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Merge branch 4.x

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This commit is contained in:
Alexander Smorkalov
2026-02-19 17:10:14 +03:00
parent a9da03f6c8 a269a489b9
commit 6c995c768f
120 changed files with 650 additions and 465 deletions
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modules/objdetect/misc/java/test/ArucoTest.java
+6 -4
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@@ -103,11 +103,13 @@ public class ArucoTest extends OpenCVTestCase {
int[] intCharucoIds = (new MatOfInt(charucoIds)).toArray();
Assert.assertArrayEquals(new int[]{0, 1, 2, 3}, intCharucoIds);
// Note: Expected values adjusted by -0.5px after fixing the systematic offset bug in charuco_detector.cpp
// The fix removes the incorrect +0.5 offset that was added after cornerSubPix
double eps = 0.2;
assertArrayEquals(new double[]{cellSize, cellSize}, charucoCorners.get(0,0), eps);
assertArrayEquals(new double[]{2*cellSize, cellSize}, charucoCorners.get(0,1), eps);
assertArrayEquals(new double[]{cellSize, 2*cellSize}, charucoCorners.get(0,2), eps);
assertArrayEquals(new double[]{2*cellSize, 2*cellSize}, charucoCorners.get(0,3), eps);
assertArrayEquals(new double[]{cellSize - 0.5, cellSize - 0.5}, charucoCorners.get(0, 0), eps);
assertArrayEquals(new double[]{2*cellSize - 0.5, cellSize - 0.5}, charucoCorners.get(0,1), eps);
assertArrayEquals(new double[]{cellSize - 0.5, 2*cellSize - 0.5}, charucoCorners.get(0,2), eps);
assertArrayEquals(new double[]{2*cellSize - 0.5, 2*cellSize - 0.5}, charucoCorners.get(0,3), eps);
}
}
modules/objdetect/misc/python/test/test_objdetect_aruco.py
+10 -4
View File
@@ -258,10 +258,12 @@ class aruco_objdetect_test(NewOpenCVTests):
image = board.generateImage((cell_size*board_size[0], cell_size*board_size[1]))
# Note: Expected values adjusted by -0.5px after fixing the systematic offset bug in charuco_detector.cpp
# The fix removes the incorrect +0.5 offset that was added after cornerSubPix
list_gold_corners = []
for i in range(1, board_size[0]):
for j in range(1, board_size[1]):
list_gold_corners.append((j*cell_size, i*cell_size))
list_gold_corners.append((j*cell_size - 0.5, i*cell_size - 0.5))
gold_corners = np.array(list_gold_corners, dtype=np.float32)
charucoCorners, charucoIds, markerCorners, markerIds = charuco_detector.detectBoard(image)
@@ -280,8 +282,10 @@ class aruco_objdetect_test(NewOpenCVTests):
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)]
# Note: Expected values adjusted by -0.5px after fixing the systematic offset bug in charuco_detector.cpp
# The fix removes the incorrect +0.5 offset that was added after cornerSubPix
list_gold_corners = [(cell_size - 0.5, cell_size - 0.5), (2*cell_size - 0.5, cell_size - 0.5),
(2*cell_size - 0.5, 2*cell_size - 0.5), (cell_size - 0.5, 2*cell_size - 0.5)]
gold_corners = np.array(list_gold_corners, dtype=np.float32)
diamond_corners, diamond_ids, marker_corners, marker_ids = charuco_detector.detectDiamonds(image)
@@ -357,7 +361,9 @@ class aruco_objdetect_test(NewOpenCVTests):
projectedCharucoCorners, _ = cv.projectPoints(copyChessboardCorners, rvec, tvec, cameraMatrix, distCoeffs)
if charucoIds is None:
self.assertEqual(iteration, 46)
# Detection can fail at extreme viewing angles
self.assertTrue(abs(yaw) >= 45 or abs(pitch) >= 45,
f"Detection failed unexpectedly at yaw={yaw}, pitch={pitch}")
continue
for i in range(len(charucoIds)):