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ChArUco pre460 pattern support

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This commit is contained in:
Stefan Becker
2023-01-19 11:39:35 +01:00
committed by Alexander Smorkalov
parent 868787c364
commit e55784a1e8
5 changed files with 147 additions and 93 deletions
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modules/objdetect/test/test_aruco_utils.cpp
+5 -5
View File
@@ -8,12 +8,12 @@
namespace opencv_test {
vector<Point2f> getAxis(InputArray _cameraMatrix, InputArray _distCoeffs, InputArray _rvec,
InputArray _tvec, float length, const float offset) {
InputArray _tvec, float length, const Point2f offset) {
vector<Point3f> axis;
axis.push_back(Point3f(offset, offset, 0.f));
axis.push_back(Point3f(length+offset, offset, 0.f));
axis.push_back(Point3f(offset, length+offset, 0.f));
axis.push_back(Point3f(offset, offset, length));
axis.push_back(Point3f(offset.x, offset.y, 0.f));
axis.push_back(Point3f(length+offset.x, offset.y, 0.f));
axis.push_back(Point3f(offset.x, length+offset.y, 0.f));
axis.push_back(Point3f(offset.x, offset.y, length));
vector<Point2f> axis_to_img;
projectPoints(axis, _rvec, _tvec, _cameraMatrix, _distCoeffs, axis_to_img);
return axis_to_img;
modules/objdetect/test/test_aruco_utils.hpp
+1 -1
View File
@@ -10,7 +10,7 @@ namespace opencv_test {
static inline double deg2rad(double deg) { return deg * CV_PI / 180.; }
vector<Point2f> getAxis(InputArray _cameraMatrix, InputArray _distCoeffs, InputArray _rvec, InputArray _tvec,
float length, const float offset = 0.f);
float length, const Point2f offset = Point2f(0, 0));
vector<Point2f> getMarkerById(int id, const vector<vector<Point2f> >& corners, const vector<int>& ids);
modules/objdetect/test/test_charucodetection.cpp
+51 -45
View File
@@ -12,7 +12,7 @@ namespace opencv_test { namespace {
* @brief Get a synthetic image of Chessboard in perspective
*/
static Mat projectChessboard(int squaresX, int squaresY, float squareSize, Size imageSize,
Mat cameraMatrix, Mat rvec, Mat tvec) {
Mat cameraMatrix, Mat rvec, Mat tvec, bool legacyPattern) {
Mat img(imageSize, CV_8UC1, Scalar::all(255));
Mat distCoeffs(5, 1, CV_64FC1, Scalar::all(0));
@@ -20,7 +20,11 @@ static Mat projectChessboard(int squaresX, int squaresY, float squareSize, Size
for(int y = 0; y < squaresY; y++) {
float startY = float(y) * squareSize;
for(int x = 0; x < squaresX; x++) {
if(y % 2 != x % 2) continue;
if(legacyPattern && (squaresY % 2 == 0)) {
if((y + 1) % 2 != x % 2) continue;
} else {
if(y % 2 != x % 2) continue;
}
float startX = float(x) * squareSize;
vector< Point3f > squareCorners;
@@ -66,7 +70,7 @@ static Mat projectCharucoBoard(aruco::CharucoBoard& board, Mat cameraMatrix, dou
// project chessboard
Mat chessboard =
projectChessboard(board.getChessboardSize().width, board.getChessboardSize().height,
board.getSquareLength(), imageSize, cameraMatrix, rvec, tvec);
board.getSquareLength(), imageSize, cameraMatrix, rvec, tvec, board.getLegacyPattern());
for(unsigned int i = 0; i < chessboard.total(); i++) {
if(chessboard.ptr< unsigned char >()[i] == 0) {
@@ -82,16 +86,15 @@ static Mat projectCharucoBoard(aruco::CharucoBoard& board, Mat cameraMatrix, dou
*/
class CV_CharucoDetection : public cvtest::BaseTest {
public:
CV_CharucoDetection();
CV_CharucoDetection(bool _legacyPattern) : legacyPattern(_legacyPattern) {}
protected:
void run(int);
bool legacyPattern;
};
CV_CharucoDetection::CV_CharucoDetection() {}
void CV_CharucoDetection::run(int) {
int iter = 0;
@@ -100,6 +103,7 @@ void CV_CharucoDetection::run(int) {
aruco::DetectorParameters params;
params.minDistanceToBorder = 3;
aruco::CharucoBoard board(Size(4, 4), 0.03f, 0.015f, aruco::getPredefinedDictionary(aruco::DICT_6X6_250));
board.setLegacyPattern(legacyPattern);
aruco::CharucoDetector detector(board, aruco::CharucoParameters(), params);
cameraMatrix.at<double>(0, 0) = cameraMatrix.at<double>(1, 1) = 600;
@@ -140,11 +144,7 @@ void CV_CharucoDetection::run(int) {
detector.detectBoard(img, charucoCorners, charucoIds, corners, ids);
}
if(ids.size() == 0) {
ts->printf(cvtest::TS::LOG, "Marker detection failed");
ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
return;
}
ASSERT_GT(ids.size(), std::vector< int >::size_type(0)) << "Marker detection failed";
// check results
vector< Point2f > projectedCharucoCorners;
@@ -161,20 +161,11 @@ void CV_CharucoDetection::run(int) {
int currentId = charucoIds[i];
if(currentId >= (int)board.getChessboardCorners().size()) {
ts->printf(cvtest::TS::LOG, "Invalid Charuco corner id");
ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
return;
}
ASSERT_LT(currentId, (int)board.getChessboardCorners().size()) << "Invalid Charuco corner id";
double repError = cv::norm(charucoCorners[i] - projectedCharucoCorners[currentId]); // TODO cvtest
if(repError > 5.) {
ts->printf(cvtest::TS::LOG, "Charuco corner reprojection error too high");
ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
return;
}
ASSERT_LE(repError, 5.) << "Charuco corner reprojection error too high";
}
}
}
@@ -188,30 +179,31 @@ void CV_CharucoDetection::run(int) {
*/
class CV_CharucoPoseEstimation : public cvtest::BaseTest {
public:
CV_CharucoPoseEstimation();
CV_CharucoPoseEstimation(bool _legacyPattern) : legacyPattern(_legacyPattern) {}
protected:
void run(int);
bool legacyPattern;
};
CV_CharucoPoseEstimation::CV_CharucoPoseEstimation() {}
void CV_CharucoPoseEstimation::run(int) {
int iter = 0;
Mat cameraMatrix = Mat::eye(3, 3, CV_64FC1);
Size imgSize(500, 500);
Size imgSize(750, 750);
aruco::DetectorParameters params;
params.minDistanceToBorder = 3;
aruco::CharucoBoard board(Size(4, 4), 0.03f, 0.015f, aruco::getPredefinedDictionary(aruco::DICT_6X6_250));
board.setLegacyPattern(legacyPattern);
aruco::CharucoDetector detector(board, aruco::CharucoParameters(), params);
cameraMatrix.at<double>(0, 0) = cameraMatrix.at< double >(1, 1) = 650;
cameraMatrix.at<double>(0, 0) = cameraMatrix.at< double >(1, 1) = 1000;
cameraMatrix.at<double>(0, 2) = imgSize.width / 2;
cameraMatrix.at<double>(1, 2) = imgSize.height / 2;
Mat distCoeffs(5, 1, CV_64FC1, Scalar::all(0));
// for different perspectives
for(double distance : {0.2, 0.25}) {
for(int yaw = -55; yaw <= 50; yaw += 25) {
@@ -252,12 +244,21 @@ void CV_CharucoPoseEstimation::run(int) {
// check axes
const float offset = (board.getSquareLength() - board.getMarkerLength()) / 2.f;
const float aruco_offset = (board.getSquareLength() - board.getMarkerLength()) / 2.f;
Point2f offset;
vector<Point2f> topLeft, bottomLeft;
if(legacyPattern) { // white box in upper left corner for even row count chessboard patterns
offset = Point2f(aruco_offset + board.getSquareLength(), aruco_offset);
topLeft = getMarkerById(board.getIds()[1], corners, ids);
bottomLeft = getMarkerById(board.getIds()[2], corners, ids);
} else { // always a black box in the upper left corner
offset = Point2f(aruco_offset, aruco_offset);
topLeft = getMarkerById(board.getIds()[0], corners, ids);
bottomLeft = getMarkerById(board.getIds()[2], corners, ids);
}
vector<Point2f> axes = getAxis(cameraMatrix, distCoeffs, rvec, tvec, board.getSquareLength(), offset);
vector<Point2f> topLeft = getMarkerById(board.getIds()[0], corners, ids);
ASSERT_NEAR(topLeft[0].x, axes[1].x, 3.f);
ASSERT_NEAR(topLeft[0].y, axes[1].y, 3.f);
vector<Point2f> bottomLeft = getMarkerById(board.getIds()[2], corners, ids);
ASSERT_NEAR(bottomLeft[0].x, axes[2].x, 3.f);
ASSERT_NEAR(bottomLeft[0].y, axes[2].y, 3.f);
@@ -271,20 +272,11 @@ void CV_CharucoPoseEstimation::run(int) {
int currentId = charucoIds[i];
if(currentId >= (int)board.getChessboardCorners().size()) {
ts->printf(cvtest::TS::LOG, "Invalid Charuco corner id");
ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
return;
}
ASSERT_LT(currentId, (int)board.getChessboardCorners().size()) << "Invalid Charuco corner id";
double repError = cv::norm(charucoCorners[i] - projectedCharucoCorners[currentId]); // TODO cvtest
if(repError > 5.) {
ts->printf(cvtest::TS::LOG, "Charuco corner reprojection error too high");
ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
return;
}
ASSERT_LE(repError, 5.) << "Charuco corner reprojection error too high";
}
}
}
@@ -490,12 +482,26 @@ void CV_CharucoBoardCreation::run(int)
TEST(CV_CharucoDetection, accuracy) {
CV_CharucoDetection test;
const bool legacyPattern = false;
CV_CharucoDetection test(legacyPattern);
test.safe_run();
}
TEST(CV_CharucoDetection, accuracy_legacyPattern) {
const bool legacyPattern = true;
CV_CharucoDetection test(legacyPattern);
test.safe_run();
}
TEST(CV_CharucoPoseEstimation, accuracy) {
CV_CharucoPoseEstimation test;
const bool legacyPattern = false;
CV_CharucoPoseEstimation test(legacyPattern);
test.safe_run();
}
TEST(CV_CharucoPoseEstimation, accuracy_legacyPattern) {
const bool legacyPattern = true;
CV_CharucoPoseEstimation test(legacyPattern);
test.safe_run();
}