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Update ArUco tutorial#3126

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@AleksandrPanov
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@AleksandrPanovAleksandrPanov commentedDec 2, 2021•
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Some ArUco tutorial examples (Detection of ArUco Boards and Detection of ChArUco Corners) aren't reproduced:

  • gboriginal.png // need custom dictionary to detect markers
  • choriginal.png // need custom dictionary and custom board configuration to detect markers
  • diamondmarkers.png // need custom dictionary and custom detector parameters to detect all markers

This PR:

  • fix detection ofgboriginal.png anddiamondmarkers.png by using custom dictionary fromoriginal lib (filetutorial_dict.yml) and custom detector parameters (the required flags have been added to the examples).
  • detection ofchoriginal.png can't be fixed easy. So, images of ChArUco board are recaptured:
New ChArUco board images

choriginal

chaxis

chocclusion_original

chocclusion_axis

Also this PR:

  • Add to ArUco API:readDetectorParameters() andreadDictionary().
  • Addsamples_utility.hpp withreadCameraParameters(),saveCameraParams().
  • Add tests of tutorial to avoid regression:can_find_singlemarkersoriginal,can_find_gboriginal,can_find_choriginal,can_find_chocclusion,can_find_diamondmarkers.
  • Add custom dictionarytutorial_dict.yml andtutorial_camera_params.yml.
  • Add ChArUco calibration samples:
calibration samples

img_00

img_01

img_02

img_03

  • Addtutorial_camera_charuco.yml (created bycalibrate_camera_charuco.cpp and calibration samples).
  • Add prev/next links.
  • Check and update flags for samples.
  • Add some snippets.

Pull Request Readiness Checklist

See details athttps://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

  • I agree to contribute to the project under Apache 2 License.
  • To the best of my knowledge, the proposed patch is not based on a code under GPL or other license that is incompatible with OpenCV
  • The PR is proposed to proper branch
  • There is reference to 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

@AleksandrPanovAleksandrPanovforce-pushed theupdate_ArUco_tutorial branch 9 times, most recently from5fd0f91 todeaa392CompareDecember 8, 2021 13:40
@AleksandrPanovAleksandrPanov added category: documentationDocumentation fix or update, does not affect code category: samples category: aruco labelsDec 8, 2021
@AleksandrPanovAleksandrPanovforce-pushed theupdate_ArUco_tutorial branch 3 times, most recently from13ff2da to2c618f8CompareDecember 8, 2021 16:41
@AleksandrPanovAleksandrPanov marked this pull request as ready for reviewDecember 8, 2021 16:43
@AleksandrPanovAleksandrPanovforce-pushed theupdate_ArUco_tutorial branch 2 times, most recently from894f98d toe2a3014CompareDecember 10, 2021 09:00
@AleksandrPanovAleksandrPanov marked this pull request as draftDecember 10, 2021 09:58
@AleksandrPanovAleksandrPanovforce-pushed theupdate_ArUco_tutorial branch 2 times, most recently from5b6b44f to3d855aaCompareDecember 10, 2021 14:48
@AleksandrPanovAleksandrPanov marked this pull request as ready for reviewDecember 10, 2021 16:02
@AleksandrPanov
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@alalek,@asmorkalov,@mshabunin, could you review this PR?

@AleksandrPanovAleksandrPanovforce-pushed theupdate_ArUco_tutorial branch 4 times, most recently from03fc10f to9f2b371CompareDecember 14, 2021 22:45
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@alalek could you look and merge.

@@ -0,0 +1,110 @@
// This file is part of OpenCV project.
// It is subject to the license terms in the LICENSE file found in the top-level directory
// of this distribution and at http://opencv.org/license.html.
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Samples doesn't have license header.

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fixed

// of this distribution and at http://opencv.org/license.html.

#ifndef _SAMPLES_UTILITY_HPP_
#define_SAMPLES_UTILITY_HPP_
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We don't need guard here.

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fixed

#include<opencv2/calib3d.hpp>
#include<ctime>

inlineboolreadCameraParameters(std::string filename, cv::Mat &camMatrix, cv::Mat &distCoeffs) {
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inline -> static

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@AleksandrPanovAleksandrPanovDec 15, 2021•
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CI throw warning to static functions:
warning: defined but not used [-Wunused-function]
what to do in this case?

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Because not every sample uses all functions from samples_utility.hpp.

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image

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Maybe I should usestatic inline?

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These attached messages comes from tests compilation, not sample code.

Anonymous namespace may help.

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Anonymous namespace didn't help ((( (warnings are still there due to tests)

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fixed
include ofaruco_samples_utility.hpp is removed from tests

#include<vector>
#include<iostream>
#include<ctime>
#include"samples_utility.hpp"
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"samples_utility.hpp" -> "aruco_samples_utility.hpp"

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fixed


//! [detwcp]
voiddetectCharucoBoardWithCalibrationPose()
inlinevoiddetectCharucoBoardWithCalibrationPose()
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static

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@AleksandrPanovAleksandrPanovDec 15, 2021•
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addstatic inline to avoid warning:defined but not used [-Wunused-function]



#include<opencv2/core/utils/logger.defines.hpp>
#include"test_precomp.hpp"
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precomp must go first.

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fixed


#include<opencv2/core/utils/logger.defines.hpp>
#include"test_precomp.hpp"
#include"../samples/samples_utility.hpp"
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Test should not rely on samples code.
Samples code should not be over-complicated by tests specific.

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@AleksandrPanovAleksandrPanovDec 15, 2021•
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I need functions fromsamples_utility.hpp to advoid code duplication in tests.

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@AleksandrPanovAleksandrPanovDec 15, 2021•
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Also some ArUco samples just don't work (in 3.4/4.x). Maybe using functions in a test will allow CI to check workability of samples.

I understand, that "test should not rely on samples code". But I don't know how check workability of samples in this case.

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@AleksandrPanovAleksandrPanovDec 16, 2021•
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@alalek I can do this:

  1. addreadDetectorParameters() to ArUco API
  2. addreadDictionary() to ArUco API
  3. removearuco_samples_utility.hpp
  4. just reinsertreadCameraParameters() andsaveCameraParams() to samples/tests code.

Would it be ok?

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It makes sense (usingcv::FileNode instead ofstd::string).

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@alalek it should look something like this?

template<typename T>inline void readParameter(FileNode node, T& parameter){    if (!node.empty())        node >> parameter;}/**  * @brief Read a new set of DetectorParameters from FileStorage.  */Ptr<DetectorParameters> DetectorParameters::readDetectorParameters(const Ptr<FileStorage>& pfs){    CV_Assert(!pfs.empty());    const FileStorage& fs = *pfs;    Ptr<DetectorParameters> params = DetectorParameters::create();    readParameter(fs["adaptiveThreshWinSizeMin"], params->adaptiveThreshWinSizeMin);    readParameter(fs["adaptiveThreshWinSizeMax"], params->adaptiveThreshWinSizeMax);    readParameter(fs["adaptiveThreshWinSizeStep"], params->adaptiveThreshWinSizeStep);    readParameter(fs["adaptiveThreshConstant"], params->adaptiveThreshConstant);    readParameter(fs["minMarkerPerimeterRate"], params->minMarkerPerimeterRate);    readParameter(fs["maxMarkerPerimeterRate"], params->maxMarkerPerimeterRate);    readParameter(fs["polygonalApproxAccuracyRate"], params->polygonalApproxAccuracyRate);    readParameter(fs["minCornerDistanceRate"], params->minCornerDistanceRate);    readParameter(fs["minDistanceToBorder"], params->minDistanceToBorder);    readParameter(fs["minMarkerDistanceRate"], params->minMarkerDistanceRate);    readParameter(fs["cornerRefinementMethod"], params->cornerRefinementMethod);    readParameter(fs["cornerRefinementWinSize"], params->cornerRefinementWinSize);    readParameter(fs["cornerRefinementMaxIterations"], params->cornerRefinementMaxIterations);    readParameter(fs["cornerRefinementMinAccuracy"], params->cornerRefinementMinAccuracy);    readParameter(fs["markerBorderBits"], params->markerBorderBits);    readParameter(fs["perspectiveRemovePixelPerCell"], params->perspectiveRemovePixelPerCell);    readParameter(fs["perspectiveRemoveIgnoredMarginPerCell"], params->perspectiveRemoveIgnoredMarginPerCell);    readParameter(fs["maxErroneousBitsInBorderRate"], params->maxErroneousBitsInBorderRate);    readParameter(fs["minOtsuStdDev"], params->minOtsuStdDev);    readParameter(fs["errorCorrectionRate"], params->errorCorrectionRate);    return params;}

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FileNode node

const reference.

Ptr<FileStorage>&

FileNode instead of FileStorage as mentioned before.

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fixed

TEST(CV_ArucoTutorial, can_find_singlemarkersoriginal)
{
string img_path =samples::findFile("../opencv_contrib/modules/aruco/tutorials/aruco_detection/images"
"/singlemarkersoriginal.jpg",true,true);
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samples::findFile

Test code should not use samples data.

../opencv_contrib/modules

Wrong way.

Check "text" module tests.

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fixed!)
checkopencv_contrib/modules/aruco/CMakeLists.txt

@AleksandrPanovAleksandrPanovforce-pushed theupdate_ArUco_tutorial branch 2 times, most recently from48d852d to63ad95aCompareDecember 15, 2021 14:41
}

template<typename T>
inlinevoidreadParameter(FileNode node, T& parameter)
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static inline

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fixed

#include<ctime>

namespace {
inlinestaticboolreadCameraParameters(std::string filename, cv::Mat &camMatrix, cv::Mat &distCoeffs) {
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Avoid indentation in namespaces.

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fixed


#include<opencv2/core/utils/logger.defines.hpp>
#include"test_precomp.hpp"
#include"../samples/samples_utility.hpp"
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FileNode node

const reference.

Ptr<FileStorage>&

FileNode instead of FileStorage as mentioned before.

return0;
}
FileStoragefs(parser.get<string>("dp"), FileStorage::READ);
detectorParams =aruco::DetectorParameters::readDetectorParameters(fs["aruco_detector_params"]);
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fs.root()?

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fixed

@AleksandrPanovAleksandrPanovforce-pushed theupdate_ArUco_tutorial branch 2 times, most recently fromc3e1180 to5bbda1cCompareDecember 17, 2021 16:56
@AleksandrPanov
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@alalek, thx for review ^_^
As I think, all issues were fixed

…tion photos, add tests, add aruco_samples_utility.hpp
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@alalek could you check?

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LGTM 👍

@opencv-pushbotopencv-pushbot merged commite0db5fd intoopencv:3.4Dec 20, 2021
@alalekalalek mentioned this pull requestDec 22, 2021
@alalekalalek mentioned this pull requestDec 30, 2021
@alalekalalek mentioned this pull requestFeb 22, 2022
@AleksandrPanovAleksandrPanov deleted the update_ArUco_tutorial branchMarch 18, 2022 12:58
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@asmorkalovasmorkalovasmorkalov approved these changes

@alalekalalekalalek approved these changes

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