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Commitb7b8183

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author
Alex
committed
fix drawDetectedCornersCharuco, drawDetectedMarkers, drawDetectedDiamonds added tests
1 parent757d296 commitb7b8183

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4 files changed

+101
-24
lines changed

4 files changed

+101
-24
lines changed

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

Lines changed: 48 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -394,5 +394,53 @@ def test_charuco_match_image_points(self):
394394
self.assertEqual(2,img_points.shape[2])
395395
np.testing.assert_array_equal(chessboard_corners,obj_points[:, :, :2].reshape(-1,2))
396396

397+
deftest_draw_detected_markers(self):
398+
detected_points= [[[0,0], [10,0], [10,10], [0,10]]]
399+
img=np.zeros((20,20),dtype=np.uint8)
400+
401+
points1=np.array(detected_points)
402+
img=cv.aruco.drawDetectedMarkers(img,points1,borderColor=255)
403+
# check that the marker borders are painted
404+
self.assertEqual(img[10,10],255)
405+
406+
img.fill(0)
407+
# add extra dimension in Python to create Nx4 Mat with 2 channels
408+
points2=np.array(detected_points).reshape(-1,4,1,2)
409+
img=cv.aruco.drawDetectedMarkers(img,points2,borderColor=255)
410+
# check that the marker borders are painted
411+
self.assertEqual(img[10,10],255)
412+
413+
deftest_draw_detected_charuco(self):
414+
detected_points= [[0,0], [10,0], [10,10], [0,10]]
415+
img=np.zeros((20,20),dtype=np.uint8)
416+
417+
points1=np.array(detected_points)
418+
img=cv.aruco.drawDetectedCornersCharuco(img,points1,cornerColor=255)
419+
# check that the charuco corners are painted
420+
self.assertTrue(np.max(img)>0)
421+
422+
img.fill(0)
423+
# add extra dimension in Python to create Nx4 Mat with 2 channels
424+
points2=np.array(detected_points).reshape(-1,1,2)
425+
img=cv.aruco.drawDetectedCornersCharuco(img,points2,cornerColor=255)
426+
# check that the charuco corners are painted
427+
self.assertTrue(np.max(img)>0)
428+
429+
deftest_draw_detected_diamonds(self):
430+
detected_points= [[[0,0], [10,0], [10,10], [0,10]]]
431+
img=np.zeros((20,20),dtype=np.uint8)
432+
433+
points1=np.array(detected_points)
434+
img=cv.aruco.drawDetectedDiamonds(img,points1,borderColor=255)
435+
# check that the diamonds corners are painted
436+
self.assertEqual(img[10,10],255)
437+
438+
img.fill(0)
439+
# add extra dimension in Python to create Nx4 Mat with 2 channels
440+
points2=np.array(detected_points).reshape(-1,4,1,2)
441+
img=cv.aruco.drawDetectedDiamonds(img,points2,borderColor=255)
442+
# check that the diamonds corners are painted
443+
self.assertEqual(img[10,10],255)
444+
397445
if__name__=='__main__':
398446
NewOpenCVTests.bootstrap()

‎modules/objdetect/src/aruco/aruco_detector.cpp‎

Lines changed: 10 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -1315,24 +1315,26 @@ void drawDetectedMarkers(InputOutputArray _image, InputArrayOfArrays _corners,
13151315
int nMarkers = (int)_corners.total();
13161316
for(int i =0; i < nMarkers; i++) {
13171317
Mat currentMarker = _corners.getMat(i);
1318-
CV_Assert(currentMarker.total() ==4 && currentMarker.type() == CV_32FC2);
1318+
CV_Assert(currentMarker.total() * currentMarker.channels() ==8 &&
1319+
(currentMarker.channels() ==2 || currentMarker.cols ==2));
1320+
currentMarker.convertTo(currentMarker, CV_32SC2);
13191321

13201322
// draw marker sides
13211323
for(int j =0; j <4; j++) {
1322-
Point2f p0, p1;
1323-
p0 = currentMarker.ptr<Point2f>(0)[j];
1324-
p1 = currentMarker.ptr<Point2f>(0)[(j +1) %4];
1324+
Point p0, p1;
1325+
p0 = currentMarker.ptr<Point>(0)[j];
1326+
p1 = currentMarker.ptr<Point>(0)[(j +1) %4];
13251327
line(_image, p0, p1, borderColor,1);
13261328
}
13271329
// draw first corner mark
1328-
rectangle(_image, currentMarker.ptr<Point2f>(0)[0] -Point2f(3,3),
1329-
currentMarker.ptr<Point2f>(0)[0] +Point2f(3,3), cornerColor,1, LINE_AA);
1330+
rectangle(_image, currentMarker.ptr<Point>(0)[0] -Point(3,3),
1331+
currentMarker.ptr<Point>(0)[0] +Point(3,3), cornerColor,1, LINE_AA);
13301332

13311333
// draw ID
13321334
if(_ids.total() !=0) {
1333-
Point2fcent(0,0);
1335+
Pointcent(0,0);
13341336
for(int p =0; p <4; p++)
1335-
cent += currentMarker.ptr<Point2f>(0)[p];
1337+
cent += currentMarker.ptr<Point>(0)[p];
13361338
cent = cent /4.;
13371339
stringstream s;
13381340
s <<"id=" << _ids.getMat().ptr<int>(0)[i];

‎modules/objdetect/src/aruco/charuco_detector.cpp‎

Lines changed: 24 additions & 16 deletions
Original file line numberDiff line numberDiff line change
@@ -507,20 +507,26 @@ void drawDetectedCornersCharuco(InputOutputArray _image, InputArray _charucoCorn
507507
InputArray _charucoIds, Scalar cornerColor) {
508508
CV_Assert(!_image.getMat().empty() &&
509509
(_image.getMat().channels() ==1 || _image.getMat().channels() ==3));
510-
CV_Assert((_charucoCorners.getMat().total() == _charucoIds.getMat().total()) ||
511-
_charucoIds.getMat().total() ==0);
512-
513-
size_t nCorners = _charucoCorners.getMat().total();
510+
CV_Assert((_charucoCorners.total() == _charucoIds.total()) ||
511+
_charucoIds.total() ==0);
512+
CV_Assert(_charucoCorners.channels() ==2 || _charucoCorners.cols() ==2);
513+
514+
Mat charucoCorners;
515+
_charucoCorners.getMat().convertTo(charucoCorners, CV_32SC2);
516+
Mat charucoIds;
517+
if (!_charucoIds.empty())
518+
charucoIds = _charucoIds.getMat();
519+
size_t nCorners = charucoCorners.total();
514520
for(size_t i =0; i < nCorners; i++) {
515-
Point2f corner =_charucoCorners.getMat().at<Point2f>((int)i);
521+
Point corner =charucoCorners.at<Point>((int)i);
516522
// draw first corner mark
517-
rectangle(_image, corner -Point2f(3,3), corner +Point2f(3,3), cornerColor,1, LINE_AA);
523+
rectangle(_image, corner -Point(3,3), corner +Point(3,3), cornerColor,1, LINE_AA);
518524
// draw ID
519525
if(!_charucoIds.empty()) {
520-
int id =_charucoIds.getMat().at<int>((int)i);
526+
int id =charucoIds.at<int>((int)i);
521527
stringstream s;
522528
s <<"id=" << id;
523-
putText(_image, s.str(), corner +Point2f(5, -5), FONT_HERSHEY_SIMPLEX,0.5,
529+
putText(_image, s.str(), corner +Point(5, -5), FONT_HERSHEY_SIMPLEX,0.5,
524530
cornerColor,2);
525531
}
526532
}
@@ -540,25 +546,27 @@ void drawDetectedDiamonds(InputOutputArray _image, InputArrayOfArrays _corners,
540546
int nMarkers = (int)_corners.total();
541547
for(int i =0; i < nMarkers; i++) {
542548
Mat currentMarker = _corners.getMat(i);
543-
CV_Assert(currentMarker.total() ==4 && currentMarker.type() == CV_32FC2);
549+
CV_Assert(currentMarker.total()*currentMarker.channels() ==8
550+
&& (currentMarker.channels() ==2 || currentMarker.cols ==2));
551+
currentMarker.convertTo(currentMarker, CV_32SC2);
544552

545553
// draw marker sides
546554
for(int j =0; j <4; j++) {
547-
Point2f p0, p1;
548-
p0 = currentMarker.at< Point2f>(j);
549-
p1 = currentMarker.at< Point2f>((j +1) %4);
555+
Point p0, p1;
556+
p0 = currentMarker.at<Point>(j);
557+
p1 = currentMarker.at<Point>((j +1) %4);
550558
line(_image, p0, p1, borderColor,1);
551559
}
552560

553561
// draw first corner mark
554-
rectangle(_image, currentMarker.at< Point2f>(0) -Point2f(3,3),
555-
currentMarker.at< Point2f>(0) +Point2f(3,3), cornerColor,1, LINE_AA);
562+
rectangle(_image, currentMarker.at<Point>(0) -Point(3,3),
563+
currentMarker.at<Point>(0) +Point(3,3), cornerColor,1, LINE_AA);
556564

557565
// draw id composed by four numbers
558566
if(_ids.total() !=0) {
559-
Point2fcent(0,0);
567+
Pointcent(0,0);
560568
for(int p =0; p <4; p++)
561-
cent += currentMarker.at< Point2f>(p);
569+
cent += currentMarker.at<Point>(p);
562570
cent = cent /4.;
563571
stringstream s;
564572
s <<"id=" << _ids.getMat().at< Vec4i >(i);

‎modules/objdetect/test/test_charucodetection.cpp‎

Lines changed: 19 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -689,6 +689,25 @@ TEST(Charuco, testmatchImagePoints)
689689
}
690690
}
691691

692+
TEST(Charuco, testDrawDetected) {
693+
vector<vector<Point2f>> detected_float = {{Point2f(0.f,0.f),Point2f(10.f,0.f),Point2f(10.f,10.f),Point2f(0.f,10.f)}};
694+
vector<vector<Point2d>> detected_double = {{Point2d(0.,0.),Point2d(10.,0.),Point2d(10.,10.),Point2d(0.,10.)}};
695+
vector<vector<Point2d>> detected_int = {{Point(0,0),Point(10,0),Point2d(10,10),Point2d(0,10)}};
696+
Mat img =Mat::zeros(20,20, CV_8UC1);
697+
698+
EXPECT_NO_THROW(aruco::drawDetectedMarkers(img, detected_float));
699+
EXPECT_NO_THROW(aruco::drawDetectedCornersCharuco(img, detected_float[0]));
700+
EXPECT_NO_THROW(aruco::drawDetectedDiamonds(img, detected_float));
701+
702+
EXPECT_NO_THROW(aruco::drawDetectedMarkers(img, detected_double));
703+
EXPECT_NO_THROW(aruco::drawDetectedCornersCharuco(img, detected_double[0]));
704+
EXPECT_NO_THROW(aruco::drawDetectedDiamonds(img, detected_double));
705+
706+
EXPECT_NO_THROW(aruco::drawDetectedMarkers(img, detected_int));
707+
EXPECT_NO_THROW(aruco::drawDetectedCornersCharuco(img, detected_int[0]));
708+
EXPECT_NO_THROW(aruco::drawDetectedDiamonds(img, detected_int));
709+
}
710+
692711
typedef testing::TestWithParam<cv::Size> CharucoBoard;
693712
INSTANTIATE_TEST_CASE_P(/**/, CharucoBoard, testing::Values(Size(3,2), Size(3,2), Size(6,2), Size(2,6),
694713
Size(3,4), Size(4,3), Size(7,3), Size(3,7)));

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