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Commitfd4af21

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author
Alex
committed
add dynamic window in aruco cornerRefinement
1 parent4e60392 commitfd4af21

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2 files changed

+47
-9
lines changed

2 files changed

+47
-9
lines changed

‎modules/objdetect/include/opencv2/objdetect/aruco_detector.hpp‎

Lines changed: 20 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -36,6 +36,7 @@ struct CV_EXPORTS_W_SIMPLE DetectorParameters {
3636
minMarkerDistanceRate =0.05;
3737
cornerRefinementMethod = (int)CORNER_REFINE_NONE;
3838
cornerRefinementWinSize =5;
39+
relativeCornerRefinmentWinSize =0.3f;
3940
cornerRefinementMaxIterations =30;
4041
cornerRefinementMinAccuracy =0.1;
4142
markerBorderBits =1;
@@ -108,9 +109,27 @@ struct CV_EXPORTS_W_SIMPLE DetectorParameters {
108109
/** @brief default value CORNER_REFINE_NONE*/
109110
CV_PROP_RWint cornerRefinementMethod;
110111

111-
/// window size for the corner refinement process (in pixels) (default 5).
112+
/** @brief maximum window size for the corner refinement process (in pixels) (default 5).
113+
*
114+
* The window size may decrease if the ArUco marker is too small, check relativeCornerRefinmentWinSize.
115+
* The final window size is calculated as:
116+
* min(cornerRefinementWinSize, averageArucoModuleSize*relativeCornerRefinmentWinSize),
117+
* where averageArucoModuleSize is average module size of ArUco marker in pixels.
118+
* (ArUco marker is composed of black and white modules)
119+
*/
112120
CV_PROP_RWint cornerRefinementWinSize;
113121

122+
/** @brief Dynamic window size for corner refinement relative to Aruco module size (default 0.3).
123+
*
124+
* The final window size is calculated as:
125+
* min(cornerRefinementWinSize, averageArucoModuleSize*relativeCornerRefinmentWinSize),
126+
* where averageArucoModuleSize is average module size of ArUco marker in pixels.
127+
* (ArUco marker is composed of black and white modules)
128+
* In the case of markers located far from each other, it may be useful to increase the value of the parameter to 0.4-0.5.
129+
* In the case of markers located close to each other, it may be useful to decrease the parameter value to 0.1-0.2.
130+
*/
131+
CV_PROP_RWfloat relativeCornerRefinmentWinSize;
132+
114133
/// maximum number of iterations for stop criteria of the corner refinement process (default 30).
115134
CV_PROP_RWint cornerRefinementMaxIterations;
116135

‎modules/objdetect/src/aruco/aruco_detector.cpp‎

Lines changed: 27 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -35,6 +35,8 @@ static inline bool readWrite(DetectorParameters &params, const FileNode* readNod
3535
check |=readWriteParameter("minMarkerDistanceRate", params.minMarkerDistanceRate, readNode, writeStorage);
3636
check |=readWriteParameter("cornerRefinementMethod", params.cornerRefinementMethod, readNode, writeStorage);
3737
check |=readWriteParameter("cornerRefinementWinSize", params.cornerRefinementWinSize, readNode, writeStorage);
38+
check |=readWriteParameter("relativeCornerRefinmentWinSize", params.relativeCornerRefinmentWinSize, readNode,
39+
writeStorage);
3840
check |=readWriteParameter("cornerRefinementMaxIterations", params.cornerRefinementMaxIterations,
3941
readNode, writeStorage);
4042
check |=readWriteParameter("cornerRefinementMinAccuracy", params.cornerRefinementMinAccuracy,
@@ -847,6 +849,16 @@ struct ArucoDetector::ArucoDetectorImpl {
847849
const RefineParameters& _refineParams): dictionary(_dictionary),
848850
detectorParams(_detectorParams), refineParams(_refineParams) {}
849851

852+
floatgetAverageArucoPinSize(vector<Point2f> markerCorners) {
853+
float averageArucoModuleSize =0.f;
854+
int numPins = dictionary.markerSize + detectorParams.markerBorderBits *2;
855+
for (size_t i =0ull; i < markerCorners.size(); i++) {
856+
averageArucoModuleSize +=sqrt(normL2Sqr<float>(Point2f(markerCorners[i] - markerCorners[(i+1ull)%markerCorners.size()])));
857+
}
858+
averageArucoModuleSize /= ((float)markerCorners.size()*numPins);
859+
return averageArucoModuleSize;
860+
}
861+
850862
};
851863

852864
ArucoDetector::ArucoDetector(const Dictionary &_dictionary,
@@ -951,13 +963,15 @@ void ArucoDetector::detectMarkers(InputArray _image, OutputArrayOfArrays _corner
951963
constfloat scale_init = (float) grey_pyramid[closest_pyr_image_idx].cols / grey.cols;
952964
findCornerInPyrImage(scale_init, closest_pyr_image_idx, grey_pyramid,Mat(candidates[i]), detectorParams);
953965
}
954-
else
955-
cornerSubPix(grey,Mat(candidates[i]),
956-
Size(detectorParams.cornerRefinementWinSize, detectorParams.cornerRefinementWinSize),
957-
Size(-1, -1),
958-
TermCriteria(TermCriteria::MAX_ITER | TermCriteria::EPS,
959-
detectorParams.cornerRefinementMaxIterations,
960-
detectorParams.cornerRefinementMinAccuracy));
966+
else {
967+
int cornerRefinementWinSize =std::max(1,cvRound(detectorParams.relativeCornerRefinmentWinSize*
968+
arucoDetectorImpl->getAverageArucoPinSize(candidates[i])));
969+
cornerRefinementWinSize =min(cornerRefinementWinSize, detectorParams.cornerRefinementWinSize);
970+
cornerSubPix(grey,Mat(candidates[i]),Size(cornerRefinementWinSize, cornerRefinementWinSize),Size(-1, -1),
971+
TermCriteria(TermCriteria::MAX_ITER | TermCriteria::EPS,
972+
detectorParams.cornerRefinementMaxIterations,
973+
detectorParams.cornerRefinementMinAccuracy));
974+
}
961975
}
962976
});
963977
}
@@ -1223,8 +1237,13 @@ void ArucoDetector::refineDetectedMarkers(InputArray _image, const Board& _board
12231237
CV_Assert(detectorParams.cornerRefinementWinSize >0 &&
12241238
detectorParams.cornerRefinementMaxIterations >0 &&
12251239
detectorParams.cornerRefinementMinAccuracy >0);
1240+
1241+
std::vector<Point2f>marker(closestRotatedMarker.begin<Point2f>(), closestRotatedMarker.end<Point2f>());
1242+
int cornerRefinementWinSize =std::max(1,cvRound(detectorParams.relativeCornerRefinmentWinSize*
1243+
arucoDetectorImpl->getAverageArucoPinSize(marker)));
1244+
cornerRefinementWinSize =min(cornerRefinementWinSize, detectorParams.cornerRefinementWinSize);
12261245
cornerSubPix(grey, closestRotatedMarker,
1227-
Size(detectorParams.cornerRefinementWinSize,detectorParams.cornerRefinementWinSize),
1246+
Size(cornerRefinementWinSize, cornerRefinementWinSize),
12281247
Size(-1, -1),TermCriteria(TermCriteria::MAX_ITER | TermCriteria::EPS,
12291248
detectorParams.cornerRefinementMaxIterations,
12301249
detectorParams.cornerRefinementMinAccuracy));

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