Merge pull request #22368 from AleksandrPanov:move_contrib_aruco_to_main_objdetect
Megre together with https://github.com/opencv/opencv_contrib/pull/3325 1. Move aruco_detector, aruco_board, aruco_dictionary, aruco_utils to objdetect 1.1 add virtual Board::draw(), virtual ~Board() 1.2 move `testCharucoCornersCollinear` to Board classes (and rename to `checkCharucoCornersCollinear`) 1.3 add wrappers to keep the old api working 3. Reduce inludes 4. Fix java tests (add objdetect import) 5. Refactoring ### 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 ``` **WIP** force_builders=linux,win64,docs,Linux x64 Debug,Custom Xbuild_contrib:Docs=OFF build_image:Custom=ubuntu:22.04 build_worker:Custom=linux-1 ```
This commit is contained in:
Alexander Panov
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package org.opencv.test.aruco;
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import java.util.ArrayList;
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import java.util.List;
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import org.opencv.test.OpenCVTestCase;
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import org.opencv.core.Scalar;
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import org.opencv.core.Mat;
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import org.opencv.core.Size;
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import org.opencv.core.CvType;
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import org.opencv.objdetect.*;
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public class ArucoTest extends OpenCVTestCase {
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public void testGenerateBoards() {
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Dictionary dictionary = Objdetect.getPredefinedDictionary(Objdetect.DICT_4X4_50);
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Mat point1 = new Mat(4, 3, CvType.CV_32FC1);
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int row = 0, col = 0;
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double squareLength = 40.;
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point1.put(row, col, 0, 0, 0,
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0, squareLength, 0,
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squareLength, squareLength, 0,
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0, squareLength, 0);
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List<Mat>objPoints = new ArrayList<Mat>();
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objPoints.add(point1);
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Mat ids = new Mat(1, 1, CvType.CV_32SC1);
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ids.put(row, col, 0);
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Board board = Board.create(objPoints, dictionary, ids);
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Mat image = new Mat();
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board.generateImage(new Size(80, 80), image, 2);
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assertTrue(image.total() > 0);
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}
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public void testArucoIssue3133() {
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byte[][] marker = {{0,1,1},{1,1,1},{0,1,1}};
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Dictionary dictionary = Objdetect.extendDictionary(1, 3);
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dictionary.set_maxCorrectionBits(0);
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Mat markerBits = new Mat(3, 3, CvType.CV_8UC1);
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for (int i = 0; i < 3; i++) {
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for (int j = 0; j < 3; j++) {
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markerBits.put(i, j, marker[i][j]);
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}
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}
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Mat markerCompressed = Dictionary.getByteListFromBits(markerBits);
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assertMatNotEqual(markerCompressed, dictionary.get_bytesList());
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dictionary.set_bytesList(markerCompressed);
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assertMatEqual(markerCompressed, dictionary.get_bytesList());
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}
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public void testArucoDetector() {
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Dictionary dictionary = Objdetect.getPredefinedDictionary(0);
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DetectorParameters detectorParameters = new DetectorParameters();
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ArucoDetector detector = new ArucoDetector(dictionary, detectorParameters);
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Mat markerImage = new Mat();
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int id = 1, offset = 5, size = 40;
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Objdetect.generateImageMarker(dictionary, id, size, markerImage, detectorParameters.get_markerBorderBits());
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Mat image = new Mat(markerImage.rows() + 2*offset, markerImage.cols() + 2*offset,
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CvType.CV_8UC1, new Scalar(255));
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Mat m = image.submat(offset, size+offset, offset, size+offset);
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markerImage.copyTo(m);
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List<Mat> corners = new ArrayList();
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Mat ids = new Mat();
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detector.detectMarkers(image, corners, ids);
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assertEquals(1, corners.size());
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Mat res = corners.get(0);
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assertArrayEquals(new double[]{offset, offset}, res.get(0, 0), 0.0);
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assertArrayEquals(new double[]{size + offset - 1, offset}, res.get(0, 1), 0.0);
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assertArrayEquals(new double[]{size + offset - 1, size + offset - 1}, res.get(0, 2), 0.0);
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assertArrayEquals(new double[]{offset, size + offset - 1}, res.get(0, 3), 0.0);
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}
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}
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#!/usr/bin/env python
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# Python 2/3 compatibility
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from __future__ import print_function
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import os, numpy as np
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import cv2 as cv
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from tests_common import NewOpenCVTests
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class aruco_objdetect_test(NewOpenCVTests):
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def test_idsAccessibility(self):
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ids = np.arange(17)
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rev_ids = ids[::-1]
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aruco_dict = cv.aruco.getPredefinedDictionary(cv.aruco.DICT_5X5_250)
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board = cv.aruco.CharucoBoard_create(7, 5, 1, 0.5, aruco_dict)
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np.testing.assert_array_equal(board.getIds().squeeze(), ids)
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board = cv.aruco.CharucoBoard_create(7, 5, 1, 0.5, aruco_dict, rev_ids)
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np.testing.assert_array_equal(board.getIds().squeeze(), rev_ids)
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board = cv.aruco.CharucoBoard_create(7, 5, 1, 0.5, aruco_dict, ids)
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np.testing.assert_array_equal(board.getIds().squeeze(), ids)
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def test_identify(self):
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aruco_dict = cv.aruco.getPredefinedDictionary(cv.aruco.DICT_4X4_50)
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expected_idx = 9
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expected_rotation = 2
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bit_marker = np.array([[0, 1, 1, 0], [1, 0, 1, 0], [1, 1, 1, 1], [0, 0, 1, 1]], dtype=np.uint8)
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check, idx, rotation = aruco_dict.identify(bit_marker, 0)
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self.assertTrue(check, True)
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self.assertEqual(idx, expected_idx)
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self.assertEqual(rotation, expected_rotation)
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def test_getDistanceToId(self):
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aruco_dict = cv.aruco.getPredefinedDictionary(cv.aruco.DICT_4X4_50)
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idx = 7
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rotation = 3
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bit_marker = np.array([[0, 1, 0, 1], [0, 1, 1, 1], [1, 1, 0, 0], [0, 1, 0, 0]], dtype=np.uint8)
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dist = aruco_dict.getDistanceToId(bit_marker, idx)
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self.assertEqual(dist, 0)
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def test_aruco_detector(self):
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aruco_params = cv.aruco.DetectorParameters()
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aruco_dict = cv.aruco.getPredefinedDictionary(cv.aruco.DICT_4X4_250)
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aruco_detector = cv.aruco.ArucoDetector(aruco_dict, aruco_params)
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id = 2
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marker_size = 100
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offset = 10
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img_marker = cv.aruco.generateImageMarker(aruco_dict, id, marker_size, aruco_params.markerBorderBits)
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img_marker = np.pad(img_marker, pad_width=offset, mode='constant', constant_values=255)
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gold_corners = np.array([[offset, offset],[marker_size+offset-1.0,offset],
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[marker_size+offset-1.0,marker_size+offset-1.0],
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[offset, marker_size+offset-1.0]], dtype=np.float32)
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corners, ids, rejected = aruco_detector.detectMarkers(img_marker)
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self.assertEqual(1, len(ids))
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self.assertEqual(id, ids[0])
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for i in range(0, len(corners)):
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np.testing.assert_array_equal(gold_corners, corners[i].reshape(4, 2))
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def test_aruco_detector_refine(self):
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aruco_params = cv.aruco.DetectorParameters()
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aruco_dict = cv.aruco.getPredefinedDictionary(cv.aruco.DICT_4X4_250)
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aruco_detector = cv.aruco.ArucoDetector(aruco_dict, aruco_params)
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board_size = (3, 4)
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board = cv.aruco.GridBoard_create(board_size[0], board_size[1], 5.0, 1.0, aruco_dict)
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board_image = board.generateImage((board_size[0]*50, board_size[1]*50), marginSize=10)
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corners, ids, rejected = aruco_detector.detectMarkers(board_image)
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self.assertEqual(board_size[0]*board_size[1], len(ids))
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part_corners, part_ids, part_rejected = corners[:-1], ids[:-1], list(rejected)
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part_rejected.append(corners[-1])
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refine_corners, refine_ids, refine_rejected, recovered_ids = aruco_detector.refineDetectedMarkers(board_image, board, part_corners, part_ids, part_rejected)
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self.assertEqual(board_size[0] * board_size[1], len(refine_ids))
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self.assertEqual(1, len(recovered_ids))
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self.assertEqual(ids[-1], refine_ids[-1])
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self.assertEqual((1, 4, 2), refine_corners[0].shape)
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np.testing.assert_array_equal(corners, refine_corners)
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if __name__ == '__main__':
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NewOpenCVTests.bootstrap()
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