CharucoBoard_create wrong internal marker position #2623
Description
System information (version)
OpenCV => opencv-contrib-python 4.3.0.36
Operating System / Platform => Win 10
Env: Python 3.7
Detailed description
if you use CharucoBoard_create and plot the internal markerpositions of the charucoboard the positions are wrong if the charuco board has an even row count.
with uneven row count:
with even row count:
Steps to reproduce
import cv2
import numpy as np
squaresX = 11
#squaresY = 7
squaresY = 8
parameters = cv2.aruco.DetectorParameters_create()
# create board
aruco_dict = cv2.aruco.Dictionary_get(cv2.aruco.DICT_4X4_50)
board = cv2.aruco.CharucoBoard_create(squaresX, squaresY, 40, 30, aruco_dict)
img_board = board.draw((40*squaresX, 40*squaresY), marginSize=0, borderBits=1)
cs_corners_o = np.array([np.array([[a[0], a[1]]]) for a in board.chessboardCorners])
cs_corner_ids = np.array([[a] for a in np.arange(cs_corners_o.shape[0])])
img_board_color = cv2.cvtColor(img_board, cv2.COLOR_GRAY2BGR)
# remove third dimension from points
objPoints = []
for marker in board.objPoints:
newPoint = np.array([[[a[0], a[1]] for a in marker]])
objPoints.append(newPoint)
cv2.aruco.drawDetectedMarkers(img_board_color, objPoints, board.ids)
cv2.imshow('data from: CharucoBoard_create', img_board_color)
# plot detected data from image
img_board_color2 = cv2.cvtColor(img_board, cv2.COLOR_GRAY2BGR)
img_bord_gray = cv2.cvtColor(img_board_color2, cv2.COLOR_BGR2GRAY)
marker_corners_c, marker_ids, rejectedImgPoints = cv2.aruco.detectMarkers(img_bord_gray, aruco_dict, parameters=parameters)
cv2.aruco.drawDetectedMarkers(img_board_color2, marker_corners_c, marker_ids)
cv2.imshow('data from: drawDetectedMarkers', img_board_color2)
cv2.waitKey(0)Issue submission checklist
- I report the issue, it's not a question
- I checked the problem with documentation, FAQ, open issues,
answers.opencv.org, Stack Overflow, etc and have not found solution - I updated to latest OpenCV version and the issue is still there
- There is reproducer code and related data files: videos, images, onnx, etc