update tests and samples to class API

opencv · May 4, 2022 · 5bd62f7 · 5bd62f7
1 parent d4792f3
commit 5bd62f7
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Showing 18 changed files with 172 additions and 167 deletions.
diff --git a/modules/aruco/include/opencv2/aruco.hpp b/modules/aruco/include/opencv2/aruco.hpp
@@ -40,6 +40,7 @@ the use of this software, even if advised of the possibility of such damage.
 #define __OPENCV_ARUCO_HPP__
 
 #include "opencv2/aruco_detector.hpp"
+#include "opencv2/aruco/aruco_calib_pose.hpp"
 
 /**
  * @defgroup aruco ArUco Marker Detection

diff --git a/modules/aruco/include/opencv2/aruco_detector.hpp b/modules/aruco/include/opencv2/aruco_detector.hpp
@@ -100,8 +100,48 @@ enum CornerRefineMethod{
  *   The parameter tau_i has a direct influence on the processing speed.
  */
 struct CV_EXPORTS_W DetectorParameters {
-    DetectorParameters();
-    CV_WRAP static Ptr<DetectorParameters> create();
+    DetectorParameters():
+        adaptiveThreshWinSizeMin(3),
+        adaptiveThreshWinSizeMax(23),
+        adaptiveThreshWinSizeStep(10),
+        adaptiveThreshConstant(7),
+        minMarkerPerimeterRate(0.03),
+        maxMarkerPerimeterRate(4.),
+        polygonalApproxAccuracyRate(0.03),
+        minCornerDistanceRate(0.05),
+        minDistanceToBorder(3),
+        minMarkerDistanceRate(0.05),
+        cornerRefinementMethod(CORNER_REFINE_NONE),
+        cornerRefinementWinSize(5),
+        cornerRefinementMaxIterations(30),
+        cornerRefinementMinAccuracy(0.1),
+        markerBorderBits(1),
+        perspectiveRemovePixelPerCell(4),
+        perspectiveRemoveIgnoredMarginPerCell(0.13),
+        maxErroneousBitsInBorderRate(0.35),
+        minOtsuStdDev(5.0),
+        errorCorrectionRate(0.6),
+        aprilTagQuadDecimate(0.0),
+        aprilTagQuadSigma(0.0),
+        aprilTagMinClusterPixels(5),
+        aprilTagMaxNmaxima(10),
+        aprilTagCriticalRad( (float)(10* CV_PI /180) ),
+        aprilTagMaxLineFitMse(10.0),
+        aprilTagMinWhiteBlackDiff(5),
+        aprilTagDeglitch(0),
+        detectInvertedMarker(false),
+        useAruco3Detection(false),
+        minSideLengthCanonicalImg(32),
+        minMarkerLengthRatioOriginalImg(0.0) {};
+
+/**
+  * @brief Create a new set of DetectorParameters with default values.
+  */
+    CV_WRAP static Ptr<DetectorParameters> create() {
+        Ptr<DetectorParameters> params = makePtr<DetectorParameters>();
+        return params;
+}
+
     CV_WRAP bool readDetectorParameters(const FileNode& fn);
 
     CV_PROP_RW int adaptiveThreshWinSizeMin;
@@ -145,6 +185,7 @@ struct CV_EXPORTS_W DetectorParameters {
     CV_PROP_RW bool useAruco3Detection;
     CV_PROP_RW int minSideLengthCanonicalImg;
     CV_PROP_RW float minMarkerLengthRatioOriginalImg;
+
 };
 
 struct CV_EXPORTS_W RefineParameters {
@@ -285,7 +326,6 @@ CV_EXPORTS_W void drawDetectedMarkers(InputOutputArray image, InputArrayOfArrays
  */
 CV_EXPORTS_W void drawMarker(const Ptr<Dictionary> &dictionary, int id, int sidePixels, OutputArray img,
                              int borderBits = 1);
-//};
 
 //! @}
 

diff --git a/modules/aruco/perf/perf_aruco.cpp b/modules/aruco/perf/perf_aruco.cpp
@@ -190,6 +190,7 @@ PERF_TEST_P(EstimateAruco, ArucoFirst, ESTIMATE_PARAMS)
         detectorParams->minSideLengthCanonicalImg = 32;
         detectorParams->minMarkerLengthRatioOriginalImg = 0.04f / numMarkersInRow;
     }
+    aruco::ArucoDetector detector(dictionary, detectorParams);
     MarkerPainter painter(markerSize);
     auto image_map = painter.getProjectMarkersTile(numMarkersInRow, detectorParams, dictionary);
 
@@ -198,7 +199,7 @@ PERF_TEST_P(EstimateAruco, ArucoFirst, ESTIMATE_PARAMS)
     vector<int> ids;
     TEST_CYCLE()
     {
-        aruco::detectMarkers(image_map.first, dictionary, corners, ids, detectorParams);
+        detector.detectMarkers(image_map.first, corners, ids);
     }
     ASSERT_EQ(numMarkersInRow*numMarkersInRow, static_cast<int>(ids.size()));
     double maxDistance = getMaxDistance(image_map.second, ids, corners);
@@ -221,6 +222,7 @@ PERF_TEST_P(EstimateAruco, ArucoSecond, ESTIMATE_PARAMS)
         detectorParams->minSideLengthCanonicalImg = 64;
         detectorParams->minMarkerLengthRatioOriginalImg = 0.f;
     }
+    aruco::ArucoDetector detector(dictionary, detectorParams);
     const int markerSize = 200;
     const int numMarkersInRow = 11;
     MarkerPainter painter(markerSize);
@@ -231,7 +233,7 @@ PERF_TEST_P(EstimateAruco, ArucoSecond, ESTIMATE_PARAMS)
     vector<int> ids;
     TEST_CYCLE()
     {
-        aruco::detectMarkers(image_map.first, dictionary, corners, ids, detectorParams);
+        detector.detectMarkers(image_map.first, corners, ids);
     }
     ASSERT_EQ(numMarkersInRow*numMarkersInRow, static_cast<int>(ids.size()));
     double maxDistance = getMaxDistance(image_map.second, ids, corners);
@@ -276,6 +278,7 @@ PERF_TEST_P(EstimateLargeAruco, ArucoFHD, ESTIMATE_FHD_PARAMS)
         detectorParams->minSideLengthCanonicalImg = get<0>(testParams).minSideLengthCanonicalImg;
         detectorParams->minMarkerLengthRatioOriginalImg = get<0>(testParams).minMarkerLengthRatioOriginalImg;
     }
+    aruco::ArucoDetector detector(dictionary, detectorParams);
     const int markerSize = get<1>(testParams).first;       // 1440 or 480 or 144
     const int numMarkersInRow = get<1>(testParams).second; // 1 or 3 or 144
     MarkerPainter painter(markerSize);                     // num pixels is 1440x1440 as in FHD 1920x1080
@@ -286,7 +289,7 @@ PERF_TEST_P(EstimateLargeAruco, ArucoFHD, ESTIMATE_FHD_PARAMS)
     vector<int> ids;
     TEST_CYCLE()
     {
-        aruco::detectMarkers(image_map.first, dictionary, corners, ids, detectorParams);
+        detector.detectMarkers(image_map.first, corners, ids);
     }
     ASSERT_EQ(numMarkersInRow*numMarkersInRow, static_cast<int>(ids.size()));
     double maxDistance = getMaxDistance(image_map.second, ids, corners);

diff --git a/modules/aruco/perf/perf_precomp.hpp b/modules/aruco/perf/perf_precomp.hpp
@@ -5,7 +5,7 @@
 #define __OPENCV_PERF_PRECOMP_HPP__
 
 #include "opencv2/ts.hpp"
-#include "opencv2/aruco.hpp"
+#include "opencv2/aruco_detector.hpp"
 #include "opencv2/calib3d.hpp"
 
 #endif
diff --git a/modules/aruco/samples/aruco_dict_utils.cpp b/modules/aruco/samples/aruco_dict_utils.cpp
@@ -1,5 +1,5 @@
 #include <opencv2/core/hal/hal.hpp>
-#include <opencv2/aruco.hpp>
+#include <opencv2/aruco_detector.hpp>
 #include <iostream>
 
 using namespace cv;

diff --git a/modules/aruco/samples/aruco_samples_utility.hpp b/modules/aruco/samples/aruco_samples_utility.hpp
@@ -1,5 +1,5 @@
 #include <opencv2/highgui.hpp>
-#include <opencv2/aruco.hpp>
+#include <opencv2/aruco_detector.hpp>
 #include <opencv2/calib3d.hpp>
 #include <ctime>
 

diff --git a/modules/aruco/samples/calibrate_camera.cpp b/modules/aruco/samples/calibrate_camera.cpp
@@ -39,7 +39,8 @@ the use of this software, even if advised of the possibility of such damage.
 
 #include <opencv2/highgui.hpp>
 #include <opencv2/calib3d.hpp>
-#include <opencv2/aruco.hpp>
+#include <opencv2/aruco_detector.hpp>
+#include <opencv2/aruco/aruco_calib_pose.hpp>
 #include <opencv2/imgproc.hpp>
 #include <vector>
 #include <iostream>
@@ -162,6 +163,8 @@ int main(int argc, char *argv[]) {
     vector< vector< int > > allIds;
     Size imgSize;
 
+    aruco::ArucoDetector detector(dictionary, detectorParams);
+
     while(inputVideo.grab()) {
         Mat image, imageCopy;
         inputVideo.retrieve(image);
@@ -170,10 +173,10 @@ int main(int argc, char *argv[]) {
         vector< vector< Point2f > > corners, rejected;
 
         // detect markers
-        aruco::detectMarkers(image, dictionary, corners, ids, detectorParams, rejected);
+        detector.detectMarkers(image, corners, ids, rejected);
 
         // refind strategy to detect more markers
-        if(refindStrategy) aruco::refineDetectedMarkers(image, board, corners, ids, rejected);
+        if(refindStrategy) detector.refineDetectedMarkers(image, board, corners, ids, rejected);
 
         // draw results
         image.copyTo(imageCopy);

diff --git a/modules/aruco/samples/create_board.cpp b/modules/aruco/samples/create_board.cpp
@@ -38,7 +38,7 @@ the use of this software, even if advised of the possibility of such damage.
 
 
 #include <opencv2/highgui.hpp>
-#include <opencv2/aruco.hpp>
+#include <opencv2/aruco_detector.hpp>
 #include <iostream>
 #include "aruco_samples_utility.hpp"
 

diff --git a/modules/aruco/samples/create_marker.cpp b/modules/aruco/samples/create_marker.cpp
@@ -38,7 +38,7 @@ the use of this software, even if advised of the possibility of such damage.
 
 
 #include <opencv2/highgui.hpp>
-#include <opencv2/aruco.hpp>
+#include <opencv2/aruco_detector.hpp>
 #include <iostream>
 #include "aruco_samples_utility.hpp"
 

diff --git a/modules/aruco/samples/detect_board.cpp b/modules/aruco/samples/detect_board.cpp
@@ -38,7 +38,8 @@ the use of this software, even if advised of the possibility of such damage.
 
 
 #include <opencv2/highgui.hpp>
-#include <opencv2/aruco.hpp>
+#include <opencv2/aruco_detector.hpp>
+#include <opencv2/aruco/aruco_calib_pose.hpp>
 #include <vector>
 #include <iostream>
 #include "aruco_samples_utility.hpp"
@@ -135,7 +136,7 @@ int main(int argc, char *argv[]) {
         cerr << "Dictionary not specified" << endl;
         return 0;
     }
-
+    aruco::ArucoDetector detector(dictionary, detectorParams);
     VideoCapture inputVideo;
     int waitTime;
     if(!video.empty()) {
@@ -168,12 +169,12 @@ int main(int argc, char *argv[]) {
         Vec3d rvec, tvec;
 
         // detect markers
-        aruco::detectMarkers(image, dictionary, corners, ids, detectorParams, rejected);
+        detector.detectMarkers(image, corners, ids, rejected);
 
         // refind strategy to detect more markers
         if(refindStrategy)
-            aruco::refineDetectedMarkers(image, board, corners, ids, rejected, camMatrix,
-                                         distCoeffs);
+            detector.refineDetectedMarkers(image, board, corners, ids, rejected, camMatrix,
+                                           distCoeffs);
 
         // estimate board pose
         int markersOfBoardDetected = 0;

diff --git a/modules/aruco/samples/detect_markers.cpp b/modules/aruco/samples/detect_markers.cpp
@@ -38,7 +38,8 @@ the use of this software, even if advised of the possibility of such damage.
 
 
 #include <opencv2/highgui.hpp>
-#include <opencv2/aruco.hpp>
+#include <opencv2/aruco_detector.hpp>
+#include <opencv2/aruco/aruco_calib_pose.hpp>
 #include <iostream>
 #include "aruco_samples_utility.hpp"
 
@@ -134,7 +135,7 @@ int main(int argc, char *argv[]) {
             return 0;
         }
     }
-
+    aruco::ArucoDetector detector(dictionary, detectorParams);
     VideoCapture inputVideo;
     int waitTime;
     if(!video.empty()) {
@@ -159,7 +160,7 @@ int main(int argc, char *argv[]) {
         vector< Vec3d > rvecs, tvecs;
 
         // detect markers and estimate pose
-        aruco::detectMarkers(image, dictionary, corners, ids, detectorParams, rejected);
+        detector.detectMarkers(image, corners, ids, rejected);
         if(estimatePose && ids.size() > 0)
             aruco::estimatePoseSingleMarkers(corners, markerLength, camMatrix, distCoeffs, rvecs,
                                              tvecs);

diff --git a/modules/aruco/src/apriltag/apriltag_quad_thresh.hpp b/modules/aruco/src/apriltag/apriltag_quad_thresh.hpp
@@ -20,7 +20,7 @@
 #define _OPENCV_APRIL_QUAD_THRESH_HPP_
 
 #include <opencv2/imgproc.hpp>
-#include "opencv2/aruco.hpp"
+#include "opencv2/aruco_detector.hpp"
 #include "unionfind.hpp"
 #include "zmaxheap.hpp"
 #include "zarray.hpp"

diff --git a/modules/aruco/src/aruco_detector.cpp b/modules/aruco/src/aruco_detector.cpp
@@ -15,50 +15,6 @@ namespace aruco {
 
 using namespace std;
 
-DetectorParameters::DetectorParameters()
-    : adaptiveThreshWinSizeMin(3),
-      adaptiveThreshWinSizeMax(23),
-      adaptiveThreshWinSizeStep(10),
-      adaptiveThreshConstant(7),
-      minMarkerPerimeterRate(0.03),
-      maxMarkerPerimeterRate(4.),
-      polygonalApproxAccuracyRate(0.03),
-      minCornerDistanceRate(0.05),
-      minDistanceToBorder(3),
-      minMarkerDistanceRate(0.05),
-      cornerRefinementMethod(CORNER_REFINE_NONE),
-      cornerRefinementWinSize(5),
-      cornerRefinementMaxIterations(30),
-      cornerRefinementMinAccuracy(0.1),
-      markerBorderBits(1),
-      perspectiveRemovePixelPerCell(4),
-      perspectiveRemoveIgnoredMarginPerCell(0.13),
-      maxErroneousBitsInBorderRate(0.35),
-      minOtsuStdDev(5.0),
-      errorCorrectionRate(0.6),
-      aprilTagQuadDecimate(0.0),
-      aprilTagQuadSigma(0.0),
-      aprilTagMinClusterPixels(5),
-      aprilTagMaxNmaxima(10),
-      aprilTagCriticalRad( (float)(10* CV_PI /180) ),
-      aprilTagMaxLineFitMse(10.0),
-      aprilTagMinWhiteBlackDiff(5),
-      aprilTagDeglitch(0),
-      detectInvertedMarker(false),
-      useAruco3Detection(false),
-      minSideLengthCanonicalImg(32),
-      minMarkerLengthRatioOriginalImg(0.0)
-{}
-
-
-/**
-  * @brief Create a new set of DetectorParameters with default values.
-  */
-Ptr<DetectorParameters> DetectorParameters::create() {
-    Ptr<DetectorParameters> params = makePtr<DetectorParameters>();
-    return params;
-}
-
 template<typename T>
 static inline bool readParameter(const FileNode& node, T& parameter)
 {
@@ -832,7 +788,6 @@ static inline void findCornerInPyrImage(const float scale_init, const int closes
   */
 void ArucoDetector::detectMarkers(InputArray _image, OutputArrayOfArrays _corners, OutputArray _ids,
                                   OutputArrayOfArrays _rejectedImgPoints) {
-
     CV_Assert(!_image.empty());
     CV_Assert(params->markerBorderBits > 0);
     // check that the parameters are set correctly if Aruco3 is used
@@ -991,9 +946,8 @@ void ArucoDetector::refineDetectedMarkers(InputArray _image, const Ptr<Board> &_
     vector< bool > alreadyIdentified(_rejectedCorners.total(), false);
 
     // maximum bits that can be corrected
-    Dictionary &dictionary = *(_board->dictionary);
     int maxCorrectionRecalculated =
-        int(double(dictionary.maxCorrectionBits) * refineParams->errorCorrectionRate);
+        int(double(dictionary->maxCorrectionBits) * refineParams->errorCorrectionRate);
 
     Mat grey;
     _convertToGrey(_image, grey);
@@ -1061,7 +1015,7 @@ void ArucoDetector::refineDetectedMarkers(InputArray _image, const Ptr<Board> &_
 
                 // extract bits
                 Mat bits = _extractBits(
-                    grey, rotatedMarker, dictionary.markerSize, params->markerBorderBits,
+                    grey, rotatedMarker, dictionary->markerSize, params->markerBorderBits,
                     params->perspectiveRemovePixelPerCell,
                     params->perspectiveRemoveIgnoredMarginPerCell, params->minOtsuStdDev);
 
@@ -1070,7 +1024,7 @@ void ArucoDetector::refineDetectedMarkers(InputArray _image, const Ptr<Board> &_
                         .colRange(params->markerBorderBits, bits.rows - params->markerBorderBits);
 
                 codeDistance =
-                    dictionary.getDistanceToId(onlyBits, undetectedMarkersIds[i], false);
+                    dictionary->getDistanceToId(onlyBits, undetectedMarkersIds[i], false);
             }
 
             // if everythin is ok, assign values to current best match