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package org.opencv.test.aruco;
import java.util.ArrayList;
import java.util.List;
import org.opencv.test.OpenCVTestCase;
import org.junit.Assert;
import org.opencv.core.Scalar;
import org.opencv.core.Mat;
import org.opencv.core.MatOfInt;
import org.opencv.core.Size;
import org.opencv.core.CvType;
import org.opencv.objdetect.*;
public class ArucoTest extends OpenCVTestCase {
public void testGenerateBoards() {
Dictionary dictionary = Objdetect.getPredefinedDictionary(Objdetect.DICT_4X4_50);
Mat point1 = new Mat(4, 3, CvType.CV_32FC1);
int row = 0, col = 0;
double squareLength = 40.;
point1.put(row, col, 0, 0, 0,
0, squareLength, 0,
squareLength, squareLength, 0,
0, squareLength, 0);
List<Mat>objPoints = new ArrayList<Mat>();
objPoints.add(point1);
Mat ids = new Mat(1, 1, CvType.CV_32SC1);
ids.put(row, col, 0);
Board board = new Board(objPoints, dictionary, ids);
Mat image = new Mat();
board.generateImage(new Size(80, 80), image, 2);
assertTrue(image.total() > 0);
}
public void testArucoIssue3133() {
byte[][] marker = {{0,1,1},{1,1,1},{0,1,1}};
Dictionary dictionary = Objdetect.extendDictionary(1, 3);
dictionary.set_maxCorrectionBits(0);
Mat markerBits = new Mat(3, 3, CvType.CV_8UC1);
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 3; j++) {
markerBits.put(i, j, marker[i][j]);
}
}
Mat markerCompressed = Dictionary.getByteListFromBits(markerBits);
assertMatNotEqual(markerCompressed, dictionary.get_bytesList());
dictionary.set_bytesList(markerCompressed);
assertMatEqual(markerCompressed, dictionary.get_bytesList());
}
public void testArucoDetector() {
Dictionary dictionary = Objdetect.getPredefinedDictionary(0);
DetectorParameters detectorParameters = new DetectorParameters();
ArucoDetector detector = new ArucoDetector(dictionary, detectorParameters);
Mat markerImage = new Mat();
int id = 1, offset = 5, size = 40;
Objdetect.generateImageMarker(dictionary, id, size, markerImage, detectorParameters.get_markerBorderBits());
Mat image = new Mat(markerImage.rows() + 2*offset, markerImage.cols() + 2*offset,
CvType.CV_8UC1, new Scalar(255));
Mat m = image.submat(offset, size+offset, offset, size+offset);
markerImage.copyTo(m);
List<Mat> corners = new ArrayList();
Mat ids = new Mat();
detector.detectMarkers(image, corners, ids);
assertEquals(1, corners.size());
Mat res = corners.get(0);
assertArrayEquals(new double[]{offset, offset}, res.get(0, 0), 0.0);
assertArrayEquals(new double[]{size + offset - 1, offset}, res.get(0, 1), 0.0);
assertArrayEquals(new double[]{size + offset - 1, size + offset - 1}, res.get(0, 2), 0.0);
assertArrayEquals(new double[]{offset, size + offset - 1}, res.get(0, 3), 0.0);
}
public void testCharucoDetector() {
Dictionary dictionary = Objdetect.getPredefinedDictionary(0);
int boardSizeX = 3, boardSizeY = 3;
CharucoBoard board = new CharucoBoard(new Size(boardSizeX, boardSizeY), 1.f, 0.8f, dictionary);
CharucoDetector charucoDetector = new CharucoDetector(board);
int cellSize = 80;
Mat boardImage = new Mat();
board.generateImage(new Size(cellSize*boardSizeX, cellSize*boardSizeY), boardImage);
assertTrue(boardImage.total() > 0);
Mat charucoCorners = new Mat();
Mat charucoIds = new Mat();
charucoDetector.detectBoard(boardImage, charucoCorners, charucoIds);
assertEquals(4, charucoIds.total());
int[] intCharucoIds = (new MatOfInt(charucoIds)).toArray();
Assert.assertArrayEquals(new int[]{0, 1, 2, 3}, intCharucoIds);
double eps = 0.2;
assertArrayEquals(new double[]{cellSize, cellSize}, charucoCorners.get(0, 0), eps);
assertArrayEquals(new double[]{2*cellSize, cellSize}, charucoCorners.get(1, 0), eps);
assertArrayEquals(new double[]{cellSize, 2*cellSize}, charucoCorners.get(2, 0), eps);
assertArrayEquals(new double[]{2*cellSize, 2*cellSize}, charucoCorners.get(3, 0), eps);
}
}
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