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Commit9bf43c3

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fix matchImagePoints, add py tests
1 parent96a45e8 commit9bf43c3

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4 files changed

+71
-26
lines changed

4 files changed

+71
-26
lines changed

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

Lines changed: 16 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -61,9 +61,9 @@ 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.
65-
* @param detectedIds List of identifiers for each marker or list of charuco identifiers for each corner.
66-
*For CharucoBoard class you can set list of charuco identifiers for each corner.
64+
*Board/GridBoard support std::vector<std::vector<Point2f>> or std::vector<Mat> for marker corners.
65+
* @param detectedIds List of identifiers for each marker.
66+
*Board/GridBoard support std::vector<int> or Mat.
6767
* @param objPoints Vector of vectors of board marker points in the board coordinate space.
6868
* @param imgPoints Vector of vectors of the projections of board marker corner points.
6969
*/
@@ -142,6 +142,19 @@ class CV_EXPORTS_W_SIMPLE CharucoBoard : public Board {
142142
CV_WRAPfloatgetSquareLength()const;
143143
CV_WRAPfloatgetMarkerLength()const;
144144

145+
/** @brief Given a board configuration and a set of detected markers, returns the corresponding
146+
* image points and object points to call solvePnP()
147+
*
148+
* @param detectedCharuco List of detected charuco corners of the board.
149+
* CharucoBoard support std::vector<Point2f> or Mat for charuco corners.
150+
* @param detectedIds List of charuco identifiers for each corner.
151+
* CharucoBoard support std::vector<int> or Mat.
152+
* @param objPoints Vector of vectors of board marker points in the board coordinate space.
153+
* @param imgPoints Vector of vectors of the projections of board marker corner points.
154+
*/
155+
CV_WRAPvoidmatchImagePoints(InputArray detectedCharuco, InputArray detectedIds,
156+
OutputArray objPoints, OutputArray imgPoints)const;
157+
145158
/** @brief get CharucoBoard::chessboardCorners
146159
*/
147160
CV_WRAP std::vector<Point3f>getChessboardCorners()const;

‎modules/objdetect/misc/python/test/test_objdetect_aruco.py‎

Lines changed: 28 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -142,5 +142,33 @@ def test_charuco_detector(self):
142142
self.assertEqual(charucoIds[i],i)
143143
np.testing.assert_allclose(gold_corners,charucoCorners.reshape(-1,2),0.01,0.1)
144144

145+
deftest_aruco_match_image_points(self):
146+
aruco_dict=cv.aruco.getPredefinedDictionary(cv.aruco.DICT_4X4_50)
147+
board_size= (3,4)
148+
board=cv.aruco.GridBoard(board_size,5.0,1.0,aruco_dict)
149+
aruco_corners=np.array(board.getObjPoints())[:, :, :2]
150+
aruco_ids=board.getIds()
151+
obj_points,img_points=board.matchImagePoints(aruco_corners,aruco_ids)
152+
aruco_corners=aruco_corners.reshape(-1,2)
153+
154+
self.assertEqual(aruco_corners.shape[0],obj_points.shape[0])
155+
self.assertEqual(img_points.shape[0],obj_points.shape[0])
156+
self.assertEqual(2,img_points.shape[2])
157+
np.testing.assert_array_equal(aruco_corners,obj_points[:, :, :2].reshape(-1,2))
158+
159+
deftest_charuco_match_image_points(self):
160+
aruco_dict=cv.aruco.getPredefinedDictionary(cv.aruco.DICT_4X4_50)
161+
board_size= (3,4)
162+
board=cv.aruco.CharucoBoard(board_size,5.0,1.0,aruco_dict)
163+
chessboard_corners=np.array(board.getChessboardCorners())[:, :2]
164+
chessboard_ids=board.getIds()
165+
obj_points,img_points=board.matchImagePoints(chessboard_corners,chessboard_ids)
166+
167+
self.assertEqual(chessboard_corners.shape[0],obj_points.shape[0])
168+
self.assertEqual(img_points.shape[0],obj_points.shape[0])
169+
self.assertEqual(2,img_points.shape[2])
170+
np.testing.assert_array_equal(chessboard_corners,obj_points[:, :, :2].reshape(-1,2))
171+
172+
145173
if__name__=='__main__':
146174
NewOpenCVTests.bootstrap()

‎modules/objdetect/src/aruco/aruco_board.cpp‎

Lines changed: 23 additions & 20 deletions
Original file line numberDiff line numberDiff line change
@@ -34,7 +34,7 @@ struct Board::Impl {
3434
};
3535

3636
voidBoard::Impl::matchImagePoints(InputArray detectedCorners, InputArray detectedIds, OutputArray _objPoints,
37-
OutputArray imgPoints)const {
37+
OutputArray imgPoints)const {
3838

3939
CV_Assert(ids.size() == objPoints.size());
4040
CV_Assert(detectedIds.total() == detectedCorners.total());
@@ -313,7 +313,7 @@ struct CharucoBoardImpl : Board::Impl {
313313

314314
voidcalcNearestMarkerCorners();
315315

316-
voidmatchImagePoints(InputArrayOfArrays detectedCorners, InputArray detectedIds,
316+
voidmatchImagePoints(InputArray detectedCharuco, InputArray detectedIds,
317317
OutputArray objPoints, OutputArray imgPoints)constoverride;
318318

319319
voidgenerateImage(Size outSize, OutputArray img,int marginSize,int borderBits)constoverride;
@@ -368,25 +368,28 @@ void CharucoBoardImpl::calcNearestMarkerCorners() {
368368
}
369369
}
370370

371-
voidCharucoBoardImpl::matchImagePoints(InputArrayOfArrays detectedCorners, InputArray detectedIds,
372-
OutputArray _objPoints, OutputArray imgPoints)const {
373-
if (detectedCorners.kind() == _InputArray::STD_VECTOR_VECTOR ||
374-
detectedCorners.isMatVector() || detectedCorners.isUMatVector())
375-
Board::Impl::matchImagePoints(detectedCorners, detectedIds, _objPoints, imgPoints);
376-
else {
377-
CV_Assert(detectedCorners.isMat() || detectedCorners.isVector());
378-
size_t nDetected = detectedCorners.total();
379-
vector<Point3f>objPnts(nDetected);
380-
vector<Point2f>imgPnts(nDetected);
381-
for(size_t i =0ull; i < nDetected; i++) {
382-
int pointId = detectedIds.getMat().at<int>((int)i);
383-
CV_Assert(pointId >=0 && pointId < (int)chessboardCorners.size());
384-
objPnts[i] = chessboardCorners[pointId];
385-
imgPnts[i] = detectedCorners.getMat().at<Point2f>((int)i);
386-
}
387-
Mat(objPnts).copyTo(_objPoints);
388-
Mat(imgPnts).copyTo(imgPoints);
371+
voidCharucoBoardImpl::matchImagePoints(InputArray detectedCharuco, InputArray detectedIds,
372+
OutputArray _objPoints, OutputArray imgPoints)const {
373+
// detectedCharuco includes charuco corners as vector<Point2f> or Mat.
374+
CV_Assert(detectedCharuco.isMat() || detectedCharuco.isVector());
375+
CV_Assert(detectedIds.total() == detectedCharuco.total());
376+
size_t nDetected = detectedCharuco.total();
377+
vector<Point3f>objPnts(nDetected);
378+
vector<Point2f>imgPnts(nDetected);
379+
for(size_t i =0ull; i < nDetected; i++) {
380+
int pointId = detectedIds.getMat().at<int>((int)i);
381+
CV_Assert(pointId >=0 && pointId < (int)chessboardCorners.size());
382+
objPnts[i] = chessboardCorners[pointId];
383+
imgPnts[i] = detectedCharuco.getMat().at<Point2f>((int)i);
389384
}
385+
Mat(objPnts).copyTo(_objPoints);
386+
Mat(imgPnts).copyTo(imgPoints);
387+
}
388+
389+
voidCharucoBoard::matchImagePoints(InputArray detectedCharuco, InputArray detectedIds, OutputArray objPoints,
390+
OutputArray imgPoints)const {
391+
CV_Assert(this->impl);
392+
impl->matchImagePoints(detectedCharuco, detectedIds, objPoints, imgPoints);
390393
}
391394

392395
voidCharucoBoardImpl::generateImage(Size outSize, OutputArray img,int marginSize,int borderBits)const {

‎modules/objdetect/src/aruco/charuco_detector.cpp‎

Lines changed: 4 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -130,7 +130,8 @@ struct CharucoDetector::CharucoDetectorImpl {
130130
Mat approximatedRvec, approximatedTvec;
131131
Mat objPoints, imgPoints;// object and image points for the solvePnP function
132132
// printf("before board.matchImagePoints(markerCorners, markerIds, objPoints, imgPoints);\n");
133-
board.matchImagePoints(markerCorners, markerIds, objPoints, imgPoints);
133+
BoardsimpleBoard(board.getObjPoints(), board.getDictionary(), board.getIds());
134+
simpleBoard.matchImagePoints(markerCorners, markerIds, objPoints, imgPoints);
134135
// printf("after board.matchImagePoints(markerCorners, markerIds, objPoints, imgPoints);\n");
135136
if (objPoints.total() <4ull)// need, at least, 4 corners
136137
return;
@@ -292,7 +293,7 @@ void CharucoDetector::setRefineParameters(const RefineParameters& refineParamete
292293

293294
voidCharucoDetector::detectBoard(InputArray image, OutputArray charucoCorners, OutputArray charucoIds,
294295
InputOutputArrayOfArrays markerCorners, InputOutputArray markerIds)const {
295-
CV_Assert((markerCorners.empty() && markerIds.empty() && !image.empty()) || (markerCorners.size() == markerIds.size()));
296+
CV_Assert((markerCorners.empty() && markerIds.empty() && !image.empty()) || (markerCorners.total() == markerIds.total()));
296297
vector<vector<Point2f>> tmpMarkerCorners;
297298
vector<int> tmpMarkerIds;
298299
InputOutputArrayOfArrays _markerCorners = markerCorners.needed() ? markerCorners : tmpMarkerCorners;
@@ -321,7 +322,7 @@ void CharucoDetector::detectBoard(InputArray image, OutputArray charucoCorners,
321322
voidCharucoDetector::detectDiamonds(InputArray image, OutputArrayOfArrays _diamondCorners, OutputArray _diamondIds,
322323
InputOutputArrayOfArrays inMarkerCorners, InputOutputArrayOfArrays inMarkerIds)const {
323324
CV_Assert(getBoard().getChessboardSize() ==Size(3,3));
324-
CV_Assert((inMarkerCorners.empty() && inMarkerIds.empty() && !image.empty()) || (inMarkerCorners.size() == inMarkerIds.size()));
325+
CV_Assert((inMarkerCorners.empty() && inMarkerIds.empty() && !image.empty()) || (inMarkerCorners.total() == inMarkerIds.total()));
325326

326327
vector<vector<Point2f>> tmpMarkerCorners;
327328
vector<int> tmpMarkerIds;

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