.01, 0.1)
# check no segfault when cameraMatrix or distCoeffs are not initialized
def test_charuco_no_segfault_params(self):
dictionary = cv.aruco.getPredefinedDictionary(cv.aruco.DICT_4X4_1000)