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Code Issues Releases Wiki Activity

remove Ptr DetectorParameters

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This commit is contained in:
AleksandrPanov
2022-11-28 23:41:43 +03:00
parent f64e2d3079
commit 52c0566e83
9 changed files with 73 additions and 74 deletions
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54
modules/aruco/perf/perf_aruco.cpp
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@@ -81,7 +81,7 @@ public:
}
std::pair<Mat, vector<Point2f> > getProjectMarker(int id, double yaw, double pitch,
const Ptr<aruco::DetectorParameters>& parameters,
const aruco::DetectorParameters& parameters,
const Ptr<aruco::Dictionary>& dictionary)
{
auto marker_corners = std::make_pair(Mat(imgMarkerSize, imgMarkerSize, CV_8UC1, Scalar::all(255)), vector<Point2f>());
@@ -90,7 +90,7 @@ public:
// canonical image
const int markerSizePixels = static_cast<int>(imgMarkerSize/sqrt(2.f));
aruco::drawMarker(dictionary, id, markerSizePixels, img, parameters->markerBorderBits);
aruco::drawMarker(dictionary, id, markerSizePixels, img, parameters.markerBorderBits);
// get rvec and tvec for the perspective
const double distance = 0.1;
@@ -123,7 +123,7 @@ public:
}
std::pair<Mat, map<int, vector<Point2f> > > getProjectMarkersTile(const int numMarkers,
const Ptr<aruco::DetectorParameters>& params,
const aruco::DetectorParameters& params,
const Ptr<aruco::Dictionary>& dictionary)
{
Mat tileImage(imgMarkerSize*numMarkers, imgMarkerSize*numMarkers, CV_8UC1, Scalar::all(255));
@@ -178,18 +178,18 @@ PERF_TEST_P(EstimateAruco, ArucoFirst, ESTIMATE_PARAMS)
{
UseArucoParams testParams = GetParam();
Ptr<aruco::Dictionary> dictionary = aruco::getPredefinedDictionary(aruco::DICT_6X6_250);
Ptr<aruco::DetectorParameters> detectorParams = makePtr<aruco::DetectorParameters>();
detectorParams->minDistanceToBorder = 1;
detectorParams->markerBorderBits = 1;
detectorParams->cornerRefinementMethod = cv::aruco::CORNER_REFINE_SUBPIX;
aruco::DetectorParameters detectorParams;
detectorParams.minDistanceToBorder = 1;
detectorParams.markerBorderBits = 1;
detectorParams.cornerRefinementMethod = cv::aruco::CORNER_REFINE_SUBPIX;
const int markerSize = 100;
const int numMarkersInRow = 9;
//USE_ARUCO3
detectorParams->useAruco3Detection = get<0>(testParams);
if (detectorParams->useAruco3Detection) {
detectorParams->minSideLengthCanonicalImg = 32;
detectorParams->minMarkerLengthRatioOriginalImg = 0.04f / numMarkersInRow;
detectorParams.useAruco3Detection = get<0>(testParams);
if (detectorParams.useAruco3Detection) {
detectorParams.minSideLengthCanonicalImg = 32;
detectorParams.minMarkerLengthRatioOriginalImg = 0.04f / numMarkersInRow;
}
aruco::ArucoDetector detector(dictionary, detectorParams);
MarkerPainter painter(markerSize);
@@ -212,16 +212,16 @@ PERF_TEST_P(EstimateAruco, ArucoSecond, ESTIMATE_PARAMS)
{
UseArucoParams testParams = GetParam();
Ptr<aruco::Dictionary> dictionary = aruco::getPredefinedDictionary(aruco::DICT_6X6_250);
Ptr<aruco::DetectorParameters> detectorParams = makePtr<aruco::DetectorParameters>();
detectorParams->minDistanceToBorder = 1;
detectorParams->markerBorderBits = 1;
detectorParams->cornerRefinementMethod = cv::aruco::CORNER_REFINE_SUBPIX;
aruco::DetectorParameters detectorParams;
detectorParams.minDistanceToBorder = 1;
detectorParams.markerBorderBits = 1;
detectorParams.cornerRefinementMethod = cv::aruco::CORNER_REFINE_SUBPIX;
//USE_ARUCO3
detectorParams->useAruco3Detection = get<0>(testParams);
if (detectorParams->useAruco3Detection) {
detectorParams->minSideLengthCanonicalImg = 64;
detectorParams->minMarkerLengthRatioOriginalImg = 0.f;
detectorParams.useAruco3Detection = get<0>(testParams);
if (detectorParams.useAruco3Detection) {
detectorParams.minSideLengthCanonicalImg = 64;
detectorParams.minMarkerLengthRatioOriginalImg = 0.f;
}
aruco::ArucoDetector detector(dictionary, detectorParams);
const int markerSize = 200;
@@ -268,16 +268,16 @@ PERF_TEST_P(EstimateLargeAruco, ArucoFHD, ESTIMATE_FHD_PARAMS)
{
ArucoTestParams testParams = GetParam();
Ptr<aruco::Dictionary> dictionary = aruco::getPredefinedDictionary(aruco::DICT_6X6_250);
Ptr<aruco::DetectorParameters> detectorParams = makePtr<aruco::DetectorParameters>();
detectorParams->minDistanceToBorder = 1;
detectorParams->markerBorderBits = 1;
detectorParams->cornerRefinementMethod = cv::aruco::CORNER_REFINE_SUBPIX;
aruco::DetectorParameters detectorParams;
detectorParams.minDistanceToBorder = 1;
detectorParams.markerBorderBits = 1;
detectorParams.cornerRefinementMethod = cv::aruco::CORNER_REFINE_SUBPIX;
//USE_ARUCO3
detectorParams->useAruco3Detection = get<0>(testParams).useAruco3Detection;
if (detectorParams->useAruco3Detection) {
detectorParams->minSideLengthCanonicalImg = get<0>(testParams).minSideLengthCanonicalImg;
detectorParams->minMarkerLengthRatioOriginalImg = get<0>(testParams).minMarkerLengthRatioOriginalImg;
detectorParams.useAruco3Detection = get<0>(testParams).useAruco3Detection;
if (detectorParams.useAruco3Detection) {
detectorParams.minSideLengthCanonicalImg = get<0>(testParams).minSideLengthCanonicalImg;
detectorParams.minMarkerLengthRatioOriginalImg = get<0>(testParams).minMarkerLengthRatioOriginalImg;
}
aruco::ArucoDetector detector(dictionary, detectorParams);
const int markerSize = get<1>(testParams).first; // 1440 or 480 or 144

4
modules/aruco/samples/calibrate_camera.cpp
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@@ -102,10 +102,10 @@ int main(int argc, char *argv[]) {
if(parser.get<bool>("zt")) calibrationFlags |= CALIB_ZERO_TANGENT_DIST;
if(parser.get<bool>("pc")) calibrationFlags |= CALIB_FIX_PRINCIPAL_POINT;
Ptr<aruco::DetectorParameters> detectorParams = makePtr<aruco::DetectorParameters>();
aruco::DetectorParameters detectorParams;
if(parser.has("dp")) {
FileStorage fs(parser.get<string>("dp"), FileStorage::READ);
bool readOk = detectorParams->readDetectorParameters(fs.root());
bool readOk = detectorParams.readDetectorParameters(fs.root());
if(!readOk) {
cerr << "Invalid detector parameters file" << endl;
return 0;

6
modules/aruco/samples/detect_board.cpp
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@@ -97,16 +97,16 @@ int main(int argc, char *argv[]) {
}
}
Ptr<aruco::DetectorParameters> detectorParams = makePtr<aruco::DetectorParameters>();
aruco::DetectorParameters detectorParams;
if(parser.has("dp")) {
FileStorage fs(parser.get<string>("dp"), FileStorage::READ);
bool readOk = detectorParams->readDetectorParameters(fs.root());
bool readOk = detectorParams.readDetectorParameters(fs.root());
if(!readOk) {
cerr << "Invalid detector parameters file" << endl;
return 0;
}
}
detectorParams->cornerRefinementMethod = aruco::CORNER_REFINE_SUBPIX; // do corner refinement in markers
detectorParams.cornerRefinementMethod = aruco::CORNER_REFINE_SUBPIX; // do corner refinement in markers
String video;
if(parser.has("v")) {

8
modules/aruco/samples/detect_markers.cpp
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@@ -80,10 +80,10 @@ int main(int argc, char *argv[]) {
bool estimatePose = parser.has("c");
float markerLength = parser.get<float>("l");
Ptr<aruco::DetectorParameters> detectorParams = makePtr<aruco::DetectorParameters>();
aruco::DetectorParameters detectorParams;
if(parser.has("dp")) {
FileStorage fs(parser.get<string>("dp"), FileStorage::READ);
bool readOk = detectorParams->readDetectorParameters(fs.root());
bool readOk = detectorParams.readDetectorParameters(fs.root());
if(!readOk) {
cerr << "Invalid detector parameters file" << endl;
return 0;
@@ -92,9 +92,9 @@ int main(int argc, char *argv[]) {
if (parser.has("refine")) {
//override cornerRefinementMethod read from config file
detectorParams->cornerRefinementMethod = parser.get<int>("refine");
detectorParams.cornerRefinementMethod = parser.get<int>("refine");
}
std::cout << "Corner refinement method (0: None, 1: Subpixel, 2:contour, 3: AprilTag 2): " << detectorParams->cornerRefinementMethod << std::endl;
std::cout << "Corner refinement method (0: None, 1: Subpixel, 2:contour, 3: AprilTag 2): " << detectorParams.cornerRefinementMethod << std::endl;
int camId = parser.get<int>("ci");

4
modules/aruco/src/aruco.cpp
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@@ -14,7 +14,7 @@ using namespace std;
void detectMarkers(InputArray _image, const Ptr<Dictionary> &_dictionary, OutputArrayOfArrays _corners,
OutputArray _ids, const Ptr<DetectorParameters> &_params,
OutputArrayOfArrays _rejectedImgPoints) {
ArucoDetector detector(_dictionary, _params);
ArucoDetector detector(_dictionary, *_params);
detector.detectMarkers(_image, _corners, _ids, _rejectedImgPoints);
}
@@ -25,7 +25,7 @@ void refineDetectedMarkers(InputArray _image, const Ptr<Board> &_board,
bool checkAllOrders, OutputArray _recoveredIdxs,
const Ptr<DetectorParameters> &_params) {
RefineParameters refineParams(minRepDistance, errorCorrectionRate, checkAllOrders);
ArucoDetector detector(_board->getDictionary(), _params, refineParams);
ArucoDetector detector(_board->getDictionary(), *_params, refineParams);
detector.refineDetectedMarkers(_image, _board, _detectedCorners, _detectedIds, _rejectedCorners, _cameraMatrix,
_distCoeffs, _recoveredIdxs);
}

10
modules/aruco/src/charuco.cpp
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@@ -90,7 +90,7 @@ static int _selectAndRefineChessboardCorners(InputArray _allCorners, InputArray
else
grey = _image.getMat();
const Ptr<DetectorParameters> params = makePtr<aruco::DetectorParameters>(); // use default params for corner refinement
DetectorParameters params; // use default params for corner refinement
//// For each of the charuco corners, apply subpixel refinement using its correspondind winSize
parallel_for_(Range(0, (int)filteredChessboardImgPoints.size()), [&](const Range& range) {
@@ -102,12 +102,12 @@ static int _selectAndRefineChessboardCorners(InputArray _allCorners, InputArray
in.push_back(filteredChessboardImgPoints[i] - Point2f(0.5, 0.5)); // adjust sub-pixel coordinates for cornerSubPix
Size winSize = filteredWinSizes[i];
if (winSize.height == -1 || winSize.width == -1)
winSize = Size(params->cornerRefinementWinSize, params->cornerRefinementWinSize);
winSize = Size(params.cornerRefinementWinSize, params.cornerRefinementWinSize);
cornerSubPix(grey, in, winSize, Size(),
TermCriteria(TermCriteria::MAX_ITER | TermCriteria::EPS,
params->cornerRefinementMaxIterations,
params->cornerRefinementMinAccuracy));
params.cornerRefinementMaxIterations,
params.cornerRefinementMinAccuracy));
filteredChessboardImgPoints[i] = in[0] + Point2f(0.5, 0.5);
}
@@ -428,7 +428,7 @@ void detectCharucoDiamond(InputArray _image, InputArrayOfArrays _markerCorners,
// try to find the rest of markers in the diamond
vector< int > acceptedIdxs;
RefineParameters refineParameters(minRepDistance, -1.f, false);
ArucoDetector detector(dictionary, makePtr<DetectorParameters>(), refineParameters);
ArucoDetector detector(dictionary, DetectorParameters(), refineParameters);
detector.refineDetectedMarkers(grey, _charucoDiamondLayout, currentMarker, currentMarkerId, candidates,
noArray(), noArray(), acceptedIdxs);

8
modules/aruco/test/test_aruco_tutorial.cpp
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@@ -51,7 +51,7 @@ TEST(CV_ArucoTutorial, can_find_gboriginal)
FileStorage fs(dictPath, FileStorage::READ);
dictionary->aruco::Dictionary::readDictionary(fs.root()); // set marker from tutorial_dict.yml
Ptr<aruco::DetectorParameters> detectorParams = makePtr<aruco::DetectorParameters>();
aruco::DetectorParameters detectorParams;
aruco::ArucoDetector detector(dictionary, detectorParams);
@@ -186,9 +186,9 @@ TEST(CV_ArucoTutorial, can_find_diamondmarkers)
string detectorPath = cvtest::findDataFile("detector_params.yml", false);
fs = FileStorage(detectorPath, FileStorage::READ);
Ptr<aruco::DetectorParameters> detectorParams = makePtr<aruco::DetectorParameters>();
detectorParams->readDetectorParameters(fs.root());
detectorParams->cornerRefinementMethod = 3;
aruco::DetectorParameters detectorParams;
detectorParams.readDetectorParameters(fs.root());
detectorParams.cornerRefinementMethod = 3;
aruco::ArucoDetector detector(dictionary, detectorParams);

25
modules/aruco/test/test_boarddetection.cpp
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@@ -55,15 +55,14 @@ class CV_ArucoBoardPose : public cvtest::BaseTest {
public:
CV_ArucoBoardPose(ArucoAlgParams arucoAlgParams)
{
Ptr<aruco::DetectorParameters> params;
aruco::DetectorParameters params;
Ptr<aruco::Dictionary> dictionary = aruco::getPredefinedDictionary(aruco::DICT_6X6_250);
params = makePtr<aruco::DetectorParameters>();
params->minDistanceToBorder = 3;
params.minDistanceToBorder = 3;
if (arucoAlgParams == ArucoAlgParams::USE_ARUCO3) {
params->useAruco3Detection = true;
params->cornerRefinementMethod = aruco::CORNER_REFINE_SUBPIX;
params->minSideLengthCanonicalImg = 16;
params->errorCorrectionRate = 0.8;
params.useAruco3Detection = true;
params.cornerRefinementMethod = aruco::CORNER_REFINE_SUBPIX;
params.minSideLengthCanonicalImg = 16;
params.errorCorrectionRate = 0.8;
}
detector = aruco::ArucoDetector(dictionary, params);
}
@@ -99,7 +98,7 @@ void CV_ArucoBoardPose::run(int) {
imgSize, markerBorder);
vector<vector<Point2f> > corners;
vector<int> ids;
detector.getDetectorParameters()->markerBorderBits = markerBorder;
detector.getDetectorParameters().markerBorderBits = markerBorder;
detector.detectMarkers(img, corners, ids);
ASSERT_EQ(ids.size(), gridboard->getIds().size());
@@ -165,11 +164,11 @@ class CV_ArucoRefine : public cvtest::BaseTest {
CV_ArucoRefine(ArucoAlgParams arucoAlgParams)
{
Ptr<aruco::Dictionary> dictionary = aruco::getPredefinedDictionary(aruco::DICT_6X6_250);
Ptr<aruco::DetectorParameters> params = makePtr<aruco::DetectorParameters>();
params->minDistanceToBorder = 3;
params->cornerRefinementMethod = aruco::CORNER_REFINE_SUBPIX;
aruco::DetectorParameters params;
params.minDistanceToBorder = 3;
params.cornerRefinementMethod = aruco::CORNER_REFINE_SUBPIX;
if (arucoAlgParams == ArucoAlgParams::USE_ARUCO3)
params->useAruco3Detection = true;
params.useAruco3Detection = true;
aruco::RefineParameters refineParams(10.f, 3.f, true);
detector = aruco::ArucoDetector(dictionary, params, refineParams);
}
@@ -208,7 +207,7 @@ void CV_ArucoRefine::run(int) {
// detect markers
vector<vector<Point2f> > corners, rejected;
vector<int> ids;
detector.getDetectorParameters()->markerBorderBits = markerBorder;
detector.getDetectorParameters().markerBorderBits = markerBorder;
detector.detectMarkers(img, corners, ids, rejected);
// remove a marker from detection

28
modules/aruco/test/test_charucodetection.cpp
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@@ -132,8 +132,8 @@ void CV_CharucoDetection::run(int) {
int iter = 0;
Mat cameraMatrix = Mat::eye(3, 3, CV_64FC1);
Size imgSize(500, 500);
Ptr<aruco::DetectorParameters> params = makePtr<aruco::DetectorParameters>();
params->minDistanceToBorder = 3;
aruco::DetectorParameters params;
params.minDistanceToBorder = 3;
aruco::ArucoDetector detector(aruco::getPredefinedDictionary(aruco::DICT_6X6_250), params);
Ptr<aruco::CharucoBoard> board = aruco::CharucoBoard::create(4, 4, 0.03f, 0.015f, detector.getDictionary());
@@ -160,7 +160,7 @@ void CV_CharucoDetection::run(int) {
vector<vector<Point2f> > corners;
vector<int> ids;
detector.getDetectorParameters()->markerBorderBits = markerBorder;
detector.getDetectorParameters().markerBorderBits = markerBorder;
detector.detectMarkers(img, corners, ids);
if(ids.size() == 0) {
@@ -238,8 +238,8 @@ void CV_CharucoPoseEstimation::run(int) {
int iter = 0;
Mat cameraMatrix = Mat::eye(3, 3, CV_64FC1);
Size imgSize(500, 500);
Ptr<aruco::DetectorParameters> params = makePtr<aruco::DetectorParameters>();
params->minDistanceToBorder = 3;
aruco::DetectorParameters params;
params.minDistanceToBorder = 3;
aruco::ArucoDetector detector(aruco::getPredefinedDictionary(aruco::DICT_6X6_250), params);
Ptr<aruco::CharucoBoard> board = aruco::CharucoBoard::create(4, 4, 0.03f, 0.015f, detector.getDictionary());
@@ -264,7 +264,7 @@ void CV_CharucoPoseEstimation::run(int) {
// detect markers
vector< vector< Point2f > > corners;
vector< int > ids;
detector.getDetectorParameters()->markerBorderBits = markerBorder;
detector.getDetectorParameters().markerBorderBits = markerBorder;
detector.detectMarkers(img, corners, ids);
ASSERT_EQ(ids.size(), board->getIds().size());
@@ -348,8 +348,8 @@ void CV_CharucoDiamondDetection::run(int) {
int iter = 0;
Mat cameraMatrix = Mat::eye(3, 3, CV_64FC1);
Size imgSize(500, 500);
Ptr<aruco::DetectorParameters> params = makePtr<aruco::DetectorParameters>();
params->minDistanceToBorder = 0;
aruco::DetectorParameters params ;
params.minDistanceToBorder = 0;
aruco::ArucoDetector detector(aruco::getPredefinedDictionary(aruco::DICT_6X6_250), params);
float squareLength = 0.03f;
float markerLength = 0.015f;
@@ -380,7 +380,7 @@ void CV_CharucoDiamondDetection::run(int) {
// detect markers
vector< vector< Point2f > > corners;
vector< int > ids;
detector.getDetectorParameters()->markerBorderBits = markerBorder;
detector.getDetectorParameters().markerBorderBits = markerBorder;
detector.detectMarkers(img, corners, ids);
if(ids.size() != 4) {
@@ -643,8 +643,8 @@ TEST(Charuco, testBoardSubpixelCoords)
board->draw(Size(res.width, res.height), gray, 150);
cv::GaussianBlur(gray, gray, Size(5, 5), 1.0);
Ptr<aruco::DetectorParameters> params = makePtr<aruco::DetectorParameters>();
params->cornerRefinementMethod = cv::aruco::CORNER_REFINE_APRILTAG;
aruco::DetectorParameters params;
params.cornerRefinementMethod = cv::aruco::CORNER_REFINE_APRILTAG;
aruco::ArucoDetector detector(dict, params);
@@ -674,9 +674,9 @@ TEST(Charuco, issue_14014)
string imgPath = cvtest::findDataFile("aruco/recover.png");
Mat img = imread(imgPath);
Ptr<aruco::DetectorParameters> detectorParams = makePtr<aruco::DetectorParameters>();
detectorParams->cornerRefinementMethod = aruco::CORNER_REFINE_SUBPIX;
detectorParams->cornerRefinementMinAccuracy = 0.01;
aruco::DetectorParameters detectorParams;
detectorParams.cornerRefinementMethod = aruco::CORNER_REFINE_SUBPIX;
detectorParams.cornerRefinementMinAccuracy = 0.01;
aruco::ArucoDetector detector(aruco::getPredefinedDictionary(aruco::DICT_7X7_250), detectorParams);
Ptr<aruco::CharucoBoard> board = aruco::CharucoBoard::create(8, 5, 0.03455f, 0.02164f, detector.getDictionary());