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Add detect qr with aruco#23264

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f3d07b5
Add detect qr code with Aruco, add QRCodeDetectorBase, QRCodeDetector…
May 10, 2023
30e0bf3
move aruco params to pimpl, add setter/getter
May 15, 2023
958ef8f
add detect single qr code + fixes
May 17, 2023
a59425c
Extended QR code sample to support Aruco-based algorithm.
asmorkalovMay 17, 2023
fca3934
Code review fixes.
asmorkalovMay 17, 2023
1ec09d1
Restroed clone as analyzeFinderPatterns modfies user input.
asmorkalovMay 17, 2023
e964404
use inner class Params, add Params to objc ignore list
May 25, 2023
e02369b
removed ptr, add const ref to getter
May 25, 2023
b9d1942
fix Ptr, fix docs
May 26, 2023
e97cb72
Documentation fix
asmorkalovMay 29, 2023
866289e
add default construcor, update setter
May 30, 2023
8d8edc7
fixes
May 31, 2023
563c239
update setters
Jun 1, 2023
0c3ec4a
move decodeCurved to ImplContour
Jun 1, 2023
f2ff342
move detectAndDecodeCurved to ImplContour
Jun 1, 2023
c05217d
add CV_Assert(p), add std::dynamic_pointer_cast, add anonymous namesp…
Jun 2, 2023
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142 changes: 102 additions & 40 deletionsmodules/objdetect/include/opencv2/objdetect.hpp
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Original file line numberDiff line numberDiff line change
Expand Up@@ -45,6 +45,7 @@
#define OPENCV_OBJDETECT_HPP

#include "opencv2/core.hpp"
#include "opencv2/objdetect/aruco_detector.hpp"

/**
@defgroup objdetect Object Detection
Expand DownExpand Up@@ -763,28 +764,15 @@ class CV_EXPORTS_W QRCodeEncoder {

};

class CV_EXPORTS_W QRCodeDetector
{
class CV_EXPORTS_W_SIMPLE QRCodeDetectorBase {
public:
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As mentioned on team meetings, we have to followdnn:Model approach.

Constructors / destructors / assignment / move operators should be defined explicitly.
Also we should not have public default constructor (but we have issue with bindings - deprecation and comment should be on-place).

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@AleksandrPanovAleksandrPanovMay 31, 2023•
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added withdnn::Model style:
image

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//CV_DEPRECATED_EXTERNAL

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removed the comments

CV_WRAP QRCodeDetector();
~QRCodeDetector();
//CV_DEPRECATED_EXTERNAL // avoid using in C++ code, will be moved to "protected" (need to fix bindings first)
QRCodeDetectorBase();

/** @brief sets the epsilon used during the horizontal scan of QR code stop marker detection.
@param epsX Epsilon neighborhood, which allows you to determine the horizontal pattern
of the scheme 1:1:3:1:1 according to QR code standard.
*/
CV_WRAP void setEpsX(double epsX);
/** @brief sets the epsilon used during the vertical scan of QR code stop marker detection.
@param epsY Epsilon neighborhood, which allows you to determine the vertical pattern
of the scheme 1:1:3:1:1 according to QR code standard.
*/
CV_WRAP void setEpsY(double epsY);

/** @brief use markers to improve the position of the corners of the QR code
*
* alignmentMarkers using by default
*/
CV_WRAP void setUseAlignmentMarkers(bool useAlignmentMarkers);
QRCodeDetectorBase(const QRCodeDetectorBase&) = default;
QRCodeDetectorBase(QRCodeDetectorBase&&) = default;
QRCodeDetectorBase& operator=(const QRCodeDetectorBase&) = default;
QRCodeDetectorBase& operator=(QRCodeDetectorBase&&) = default;

/** @brief Detects QR code in image and returns the quadrangle containing the code.
@param img grayscale or color (BGR) image containing (or not) QR code.
Expand All@@ -801,15 +789,6 @@ class CV_EXPORTS_W QRCodeDetector
*/
CV_WRAP std::string decode(InputArray img, InputArray points, OutputArray straight_qrcode = noArray());

/** @brief Decodes QR code on a curved surface in image once it's found by the detect() method.

Returns UTF8-encoded output string or empty string if the code cannot be decoded.
@param img grayscale or color (BGR) image containing QR code.
@param points Quadrangle vertices found by detect() method (or some other algorithm).
@param straight_qrcode The optional output image containing rectified and binarized QR code
*/
CV_WRAP cv::String decodeCurved(InputArray img, InputArray points, OutputArray straight_qrcode = noArray());

/** @brief Both detects and decodes QR code

@param img grayscale or color (BGR) image containing QR code.
Expand All@@ -819,14 +798,6 @@ class CV_EXPORTS_W QRCodeDetector
CV_WRAP std::string detectAndDecode(InputArray img, OutputArray points=noArray(),
OutputArray straight_qrcode = noArray());

/** @brief Both detects and decodes QR code on a curved surface

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

/** @brief Detects QR codes in image and returns the vector of the quadrangles containing the codes.
@param img grayscale or color (BGR) image containing (or not) QR codes.
Expand DownExpand Up@@ -860,18 +831,109 @@ class CV_EXPORTS_W QRCodeDetector
OutputArray points = noArray(),
OutputArrayOfArrays straight_qrcode = noArray()
) const;

protected:
struct Impl;
protected:
Ptr<Impl> p;
};

class CV_EXPORTS_W_SIMPLE QRCodeDetector : public QRCodeDetectorBase
{
public:
CV_WRAP QRCodeDetector();

/** @brief sets the epsilon used during the horizontal scan of QR code stop marker detection.
@param epsX Epsilon neighborhood, which allows you to determine the horizontal pattern
of the scheme 1:1:3:1:1 according to QR code standard.
*/
CV_WRAP QRCodeDetector& setEpsX(double epsX);
/** @brief sets the epsilon used during the vertical scan of QR code stop marker detection.
@param epsY Epsilon neighborhood, which allows you to determine the vertical pattern
of the scheme 1:1:3:1:1 according to QR code standard.
*/
CV_WRAP QRCodeDetector& setEpsY(double epsY);

/** @brief use markers to improve the position of the corners of the QR code
*
* alignmentMarkers using by default
*/
CV_WRAP QRCodeDetector& setUseAlignmentMarkers(bool useAlignmentMarkers);

/** @brief Decodes QR code on a curved surface in image once it's found by the detect() method.

Returns UTF8-encoded output string or empty string if the code cannot be decoded.
@param img grayscale or color (BGR) image containing QR code.
@param points Quadrangle vertices found by detect() method (or some other algorithm).
@param straight_qrcode The optional output image containing rectified and binarized QR code
*/
CV_WRAP cv::String decodeCurved(InputArray img, InputArray points, OutputArray straight_qrcode = noArray());

/** @brief Both detects and decodes QR code on a curved surface

@param img grayscale or color (BGR) image containing QR code.
@param points optional output array of vertices of the found QR code quadrangle. Will be empty if not found.
@param straight_qrcode The optional output image containing rectified and binarized QR code
*/
CV_WRAP std::string detectAndDecodeCurved(InputArray img, OutputArray points=noArray(),
OutputArray straight_qrcode = noArray());
};

class CV_EXPORTS_W_SIMPLE QRCodeDetectorAruco : public QRCodeDetectorBase {
public:
CV_WRAP QRCodeDetectorAruco();

struct CV_EXPORTS_W_SIMPLE Params {
CV_WRAP Params();

/** @brief The minimum allowed pixel size of a QR module in the smallest image in the image pyramid, default 4.f */
CV_PROP_RW float minModuleSizeInPyramid;

/** @brief The maximum allowed relative rotation for finder patterns in the same QR code, default pi/12 */
CV_PROP_RW float maxRotation;

/** @brief The maximum allowed relative mismatch in module sizes for finder patterns in the same QR code, default 1.75f */
CV_PROP_RW float maxModuleSizeMismatch;

/** @brief The maximum allowed module relative mismatch for timing pattern module, default 2.f
*
* If relative mismatch of timing pattern module more this value, penalty points will be added.
* If a lot of penalty points are added, QR code will be rejected. */
CV_PROP_RW float maxTimingPatternMismatch;

/** @brief The maximum allowed percentage of penalty points out of total pins in timing pattern, default 0.4f */
CV_PROP_RW float maxPenalties;

/** @brief The maximum allowed relative color mismatch in the timing pattern, default 0.2f*/
CV_PROP_RW float maxColorsMismatch;

/** @brief The algorithm find QR codes with almost minimum timing pattern score and minimum size, default 0.9f
*
* The QR code with the minimum "timing pattern score" and minimum "size" is selected as the best QR code.
* If for the current QR code "timing pattern score" * scaleTimingPatternScore < "previous timing pattern score" and "size" < "previous size", then
* current QR code set as the best QR code. */
CV_PROP_RW float scaleTimingPatternScore;
};

/** @brief QR code detector constructor for Aruco-based algorithm. See cv::QRCodeDetectorAruco::Params */
CV_WRAP explicit QRCodeDetectorAruco(const QRCodeDetectorAruco::Params& params);

/** @brief Detector parameters getter. See cv::QRCodeDetectorAruco::Params */
CV_WRAP const QRCodeDetectorAruco::Params& getDetectorParameters() const;

/** @brief Detector parameters setter. See cv::QRCodeDetectorAruco::Params */
CV_WRAP QRCodeDetectorAruco& setDetectorParameters(const QRCodeDetectorAruco::Params& params);

/** @brief Aruco detector parameters are used to search for the finder patterns. */
CV_WRAP aruco::DetectorParameters getArucoParameters();

/** @brief Aruco detector parameters are used to search for the finder patterns. */
CV_WRAP void setArucoParameters(const aruco::DetectorParameters& params);
};

//! @}
}

#include "opencv2/objdetect/detection_based_tracker.hpp"
#include "opencv2/objdetect/face.hpp"
#include "opencv2/objdetect/aruco_detector.hpp"
#include "opencv2/objdetect/charuco_detector.hpp"

#endif
7 changes: 7 additions & 0 deletionsmodules/objdetect/misc/objc/gen_dict.json
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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,7 @@
{
"ManualFuncs" : {
"QRCodeDetectorAruco": {
"getDetectorParameters": {"declaration" : [""],"implementation" : [""] }
}
}
}
90 changes: 48 additions & 42 deletionsmodules/objdetect/perf/perf_qrcode_pipeline.cpp
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Original file line numberDiff line numberDiff line change
Expand Up@@ -3,6 +3,7 @@
// of this distribution and at http://opencv.org/license.html.

#include "perf_precomp.hpp"
#include "../test/test_qr_utils.hpp"

namespace opencv_test
{
Expand All@@ -23,7 +24,9 @@ PERF_TEST_P_(Perf_Objdetect_QRCode, detect)
std::vector< Point > corners;
QRCodeDetector qrcode;
TEST_CYCLE() ASSERT_TRUE(qrcode.detect(src, corners));
SANITY_CHECK(corners);
const int pixels_error = 3;
check_qr(root, name_current_image, "test_images", corners, {}, pixels_error);
SANITY_CHECK_NOTHING();
}

#ifdef HAVE_QUIRC
Expand All@@ -45,75 +48,79 @@ PERF_TEST_P_(Perf_Objdetect_QRCode, decode)
decoded_info = qrcode.decode(src, corners, straight_barcode);
ASSERT_FALSE(decoded_info.empty());
}

std::vector<uint8_t> decoded_info_uint8_t(decoded_info.begin(), decoded_info.end());
SANITY_CHECK(decoded_info_uint8_t);
SANITY_CHECK(straight_barcode);

const int pixels_error = 3;
check_qr(root, name_current_image, "test_images", corners, {decoded_info}, pixels_error);
SANITY_CHECK_NOTHING();
}
#endif

typedef ::perf::TestBaseWithParam<std::string> Perf_Objdetect_QRCode_Multi;
typedef ::perf::TestBaseWithParam<std::tuple<std::string, std::string>> Perf_Objdetect_QRCode_Multi;

static inline bool compareCorners(const Point2f& corner1, const Point2f& corner2) {
return corner1.x == corner2.x ? corner1.y < corner2.y : corner1.x < corner2.x;
}
static std::set<std::pair<std::string, std::string>> disabled_samples = {{"5_qrcodes.png", "aruco_based"}};

PERF_TEST_P_(Perf_Objdetect_QRCode_Multi, detectMulti)
{
const std::string name_current_image = GetParam();
const std::string name_current_image = get<0>(GetParam());
const std::string method = get<1>(GetParam());
const std::string root = "cv/qrcode/multiple/";

std::string image_path = findDataFile(root + name_current_image);
Mat src = imread(image_path);
ASSERT_FALSE(src.empty()) << "Can't read image: " << image_path;
std::vector<Point2f> corners;
QRCodeDetector qrcode;
std::vector<Point> corners;
QRCodeDetectorBase qrcode;
if (method == "aruco_based") {
qrcode = QRCodeDetectorAruco();
}
else {
qrcode = QRCodeDetector();
}
TEST_CYCLE() ASSERT_TRUE(qrcode.detectMulti(src, corners));
sort(corners.begin(), corners.end(), compareCorners);
SANITY_CHECK(corners);
}

static inline bool compareQR(const pair<string, Mat>& v1, const pair<string, Mat>& v2) {
return v1.first < v2.first;
const int pixels_error = 7;
check_qr(root, name_current_image, "multiple_images", corners, {}, pixels_error, true);
SANITY_CHECK_NOTHING();
}

#ifdef HAVE_QUIRC
PERF_TEST_P_(Perf_Objdetect_QRCode_Multi, decodeMulti)
{
const std::string name_current_image = GetParam();
const std::string name_current_image = get<0>(GetParam());
std::string method = get<1>(GetParam());
const std::string root = "cv/qrcode/multiple/";
std::string image_path = findDataFile(root + name_current_image);
Mat src = imread(image_path);
ASSERT_FALSE(src.empty()) << "Can't read image: " << image_path;
QRCodeDetector qrcode;
if (disabled_samples.find({name_current_image, method}) != disabled_samples.end()) {
throw SkipTestException(name_current_image + " is disabled sample for method " + method);
}
QRCodeDetectorBase qrcode;
if (method == "aruco_based") {
qrcode = QRCodeDetectorAruco();
}
else {
qrcode = QRCodeDetector();
}
std::vector<Point2f> corners;
ASSERT_TRUE(qrcode.detectMulti(src, corners));
std::vector<Mat> straight_barcode;
std::vector< cv::String > decoded_info;
TEST_CYCLE()
{
ASSERT_TRUE(qrcode.decodeMulti(src, corners, decoded_info, straight_barcode));
for(size_t i = 0; i < decoded_info.size(); i++)
{
ASSERT_FALSE(decoded_info[i].empty());
}
}
ASSERT_TRUE(decoded_info.size() > 0ull);
for(size_t i = 0; i <decoded_info.size(); i++) {
ASSERT_FALSE(decoded_info[i].empty());
}
ASSERT_EQ(decoded_info.size(), straight_barcode.size());
vector<pair<string, Mat> > result;
for (size_t i = 0ull;i <decoded_info.size(); i++) {
result.push_back(make_pair(decoded_info[i], straight_barcode[i]));
vector<Point> corners_result(corners.size());
for (size_t i = 0ull; i <corners_result.size(); i++) {
corners_result[i] = corners[i];
}

sort(result.begin(), result.end(), compareQR);
vector<vector<uint8_t> > decoded_info_sort;
vector<Mat> straight_barcode_sort;
for (size_t i = 0ull; i < result.size(); i++) {
vector<uint8_t> tmp(result[i].first.begin(), result[i].first.end());
decoded_info_sort.push_back(tmp);
straight_barcode_sort.push_back(result[i].second);
}
SANITY_CHECK(decoded_info_sort);
const int pixels_error = 7;
check_qr(root, name_current_image, "multiple_images", corners_result, decoded_info, pixels_error, true);
SANITY_CHECK_NOTHING();
}
#endif

Expand All@@ -127,11 +134,10 @@ INSTANTIATE_TEST_CASE_P(/*nothing*/, Perf_Objdetect_QRCode,
// version_5_right.jpg DISABLED after tile fix, PR #22025

INSTANTIATE_TEST_CASE_P(/*nothing*/, Perf_Objdetect_QRCode_Multi,
::testing::Values(
"2_qrcodes.png", "3_close_qrcodes.png", "3_qrcodes.png", "4_qrcodes.png",
"5_qrcodes.png", "6_qrcodes.png", "7_qrcodes.png", "8_close_qrcodes.png"
)
);
testing::Combine(testing::Values("2_qrcodes.png", "3_close_qrcodes.png", "3_qrcodes.png", "4_qrcodes.png",
"5_qrcodes.png", "6_qrcodes.png", "7_qrcodes.png", "8_close_qrcodes.png"),
testing::Values("contours_based", "aruco_based")));


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

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