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fix charuco matchImagePoints

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Alex
2023-04-21 00:43:03 +03:00
committed by Alexander Smorkalov
parent 4c06a721ef
commit 4ba06c3ed0
5 changed files with 131 additions and 49 deletions
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modules/objdetect/misc/python/test/test_objdetect_aruco.py
+27
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@@ -313,5 +313,32 @@ class aruco_objdetect_test(NewOpenCVTests):
reprErr = cv.norm(charucoCorners[i] - projectedCharucoCorners[currentId])
self.assertLessEqual(reprErr, 5)
def test_aruco_match_image_points(self):
aruco_dict = cv.aruco.getPredefinedDictionary(cv.aruco.DICT_4X4_50)
board_size = (3, 4)
board = cv.aruco.GridBoard(board_size, 5.0, 1.0, aruco_dict)
aruco_corners = np.array(board.getObjPoints())[:, :, :2]
aruco_ids = board.getIds()
obj_points, img_points = board.matchImagePoints(aruco_corners, aruco_ids)
aruco_corners = aruco_corners.reshape(-1, 2)
self.assertEqual(aruco_corners.shape[0], obj_points.shape[0])
self.assertEqual(img_points.shape[0], obj_points.shape[0])
self.assertEqual(2, img_points.shape[2])
np.testing.assert_array_equal(aruco_corners, obj_points[:, :, :2].reshape(-1, 2))
def test_charuco_match_image_points(self):
aruco_dict = cv.aruco.getPredefinedDictionary(cv.aruco.DICT_4X4_50)
board_size = (3, 4)
board = cv.aruco.CharucoBoard(board_size, 5.0, 1.0, aruco_dict)
chessboard_corners = np.array(board.getChessboardCorners())[:, :2]
chessboard_ids = board.getIds()
obj_points, img_points = board.matchImagePoints(chessboard_corners, chessboard_ids)
self.assertEqual(chessboard_corners.shape[0], obj_points.shape[0])
self.assertEqual(img_points.shape[0], obj_points.shape[0])
self.assertEqual(2, img_points.shape[2])
np.testing.assert_array_equal(chessboard_corners, obj_points[:, :, :2].reshape(-1, 2))
if __name__ == '__main__':
NewOpenCVTests.bootstrap()