wehub-resource-sync
116 lines
4.6 KiB
Java
116 lines
4.6 KiB
Java
package org.opencv.test.aruco;
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import java.util.ArrayList;
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import java.util.List;
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import org.opencv.test.OpenCVTestCase;
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import org.junit.Assert;
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import org.opencv.core.Scalar;
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import org.opencv.core.Mat;
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import org.opencv.core.MatOfInt;
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import org.opencv.core.Size;
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import org.opencv.core.CvType;
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import org.opencv.objdetect.*;
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public class ArucoTest extends OpenCVTestCase {
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public void testGenerateBoards() {
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Dictionary dictionary = Objdetect.getPredefinedDictionary(Objdetect.DICT_4X4_50);
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Mat point1 = new Mat(4, 3, CvType.CV_32FC1);
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int row = 0, col = 0;
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double squareLength = 40.;
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point1.put(row, col, 0, 0, 0,
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0, squareLength, 0,
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squareLength, squareLength, 0,
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0, squareLength, 0);
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List<Mat>objPoints = new ArrayList<Mat>();
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objPoints.add(point1);
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Mat ids = new Mat(1, 1, CvType.CV_32SC1);
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ids.put(row, col, 0);
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Board board = new Board(objPoints, dictionary, ids);
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Mat image = new Mat();
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board.generateImage(new Size(80, 80), image, 2);
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assertTrue(image.total() > 0);
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}
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public void testArucoIssue3133() {
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byte[][] marker = {{0,1,1},{1,1,1},{0,1,1}};
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Dictionary dictionary = Objdetect.extendDictionary(1, 3);
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dictionary.set_maxCorrectionBits(0);
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Mat markerBits = new Mat(3, 3, CvType.CV_8UC1);
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for (int i = 0; i < 3; i++) {
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for (int j = 0; j < 3; j++) {
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markerBits.put(i, j, marker[i][j]);
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}
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}
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Mat markerCompressed = Dictionary.getByteListFromBits(markerBits);
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assertMatNotEqual(markerCompressed, dictionary.get_bytesList());
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dictionary.set_bytesList(markerCompressed);
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assertMatEqual(markerCompressed, dictionary.get_bytesList());
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}
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public void testArucoDetector() {
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Dictionary dictionary = Objdetect.getPredefinedDictionary(0);
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DetectorParameters detectorParameters = new DetectorParameters();
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ArucoDetector detector = new ArucoDetector(dictionary, detectorParameters);
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Mat markerImage = new Mat();
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int id = 1, offset = 5, size = 40;
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Objdetect.generateImageMarker(dictionary, id, size, markerImage, detectorParameters.get_markerBorderBits());
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Mat image = new Mat(markerImage.rows() + 2*offset, markerImage.cols() + 2*offset,
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CvType.CV_8UC1, new Scalar(255));
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Mat m = image.submat(offset, size+offset, offset, size+offset);
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markerImage.copyTo(m);
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List<Mat> corners = new ArrayList();
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Mat ids = new Mat();
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detector.detectMarkers(image, corners, ids);
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assertEquals(1, corners.size());
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Mat res = corners.get(0);
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assertArrayEquals(new double[]{offset, offset}, res.get(0, 0), 0.0);
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assertArrayEquals(new double[]{size + offset - 1, offset}, res.get(0, 1), 0.0);
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assertArrayEquals(new double[]{size + offset - 1, size + offset - 1}, res.get(0, 2), 0.0);
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assertArrayEquals(new double[]{offset, size + offset - 1}, res.get(0, 3), 0.0);
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}
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public void testCharucoDetector() {
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Dictionary dictionary = Objdetect.getPredefinedDictionary(0);
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int boardSizeX = 3, boardSizeY = 3;
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CharucoBoard board = new CharucoBoard(new Size(boardSizeX, boardSizeY), 1.f, 0.8f, dictionary);
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CharucoDetector charucoDetector = new CharucoDetector(board);
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int cellSize = 80;
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Mat boardImage = new Mat();
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board.generateImage(new Size(cellSize*boardSizeX, cellSize*boardSizeY), boardImage);
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assertTrue(boardImage.total() > 0);
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Mat charucoCorners = new Mat();
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Mat charucoIds = new Mat();
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charucoDetector.detectBoard(boardImage, charucoCorners, charucoIds);
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assertEquals(4, charucoIds.total());
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int[] intCharucoIds = (new MatOfInt(charucoIds)).toArray();
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Assert.assertArrayEquals(new int[]{0, 1, 2, 3}, intCharucoIds);
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// Note: Expected values adjusted by -0.5px after fixing the systematic offset bug in charuco_detector.cpp
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// The fix removes the incorrect +0.5 offset that was added after cornerSubPix
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double eps = 0.2;
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assertArrayEquals(new double[]{cellSize - 0.5, cellSize - 0.5}, charucoCorners.get(0, 0), eps);
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assertArrayEquals(new double[]{2*cellSize - 0.5, cellSize - 0.5}, charucoCorners.get(1, 0), eps);
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assertArrayEquals(new double[]{cellSize - 0.5, 2*cellSize - 0.5}, charucoCorners.get(2, 0), eps);
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assertArrayEquals(new double[]{2*cellSize - 0.5, 2*cellSize - 0.5}, charucoCorners.get(3, 0), eps);
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}
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}
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