Merge pull request #23725 from asmorkalov:as/aruco_js_refresh

Refreshed JavaScript bindings for Aruco related algorithms

modules/js/generator/embindgen.py

@@ -812,6 +812,7 @@ class JSWrapperGenerator(object):
         for name, class_info in sorted(self.classes.items()):
             class_bindings = []
             if not name in white_list:
+                #print('Not in whitelist: "{}" from ns={}'.format(name, ns_name))
                 continue
 
             # Generate bindings for methods

modules/js/src/core_bindings.cpp

@@ -89,14 +89,12 @@ using namespace cv;
 
 using namespace cv::segmentation;  // FIXIT
 
+using namespace cv::aruco;
+
 #ifdef HAVE_OPENCV_DNN
 using namespace cv::dnn;
 #endif
 
-#ifdef HAVE_OPENCV_ARUCO
-using namespace aruco;
-#endif
-
 #ifdef HAVE_OPENCV_VIDEO
 typedef TrackerMIL::Params TrackerMIL_Params;
 #endif

modules/js/test/test_objdetect.js

@@ -199,4 +199,60 @@ QUnit.test('QR code detect and decode', function (assert) {
         mat.delete();
 
     }
-});
+});
+QUnit.test('Aruco detector', function (assert) {
+    {
+        let dictionary = cv.getPredefinedDictionary(cv.DICT_4X4_50);
+        let aruco_image = new cv.Mat();
+        let detectorParameters = new cv.aruco_DetectorParameters();
+        let refineParameters = new cv.aruco_RefineParameters(10, 3, true);
+        let detector = new cv.aruco_ArucoDetector(dictionary, detectorParameters,refineParameters);
+        let corners = new cv.MatVector();
+        let ids = new cv.Mat();
+
+        dictionary.generateImageMarker(10, 128, aruco_image);
+        assert.ok(!aruco_image.empty());
+
+        detector.detectMarkers(aruco_image, corners, ids);
+
+        dictionary.delete();
+        aruco_image.delete();
+        detectorParameters.delete();
+        refineParameters.delete();
+        detector.delete();
+        corners.delete();
+        ids.delete();
+    }
+});
+QUnit.test('Charuco detector', function (assert) {
+    {
+        let dictionary = new cv.getPredefinedDictionary(cv.DICT_4X4_50);
+        let boardIds = new cv.Mat();
+        let board = new cv.aruco_CharucoBoard(new cv.Size(3, 5), 64, 32, dictionary, boardIds);
+        let charucoParameters = new cv.aruco_CharucoParameters();
+        let detectorParameters = new cv.aruco_DetectorParameters();
+        let refineParameters = new cv.aruco_RefineParameters(10, 3, true);
+        let detector = new cv.aruco_CharucoDetector(board, charucoParameters, detectorParameters, refineParameters);
+        let board_image = new cv.Mat();
+        let corners = new cv.Mat();
+        let ids = new cv.Mat();
+
+        board.generateImage(new cv.Size(300, 500), board_image);
+        assert.ok(!board_image.empty());
+
+        detector.detectBoard(board_image, corners, ids);
+        assert.ok(!corners.empty());
+        assert.ok(!ids.empty());
+
+        dictionary.delete();
+        boardIds.delete();
+        board.delete();
+        board_image.delete();
+        charucoParameters.delete();
+        detectorParameters.delete();
+        refineParameters.delete();
+        detector.delete();
+        corners.delete();
+        ids.delete();
+    }
+});