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// This file is part of OpenCV project.
// It is subject to the license terms in the LICENSE file found in the top-level directory
// of this distribution and at http://opencv.org/license.html.
#include "test_precomp.hpp"
#include "opencv2/objdetect/aruco_detector.hpp"
namespace opencv_test { namespace {
TEST(CV_ArucoTutorial, can_find_singlemarkersoriginal)
{
string img_path = cvtest::findDataFile("aruco/singlemarkersoriginal.jpg");
Mat image = imread(img_path);
aruco::ArucoDetector detector(aruco::getPredefinedDictionary(aruco::DICT_6X6_250));
vector<int> ids;
vector<vector<Point2f> > corners, rejected;
const size_t N = 6ull;
// corners of ArUco markers with indices goldCornersIds
const int goldCorners[N][8] = { {359,310, 404,310, 410,350, 362,350}, {427,255, 469,256, 477,289, 434,288},
{233,273, 190,273, 196,241, 237,241}, {298,185, 334,186, 335,212, 297,211},
{425,163, 430,186, 394,186, 390,162}, {195,155, 230,155, 227,178, 190,178} };
const int goldCornersIds[N] = { 40, 98, 62, 23, 124, 203};
map<int, const int*> mapGoldCorners;
for (size_t i = 0; i < N; i++)
mapGoldCorners[goldCornersIds[i]] = goldCorners[i];
detector.detectMarkers(image, corners, ids, rejected);
ASSERT_EQ(N, ids.size());
for (size_t i = 0; i < N; i++)
{
int arucoId = ids[i];
ASSERT_EQ(4ull, corners[i].size());
ASSERT_TRUE(mapGoldCorners.find(arucoId) != mapGoldCorners.end());
for (int j = 0; j < 4; j++)
{
EXPECT_NEAR(static_cast<float>(mapGoldCorners[arucoId][j * 2]), corners[i][j].x, 1.f);
EXPECT_NEAR(static_cast<float>(mapGoldCorners[arucoId][j * 2 + 1]), corners[i][j].y, 1.f);
}
}
}
TEST(CV_ArucoTutorial, can_find_gboriginal)
{
string imgPath = cvtest::findDataFile("aruco/gboriginal.jpg");
Mat image = imread(imgPath);
string dictPath = cvtest::findDataFile("aruco/tutorial_dict.yml");
aruco::Dictionary dictionary;
FileStorage fs(dictPath, FileStorage::READ);
dictionary.aruco::Dictionary::readDictionary(fs.root()); // set marker from tutorial_dict.yml
aruco::DetectorParameters detectorParams;
aruco::ArucoDetector detector(dictionary, detectorParams);
vector<int> ids;
vector<vector<Point2f> > corners, rejected;
const size_t N = 35ull;
// corners of ArUco markers with indices 0, 1, ..., 34
const int goldCorners[N][8] = { {252,74, 286,81, 274,102, 238,95}, {295,82, 330,89, 319,111, 282,104},
{338,91, 375,99, 365,121, 327,113}, {383,100, 421,107, 412,130, 374,123},
{429,109, 468,116, 461,139, 421,132}, {235,100, 270,108, 257,130, 220,122},
{279,109, 316,117, 304,140, 266,133}, {324,119, 362,126, 352,150, 313,143},
{371,128, 410,136, 400,161, 360,152}, {418,139, 459,145, 451,170, 410,163},
{216,128, 253,136, 239,161, 200,152}, {262,138, 300,146, 287,172, 248,164},
{309,148, 349,156, 337,183, 296,174}, {358,158, 398,167, 388,194, 346,185},
{407,169, 449,176, 440,205, 397,196}, {196,158, 235,168, 218,195, 179,185},
{243,170, 283,178, 269,206, 228,197}, {293,180, 334,190, 321,218, 279,209},
{343,192, 385,200, 374,230, 330,220}, {395,203, 438,211, 429,241, 384,233},
{174,192, 215,201, 197,231, 156,221}, {223,204, 265,213, 249,244, 207,234},
{275,215, 317,225, 303,257, 259,246}, {327,227, 371,238, 359,270, 313,259},
{381,240, 426,249, 416,282, 369,273}, {151,228, 193,238, 173,271, 130,260},
{202,241, 245,251, 228,285, 183,274}, {255,254, 300,264, 284,299, 238,288},
{310,267, 355,278, 342,314, 295,302}, {366,281, 413,290, 402,327, 353,317},
{125,267, 168,278, 147,314, 102,303}, {178,281, 223,293, 204,330, 157,317},
{233,296, 280,307, 263,346, 214,333}, {291,310, 338,322, 323,363, 274,349},
{349,325, 399,336, 386,378, 335,366} };
map<int, const int*> mapGoldCorners;
for (int i = 0; i < static_cast<int>(N); i++)
mapGoldCorners[i] = goldCorners[i];
detector.detectMarkers(image, corners, ids, rejected);
ASSERT_EQ(N, ids.size());
for (size_t i = 0; i < N; i++)
{
int arucoId = ids[i];
ASSERT_EQ(4ull, corners[i].size());
ASSERT_TRUE(mapGoldCorners.find(arucoId) != mapGoldCorners.end());
for (int j = 0; j < 4; j++)
{
EXPECT_NEAR(static_cast<float>(mapGoldCorners[arucoId][j*2]), corners[i][j].x, 1.f);
EXPECT_NEAR(static_cast<float>(mapGoldCorners[arucoId][j*2+1]), corners[i][j].y, 1.f);
}
}
}
TEST(CV_ArucoTutorial, can_find_choriginal)
{
string imgPath = cvtest::findDataFile("aruco/choriginal.jpg");
Mat image = imread(imgPath);
aruco::ArucoDetector detector(aruco::getPredefinedDictionary(aruco::DICT_6X6_250));
vector< int > ids;
vector< vector< Point2f > > corners, rejected;
const size_t N = 17ull;
// corners of aruco markers with indices goldCornersIds
const int goldCorners[N][8] = { {268,77, 290,80, 286,97, 263,94}, {360,90, 382,93, 379,111, 357,108},
{211,106, 233,109, 228,127, 205,123}, {306,120, 328,124, 325,142, 302,138},
{402,135, 425,139, 423,157, 400,154}, {247,152, 271,155, 267,174, 242,171},
{347,167, 371,171, 369,191, 344,187}, {185,185, 209,189, 203,210, 178,206},
{288,201, 313,206, 309,227, 284,223}, {393,218, 418,222, 416,245, 391,241},
{223,240, 250,244, 244,268, 217,263}, {333,258, 359,262, 356,286, 329,282},
{152,281, 179,285, 171,312, 143,307}, {267,300, 294,305, 289,331, 261,327},
{383,319, 410,324, 408,351, 380,347}, {194,347, 223,352, 216,382, 186,377},
{315,368, 345,373, 341,403, 310,398} };
map<int, const int*> mapGoldCorners;
for (int i = 0; i < static_cast<int>(N); i++)
mapGoldCorners[i] = goldCorners[i];
detector.detectMarkers(image, corners, ids, rejected);
ASSERT_EQ(N, ids.size());
for (size_t i = 0; i < N; i++)
{
int arucoId = ids[i];
ASSERT_EQ(4ull, corners[i].size());
ASSERT_TRUE(mapGoldCorners.find(arucoId) != mapGoldCorners.end());
for (int j = 0; j < 4; j++)
{
EXPECT_NEAR(static_cast<float>(mapGoldCorners[arucoId][j * 2]), corners[i][j].x, 1.f);
EXPECT_NEAR(static_cast<float>(mapGoldCorners[arucoId][j * 2 + 1]), corners[i][j].y, 1.f);
}
}
}
TEST(CV_ArucoTutorial, can_find_chocclusion)
{
string imgPath = cvtest::findDataFile("aruco/chocclusion_original.jpg");
Mat image = imread(imgPath);
aruco::ArucoDetector detector(aruco::getPredefinedDictionary(aruco::DICT_6X6_250));
vector< int > ids;
vector< vector< Point2f > > corners, rejected;
const size_t N = 13ull;
// corners of aruco markers with indices goldCornersIds
const int goldCorners[N][8] = { {301,57, 322,62, 317,79, 295,73}, {391,80, 413,85, 408,103, 386,97},
{242,79, 264,85, 256,102, 234,96}, {334,103, 357,109, 352,126, 329,121},
{428,129, 451,134, 448,152, 425,146}, {274,128, 296,134, 290,153, 266,147},
{371,154, 394,160, 390,180, 366,174}, {208,155, 232,161, 223,181, 199,175},
{309,182, 333,188, 327,209, 302,203}, {411,210, 436,216, 432,238, 407,231},
{241,212, 267,219, 258,242, 232,235}, {167,244, 194,252, 183,277, 156,269},
{202,314, 230,322, 220,349, 191,341} };
map<int, const int*> mapGoldCorners;
const int goldCornersIds[N] = { 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 12, 15};
for (int i = 0; i < static_cast<int>(N); i++)
mapGoldCorners[goldCornersIds[i]] = goldCorners[i];
detector.detectMarkers(image, corners, ids, rejected);
ASSERT_EQ(N, ids.size());
for (size_t i = 0; i < N; i++)
{
int arucoId = ids[i];
ASSERT_EQ(4ull, corners[i].size());
ASSERT_TRUE(mapGoldCorners.find(arucoId) != mapGoldCorners.end());
for (int j = 0; j < 4; j++)
{
EXPECT_NEAR(static_cast<float>(mapGoldCorners[arucoId][j * 2]), corners[i][j].x, 1.f);
EXPECT_NEAR(static_cast<float>(mapGoldCorners[arucoId][j * 2 + 1]), corners[i][j].y, 1.f);
}
}
}
TEST(CV_ArucoTutorial, can_find_diamondmarkers)
{
string imgPath = cvtest::findDataFile("aruco/diamondmarkers.jpg");
Mat image = imread(imgPath);
string dictPath = cvtest::findDataFile("aruco/tutorial_dict.yml");
aruco::Dictionary dictionary;
FileStorage fs(dictPath, FileStorage::READ);
dictionary.aruco::Dictionary::readDictionary(fs.root()); // set marker from tutorial_dict.yml
string detectorPath = cvtest::findDataFile("aruco/detector_params.yml");
fs = FileStorage(detectorPath, FileStorage::READ);
aruco::DetectorParameters detectorParams;
detectorParams.readDetectorParameters(fs.root());
detectorParams.cornerRefinementMethod = aruco::CORNER_REFINE_APRILTAG;
aruco::CharucoBoard charucoBoard(Size(3, 3), 0.4f, 0.25f, dictionary);
aruco::CharucoDetector detector(charucoBoard, aruco::CharucoParameters(), detectorParams);
vector<int> ids;
vector<vector<Point2f> > corners, diamondCorners;
vector<Vec4i> diamondIds;
const size_t N = 12ull;
// corner indices of ArUco markers
const int goldCornersIds[N] = { 4, 12, 11, 3, 12, 10, 12, 10, 10, 11, 2, 11 };
map<int, int> counterGoldCornersIds;
for (int i = 0; i < static_cast<int>(N); i++)
counterGoldCornersIds[goldCornersIds[i]]++;
const size_t diamondsN = 3;
// corners of diamonds with Vec4i indices
const float goldDiamondCorners[diamondsN][8] = {{195.6f,150.9f, 213.5f,201.2f, 136.4f,215.3f, 122.4f,163.5f},
{501.1f,171.3f, 501.9f,208.5f, 446.2f,199.8f, 447.8f,163.3f},
{343.4f,361.2f, 359.7f,328.7f, 400.8f,344.6f, 385.7f,378.4f}};
auto comp = [](const Vec4i& a, const Vec4i& b) {
for (int i = 0; i < 3; i++)
if (a[i] != b[i]) return a[i] < b[i];
return a[3] < b[3];
};
map<Vec4i, const float*, decltype(comp)> goldDiamonds(comp);
goldDiamonds[Vec4i(10, 4, 11, 12)] = goldDiamondCorners[0];
goldDiamonds[Vec4i(10, 3, 11, 12)] = goldDiamondCorners[1];
goldDiamonds[Vec4i(10, 2, 11, 12)] = goldDiamondCorners[2];
detector.detectDiamonds(image, diamondCorners, diamondIds, corners, ids);
map<int, int> counterRes;
ASSERT_EQ(N, ids.size());
for (size_t i = 0; i < N; i++)
{
int arucoId = ids[i];
counterRes[arucoId]++;
}
ASSERT_EQ(counterGoldCornersIds, counterRes); // check the number of ArUco markers
ASSERT_EQ(goldDiamonds.size(), diamondIds.size()); // check the number of diamonds
for (size_t i = 0; i < goldDiamonds.size(); i++)
{
Vec4i diamondId = diamondIds[i];
ASSERT_TRUE(goldDiamonds.find(diamondId) != goldDiamonds.end());
for (int j = 0; j < 4; j++)
{
EXPECT_NEAR(goldDiamonds[diamondId][j * 2], diamondCorners[i][j].x, 0.5f);
EXPECT_NEAR(goldDiamonds[diamondId][j * 2 + 1], diamondCorners[i][j].y, 0.5f);
}
}
}
}} // namespace
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