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

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/*
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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) {
// canonical image
Mat markerImg;
const int markerSizePixels = 100;
aruco::drawMarker(dictionary, id, markerSizePixels, markerImg, markerBorder);
// projected corners
Mat distCoeffs(5, 1, CV_64FC1, Scalar::all(0));
vector< Point2f > corners;
projectPoints(markerObjPoints, rvec, tvec, cameraMatrix, distCoeffs, corners);
// get perspective transform
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);
// apply transformation
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 GridBoard in perspective
*/
static Mat projectBoard(Ptr<aruco::GridBoard> &board, Mat cameraMatrix, double yaw, double pitch,
double distance, Size imageSize, int markerBorder) {
Mat rvec, tvec;
getSyntheticRT(yaw, pitch, distance, rvec, tvec);
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);
}
return img;
}
/**
* @brief Check pose estimation of aruco board
*/
class CV_ArucoBoardPose : public cvtest::BaseTest {
public:
CV_ArucoBoardPose();
protected:
void run(int);
};
CV_ArucoBoardPose::CV_ArucoBoardPose() {}
void CV_ArucoBoardPose::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::GridBoard> gridboard = aruco::GridBoard::create(3, 3, 0.02f, 0.005f, dictionary);
Ptr<aruco::Board> board = gridboard.staticCast<aruco::Board>();
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) {
for(unsigned int i = 0; i < gridboard->ids.size(); i++)
gridboard->ids[i] = (iter + int(i)) % 250;
int markerBorder = iter % 2 + 1;
iter++;
// create synthetic image
Mat img = projectBoard(gridboard, cameraMatrix, deg2rad(pitch), deg2rad(yaw), distance,
imgSize, markerBorder);
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 in Board test");
ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
return;
}
// estimate pose
Mat rvec, tvec;
aruco::estimatePoseBoard(corners, ids, board, cameraMatrix, distCoeffs, rvec, tvec);
// check result
for(unsigned int i = 0; i < ids.size(); i++) {
int foundIdx = -1;
for(unsigned int j = 0; j < gridboard->ids.size(); j++) {
if(gridboard->ids[j] == ids[i]) {
foundIdx = int(j);
break;
}
}
if(foundIdx == -1) {
ts->printf(cvtest::TS::LOG, "Marker detected with wrong ID in Board test");
ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
return;
}
vector< Point2f > projectedCorners;
projectPoints(gridboard->objPoints[foundIdx], rvec, tvec, cameraMatrix, distCoeffs,
projectedCorners);
for(int c = 0; c < 4; c++) {
double repError = cv::norm(projectedCorners[c] - corners[i][c]); // TODO cvtest
if(repError > 5.) {
ts->printf(cvtest::TS::LOG, "Corner reprojection error too high");
ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
return;
}
}
}
}
}
}
}
/**
* @brief Check refine strategy
*/
class CV_ArucoRefine : public cvtest::BaseTest {
public:
CV_ArucoRefine();
protected:
void run(int);
};
CV_ArucoRefine::CV_ArucoRefine() {}
void CV_ArucoRefine::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::GridBoard> gridboard = aruco::GridBoard::create(3, 3, 0.02f, 0.005f, dictionary);
Ptr<aruco::Board> board = gridboard.staticCast<aruco::Board>();
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) {
for(unsigned int i = 0; i < gridboard->ids.size(); i++)
gridboard->ids[i] = (iter + int(i)) % 250;
int markerBorder = iter % 2 + 1;
iter++;
// create synthetic image
Mat img = projectBoard(gridboard, cameraMatrix, deg2rad(pitch), deg2rad(yaw), distance,
imgSize, markerBorder);
// detect markers
vector< vector< Point2f > > corners, rejected;
vector< int > ids;
Ptr<aruco::DetectorParameters> params = aruco::DetectorParameters::create();
params->minDistanceToBorder = 3;
params->cornerRefinementMethod = aruco::CORNER_REFINE_SUBPIX;
params->markerBorderBits = markerBorder;
aruco::detectMarkers(img, dictionary, corners, ids, params, rejected);
// remove a marker from detection
int markersBeforeDelete = (int)ids.size();
if(markersBeforeDelete < 2) continue;
rejected.push_back(corners[0]);
corners.erase(corners.begin(), corners.begin() + 1);
ids.erase(ids.begin(), ids.begin() + 1);
// try to refind the erased marker
aruco::refineDetectedMarkers(img, board, corners, ids, rejected, cameraMatrix,
distCoeffs, 10, 3., true, noArray(), params);
// check result
if((int)ids.size() < markersBeforeDelete) {
ts->printf(cvtest::TS::LOG, "Error in refine detected markers");
ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
return;
}
}
}
}
}
TEST(CV_ArucoBoardPose, accuracy) {
CV_ArucoBoardPose test;
test.safe_run();
}
TEST(CV_ArucoRefine, accuracy) {
CV_ArucoRefine test;
test.safe_run();
}
TEST(CV_ArucoBoardPose, CheckNegativeZ)
{
double matrixData[9] = { -3.9062571886921410e+02, 0., 4.2350000000000000e+02,
0., 3.9062571886921410e+02, 2.3950000000000000e+02,
0., 0., 1 };
cv::Mat cameraMatrix = cv::Mat(3, 3, CV_64F, matrixData);
cv::Ptr<cv::aruco::Board> boardPtr(new cv::aruco::Board);
cv::aruco::Board& board = *boardPtr;
board.ids.push_back(0);
board.ids.push_back(1);
vector<cv::Point3f> pts3d;
pts3d.push_back(cv::Point3f(0.326198f, -0.030621f, 0.303620f));
pts3d.push_back(cv::Point3f(0.325340f, -0.100594f, 0.301862f));
pts3d.push_back(cv::Point3f(0.255859f, -0.099530f, 0.293416f));
pts3d.push_back(cv::Point3f(0.256717f, -0.029557f, 0.295174f));
board.objPoints.push_back(pts3d);
pts3d.clear();
pts3d.push_back(cv::Point3f(-0.033144f, -0.034819f, 0.245216f));
pts3d.push_back(cv::Point3f(-0.035507f, -0.104705f, 0.241987f));
pts3d.push_back(cv::Point3f(-0.105289f, -0.102120f, 0.237120f));
pts3d.push_back(cv::Point3f(-0.102926f, -0.032235f, 0.240349f));
board.objPoints.push_back(pts3d);
vector<vector<Point2f> > corners;
vector<Point2f> pts2d;
pts2d.push_back(cv::Point2f(37.7f, 203.3f));
pts2d.push_back(cv::Point2f(38.5f, 120.5f));
pts2d.push_back(cv::Point2f(105.5f, 115.8f));
pts2d.push_back(cv::Point2f(104.2f, 202.7f));
corners.push_back(pts2d);
pts2d.clear();
pts2d.push_back(cv::Point2f(476.0f, 184.2f));
pts2d.push_back(cv::Point2f(479.6f, 73.8f));
pts2d.push_back(cv::Point2f(590.9f, 77.0f));
pts2d.push_back(cv::Point2f(587.5f, 188.1f));
corners.push_back(pts2d);
Vec3d rvec, tvec;
int nUsed = cv::aruco::estimatePoseBoard(corners, board.ids, boardPtr, cameraMatrix, Mat(), rvec, tvec);
ASSERT_EQ(nUsed, 2);
cv::Matx33d rotm; cv::Point3d out;
cv::Rodrigues(rvec, rotm);
out = cv::Point3d(tvec) + rotm*Point3d(board.objPoints[0][0]);
ASSERT_GT(out.z, 0);
corners.clear(); pts2d.clear();
pts2d.push_back(cv::Point2f(38.4f, 204.5f));
pts2d.push_back(cv::Point2f(40.0f, 124.7f));
pts2d.push_back(cv::Point2f(102.0f, 119.1f));
pts2d.push_back(cv::Point2f(99.9f, 203.6f));
corners.push_back(pts2d);
pts2d.clear();
pts2d.push_back(cv::Point2f(476.0f, 184.3f));
pts2d.push_back(cv::Point2f(479.2f, 75.1f));
pts2d.push_back(cv::Point2f(588.7f, 79.2f));
pts2d.push_back(cv::Point2f(586.3f, 188.5f));
corners.push_back(pts2d);
nUsed = cv::aruco::estimatePoseBoard(corners, board.ids, boardPtr, cameraMatrix, Mat(), rvec, tvec, true);
ASSERT_EQ(nUsed, 2);
cv::Rodrigues(rvec, rotm);
out = cv::Point3d(tvec) + rotm*Point3d(board.objPoints[0][0]);
ASSERT_GT(out.z, 0);
}
}} // namespace