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Merge branch 4.x

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This commit is contained in:
Alexander Smorkalov
2024-07-25 18:29:12 +03:00
parent 459a9c60ed eab21b6106
commit 672a662dff
61 changed files with 1615 additions and 29782 deletions
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modules/objdetect/test/test_charucodetection.cpp
+16 -10
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@@ -764,23 +764,29 @@ TEST_P(CharucoBoard, testWrongSizeDetection)
ASSERT_FALSE(boardSize.width == boardSize.height);
aruco::CharucoBoard board(boardSize, 1.f, 0.5f, aruco::getPredefinedDictionary(aruco::DICT_4X4_50));
vector<int> detectedCharucoIds, detectedArucoIds;
vector<Point2f> detectedCharucoCorners;
vector<vector<Point2f>> detectedArucoCorners;
Mat boardImage;
board.generateImage(boardSize*40, boardImage);
swap(boardSize.width, boardSize.height);
aruco::CharucoDetector detector(aruco::CharucoBoard(boardSize, 1.f, 0.5f, aruco::getPredefinedDictionary(aruco::DICT_4X4_50)));
// try detect board with wrong size
detector.detectBoard(boardImage, detectedCharucoCorners, detectedCharucoIds, detectedArucoCorners, detectedArucoIds);
for(int i: {0, 1}) {
vector<int> detectedCharucoIds, detectedArucoIds;
vector<Point2f> detectedCharucoCorners;
vector<vector<Point2f>> detectedArucoCorners;
if (i == 0) {
detector.detectBoard(boardImage, detectedCharucoCorners, detectedCharucoIds, detectedArucoCorners, detectedArucoIds);
// aruco markers must be found
ASSERT_EQ(detectedArucoIds.size(), board.getIds().size());
ASSERT_EQ(detectedArucoCorners.size(), board.getIds().size());
} else {
detector.detectBoard(boardImage, detectedCharucoCorners, detectedCharucoIds);
}
// aruco markers must be found
ASSERT_EQ(detectedArucoIds.size(), board.getIds().size());
ASSERT_EQ(detectedArucoCorners.size(), board.getIds().size());
// charuco corners should not be found in board with wrong size
ASSERT_TRUE(detectedCharucoCorners.empty());
ASSERT_TRUE(detectedCharucoIds.empty());
// charuco corners should not be found in board with wrong size
ASSERT_TRUE(detectedCharucoCorners.empty());
ASSERT_TRUE(detectedCharucoIds.empty());
}
}