OpenCV_4.2.0/opencv_contrib-4.2.0/modules/aruco/test/test_charucodetection.cpp

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2024-07-25 16:47:56 +08:00
/*
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#include "test_precomp.hpp"
namespace opencv_test { namespace {
static double deg2rad(double deg) { return deg * CV_PI / 180.; }
/**
* @brief Get rvec and tvec from yaw, pitch and distance
*/
static void getSyntheticRT(double yaw, double pitch, double distance, Mat &rvec, Mat &tvec) {
rvec = Mat(3, 1, CV_64FC1);
tvec = Mat(3, 1, CV_64FC1);
// Rvec
// first put the Z axis aiming to -X (like the camera axis system)
Mat rotZ(3, 1, CV_64FC1);
rotZ.ptr< double >(0)[0] = 0;
rotZ.ptr< double >(0)[1] = 0;
rotZ.ptr< double >(0)[2] = -0.5 * CV_PI;
Mat rotX(3, 1, CV_64FC1);
rotX.ptr< double >(0)[0] = 0.5 * CV_PI;
rotX.ptr< double >(0)[1] = 0;
rotX.ptr< double >(0)[2] = 0;
Mat camRvec, camTvec;
composeRT(rotZ, Mat(3, 1, CV_64FC1, Scalar::all(0)), rotX, Mat(3, 1, CV_64FC1, Scalar::all(0)),
camRvec, camTvec);
// now pitch and yaw angles
Mat rotPitch(3, 1, CV_64FC1);
rotPitch.ptr< double >(0)[0] = 0;
rotPitch.ptr< double >(0)[1] = pitch;
rotPitch.ptr< double >(0)[2] = 0;
Mat rotYaw(3, 1, CV_64FC1);
rotYaw.ptr< double >(0)[0] = yaw;
rotYaw.ptr< double >(0)[1] = 0;
rotYaw.ptr< double >(0)[2] = 0;
composeRT(rotPitch, Mat(3, 1, CV_64FC1, Scalar::all(0)), rotYaw,
Mat(3, 1, CV_64FC1, Scalar::all(0)), rvec, tvec);
// compose both rotations
composeRT(camRvec, Mat(3, 1, CV_64FC1, Scalar::all(0)), rvec,
Mat(3, 1, CV_64FC1, Scalar::all(0)), rvec, tvec);
// Tvec, just move in z (camera) direction the specific distance
tvec.ptr< double >(0)[0] = 0.;
tvec.ptr< double >(0)[1] = 0.;
tvec.ptr< double >(0)[2] = distance;
}
/**
* @brief Project a synthetic marker
*/
static void projectMarker(Mat &img, Ptr<aruco::Dictionary> dictionary, int id,
vector< Point3f > markerObjPoints, Mat cameraMatrix, Mat rvec, Mat tvec,
int markerBorder) {
Mat markerImg;
const int markerSizePixels = 100;
aruco::drawMarker(dictionary, id, markerSizePixels, markerImg, markerBorder);
Mat distCoeffs(5, 1, CV_64FC1, Scalar::all(0));
vector< Point2f > corners;
projectPoints(markerObjPoints, rvec, tvec, cameraMatrix, distCoeffs, corners);
vector< Point2f > originalCorners;
originalCorners.push_back(Point2f(0, 0));
originalCorners.push_back(Point2f((float)markerSizePixels, 0));
originalCorners.push_back(Point2f((float)markerSizePixels, (float)markerSizePixels));
originalCorners.push_back(Point2f(0, (float)markerSizePixels));
Mat transformation = getPerspectiveTransform(originalCorners, corners);
Mat aux;
const char borderValue = 127;
warpPerspective(markerImg, aux, transformation, img.size(), INTER_NEAREST, BORDER_CONSTANT,
Scalar::all(borderValue));
// copy only not-border pixels
for(int y = 0; y < aux.rows; y++) {
for(int x = 0; x < aux.cols; x++) {
if(aux.at< unsigned char >(y, x) == borderValue) continue;
img.at< unsigned char >(y, x) = aux.at< unsigned char >(y, x);
}
}
}
/**
* @brief Get a synthetic image of Chessboard in perspective
*/
static Mat projectChessboard(int squaresX, int squaresY, float squareSize, Size imageSize,
Mat cameraMatrix, Mat rvec, Mat tvec) {
Mat img(imageSize, CV_8UC1, Scalar::all(255));
Mat distCoeffs(5, 1, CV_64FC1, Scalar::all(0));
for(int y = 0; y < squaresY; y++) {
float startY = float(y) * squareSize;
for(int x = 0; x < squaresX; x++) {
if(y % 2 != x % 2) continue;
float startX = float(x) * squareSize;
vector< Point3f > squareCorners;
squareCorners.push_back(Point3f(startX, startY, 0));
squareCorners.push_back(squareCorners[0] + Point3f(squareSize, 0, 0));
squareCorners.push_back(squareCorners[0] + Point3f(squareSize, squareSize, 0));
squareCorners.push_back(squareCorners[0] + Point3f(0, squareSize, 0));
vector< vector< Point2f > > projectedCorners;
projectedCorners.push_back(vector< Point2f >());
projectPoints(squareCorners, rvec, tvec, cameraMatrix, distCoeffs, projectedCorners[0]);
vector< vector< Point > > projectedCornersInt;
projectedCornersInt.push_back(vector< Point >());
for(int k = 0; k < 4; k++)
projectedCornersInt[0]
.push_back(Point((int)projectedCorners[0][k].x, (int)projectedCorners[0][k].y));
fillPoly(img, projectedCornersInt, Scalar::all(0));
}
}
return img;
}
/**
* @brief Check pose estimation of charuco board
*/
static Mat projectCharucoBoard(Ptr<aruco::CharucoBoard> &board, Mat cameraMatrix, double yaw,
double pitch, double distance, Size imageSize, int markerBorder,
Mat &rvec, Mat &tvec) {
getSyntheticRT(yaw, pitch, distance, rvec, tvec);
// project markers
Mat img = Mat(imageSize, CV_8UC1, Scalar::all(255));
for(unsigned int m = 0; m < board->ids.size(); m++) {
projectMarker(img, board->dictionary, board->ids[m], board->objPoints[m], cameraMatrix, rvec,
tvec, markerBorder);
}
// project chessboard
Mat chessboard =
projectChessboard(board->getChessboardSize().width, board->getChessboardSize().height,
board->getSquareLength(), imageSize, cameraMatrix, rvec, tvec);
for(unsigned int i = 0; i < chessboard.total(); i++) {
if(chessboard.ptr< unsigned char >()[i] == 0) {
img.ptr< unsigned char >()[i] = 0;
}
}
return img;
}
/**
* @brief Check Charuco detection
*/
class CV_CharucoDetection : public cvtest::BaseTest {
public:
CV_CharucoDetection();
protected:
void run(int);
};
CV_CharucoDetection::CV_CharucoDetection() {}
void CV_CharucoDetection::run(int) {
int iter = 0;
Mat cameraMatrix = Mat::eye(3, 3, CV_64FC1);
Size imgSize(500, 500);
Ptr<aruco::Dictionary> dictionary = aruco::getPredefinedDictionary(aruco::DICT_6X6_250);
Ptr<aruco::CharucoBoard> board = aruco::CharucoBoard::create(4, 4, 0.03f, 0.015f, dictionary);
cameraMatrix.at< double >(0, 0) = cameraMatrix.at< double >(1, 1) = 650;
cameraMatrix.at< double >(0, 2) = imgSize.width / 2;
cameraMatrix.at< double >(1, 2) = imgSize.height / 2;
Mat distCoeffs(5, 1, CV_64FC1, Scalar::all(0));
// for different perspectives
for(double distance = 0.2; distance <= 0.4; distance += 0.2) {
for(int yaw = 0; yaw < 360; yaw += 100) {
for(int pitch = 30; pitch <= 90; pitch += 50) {
int markerBorder = iter % 2 + 1;
iter++;
// create synthetic image
Mat rvec, tvec;
Mat img = projectCharucoBoard(board, cameraMatrix, deg2rad(pitch), deg2rad(yaw),
distance, imgSize, markerBorder, rvec, tvec);
// detect markers
vector< vector< Point2f > > corners;
vector< int > ids;
Ptr<aruco::DetectorParameters> params = aruco::DetectorParameters::create();
params->minDistanceToBorder = 3;
params->markerBorderBits = markerBorder;
aruco::detectMarkers(img, dictionary, corners, ids, params);
if(ids.size() == 0) {
ts->printf(cvtest::TS::LOG, "Marker detection failed");
ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
return;
}
// interpolate charuco corners
vector< Point2f > charucoCorners;
vector< int > charucoIds;
if(iter % 2 == 0) {
aruco::interpolateCornersCharuco(corners, ids, img, board, charucoCorners,
charucoIds);
} else {
aruco::interpolateCornersCharuco(corners, ids, img, board, charucoCorners,
charucoIds, cameraMatrix, distCoeffs);
}
// check results
vector< Point2f > projectedCharucoCorners;
projectPoints(board->chessboardCorners, rvec, tvec, cameraMatrix, distCoeffs,
projectedCharucoCorners);
for(unsigned int i = 0; i < charucoIds.size(); i++) {
int currentId = charucoIds[i];
if(currentId >= (int)board->chessboardCorners.size()) {
ts->printf(cvtest::TS::LOG, "Invalid Charuco corner id");
ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
return;
}
double repError = cv::norm(charucoCorners[i] - projectedCharucoCorners[currentId]); // TODO cvtest
if(repError > 5.) {
ts->printf(cvtest::TS::LOG, "Charuco corner reprojection error too high");
ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
return;
}
}
}
}
}
}
/**
* @brief Check charuco pose estimation
*/
class CV_CharucoPoseEstimation : public cvtest::BaseTest {
public:
CV_CharucoPoseEstimation();
protected:
void run(int);
};
CV_CharucoPoseEstimation::CV_CharucoPoseEstimation() {}
void CV_CharucoPoseEstimation::run(int) {
int iter = 0;
Mat cameraMatrix = Mat::eye(3, 3, CV_64FC1);
Size imgSize(500, 500);
Ptr<aruco::Dictionary> dictionary = aruco::getPredefinedDictionary(aruco::DICT_6X6_250);
Ptr<aruco::CharucoBoard> board = aruco::CharucoBoard::create(4, 4, 0.03f, 0.015f, dictionary);
cameraMatrix.at< double >(0, 0) = cameraMatrix.at< double >(1, 1) = 650;
cameraMatrix.at< double >(0, 2) = imgSize.width / 2;
cameraMatrix.at< double >(1, 2) = imgSize.height / 2;
Mat distCoeffs(5, 1, CV_64FC1, Scalar::all(0));
// for different perspectives
for(double distance = 0.2; distance <= 0.4; distance += 0.2) {
for(int yaw = 0; yaw < 360; yaw += 100) {
for(int pitch = 30; pitch <= 90; pitch += 50) {
int markerBorder = iter % 2 + 1;
iter++;
// get synthetic image
Mat rvec, tvec;
Mat img = projectCharucoBoard(board, cameraMatrix, deg2rad(pitch), deg2rad(yaw),
distance, imgSize, markerBorder, rvec, tvec);
// detect markers
vector< vector< Point2f > > corners;
vector< int > ids;
Ptr<aruco::DetectorParameters> params = aruco::DetectorParameters::create();
params->minDistanceToBorder = 3;
params->markerBorderBits = markerBorder;
aruco::detectMarkers(img, dictionary, corners, ids, params);
if(ids.size() == 0) {
ts->printf(cvtest::TS::LOG, "Marker detection failed");
ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
return;
}
// interpolate charuco corners
vector< Point2f > charucoCorners;
vector< int > charucoIds;
if(iter % 2 == 0) {
aruco::interpolateCornersCharuco(corners, ids, img, board, charucoCorners,
charucoIds);
} else {
aruco::interpolateCornersCharuco(corners, ids, img, board, charucoCorners,
charucoIds, cameraMatrix, distCoeffs);
}
if(charucoIds.size() == 0) continue;
// estimate charuco pose
aruco::estimatePoseCharucoBoard(charucoCorners, charucoIds, board, cameraMatrix,
distCoeffs, rvec, tvec);
// check result
vector< Point2f > projectedCharucoCorners;
projectPoints(board->chessboardCorners, rvec, tvec, cameraMatrix, distCoeffs,
projectedCharucoCorners);
for(unsigned int i = 0; i < charucoIds.size(); i++) {
int currentId = charucoIds[i];
if(currentId >= (int)board->chessboardCorners.size()) {
ts->printf(cvtest::TS::LOG, "Invalid Charuco corner id");
ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
return;
}
double repError = cv::norm(charucoCorners[i] - projectedCharucoCorners[currentId]); // TODO cvtest
if(repError > 5.) {
ts->printf(cvtest::TS::LOG, "Charuco corner reprojection error too high");
ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
return;
}
}
}
}
}
}
/**
* @brief Check diamond detection
*/
class CV_CharucoDiamondDetection : public cvtest::BaseTest {
public:
CV_CharucoDiamondDetection();
protected:
void run(int);
};
CV_CharucoDiamondDetection::CV_CharucoDiamondDetection() {}
void CV_CharucoDiamondDetection::run(int) {
int iter = 0;
Mat cameraMatrix = Mat::eye(3, 3, CV_64FC1);
Size imgSize(500, 500);
Ptr<aruco::Dictionary> dictionary = aruco::getPredefinedDictionary(aruco::DICT_6X6_250);
float squareLength = 0.03f;
float markerLength = 0.015f;
Ptr<aruco::CharucoBoard> board =
aruco::CharucoBoard::create(3, 3, squareLength, markerLength, dictionary);
cameraMatrix.at< double >(0, 0) = cameraMatrix.at< double >(1, 1) = 650;
cameraMatrix.at< double >(0, 2) = imgSize.width / 2;
cameraMatrix.at< double >(1, 2) = imgSize.height / 2;
Mat distCoeffs(5, 1, CV_64FC1, Scalar::all(0));
// for different perspectives
for(double distance = 0.3; distance <= 0.3; distance += 0.2) {
for(int yaw = 0; yaw < 360; yaw += 100) {
for(int pitch = 30; pitch <= 90; pitch += 30) {
int markerBorder = iter % 2 + 1;
for(int i = 0; i < 4; i++)
board->ids[i] = 4 * iter + i;
iter++;
// get synthetic image
Mat rvec, tvec;
Mat img = projectCharucoBoard(board, cameraMatrix, deg2rad(pitch), deg2rad(yaw),
distance, imgSize, markerBorder, rvec, tvec);
// detect markers
vector< vector< Point2f > > corners;
vector< int > ids;
Ptr<aruco::DetectorParameters> params = aruco::DetectorParameters::create();
params->minDistanceToBorder = 0;
params->markerBorderBits = markerBorder;
aruco::detectMarkers(img, dictionary, corners, ids, params);
if(ids.size() != 4) {
ts->printf(cvtest::TS::LOG, "Not enough markers for diamond detection");
ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
return;
}
// detect diamonds
vector< vector< Point2f > > diamondCorners;
vector< Vec4i > diamondIds;
aruco::detectCharucoDiamond(img, corners, ids, squareLength / markerLength,
diamondCorners, diamondIds, cameraMatrix, distCoeffs);
// check results
if(diamondIds.size() != 1) {
ts->printf(cvtest::TS::LOG, "Diamond not detected correctly");
ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
return;
}
for(int i = 0; i < 4; i++) {
if(diamondIds[0][i] != board->ids[i]) {
ts->printf(cvtest::TS::LOG, "Incorrect diamond ids");
ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
return;
}
}
vector< Point2f > projectedDiamondCorners;
projectPoints(board->chessboardCorners, rvec, tvec, cameraMatrix, distCoeffs,
projectedDiamondCorners);
vector< Point2f > projectedDiamondCornersReorder(4);
projectedDiamondCornersReorder[0] = projectedDiamondCorners[2];
projectedDiamondCornersReorder[1] = projectedDiamondCorners[3];
projectedDiamondCornersReorder[2] = projectedDiamondCorners[1];
projectedDiamondCornersReorder[3] = projectedDiamondCorners[0];
for(unsigned int i = 0; i < 4; i++) {
double repError = cv::norm(diamondCorners[0][i] - projectedDiamondCornersReorder[i]); // TODO cvtest
if(repError > 5.) {
ts->printf(cvtest::TS::LOG, "Diamond corner reprojection error too high");
ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
return;
}
}
// estimate diamond pose
vector< Vec3d > estimatedRvec, estimatedTvec;
aruco::estimatePoseSingleMarkers(diamondCorners, squareLength, cameraMatrix,
distCoeffs, estimatedRvec, estimatedTvec);
// check result
vector< Point2f > projectedDiamondCornersPose;
vector< Vec3f > diamondObjPoints(4);
diamondObjPoints[0] = Vec3f(-squareLength / 2.f, squareLength / 2.f, 0);
diamondObjPoints[1] = Vec3f(squareLength / 2.f, squareLength / 2.f, 0);
diamondObjPoints[2] = Vec3f(squareLength / 2.f, -squareLength / 2.f, 0);
diamondObjPoints[3] = Vec3f(-squareLength / 2.f, -squareLength / 2.f, 0);
projectPoints(diamondObjPoints, estimatedRvec[0], estimatedTvec[0], cameraMatrix,
distCoeffs, projectedDiamondCornersPose);
for(unsigned int i = 0; i < 4; i++) {
double repError = cv::norm(projectedDiamondCornersReorder[i] - projectedDiamondCornersPose[i]); // TODO cvtest
if(repError > 5.) {
ts->printf(cvtest::TS::LOG, "Charuco pose error too high");
ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
return;
}
}
}
}
}
}
/**
* @brief Check charuco board creation
*/
class CV_CharucoBoardCreation : public cvtest::BaseTest {
public:
CV_CharucoBoardCreation();
protected:
void run(int);
};
CV_CharucoBoardCreation::CV_CharucoBoardCreation() {}
void CV_CharucoBoardCreation::run(int)
{
Ptr<aruco::Dictionary> dictionary = aruco::getPredefinedDictionary(aruco::DICT_5X5_250);
int n = 6;
float markerSizeFactor = 0.5f;
for (float squareSize_mm = 5.0f; squareSize_mm < 35.0f; squareSize_mm += 0.1f)
{
Ptr<aruco::CharucoBoard> board_meters = aruco::CharucoBoard::create(
n, n, squareSize_mm*1e-3f, squareSize_mm * markerSizeFactor * 1e-3f, dictionary);
Ptr<aruco::CharucoBoard> board_millimeters = aruco::CharucoBoard::create(
n, n, squareSize_mm, squareSize_mm * markerSizeFactor, dictionary);
for (size_t i = 0; i < board_meters->nearestMarkerIdx.size(); i++)
{
if (board_meters->nearestMarkerIdx[i].size() != board_millimeters->nearestMarkerIdx[i].size() ||
board_meters->nearestMarkerIdx[i][0] != board_millimeters->nearestMarkerIdx[i][0])
{
ts->printf(cvtest::TS::LOG,
cv::format("Charuco board topology is sensitive to scale with squareSize=%.1f\n",
squareSize_mm).c_str());
ts->set_failed_test_info(cvtest::TS::FAIL_INVALID_OUTPUT);
break;
}
}
}
}
TEST(CV_CharucoDetection, accuracy) {
CV_CharucoDetection test;
test.safe_run();
}
TEST(CV_CharucoPoseEstimation, accuracy) {
CV_CharucoPoseEstimation test;
test.safe_run();
}
TEST(CV_CharucoDiamondDetection, accuracy) {
CV_CharucoDiamondDetection test;
test.safe_run();
}
TEST(CV_CharucoBoardCreation, accuracy) {
CV_CharucoBoardCreation test;
test.safe_run();
}
}} // namespace