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fix drawDetectedCornersCharuco, drawDetectedMarkers, drawDetectedDiamonds added tests

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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/test/test_charucodetection.cpp
+52
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@@ -689,6 +689,58 @@ TEST(Charuco, testmatchImagePoints)
}
}
typedef testing::TestWithParam<int> CharucoDraw;
INSTANTIATE_TEST_CASE_P(/**/, CharucoDraw, testing::Values(CV_8UC2, CV_8SC2, CV_16UC2, CV_16SC2, CV_32SC2, CV_32FC2, CV_64FC2));
TEST_P(CharucoDraw, testDrawDetected) {
vector<vector<Point>> detected_golds = {{Point(20, 20), Point(80, 20), Point(80, 80), Point2f(20, 80)}};
Point center_gold = (detected_golds[0][0] + detected_golds[0][1] + detected_golds[0][2] + detected_golds[0][3]) / 4;
int type = GetParam();
vector<Mat> detected(detected_golds[0].size(), Mat(4, 1, type));
// copy detected_golds to detected with any 2 channels type
for (size_t i = 0ull; i < detected_golds[0].size(); i++) {
detected[0].row((int)i) = Scalar(detected_golds[0][i].x, detected_golds[0][i].y);
}
vector<vector<Point>> contours;
Point detectedCenter;
Moments m;
Mat img;
// check drawDetectedMarkers
img = Mat::zeros(100, 100, CV_8UC1);
ASSERT_NO_THROW(aruco::drawDetectedMarkers(img, detected, noArray(), Scalar(255, 255, 255)));
// check that the marker borders are painted
findContours(img, contours, RETR_EXTERNAL, CHAIN_APPROX_SIMPLE);
ASSERT_EQ(contours.size(), 1ull);
m = moments(contours[0]);
detectedCenter = Point(cvRound(m.m10/m.m00), cvRound(m.m01/m.m00));
ASSERT_EQ(detectedCenter, center_gold);
// check drawDetectedCornersCharuco
img = Mat::zeros(100, 100, CV_8UC1);
ASSERT_NO_THROW(aruco::drawDetectedCornersCharuco(img, detected[0], noArray(), Scalar(255, 255, 255)));
// check that the 4 charuco corners are painted
findContours(img, contours, RETR_EXTERNAL, CHAIN_APPROX_SIMPLE);
ASSERT_EQ(contours.size(), 4ull);
for (size_t i = 0ull; i < 4ull; i++) {
m = moments(contours[i]);
detectedCenter = Point(cvRound(m.m10/m.m00), cvRound(m.m01/m.m00));
// detectedCenter must be in detected_golds
ASSERT_TRUE(find(detected_golds[0].begin(), detected_golds[0].end(), detectedCenter) != detected_golds[0].end());
}
// check drawDetectedDiamonds
img = Mat::zeros(100, 100, CV_8UC1);
ASSERT_NO_THROW(aruco::drawDetectedDiamonds(img, detected, noArray(), Scalar(255, 255, 255)));
// check that the diamonds borders are painted
findContours(img, contours, RETR_EXTERNAL, CHAIN_APPROX_SIMPLE);
ASSERT_EQ(contours.size(), 1ull);
m = moments(contours[0]);
detectedCenter = Point(cvRound(m.m10/m.m00), cvRound(m.m01/m.m00));
ASSERT_EQ(detectedCenter, center_gold);
}
typedef testing::TestWithParam<cv::Size> CharucoBoard;
INSTANTIATE_TEST_CASE_P(/**/, CharucoBoard, testing::Values(Size(3, 2), Size(3, 2), Size(6, 2), Size(2, 6),
Size(3, 4), Size(4, 3), Size(7, 3), Size(3, 7)));