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Commit9fa014e

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author
Alexander Panov
authored
Merge pull request#23264 from AleksandrPanov:add_detect_qr_with_aruco
Add detect qr with aruco#23264Using Aruco to detect finder patterns to search QR codes.TODO (in next PR):- add single QR detect (update `detect()` and `detectAndDecode()`)- need reduce full enumeration of finder patterns- need add finder pattern info to `decode` step- need to merge the pipeline of the old and new algorithm[Current results:](https://docs.google.com/spreadsheets/d/1ufKyR-Zs-IGXwvqPgftssmTlceVjiQX364sbrjr2QU8/edit#gid=1192415584)+20% total detect, +8% total decode in OpenCV [QR benchmark](https://github.com/opencv/opencv_benchmarks/tree/develop/python_benchmarks/qr_codes) ![res1](https://user-images.githubusercontent.com/22337800/231228556-191d3eae-a318-44e1-af99-e7d420bf6248.png)78.4% detect, 58.7% decode vs 58.5 detect, 50.5% decode in default[main.py.txt](https://github.com/opencv/opencv/files/10762369/main.py.txt)![res2](https://user-images.githubusercontent.com/22337800/231229123-ed7f1eda-159a-444b-a3ff-f107d8eb4a20.png)add new info to [google docs](https://docs.google.com/spreadsheets/d/1ufKyR-Zs-IGXwvqPgftssmTlceVjiQX364sbrjr2QU8/edit?usp=sharing)### Pull Request Readiness ChecklistSee details athttps://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- [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name.- [ ] The feature is well documented and sample code can be built with the project CMake
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‎modules/objdetect/include/opencv2/objdetect.hpp‎

Lines changed: 104 additions & 42 deletions
Original file line numberDiff line numberDiff line change
@@ -45,6 +45,7 @@
4545
#defineOPENCV_OBJDETECT_HPP
4646

4747
#include"opencv2/core.hpp"
48+
#include"opencv2/objdetect/aruco_detector.hpp"
4849

4950
/**
5051
@defgroup objdetect Object Detection
@@ -763,28 +764,15 @@ class CV_EXPORTS_W QRCodeEncoder {
763764

764765
};
765766

766-
classCV_EXPORTS_W QRCodeDetector
767-
{
767+
classCV_EXPORTS_W_SIMPLE QRCodeDetectorBase {
768768
public:
769-
CV_WRAPQRCodeDetector();
770-
~QRCodeDetector();
769+
CV_DEPRECATED_EXTERNAL// avoid using in C++ code, will be moved to "protected" (need to fix bindings first)
770+
QRCodeDetectorBase();
771771

772-
/** @brief sets the epsilon used during the horizontal scan of QR code stop marker detection.
773-
@param epsX Epsilon neighborhood, which allows you to determine the horizontal pattern
774-
of the scheme 1:1:3:1:1 according to QR code standard.
775-
*/
776-
CV_WRAPvoidsetEpsX(double epsX);
777-
/** @brief sets the epsilon used during the vertical scan of QR code stop marker detection.
778-
@param epsY Epsilon neighborhood, which allows you to determine the vertical pattern
779-
of the scheme 1:1:3:1:1 according to QR code standard.
780-
*/
781-
CV_WRAPvoidsetEpsY(double epsY);
782-
783-
/** @brief use markers to improve the position of the corners of the QR code
784-
*
785-
* alignmentMarkers using by default
786-
*/
787-
CV_WRAPvoidsetUseAlignmentMarkers(bool useAlignmentMarkers);
772+
QRCodeDetectorBase(const QRCodeDetectorBase&) =default;
773+
QRCodeDetectorBase(QRCodeDetectorBase&&) =default;
774+
QRCodeDetectorBase&operator=(const QRCodeDetectorBase&) =default;
775+
QRCodeDetectorBase&operator=(QRCodeDetectorBase&&) =default;
788776

789777
/** @brief Detects QR code in image and returns the quadrangle containing the code.
790778
@param img grayscale or color (BGR) image containing (or not) QR code.
@@ -799,16 +787,7 @@ class CV_EXPORTS_W QRCodeDetector
799787
@param points Quadrangle vertices found by detect() method (or some other algorithm).
800788
@param straight_qrcode The optional output image containing rectified and binarized QR code
801789
*/
802-
CV_WRAP std::stringdecode(InputArray img, InputArray points, OutputArray straight_qrcode = noArray());
803-
804-
/** @brief Decodes QR code on a curved surface in image once it's found by the detect() method.
805-
806-
Returns UTF8-encoded output string or empty string if the code cannot be decoded.
807-
@param img grayscale or color (BGR) image containing QR code.
808-
@param points Quadrangle vertices found by detect() method (or some other algorithm).
809-
@param straight_qrcode The optional output image containing rectified and binarized QR code
810-
*/
811-
CV_WRAP cv::StringdecodeCurved(InputArray img, InputArray points, OutputArray straight_qrcode = noArray());
790+
CV_WRAP std::stringdecode(InputArray img, InputArray points, OutputArray straight_qrcode = noArray())const;
812791

813792
/** @brief Both detects and decodes QR code
814793
@@ -817,16 +796,8 @@ class CV_EXPORTS_W QRCodeDetector
817796
@param straight_qrcode The optional output image containing rectified and binarized QR code
818797
*/
819798
CV_WRAP std::stringdetectAndDecode(InputArray img, OutputArray points=noArray(),
820-
OutputArray straight_qrcode = noArray());
821-
822-
/** @brief Both detects and decodes QR code on a curved surface
799+
OutputArray straight_qrcode = noArray())const;
823800

824-
@param img grayscale or color (BGR) image containing QR code.
825-
@param points optional output array of vertices of the found QR code quadrangle. Will be empty if not found.
826-
@param straight_qrcode The optional output image containing rectified and binarized QR code
827-
*/
828-
CV_WRAP std::stringdetectAndDecodeCurved(InputArray img, OutputArray points=noArray(),
829-
OutputArray straight_qrcode = noArray());
830801

831802
/** @brief Detects QR codes in image and returns the vector of the quadrangles containing the codes.
832803
@param img grayscale or color (BGR) image containing (or not) QR codes.
@@ -860,18 +831,109 @@ class CV_EXPORTS_W QRCodeDetector
860831
OutputArray points = noArray(),
861832
OutputArrayOfArrays straight_qrcode = noArray()
862833
)const;
863-
864-
protected:
865834
structImpl;
835+
protected:
866836
Ptr<Impl> p;
867837
};
868838

839+
classCV_EXPORTS_W_SIMPLE QRCodeDetector : public QRCodeDetectorBase
840+
{
841+
public:
842+
CV_WRAPQRCodeDetector();
843+
844+
/** @brief sets the epsilon used during the horizontal scan of QR code stop marker detection.
845+
@param epsX Epsilon neighborhood, which allows you to determine the horizontal pattern
846+
of the scheme 1:1:3:1:1 according to QR code standard.
847+
*/
848+
CV_WRAP QRCodeDetector&setEpsX(double epsX);
849+
/** @brief sets the epsilon used during the vertical scan of QR code stop marker detection.
850+
@param epsY Epsilon neighborhood, which allows you to determine the vertical pattern
851+
of the scheme 1:1:3:1:1 according to QR code standard.
852+
*/
853+
CV_WRAP QRCodeDetector&setEpsY(double epsY);
854+
855+
/** @brief use markers to improve the position of the corners of the QR code
856+
*
857+
* alignmentMarkers using by default
858+
*/
859+
CV_WRAP QRCodeDetector&setUseAlignmentMarkers(bool useAlignmentMarkers);
860+
861+
/** @brief Decodes QR code on a curved surface in image once it's found by the detect() method.
862+
863+
Returns UTF8-encoded output string or empty string if the code cannot be decoded.
864+
@param img grayscale or color (BGR) image containing QR code.
865+
@param points Quadrangle vertices found by detect() method (or some other algorithm).
866+
@param straight_qrcode The optional output image containing rectified and binarized QR code
867+
*/
868+
CV_WRAP cv::StringdecodeCurved(InputArray img, InputArray points, OutputArray straight_qrcode = noArray());
869+
870+
/** @brief Both detects and decodes QR code on a curved surface
871+
872+
@param img grayscale or color (BGR) image containing QR code.
873+
@param points optional output array of vertices of the found QR code quadrangle. Will be empty if not found.
874+
@param straight_qrcode The optional output image containing rectified and binarized QR code
875+
*/
876+
CV_WRAP std::stringdetectAndDecodeCurved(InputArray img, OutputArray points=noArray(),
877+
OutputArray straight_qrcode = noArray());
878+
};
879+
880+
classCV_EXPORTS_W_SIMPLE QRCodeDetectorAruco : public QRCodeDetectorBase {
881+
public:
882+
CV_WRAPQRCodeDetectorAruco();
883+
884+
structCV_EXPORTS_W_SIMPLE Params {
885+
CV_WRAPParams();
886+
887+
/** @brief The minimum allowed pixel size of a QR module in the smallest image in the image pyramid, default 4.f*/
888+
CV_PROP_RWfloat minModuleSizeInPyramid;
889+
890+
/** @brief The maximum allowed relative rotation for finder patterns in the same QR code, default pi/12*/
891+
CV_PROP_RWfloat maxRotation;
892+
893+
/** @brief The maximum allowed relative mismatch in module sizes for finder patterns in the same QR code, default 1.75f*/
894+
CV_PROP_RWfloat maxModuleSizeMismatch;
895+
896+
/** @brief The maximum allowed module relative mismatch for timing pattern module, default 2.f
897+
*
898+
* If relative mismatch of timing pattern module more this value, penalty points will be added.
899+
* If a lot of penalty points are added, QR code will be rejected.*/
900+
CV_PROP_RWfloat maxTimingPatternMismatch;
901+
902+
/** @brief The maximum allowed percentage of penalty points out of total pins in timing pattern, default 0.4f*/
903+
CV_PROP_RWfloat maxPenalties;
904+
905+
/** @brief The maximum allowed relative color mismatch in the timing pattern, default 0.2f*/
906+
CV_PROP_RWfloat maxColorsMismatch;
907+
908+
/** @brief The algorithm find QR codes with almost minimum timing pattern score and minimum size, default 0.9f
909+
*
910+
* The QR code with the minimum "timing pattern score" and minimum "size" is selected as the best QR code.
911+
* If for the current QR code "timing pattern score" * scaleTimingPatternScore < "previous timing pattern score" and "size" < "previous size", then
912+
* current QR code set as the best QR code.*/
913+
CV_PROP_RWfloat scaleTimingPatternScore;
914+
};
915+
916+
/** @brief QR code detector constructor for Aruco-based algorithm. See cv::QRCodeDetectorAruco::Params*/
917+
CV_WRAPexplicitQRCodeDetectorAruco(const QRCodeDetectorAruco::Params& params);
918+
919+
/** @brief Detector parameters getter. See cv::QRCodeDetectorAruco::Params*/
920+
CV_WRAPconst QRCodeDetectorAruco::Params&getDetectorParameters()const;
921+
922+
/** @brief Detector parameters setter. See cv::QRCodeDetectorAruco::Params*/
923+
CV_WRAP QRCodeDetectorAruco&setDetectorParameters(const QRCodeDetectorAruco::Params& params);
924+
925+
/** @brief Aruco detector parameters are used to search for the finder patterns.*/
926+
CV_WRAP aruco::DetectorParametersgetArucoParameters();
927+
928+
/** @brief Aruco detector parameters are used to search for the finder patterns.*/
929+
CV_WRAPvoidsetArucoParameters(const aruco::DetectorParameters& params);
930+
};
931+
869932
//! @}
870933
}
871934

872935
#include"opencv2/objdetect/detection_based_tracker.hpp"
873936
#include"opencv2/objdetect/face.hpp"
874-
#include"opencv2/objdetect/aruco_detector.hpp"
875937
#include"opencv2/objdetect/charuco_detector.hpp"
876938

877939
#endif
Lines changed: 7 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,7 @@
1+
{
2+
"ManualFuncs" : {
3+
"QRCodeDetectorAruco": {
4+
"getDetectorParameters": {"declaration" : [""],"implementation" : [""] }
5+
}
6+
}
7+
}

‎modules/objdetect/perf/perf_qrcode_pipeline.cpp‎

Lines changed: 42 additions & 42 deletions
Original file line numberDiff line numberDiff line change
@@ -3,6 +3,7 @@
33
// of this distribution and at http://opencv.org/license.html.
44

55
#include"perf_precomp.hpp"
6+
#include"../test/test_qr_utils.hpp"
67

78
namespaceopencv_test
89
{
@@ -23,7 +24,9 @@ PERF_TEST_P_(Perf_Objdetect_QRCode, detect)
2324
std::vector< Point > corners;
2425
QRCodeDetector qrcode;
2526
TEST_CYCLE()ASSERT_TRUE(qrcode.detect(src, corners));
26-
SANITY_CHECK(corners);
27+
constint pixels_error =3;
28+
check_qr(root, name_current_image,"test_images", corners, {}, pixels_error);
29+
SANITY_CHECK_NOTHING();
2730
}
2831

2932
#ifdef HAVE_QUIRC
@@ -45,75 +48,73 @@ PERF_TEST_P_(Perf_Objdetect_QRCode, decode)
4548
decoded_info = qrcode.decode(src, corners, straight_barcode);
4649
ASSERT_FALSE(decoded_info.empty());
4750
}
48-
49-
std::vector<uint8_t>decoded_info_uint8_t(decoded_info.begin(), decoded_info.end());
50-
SANITY_CHECK(decoded_info_uint8_t);
51-
SANITY_CHECK(straight_barcode);
52-
51+
constint pixels_error =3;
52+
check_qr(root, name_current_image,"test_images", corners, {decoded_info}, pixels_error);
53+
SANITY_CHECK_NOTHING();
5354
}
5455
#endif
5556

56-
typedef ::perf::TestBaseWithParam<std::string> Perf_Objdetect_QRCode_Multi;
57+
typedef ::perf::TestBaseWithParam<std::tuple<std::string, std::string>> Perf_Objdetect_QRCode_Multi;
5758

58-
staticinlineboolcompareCorners(const Point2f& corner1,const Point2f& corner2) {
59-
return corner1.x == corner2.x ? corner1.y < corner2.y : corner1.x < corner2.x;
60-
}
59+
static std::set<std::pair<std::string, std::string>> disabled_samples = {{"5_qrcodes.png","aruco_based"}};
6160

6261
PERF_TEST_P_(Perf_Objdetect_QRCode_Multi, detectMulti)
6362
{
64-
const std::string name_current_image =GetParam();
63+
const std::string name_current_image = get<0>(GetParam());
64+
const std::string method = get<1>(GetParam());
6565
const std::string root ="cv/qrcode/multiple/";
6666

6767
std::string image_path =findDataFile(root + name_current_image);
6868
Mat src =imread(image_path);
6969
ASSERT_FALSE(src.empty()) <<"Can't read image:" << image_path;
70-
std::vector<Point2f> corners;
71-
QRCodeDetector qrcode;
70+
std::vector<Point> corners;
71+
QRCodeDetectorBase qrcode =QRCodeDetector();
72+
if (method =="aruco_based") {
73+
qrcode =QRCodeDetectorAruco();
74+
}
7275
TEST_CYCLE()ASSERT_TRUE(qrcode.detectMulti(src, corners));
73-
sort(corners.begin(), corners.end(), compareCorners);
74-
SANITY_CHECK(corners);
75-
}
76-
77-
staticinlineboolcompareQR(const pair<string, Mat>& v1,const pair<string, Mat>& v2) {
78-
return v1.first < v2.first;
76+
constint pixels_error =7;
77+
check_qr(root, name_current_image,"multiple_images", corners, {}, pixels_error,true);
78+
SANITY_CHECK_NOTHING();
7979
}
8080

8181
#ifdef HAVE_QUIRC
8282
PERF_TEST_P_(Perf_Objdetect_QRCode_Multi, decodeMulti)
8383
{
84-
const std::string name_current_image =GetParam();
84+
const std::string name_current_image = get<0>(GetParam());
85+
std::string method = get<1>(GetParam());
8586
const std::string root ="cv/qrcode/multiple/";
8687
std::string image_path =findDataFile(root + name_current_image);
8788
Mat src =imread(image_path);
8889
ASSERT_FALSE(src.empty()) <<"Can't read image:" << image_path;
89-
QRCodeDetector qrcode;
90+
if (disabled_samples.find({name_current_image, method}) != disabled_samples.end()) {
91+
throwSkipTestException(name_current_image +" is disabled sample for method" + method);
92+
}
93+
QRCodeDetectorBase qrcode =QRCodeDetector();
94+
if (method =="aruco_based") {
95+
qrcode =QRCodeDetectorAruco();
96+
}
9097
std::vector<Point2f> corners;
9198
ASSERT_TRUE(qrcode.detectMulti(src, corners));
9299
std::vector<Mat> straight_barcode;
93100
std::vector< cv::String > decoded_info;
94101
TEST_CYCLE()
95102
{
96103
ASSERT_TRUE(qrcode.decodeMulti(src, corners, decoded_info, straight_barcode));
97-
for(size_t i =0; i < decoded_info.size(); i++)
98-
{
99-
ASSERT_FALSE(decoded_info[i].empty());
100-
}
104+
}
105+
ASSERT_TRUE(decoded_info.size() >0ull);
106+
for(size_t i =0; i <decoded_info.size(); i++) {
107+
ASSERT_FALSE(decoded_info[i].empty());
101108
}
102109
ASSERT_EQ(decoded_info.size(), straight_barcode.size());
103-
vector<pair<string, Mat> > result;
104-
for (size_t i =0ull;i <decoded_info.size(); i++) {
105-
result.push_back(make_pair(decoded_info[i], straight_barcode[i]));
110+
vector<Point>corners_result(corners.size());
111+
for (size_t i =0ull; i <corners_result.size(); i++) {
112+
corners_result[i] = corners[i];
106113
}
107114

108-
sort(result.begin(), result.end(), compareQR);
109-
vector<vector<uint8_t> > decoded_info_sort;
110-
vector<Mat> straight_barcode_sort;
111-
for (size_t i =0ull; i < result.size(); i++) {
112-
vector<uint8_t>tmp(result[i].first.begin(), result[i].first.end());
113-
decoded_info_sort.push_back(tmp);
114-
straight_barcode_sort.push_back(result[i].second);
115-
}
116-
SANITY_CHECK(decoded_info_sort);
115+
constint pixels_error =7;
116+
check_qr(root, name_current_image,"multiple_images", corners_result, decoded_info, pixels_error,true);
117+
SANITY_CHECK_NOTHING();
117118
}
118119
#endif
119120

@@ -127,11 +128,10 @@ INSTANTIATE_TEST_CASE_P(/*nothing*/, Perf_Objdetect_QRCode,
127128
// version_5_right.jpg DISABLED after tile fix, PR #22025
128129

129130
INSTANTIATE_TEST_CASE_P(/*nothing*/, Perf_Objdetect_QRCode_Multi,
130-
::testing::Values(
131-
"2_qrcodes.png","3_close_qrcodes.png","3_qrcodes.png","4_qrcodes.png",
132-
"5_qrcodes.png","6_qrcodes.png","7_qrcodes.png","8_close_qrcodes.png"
133-
)
134-
);
131+
testing::Combine(testing::Values("2_qrcodes.png","3_close_qrcodes.png","3_qrcodes.png","4_qrcodes.png",
132+
"5_qrcodes.png","6_qrcodes.png","7_qrcodes.png","8_close_qrcodes.png"),
133+
testing::Values("contours_based","aruco_based")));
134+
135135

136136
typedef ::perf::TestBaseWithParam< tuple< std::string, Size > > Perf_Objdetect_Not_QRCode;
137137

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