move aruco from contrib to objdetect in main repository by AleksandrPanov · Pull Request #22368 · opencv/opencv

AleksandrPanov · 2022-08-11T23:51:32Z

Megre together with opencv/opencv_contrib#3325

Move aruco_detector, aruco_board, aruco_dictionary, aruco_utils to objdetect
1.1 add virtual Board::draw(), virtual ~Board()
1.2 move testCharucoCornersCollinear to Board classes (and rename to checkCharucoCornersCollinear)
1.3 add wrappers to keep the old api working
Reduce inludes
Fix java tests (add objdetect import)
Refactoring

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 another license that is incompatible with OpenCV
The PR is proposed to the proper branch
There is a reference to the 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

**WIP**
force_builders=linux,win64,docs,Linux x64 Debug,Custom
Xbuild_contrib:Docs=OFF

build_image:Custom=ubuntu:22.04
build_worker:Custom=linux-1

modules/objdetect/include/opencv2/objdetect/aruco_calib_pose.hpp

modules/objdetect/include/opencv2/objdetect/aruco_board.hpp

asmorkalov · 2022-09-13T11:26:49Z

modules/objdetect/include/opencv2/objdetect/aruco_board.hpp

+
+    /** @brief get rightBottomBorder
+     */
+    CV_WRAP const Point3f& getRightBottomBorder() const;


M.b getRightBottomCorner?

rename getRightBottomBorder to getRightBottomCorner

modules/objdetect/include/opencv2/objdetect/aruco_dictionary.hpp

vpisarev

except for a few questionable CV_EXPORTS_AS(...), I'm fine with the pull request

asmorkalov

👍

asmorkalov · 2022-09-14T06:15:57Z

@alalek could you take a look on the patch, at least on public API design?

modules/objdetect/include/opencv2/objdetect/aruco_detector.hpp

alalek · 2022-12-13T04:26:02Z

modules/objdetect/misc/java/test/ArucoTest.java

+public class ArucoTest extends OpenCVTestCase {
+
+    public void testGenerateBoards() {
+            Dictionary dictionary = Objdetect.getPredefinedDictionary(Objdetect.DICT_4X4_50);
+
+            Mat point1 = new Mat(4, 3, CvType.CV_32FC1);
+            int row = 0, col = 0;


something wrong with indentation

fixed indentation

alalek · 2022-12-13T04:31:32Z

modules/objdetect/include/opencv2/objdetect/aruco_dictionary.hpp

+ * - DICT_ARUCO_ORIGINAL: standard ArUco Library Markers. 1024 markers, 5x5 bits, 0 minimum
+                          distance
+ */
+enum PREDEFINED_DICTIONARY_NAME {


alalek · 2022-12-13T04:31:44Z

modules/objdetect/include/opencv2/objdetect/aruco_board.hpp

+
+    /** @brief get rightBottomBorder
+     */
+    CV_WRAP const Point3f& getRightBottomBorder() const;


alalek · 2022-12-13T04:41:41Z

modules/objdetect/src/aruco/apriltag/zmaxheap.cpp

+// of the authors and should not be interpreted as representing official policies,
+// either expressed or implied, of the Regents of The University of Michigan.
+
+#include <opencv2/core.hpp>


Wrong precomp.hpp usage.

All files of opencv modules must follow these rules:

.cpp file: one and only one (1) usage of precomp.hpp include on the first place (2).

.hpp file: can't use precomp.hpp at all

fixed, sorry part of cpp previously missed

precomp.hpp was added to all objdetect/aruco cpp files and removed from all objdetect/aruco hpp files

alalek · 2022-12-13T04:42:51Z

modules/objdetect/src/aruco/aruco_utils.hpp

+
+template<typename T>
+inline bool readWriteParameter(const std::string& name, T& parameter, const Ptr<FileNode> readNode = nullptr,
+                               const Ptr<FileStorage> writeStorage = nullptr) {


Ptr<FileStorage>

we don't need Ptr in internal calls.

Use reference / const reference instead.

removed Ptr from readWriteParameter

modules/objdetect/src/aruco/aruco_utils.hpp

AleksandrPanov · 2022-12-14T16:39:11Z

It looks like I fixed it. If it's not, sorry @alalek, it's easy to get lost here.

mdurrani808 · 2022-12-16T01:46:09Z

modules/objdetect/src/aruco/aruco_utils.cpp

+    if(_in.type() == CV_8UC3)
+        cvtColor(_in, _out, COLOR_BGR2GRAY);
+    else
+        _in.copyTo(_out);


Why is a copy still performed if the image is already grey? A Copy operation seems to be expensive performance wise

arsserpentarium · 2023-03-27T01:32:26Z

can you imagine, what kind words people say to you, when you change how to use aruco markers without clear documentation?
So, scripts doesn't work anymore. And no one know how to fix it.

opencv-alalek · 2023-09-09T04:02:52Z

modules/objdetect/include/opencv2/objdetect/aruco_dictionary.hpp

+    CV_WRAP static Mat getByteListFromBits(const Mat &bits);
+
+
+    /** @brief Transform list of bytes to matrix of bits
+      */
+    CV_WRAP static Mat getBitsFromByteList(const Mat &byteList, int markerSize);


Must be InputArray as it is public API.

AleksandrPanov mentioned this pull request Aug 12, 2022

move aruco from contrib to objdetect in main repository opencv/opencv_contrib#3325

Merged

6 tasks

AleksandrPanov force-pushed the move_contrib_aruco_to_main_objdetect branch from 7cb6d47 to f378cee Compare August 12, 2022 00:18

asmorkalov reviewed Aug 12, 2022

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AleksandrPanov force-pushed the move_contrib_aruco_to_main_objdetect branch 5 times, most recently from 8f00a1b to 75edd43 Compare August 22, 2022 21:49

AleksandrPanov force-pushed the move_contrib_aruco_to_main_objdetect branch 2 times, most recently from 2fedf4d to 3752927 Compare August 24, 2022 06:04

AleksandrPanov marked this pull request as ready for review August 24, 2022 08:00

asmorkalov requested changes Aug 24, 2022

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modules/objdetect/include/opencv2/objdetect/aruco_board.hpp Outdated Show resolved Hide resolved

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modules/objdetect/include/opencv2/objdetect/aruco_board.hpp Outdated Show resolved Hide resolved

AleksandrPanov force-pushed the move_contrib_aruco_to_main_objdetect branch 2 times, most recently from 04388eb to d3a9169 Compare August 26, 2022 09:08

AleksandrPanov added test category: objdetect labels Aug 26, 2022

AleksandrPanov force-pushed the move_contrib_aruco_to_main_objdetect branch from d3a9169 to c57fa3d Compare August 26, 2022 11:47

asmorkalov requested review from alalek and vpisarev September 12, 2022 09:21

AleksandrPanov force-pushed the move_contrib_aruco_to_main_objdetect branch 3 times, most recently from ddbfca8 to 21bd0df Compare September 13, 2022 01:58

asmorkalov reviewed Sep 13, 2022

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vpisarev reviewed Sep 13, 2022

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vpisarev self-requested a review September 13, 2022 14:37

vpisarev approved these changes Sep 13, 2022

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asmorkalov self-requested a review September 14, 2022 06:15

asmorkalov approved these changes Sep 14, 2022

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AleksandrPanov force-pushed the move_contrib_aruco_to_main_objdetect branch from 93f4598 to 035c7b9 Compare September 20, 2022 06:44

asmorkalov mentioned this pull request Dec 8, 2022

Use run.py for Python bindings testing to not loose per-module tests opencv/ci-gha-workflow#81

Closed

AleksandrPanov force-pushed the move_contrib_aruco_to_main_objdetect branch 3 times, most recently from 8fbd76d to b2fef4f Compare December 8, 2022 22:33

fixes

fd0c02d

AleksandrPanov force-pushed the move_contrib_aruco_to_main_objdetect branch from b2fef4f to fd0c02d Compare December 8, 2022 22:43

AleksandrPanov added 2 commits December 9, 2022 11:33

add write() without Ptr<FileStorage>

f499088

remove precomp

7846fef

asmorkalov reviewed Dec 12, 2022

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modules/objdetect/include/opencv2/objdetect/aruco_detector.hpp Outdated Show resolved Hide resolved

add setter/getter to ArucoDetector

68aca5c

AleksandrPanov force-pushed the move_contrib_aruco_to_main_objdetect branch from 92868e1 to 68aca5c Compare December 12, 2022 19:02

AleksandrPanov added 2 commits December 13, 2022 00:07

fixed objdetect.bib

ee399a0

fixing style

ba67ad4

AleksandrPanov force-pushed the move_contrib_aruco_to_main_objdetect branch from 25d2493 to ba67ad4 Compare December 12, 2022 22:30

alalek reviewed Dec 13, 2022

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AleksandrPanov added 3 commits December 13, 2022 22:45

renaming

c7bc469

removed Ptr from readWriteParameter

b44dd6a

fixing

b2a7445

mdurrani808 reviewed Dec 16, 2022

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alalek approved these changes Dec 16, 2022

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This was referenced Dec 19, 2022

4.x: deployment of documentation is broken #22989

Closed

aruco(cleanup): don't use Ptr<FileStorage> #23005

Merged

Move contrib charuco to main objdetect #22986

Merged

alalek mentioned this pull request Jan 8, 2023

(5.x) Merge 4.x #23113

Merged

This was referenced Jan 23, 2023

conda-forge CI Failure end of January 2023 due to OpenCV 4.7.0 update robotology/robotology-superbuild#1328

Closed

Compilation error with OpenCV 4.7 gbionics/bipedal-locomotion-framework#586

Closed

opencv-alalek reviewed Sep 9, 2023

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sergiud mentioned this pull request Feb 9, 2026

cv2.aruco.CharucoBoard missing getNearestMarkerIdx and getNearestMarkerCorners Python bindings #28512

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asmorkalov commented Sep 14, 2022

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AleksandrPanov Dec 13, 2022 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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AleksandrPanov commented Aug 11, 2022 •

edited by alalek

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arsserpentarium commented Mar 27, 2023 •

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