breeze/opencv
1
0
Fork 0
mirror of https://github.com/opencv/opencv.git synced 2026-01-26 23:29:13 +08:00
Code Issues Packages Projects Releases Wiki Activity

fix refineDetectedMarkers, add test

Browse Source
This commit is contained in:
Alex
2023-09-04 18:28:28 +03:00
parent 3421b950ce
commit ca527040e2
2 changed files with 40 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

33
modules/objdetect/misc/python/test/test_objdetect_aruco.py
View File

@@ -186,6 +186,39 @@ class aruco_objdetect_test(NewOpenCVTests):
self.assertEqual((1, 4, 2), refine_corners[0].shape)
np.testing.assert_array_equal(corners, refine_corners)
def test_charuco_refine(self):
aruco_dict = cv.aruco.getPredefinedDictionary(cv.aruco.DICT_6X6_50)
board_size = (3, 4)
board = cv.aruco.CharucoBoard(board_size, 1., .7, aruco_dict)
aruco_detector = cv.aruco.ArucoDetector(aruco_dict)
charuco_detector = cv.aruco.CharucoDetector(board)
cell_size = 100
image = board.generateImage((cell_size*board_size[0], cell_size*board_size[1]))
camera = np.array([[1, 0, 0.5],
[0, 1, 0.5],
[0, 0, 1]])
dist = np.array([0, 0, 0, 0, 0], dtype=np.float32).reshape(1, -1)
# generate gold corners of the ArUco markers for the test
gold_corners = np.array(board.getObjPoints())[:, :, 0:2]*cell_size
# detect corners
markerCorners, markerIds, _ = aruco_detector.detectMarkers(image)
# test refine
rejected = [markerCorners[-1]]
markerCorners, markerIds = markerCorners[:-1], markerIds[:-1]
markerCorners, markerIds, _, _ = aruco_detector.refineDetectedMarkers(image, board, markerCorners, markerIds,
rejected, cameraMatrix=camera, distCoeffs=dist)
charucoCorners, charucoIds, _, _ = charuco_detector.detectBoard(image, markerCorners=markerCorners,
markerIds=markerIds)
self.assertEqual(len(charucoIds), 6)
self.assertEqual(len(markerIds), 6)
for i, id in enumerate(markerIds.reshape(-1)):
np.testing.assert_allclose(gold_corners[id], markerCorners[i].reshape(4, 2), 0.01, 1.)
def test_write_read_dictionary(self):
try:
aruco_dict = cv.aruco.getPredefinedDictionary(cv.aruco.DICT_5X5_50)