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Extend ArUcoDetector to run multiple dictionaries in an efficient

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manner.

* Add constructor for multiple dictionaries
* Add get/set/remove/add functions for multiple dictionaries
* Add unit tests

TESTED=unit tests
This commit is contained in:
Benjamin Knecht
2025-02-17 16:49:39 +01:00
parent ae25c3194f
commit c759a7cdde
3 changed files with 237 additions and 54 deletions
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modules/objdetect/include/opencv2/objdetect/aruco_detector.hpp
+22 -4
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@@ -285,6 +285,16 @@ public:
const DetectorParameters &detectorParams = DetectorParameters(),
const RefineParameters& refineParams = RefineParameters());
/** @brief ArucoDetector constructor for multiple dictionaries
*
* @param dictionaries indicates the type of markers that will be searched
* @param detectorParams marker detection parameters
* @param refineParams marker refine detection parameters
*/
CV_WRAP ArucoDetector(const std::vector<Dictionary> &dictionaries,
const DetectorParameters &detectorParams = DetectorParameters(),
const RefineParameters& refineParams = RefineParameters());
/** @brief Basic marker detection
*
* @param image input image
@@ -296,8 +306,10 @@ public:
* The identifiers have the same order than the markers in the imgPoints array.
* @param rejectedImgPoints contains the imgPoints of those squares whose inner code has not a
* correct codification. Useful for debugging purposes.
* @param dictIndices vector of dictionary indices for each detected marker. Use getDictionaries() to get the
* list of corresponding dictionaries.
*
* Performs marker detection in the input image. Only markers included in the specific dictionary
* Performs marker detection in the input image. Only markers included in the specific dictionaries
* are searched. For each detected marker, it returns the 2D position of its corner in the image
* and its corresponding identifier.
* Note that this function does not perform pose estimation.
@@ -306,7 +318,7 @@ public:
* @sa undistort, estimatePoseSingleMarkers, estimatePoseBoard
*/
CV_WRAP void detectMarkers(InputArray image, OutputArrayOfArrays corners, OutputArray ids,
OutputArrayOfArrays rejectedImgPoints = noArray()) const;
OutputArrayOfArrays rejectedImgPoints = noArray(), OutputArray dictIndices = noArray()) const;
/** @brief Refine not detected markers based on the already detected and the board layout
*
@@ -329,6 +341,8 @@ public:
* If camera parameters and distortion coefficients are provided, missing markers are reprojected
* using projectPoint function. If not, missing marker projections are interpolated using global
* homography, and all the marker corners in the board must have the same Z coordinate.
* @note This function assumes that the board only contains markers from one dictionary, so only the
* first configured dictionary is used.
*/
CV_WRAP void refineDetectedMarkers(InputArray image, const Board &board,
InputOutputArrayOfArrays detectedCorners,
@@ -336,8 +350,12 @@ public:
InputArray cameraMatrix = noArray(), InputArray distCoeffs = noArray(),
OutputArray recoveredIdxs = noArray()) const;
CV_WRAP const Dictionary& getDictionary() const;
CV_WRAP void setDictionary(const Dictionary& dictionary);
CV_WRAP const Dictionary& getDictionary(size_t index = 0) const;
CV_WRAP void setDictionary(const Dictionary& dictionary, size_t index = 0);
CV_WRAP const std::vector<Dictionary>& getDictionaries() const;
CV_WRAP void setDictionaries(const std::vector<Dictionary>& dictionaries);
CV_WRAP void addDictionary(const Dictionary& dictionary);
CV_WRAP void removeDictionary(size_t index);
CV_WRAP const DetectorParameters& getDetectorParameters() const;
CV_WRAP void setDetectorParameters(const DetectorParameters& detectorParameters);