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Merge pull request #3224 from AleksandrPanov:fix_testBoardSubpixelCoords

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fix testBoardSubpixelCoords
This commit is contained in:
OpenCV Pushbot
2022-04-13 18:25:56 +00:00
committed by GitHub
parent 3b5a55876f 2e9505617e
commit bbe04482d1
1 changed files with 14 additions and 15 deletions
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29
modules/aruco/test/test_charucodetection.cpp
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@@ -611,7 +611,7 @@ TEST(Charuco, testCharucoCornersCollinear_false)
}
// test that ChArUco board detection is subpixel accurate
TEST(Charuco, DISABLED_testBoardSubpixelCoords) // FIXIT: https://github.com/opencv/opencv_contrib/pull/3213
TEST(Charuco, testBoardSubpixelCoords)
{
cv::Size res{500, 500};
cv::Mat K = (cv::Mat_<double>(3,3) <<
@@ -619,27 +619,28 @@ TEST(Charuco, DISABLED_testBoardSubpixelCoords) // FIXIT: https://github.com/op
0, 0.5*res.height, 0.5*res.height,
0, 0, 1);
// load board image with corners at round values
cv::String testImagePath = cvtest::TS::ptr()->get_data_path() + "aruco/" + "trivial_board_detection.png";
Mat img = imread(testImagePath);
// set expected_corners values
cv::Mat expected_corners = (cv::Mat_<float>(9,2) <<
200, 300,
250, 300,
300, 300,
200, 200,
250, 200,
300, 200,
200, 250,
250, 250,
300, 250,
200, 200,
250, 200,
300, 200
200, 300,
250, 300,
300, 300
);
cv::Mat gray;
cv::cvtColor(img, gray, cv::COLOR_BGR2GRAY);
auto dict = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_APRILTAG_36h11);
auto board = cv::aruco::CharucoBoard::create(4, 4, 1.f, .8f, dict);
// generate ChArUco board
board->draw(Size(res.width, res.height), gray, 150);
cv::GaussianBlur(gray, gray, Size(5, 5), 1.0);
auto params = cv::aruco::DetectorParameters::create();
params->cornerRefinementMethod = cv::aruco::CORNER_REFINE_APRILTAG;
@@ -652,18 +653,16 @@ TEST(Charuco, DISABLED_testBoardSubpixelCoords) // FIXIT: https://github.com/op
cv::Mat c_ids, c_corners;
cv::aruco::interpolateCornersCharuco(corners, ids, gray, board, c_corners, c_ids, K);
cv::Mat corners_reshaped = c_corners.reshape(1);
ASSERT_EQ(c_corners.rows, expected_corners.rows);
EXPECT_NEAR(0, cvtest::norm(expected_corners, c_corners.reshape(1), NORM_INF), 1e-3);
EXPECT_NEAR(0, cvtest::norm(expected_corners, c_corners.reshape(1), NORM_INF), 1e-1);
c_ids = cv::Mat();
c_corners = cv::Mat();
cv::aruco::interpolateCornersCharuco(corners, ids, gray, board, c_corners, c_ids);
corners_reshaped = c_corners.reshape(1);
ASSERT_EQ(c_corners.rows, expected_corners.rows);
EXPECT_NEAR(0, cvtest::norm(expected_corners, c_corners.reshape(1), NORM_INF), 1e-3);
EXPECT_NEAR(0, cvtest::norm(expected_corners, c_corners.reshape(1), NORM_INF), 1e-1);
}
TEST(CV_ArucoTutorial, can_find_choriginal)