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fix drawDetectedCornersCharuco, drawDetectedMarkers, drawDetectedDiamonds added tests

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This commit is contained in:
Alex
2023-09-12 12:17:57 +03:00
parent 757d296382
commit ae1d1b6d55
4 changed files with 150 additions and 23 deletions
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modules/objdetect/src/aruco/aruco_detector.cpp
+10 -8
View File
@@ -1315,24 +1315,26 @@ void drawDetectedMarkers(InputOutputArray _image, InputArrayOfArrays _corners,
int nMarkers = (int)_corners.total();
for(int i = 0; i < nMarkers; i++) {
Mat currentMarker = _corners.getMat(i);
CV_Assert(currentMarker.total() == 4 && currentMarker.type() == CV_32FC2);
CV_Assert(currentMarker.total() == 4 && currentMarker.channels() == 2);
if (currentMarker.type() != CV_32SC2)
currentMarker.convertTo(currentMarker, CV_32SC2);
// draw marker sides
for(int j = 0; j < 4; j++) {
Point2f p0, p1;
p0 = currentMarker.ptr<Point2f>(0)[j];
p1 = currentMarker.ptr<Point2f>(0)[(j + 1) % 4];
Point p0, p1;
p0 = currentMarker.ptr<Point>(0)[j];
p1 = currentMarker.ptr<Point>(0)[(j + 1) % 4];
line(_image, p0, p1, borderColor, 1);
}
// draw first corner mark
rectangle(_image, currentMarker.ptr<Point2f>(0)[0] - Point2f(3, 3),
currentMarker.ptr<Point2f>(0)[0] + Point2f(3, 3), cornerColor, 1, LINE_AA);
rectangle(_image, currentMarker.ptr<Point>(0)[0] - Point(3, 3),
currentMarker.ptr<Point>(0)[0] + Point(3, 3), cornerColor, 1, LINE_AA);
// draw ID
if(_ids.total() != 0) {
Point2f cent(0, 0);
Point cent(0, 0);
for(int p = 0; p < 4; p++)
cent += currentMarker.ptr<Point2f>(0)[p];
cent += currentMarker.ptr<Point>(0)[p];
cent = cent / 4.;
stringstream s;
s << "id=" << _ids.getMat().ptr<int>(0)[i];
modules/objdetect/src/aruco/charuco_detector.cpp
+24 -15
View File
@@ -507,20 +507,27 @@ void drawDetectedCornersCharuco(InputOutputArray _image, InputArray _charucoCorn
InputArray _charucoIds, Scalar cornerColor) {
CV_Assert(!_image.getMat().empty() &&
(_image.getMat().channels() == 1 || _image.getMat().channels() == 3));
CV_Assert((_charucoCorners.getMat().total() == _charucoIds.getMat().total()) ||
_charucoIds.getMat().total() == 0);
CV_Assert((_charucoCorners.total() == _charucoIds.total()) ||
_charucoIds.total() == 0);
CV_Assert(_charucoCorners.channels() == 2);
size_t nCorners = _charucoCorners.getMat().total();
Mat charucoCorners = _charucoCorners.getMat();
if (charucoCorners.type() != CV_32SC2)
charucoCorners.convertTo(charucoCorners, CV_32SC2);
Mat charucoIds;
if (!_charucoIds.empty())
charucoIds = _charucoIds.getMat();
size_t nCorners = charucoCorners.total();
for(size_t i = 0; i < nCorners; i++) {
Point2f corner = _charucoCorners.getMat().at<Point2f>((int)i);
Point corner = charucoCorners.at<Point>((int)i);
// draw first corner mark
rectangle(_image, corner - Point2f(3, 3), corner + Point2f(3, 3), cornerColor, 1, LINE_AA);
rectangle(_image, corner - Point(3, 3), corner + Point(3, 3), cornerColor, 1, LINE_AA);
// draw ID
if(!_charucoIds.empty()) {
int id = _charucoIds.getMat().at<int>((int)i);
int id = charucoIds.at<int>((int)i);
stringstream s;
s << "id=" << id;
putText(_image, s.str(), corner + Point2f(5, -5), FONT_HERSHEY_SIMPLEX, 0.5,
putText(_image, s.str(), corner + Point(5, -5), FONT_HERSHEY_SIMPLEX, 0.5,
cornerColor, 2);
}
}
@@ -540,25 +547,27 @@ void drawDetectedDiamonds(InputOutputArray _image, InputArrayOfArrays _corners,
int nMarkers = (int)_corners.total();
for(int i = 0; i < nMarkers; i++) {
Mat currentMarker = _corners.getMat(i);
CV_Assert(currentMarker.total() == 4 && currentMarker.type() == CV_32FC2);
CV_Assert(currentMarker.total() == 4 && currentMarker.channels() == 2);
if (currentMarker.type() != CV_32SC2)
currentMarker.convertTo(currentMarker, CV_32SC2);
// draw marker sides
for(int j = 0; j < 4; j++) {
Point2f p0, p1;
p0 = currentMarker.at< Point2f >(j);
p1 = currentMarker.at< Point2f >((j + 1) % 4);
Point p0, p1;
p0 = currentMarker.at<Point>(j);
p1 = currentMarker.at<Point>((j + 1) % 4);
line(_image, p0, p1, borderColor, 1);
}
// draw first corner mark
rectangle(_image, currentMarker.at< Point2f >(0) - Point2f(3, 3),
currentMarker.at< Point2f >(0) + Point2f(3, 3), cornerColor, 1, LINE_AA);
rectangle(_image, currentMarker.at<Point>(0) - Point(3, 3),
currentMarker.at<Point>(0) + Point(3, 3), cornerColor, 1, LINE_AA);
// draw id composed by four numbers
if(_ids.total() != 0) {
Point2f cent(0, 0);
Point cent(0, 0);
for(int p = 0; p < 4; p++)
cent += currentMarker.at< Point2f >(p);
cent += currentMarker.at<Point>(p);
cent = cent / 4.;
stringstream s;
s << "id=" << _ids.getMat().at< Vec4i >(i);