Update ArUco tutorial #3126

AleksandrPanov · 2021-12-02T18:21:21Z

Some ArUco tutorial examples (Detection of ArUco Boards and Detection of ChArUco Corners) aren't reproduced:

gboriginal.png // need custom dictionary to detect markers
choriginal.png // need custom dictionary and custom board configuration to detect markers
diamondmarkers.png // need custom dictionary and custom detector parameters to detect all markers

This PR:

fix detection of gboriginal.png and diamondmarkers.png by using custom dictionary from original lib (file tutorial_dict.yml) and custom detector parameters (the required flags have been added to the examples).
detection of choriginal.png can't be fixed easy. So, images of ChArUco board are recaptured:

New ChArUco board images

Also this PR:

Add to ArUco API: readDetectorParameters() and readDictionary().
Add samples_utility.hpp with readCameraParameters(), saveCameraParams().
Add tests of tutorial to avoid regression: can_find_singlemarkersoriginal, can_find_gboriginal, can_find_choriginal, can_find_chocclusion, can_find_diamondmarkers.
Add custom dictionary tutorial_dict.yml and tutorial_camera_params.yml.
Add ChArUco calibration samples:

calibration samples

Add tutorial_camera_charuco.yml (created by calibrate_camera_charuco.cpp and calibration samples).
Add prev/next links.
Check and update flags for samples.
Add some snippets.

Pull Request Readiness Checklist

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

I agree to contribute to the project under Apache 2 License.
To the best of my knowledge, the proposed patch is not based on a code under GPL or other license that is incompatible with OpenCV
The PR is proposed to proper branch
There is reference to original bug report and related work
There is accuracy test, performance test and test data in opencv_extra repository, if applicable
Patch to opencv_extra has the same branch name.
The feature is well documented and sample code can be built with the project CMake

AleksandrPanov · 2021-12-10T16:08:12Z

@alalek, @asmorkalov, @mshabunin, could you review this PR?

modules/aruco/test/test_arucodetection.cpp

modules/aruco/test/test_charucodetection.cpp

asmorkalov · 2021-12-15T09:30:54Z

@alalek could you look and merge.

alalek · 2021-12-15T12:10:23Z

modules/aruco/samples/samples_utility.hpp

@@ -0,0 +1,110 @@
+// This file is part of OpenCV project.
+// It is subject to the license terms in the LICENSE file found in the top-level directory
+// of this distribution and at http://opencv.org/license.html.


Samples doesn't have license header.

alalek · 2021-12-15T12:10:49Z

modules/aruco/samples/samples_utility.hpp

+// of this distribution and at http://opencv.org/license.html.
+
+#ifndef _SAMPLES_UTILITY_HPP_
+#define _SAMPLES_UTILITY_HPP_


We don't need guard here.

alalek · 2021-12-15T12:11:06Z

modules/aruco/samples/samples_utility.hpp

+#include <opencv2/calib3d.hpp>
+#include <ctime>
+
+inline bool readCameraParameters(std::string filename, cv::Mat &camMatrix, cv::Mat &distCoeffs) {


inline -> static

CI throw warning to static functions:
warning: defined but not used [-Wunused-function]
what to do in this case?

Because not every sample uses all functions from samples_utility.hpp.

Maybe I should use static inline?

These attached messages comes from tests compilation, not sample code.

Anonymous namespace may help.

Anonymous namespace didn't help ((( (warnings are still there due to tests)

fixed
include of aruco_samples_utility.hpp is removed from tests

alalek · 2021-12-15T12:11:35Z

modules/aruco/samples/calibrate_camera.cpp

@@ -44,6 +44,7 @@ the use of this software, even if advised of the possibility of such damage.
 #include <vector>
 #include <iostream>
 #include <ctime>
+#include "samples_utility.hpp"


"samples_utility.hpp" -> "aruco_samples_utility.hpp"

alalek · 2021-12-15T12:12:35Z

modules/aruco/samples/tutorial_charuco_create_detect.cpp

@@ -36,7 +23,7 @@ void createBoard()
 }

 //! [detwcp]
-void detectCharucoBoardWithCalibrationPose()
+inline void detectCharucoBoardWithCalibrationPose()


add static inline to avoid warning: defined but not used [-Wunused-function]

alalek · 2021-12-15T12:13:07Z

modules/aruco/test/test_arucodetection.cpp

@@ -36,8 +36,9 @@ or tort (including negligence or otherwise) arising in any way out of
 the use of this software, even if advised of the possibility of such damage.
 */

-
+#include <opencv2/core/utils/logger.defines.hpp>
 #include "test_precomp.hpp"


precomp must go first.

alalek · 2021-12-15T12:14:49Z

modules/aruco/test/test_arucodetection.cpp

 #include "test_precomp.hpp"
+#include "../samples/samples_utility.hpp"


Test should not rely on samples code.
Samples code should not be over-complicated by tests specific.

I need functions from samples_utility.hpp to advoid code duplication in tests.

Also some ArUco samples just don't work (in 3.4/4.x). Maybe using functions in a test will allow CI to check workability of samples.

I understand, that "test should not rely on samples code". But I don't know how check workability of samples in this case.

@alalek I can do this:

add readDetectorParameters() to ArUco API

add readDictionary() to ArUco API

remove aruco_samples_utility.hpp

just reinsert readCameraParameters() and saveCameraParams() to samples/tests code.

Would it be ok?

It makes sense (using cv::FileNode instead of std::string).

@alalek it should look something like this?

template<typename T> inline void readParameter(FileNode node, T& parameter) { if (!node.empty()) node >> parameter; } /** * @brief Read a new set of DetectorParameters from FileStorage. */ Ptr<DetectorParameters> DetectorParameters::readDetectorParameters(const Ptr<FileStorage>& pfs) { CV_Assert(!pfs.empty()); const FileStorage& fs = *pfs; Ptr<DetectorParameters> params = DetectorParameters::create(); readParameter(fs["adaptiveThreshWinSizeMin"], params->adaptiveThreshWinSizeMin); readParameter(fs["adaptiveThreshWinSizeMax"], params->adaptiveThreshWinSizeMax); readParameter(fs["adaptiveThreshWinSizeStep"], params->adaptiveThreshWinSizeStep); readParameter(fs["adaptiveThreshConstant"], params->adaptiveThreshConstant); readParameter(fs["minMarkerPerimeterRate"], params->minMarkerPerimeterRate); readParameter(fs["maxMarkerPerimeterRate"], params->maxMarkerPerimeterRate); readParameter(fs["polygonalApproxAccuracyRate"], params->polygonalApproxAccuracyRate); readParameter(fs["minCornerDistanceRate"], params->minCornerDistanceRate); readParameter(fs["minDistanceToBorder"], params->minDistanceToBorder); readParameter(fs["minMarkerDistanceRate"], params->minMarkerDistanceRate); readParameter(fs["cornerRefinementMethod"], params->cornerRefinementMethod); readParameter(fs["cornerRefinementWinSize"], params->cornerRefinementWinSize); readParameter(fs["cornerRefinementMaxIterations"], params->cornerRefinementMaxIterations); readParameter(fs["cornerRefinementMinAccuracy"], params->cornerRefinementMinAccuracy); readParameter(fs["markerBorderBits"], params->markerBorderBits); readParameter(fs["perspectiveRemovePixelPerCell"], params->perspectiveRemovePixelPerCell); readParameter(fs["perspectiveRemoveIgnoredMarginPerCell"], params->perspectiveRemoveIgnoredMarginPerCell); readParameter(fs["maxErroneousBitsInBorderRate"], params->maxErroneousBitsInBorderRate); readParameter(fs["minOtsuStdDev"], params->minOtsuStdDev); readParameter(fs["errorCorrectionRate"], params->errorCorrectionRate); return params; }

FileNode node

const reference.

Ptr<FileStorage>&

FileNode instead of FileStorage as mentioned before.

alalek · 2021-12-15T12:15:23Z

modules/aruco/test/test_arucodetection.cpp

+TEST(CV_ArucoTutorial, can_find_singlemarkersoriginal)
+{
+    string img_path = samples::findFile("../opencv_contrib/modules/aruco/tutorials/aruco_detection/images"
+                                        "/singlemarkersoriginal.jpg", true, true);


samples::findFile

Test code should not use samples data.

../opencv_contrib/modules

Wrong way.

Check "text" module tests.

fixed!)
check opencv_contrib/modules/aruco/CMakeLists.txt

alalek · 2021-12-16T16:42:15Z

modules/aruco/src/aruco.cpp

@@ -98,6 +98,44 @@ Ptr<DetectorParameters> DetectorParameters::create() {
    return params;
 }

+template<typename T>
+inline void readParameter(FileNode node, T& parameter)


static inline

alalek · 2021-12-16T16:42:20Z

modules/aruco/samples/aruco_samples_utility.hpp

+#include <ctime>
+
+namespace {
+    inline static bool readCameraParameters(std::string filename, cv::Mat &camMatrix, cv::Mat &distCoeffs) {


Avoid indentation in namespaces.

alalek · 2021-12-16T16:42:37Z

modules/aruco/test/test_arucodetection.cpp

 #include "test_precomp.hpp"
+#include "../samples/samples_utility.hpp"


FileNode node

const reference.

Ptr<FileStorage>&

FileNode instead of FileStorage as mentioned before.

alalek · 2021-12-17T14:36:35Z

modules/aruco/samples/calibrate_camera.cpp

-            return 0;
-        }
+        FileStorage fs(parser.get<string>("dp"), FileStorage::READ);
+        detectorParams = aruco::DetectorParameters::readDetectorParameters(fs["aruco_detector_params"]);


fs.root()?

AleksandrPanov · 2021-12-17T17:01:32Z

@alalek, thx for review ^_^
As I think, all issues were fixed

…tion photos, add tests, add aruco_samples_utility.hpp

AleksandrPanov · 2021-12-20T08:30:41Z

@alalek could you check?

alalek

LGTM 👍

AleksandrPanov force-pushed the update_ArUco_tutorial branch 9 times, most recently from 5fd0f91 to deaa392 Compare December 8, 2021 13:40

AleksandrPanov added category: documentation Documentation fix or update, does not affect code category: samples category: aruco labels Dec 8, 2021

AleksandrPanov force-pushed the update_ArUco_tutorial branch 3 times, most recently from 13ff2da to 2c618f8 Compare December 8, 2021 16:41

AleksandrPanov marked this pull request as ready for review December 8, 2021 16:43

AleksandrPanov force-pushed the update_ArUco_tutorial branch from 2c618f8 to 175c508 Compare December 9, 2021 10:10

AleksandrPanov added the test label Dec 9, 2021

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AleksandrPanov force-pushed the update_ArUco_tutorial branch 2 times, most recently from 5b6b44f to 3d855aa Compare December 10, 2021 14:48

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asmorkalov requested changes Dec 13, 2021

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AleksandrPanov force-pushed the update_ArUco_tutorial branch 2 times, most recently from c3e1180 to 5bbda1c Compare December 17, 2021 16:56

fix ArUco, ChArUco, diamonds, add read dictionary/params, add calibra…

a965b9b

…tion photos, add tests, add aruco_samples_utility.hpp

AleksandrPanov force-pushed the update_ArUco_tutorial branch from 5bbda1c to a965b9b Compare December 18, 2021 11:19

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opencv-pushbot merged commit e0db5fd into opencv:3.4 Dec 20, 2021

alalek mentioned this pull request Dec 22, 2021

(4.x) Merge 3.4 #3136

Merged

alalek mentioned this pull request Dec 30, 2021

(5.x) Merge 4.x #3142

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alalek mentioned this pull request Feb 22, 2022

(5.x) Merge 4.x #3179

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AleksandrPanov deleted the update_ArUco_tutorial branch March 18, 2022 12:58

		#include "test_precomp.hpp"
		#include "../samples/samples_utility.hpp"

Update ArUco tutorial #3126

Update ArUco tutorial #3126

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