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Merge pull request #1677 from gmedan:fix-charuco-topology

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* fix #1665 ChAruco board topology (nearestMarkerIdx) is sensitive to scale
This commit is contained in:
gmedan
2018-07-02 13:53:39 +03:00
committed by Alexander Alekhin
parent 2bd8d58513
commit 02b991a433
2 changed files with 47 additions and 2 deletions
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2
modules/aruco/src/charuco.cpp
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@@ -194,7 +194,7 @@ void CharucoBoard::_getNearestMarkerCorners() {
double sqDistance;
Point3f distVector = charucoCorner - center;
sqDistance = distVector.x * distVector.x + distVector.y * distVector.y;
if(j == 0 || fabs(sqDistance - minDist) < 0.0001) {
if(j == 0 || fabs(sqDistance - minDist) < cv::pow(0.01 * _squareLength, 2)) {
// if same minimum distance (or first iteration), add to nearestMarkerIdx vector
nearestMarkerIdx[i].push_back(j);
minDist = sqDistance;

47
modules/aruco/test/test_charucodetection.cpp
View File

@@ -538,7 +538,48 @@ void CV_CharucoDiamondDetection::run(int) {
}
}
/**
* @brief Check charuco board creation
*/
class CV_CharucoBoardCreation : public cvtest::BaseTest {
public:
CV_CharucoBoardCreation();
protected:
void run(int);
};
CV_CharucoBoardCreation::CV_CharucoBoardCreation() {}
void CV_CharucoBoardCreation::run(int)
{
Ptr<aruco::Dictionary> dictionary = aruco::getPredefinedDictionary(aruco::DICT_5X5_250);
int n = 6;
float markerSizeFactor = 0.5f;
for (float squareSize_mm = 5.0f; squareSize_mm < 35.0f; squareSize_mm += 0.1f)
{
Ptr<aruco::CharucoBoard> board_meters = aruco::CharucoBoard::create(
n, n, squareSize_mm*1e-3f, squareSize_mm * markerSizeFactor * 1e-3f, dictionary);
Ptr<aruco::CharucoBoard> board_millimeters = aruco::CharucoBoard::create(
n, n, squareSize_mm, squareSize_mm * markerSizeFactor, dictionary);
for (size_t i = 0; i < board_meters->nearestMarkerIdx.size(); i++)
{
if (board_meters->nearestMarkerIdx[i].size() != board_millimeters->nearestMarkerIdx[i].size() ||
board_meters->nearestMarkerIdx[i][0] != board_millimeters->nearestMarkerIdx[i][0])
{
ts->printf(cvtest::TS::LOG,
cv::format("Charuco board topology is sensitive to scale with squareSize=%.1f\n",
squareSize_mm).c_str());
ts->set_failed_test_info(cvtest::TS::FAIL_INVALID_OUTPUT);
break;
}
}
}
}
TEST(CV_CharucoDetection, accuracy) {
@@ -546,7 +587,6 @@ TEST(CV_CharucoDetection, accuracy) {
test.safe_run();
}
TEST(CV_CharucoPoseEstimation, accuracy) {
CV_CharucoPoseEstimation test;
test.safe_run();
@@ -557,4 +597,9 @@ TEST(CV_CharucoDiamondDetection, accuracy) {
test.safe_run();
}
TEST(CV_CharucoBoardCreation, accuracy) {
CV_CharucoBoardCreation test;
test.safe_run();
}
}} // namespace