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add detectDiamonds to diamond test #3713

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Merged
asmorkalov merged 1 commit into from
Apr 9, 2024
Merged

add detectDiamonds to diamond test #3713

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40 changes: 35 additions & 5 deletions modules/aruco/test/test_aruco_tutorial.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -190,18 +190,36 @@ TEST(CV_ArucoTutorial, can_find_diamondmarkers)
detectorParams.readDetectorParameters(fs.root());
detectorParams.cornerRefinementMethod = aruco::CORNER_REFINE_APRILTAG;

aruco::ArucoDetector detector(dictionary, detectorParams);
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, rejected;
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]]++;

detector.detectMarkers(image, corners, ids, rejected);
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) {
if (a[0] < b[0]) return true;
if (a[1] < b[1]) return true;
if (a[2] < b[2]) return true;
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());
Expand All @@ -211,7 +229,19 @@ TEST(CV_ArucoTutorial, can_find_diamondmarkers)
counterRes[arucoId]++;
}

EXPECT_EQ(counterGoldCornersIds, counterRes); // check the number of ArUco markers
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