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Merge pull request #25938 from vrabaud:charuco

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Properly check markers when none are provided. #25938

CharucoDetectorImpl::detectBoard finds temporary markers when none are provided but those are discarded when
charucoDetectorImpl::checkBoard is called.

### Pull Request Readiness Checklist

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

- [x] I agree to contribute to the project under Apache 2 License.
- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [x] The PR is proposed to the proper branch
- [x] There is a reference to the original bug report and related work
- [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
      Patch to opencv_extra has the same branch name.
- [x] The feature is well documented and sample code can be built with the project CMake
This commit is contained in:
Vincent Rabaud
2024-07-24 08:27:07 +02:00
committed by GitHub
parent 93b607dc72
commit c16927605d
2 changed files with 32 additions and 18 deletions
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modules/objdetect/test/test_charucodetection.cpp
+16 -10
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@@ -762,23 +762,29 @@ 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());
}
}