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fix charuco checkBoard#24126

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asmorkalov merged 1 commit intoopencv:4.xfrom
AleksandrPanov:fix_charuco_checkBoard
Sep 20, 2023
Merged

fix charuco checkBoard#24126
asmorkalov merged 1 commit intoopencv:4.xfrom
AleksandrPanov:fix_charuco_checkBoard

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@AleksandrPanov AleksandrPanov commented Aug 8, 2023 •
edited by asmorkalov
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Fixes #23905

checkBoard() is an internal function that checks that the found board has the correct structure

  1. fixed a bug with checking extraneous markers:
                if (find(boardIds.begin(), boardIds.end(), idMaker) == boardIds.end())
                    continue;
  1. fixed an indexing bug:
                const int nearestMarkerId1 = boardIds[nearestMarkerIdx[chId][0]];
                const int nearestMarkerId2 = boardIds[nearestMarkerIdx[chId][1]];
  1. updated docs for getNearestMarkerIdx()/getNearestMarkerCorners()
  2. added checkBoardStructure flag, this flag allows you to return the old behavior or use your custom board structure check.

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  • 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

asmorkalov
asmorkalov reviewed Aug 8, 2023
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modules/objdetect/include/opencv2/objdetect/charuco_detector.hpp Outdated
CV_WRAP CharucoParameters() {
minMarkers = 2;
tryRefineMarkers = false;
checkBoardStructure = true;
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Why do you need extra flag?

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@AleksandrPanov AleksandrPanov Aug 18, 2023 •
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this flag allows you to return the old behavior or use your custom board structure check.

asmorkalov
asmorkalov approved these changes Aug 8, 2023
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@asmorkalov asmorkalov self-requested a review August 8, 2023 14:43
@asmorkalov asmorkalov added this to the 4.9.0 milestone Aug 8, 2023
@asmorkalov asmorkalov added the pr: needs test New functionality requires minimal tests set label Aug 9, 2023
@AleksandrPanov AleksandrPanov force-pushed the fix_charuco_checkBoard branch from 0c06c07 to cd88f14 Compare August 9, 2023 21:37
@AleksandrPanov AleksandrPanov force-pushed the fix_charuco_checkBoard branch 2 times, most recently from 19d75b9 to 49df8b7 Compare August 18, 2023 08:13
@AleksandrPanov AleksandrPanov marked this pull request as ready for review August 18, 2023 20:45
@AleksandrPanov AleksandrPanov added test and removed pr: needs test New functionality requires minimal tests set labels Aug 19, 2023
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vrabaud commented Aug 29, 2023

I confirm this fixes some tests on our end.

@AleksandrPanov AleksandrPanov mentioned this pull request Sep 20, 2023
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asmorkalov
asmorkalov approved these changes Sep 20, 2023
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👍

@asmorkalov asmorkalov merged commit 224dac9 into opencv:4.x Sep 20, 2023
@asmorkalov asmorkalov mentioned this pull request Sep 28, 2023
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vrabaud commented Oct 2, 2023 •
edited by opencv-alalek
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@AleksandrPanov , @asmorkalov , getMat() builds a mat so you are taking a reference to a temporary, that is problematic and will not compile with certain flags.

opencv/modules/core/include/opencv2/core/mat.hpp

Line 217 in 224dac9

Mat getMat(int idx=-1) const;
getmat returns a Mat, not a Mat&.
It should be const Mat, simply.

original comment from 2023-09-20: 60ae973#r127863372

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bug category: objdetect test

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Successfully merging this pull request may close these issues.

Detection of multiple ChArUco boards with different IDs in one image broken in 4.8.0

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