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Merge branch 4.x

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This commit is contained in:
Alexander Smorkalov
2025-04-28 22:13:51 +03:00
parent 1df06488b1 4ad4bd5dc0
commit f8de2e06e6
243 changed files with 12965 additions and 3216 deletions
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modules/objdetect/test/test_arucodetection.cpp
+34
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@@ -650,6 +650,40 @@ TEST(CV_ArucoDetectMarkers, regression_contour_24220)
}
}
TEST(CV_ArucoDetectMarkers, regression_26922)
{
const auto arucoDict = aruco::getPredefinedDictionary(aruco::DICT_4X4_1000);
const aruco::GridBoard gridBoard(Size(19, 10), 1, 0.25, arucoDict);
const Size imageSize(7200, 3825);
Mat boardImage;
gridBoard.generateImage(imageSize, boardImage, 75, 1);
const aruco::ArucoDetector detector(arucoDict);
vector<vector<Point2f>> corners;
vector<int> ids;
detector.detectMarkers(boardImage, corners, ids);
EXPECT_EQ(ids.size(), 190ull);
EXPECT_TRUE(find(ids.begin(), ids.end(), 76) != ids.end());
EXPECT_TRUE(find(ids.begin(), ids.end(), 172) != ids.end());
float transformMatrixData[9] = {1, -0.2f, 300, 0.4f, 1, -1000, 0, 0, 1};
const Mat transformMatrix(Size(3, 3), CV_32FC1, transformMatrixData);
Mat warpedImage;
warpPerspective(boardImage, warpedImage, transformMatrix, imageSize);
detector.detectMarkers(warpedImage, corners, ids);
EXPECT_EQ(ids.size(), 133ull);
// markers with id 76 and 172 are on border and should not be detected
EXPECT_FALSE(find(ids.begin(), ids.end(), 76) != ids.end());
EXPECT_FALSE(find(ids.begin(), ids.end(), 172) != ids.end());
}
TEST(CV_ArucoMultiDict, setGetDictionaries)
{
vector<aruco::Dictionary> dictionaries = {aruco::getPredefinedDictionary(aruco::DICT_4X4_50), aruco::getPredefinedDictionary(aruco::DICT_5X5_100)};