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Commit42d97fa

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fix matchImagePoints
1 parenta9d02f0 commit42d97fa

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3 files changed

+16
-10
lines changed

3 files changed

+16
-10
lines changed

‎modules/objdetect/include/opencv2/objdetect/aruco_board.hpp‎

Lines changed: 3 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -61,9 +61,11 @@ class CV_EXPORTS_W_SIMPLE Board {
6161
* image points and object points to call solvePnP()
6262
*
6363
* @param detectedCorners List of detected marker corners of the board.
64-
* For CharucoBoard class you can set list of charuco corners.
64+
* Board/GridBoard/CharucoBoard support std::vector<std::vector<Point2f>> or std::vector<Mat> for marker corners.
65+
* CharucoBoard support std::vector<Point2f> or Mat for charuco corners.
6566
* @param detectedIds List of identifiers for each marker or list of charuco identifiers for each corner.
6667
* For CharucoBoard class you can set list of charuco identifiers for each corner.
68+
* Board/GridBoard/CharucoBoard support std::vector<int> or Mat.
6769
* @param objPoints Vector of vectors of board marker points in the board coordinate space.
6870
* @param imgPoints Vector of vectors of the projections of board marker corner points.
6971
*/

‎modules/objdetect/src/aruco/aruco_board.cpp‎

Lines changed: 13 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -369,20 +369,29 @@ void CharucoBoardImpl::calcNearestMarkerCorners() {
369369
}
370370

371371
voidCharucoBoardImpl::matchImagePoints(InputArrayOfArrays detectedCorners, InputArray detectedIds,
372-
OutputArray _objPoints, OutputArray imgPoints)const {
372+
OutputArray _objPoints, OutputArray imgPoints)const {
373+
// detectedCorners can includes aruco marker corners as vector<vector<Point2f>> or vector<Mat>.
374+
// Any Mat in vector<Mat> must have 4 rows for 4 corners for one marker.
373375
if (detectedCorners.kind() == _InputArray::STD_VECTOR_VECTOR ||
374-
detectedCorners.isMatVector()|| detectedCorners.isUMatVector())
376+
(detectedCorners.isMatVector()&& detectedCorners.total() >0ull && detectedCorners.getMat(0).total() ==4ull))
375377
Board::Impl::matchImagePoints(detectedCorners, detectedIds, _objPoints, imgPoints);
378+
// detectedCorners can includes charuco corners as vector<Point2f> or Mat.
379+
// Python bindings could add extra dimension to detectedCorners and therefore vector<Mat> case is additionally
380+
// processed.
376381
else {
377-
CV_Assert(detectedCorners.isMat() || detectedCorners.isVector());
382+
CV_Assert(detectedCorners.isMat() || detectedCorners.isVector() || detectedCorners.isMatVector());
383+
CV_Assert(detectedIds.total() == detectedCorners.total());
378384
size_t nDetected = detectedCorners.total();
379385
vector<Point3f>objPnts(nDetected);
380386
vector<Point2f>imgPnts(nDetected);
381387
for(size_t i =0ull; i < nDetected; i++) {
382388
int pointId = detectedIds.getMat().at<int>((int)i);
383389
CV_Assert(pointId >=0 && pointId < (int)chessboardCorners.size());
384390
objPnts[i] = chessboardCorners[pointId];
385-
imgPnts[i] = detectedCorners.getMat().at<Point2f>((int)i);
391+
if (detectedCorners.isMatVector() || detectedCorners.isUMatVector())
392+
imgPnts[i] = detectedCorners.getMat((int)i).at<Point2f>(0);
393+
else
394+
imgPnts[i] = detectedCorners.getMat().at<Point2f>((int)i);
386395
}
387396
Mat(objPnts).copyTo(_objPoints);
388397
Mat(imgPnts).copyTo(imgPoints);

‎modules/objdetect/src/aruco/charuco_detector.cpp‎

Lines changed: 0 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -129,25 +129,20 @@ struct CharucoDetector::CharucoDetectorImpl {
129129
// approximated pose estimation using marker corners
130130
Mat approximatedRvec, approximatedTvec;
131131
Mat objPoints, imgPoints;// object and image points for the solvePnP function
132-
printf("before board.matchImagePoints(markerCorners, markerIds, objPoints, imgPoints);\n");
133132
board.matchImagePoints(markerCorners, markerIds, objPoints, imgPoints);
134-
printf("after board.matchImagePoints(markerCorners, markerIds, objPoints, imgPoints);\n");
135133
if (objPoints.total() <4ull)// need, at least, 4 corners
136134
return;
137135

138136
solvePnP(objPoints, imgPoints, charucoParameters.cameraMatrix, charucoParameters.distCoeffs, approximatedRvec, approximatedTvec);
139-
printf("after solvePnP\n");
140137

141138
// project chessboard corners
142139
vector<Point2f> allChessboardImgPoints;
143140
projectPoints(board.getChessboardCorners(), approximatedRvec, approximatedTvec, charucoParameters.cameraMatrix,
144141
charucoParameters.distCoeffs, allChessboardImgPoints);
145-
printf("after projectPoints\n");
146142
// calculate maximum window sizes for subpixel refinement. The size is limited by the distance
147143
// to the closes marker corner to avoid erroneous displacements to marker corners
148144
vector<Size> subPixWinSizes =getMaximumSubPixWindowSizes(markerCorners, markerIds, allChessboardImgPoints);
149145
// filter corners outside the image and subpixel-refine charuco corners
150-
printf("before selectAndRefineChessboardCorners\n");
151146
selectAndRefineChessboardCorners(allChessboardImgPoints, image, charucoCorners, charucoIds, subPixWinSizes);
152147
}
153148

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