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add aruco board separation check #24349

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Merged
merged 1 commit into from
Oct 3, 2023
Merged

add aruco board separation check #24349

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5 changes: 5 additions & 0 deletions doc/pattern_tools/gen_pattern.py
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Original file line number Diff line number Diff line change
Expand Up @@ -186,6 +186,8 @@ def make_charuco_board(self):
yspacing = (self.height - self.rows * self.square_size) / 2.0

ch_ar_border = (self.square_size - self.aruco_marker_size)/2
if ch_ar_border < side*0.7:
print("Marker border {} is less than 70% of ArUco pin size {}. Please increase --square_size or decrease --marker_size for stable board detection".format(ch_ar_border, int(side)))
marker_id = 0
for y in range(0, self.rows):
for x in range(0, self.cols):
Expand Down Expand Up @@ -283,6 +285,9 @@ def main():
else:
raise ValueError("The marker {},{} is outside the checkerboard".format(x, y))

if p_type == "charuco_board" and aruco_marker_size >= square_size:
raise ValueError("ArUco markers size must be smaller than square size")

pm = PatternMaker(columns, rows, output, units, square_size, radius_rate, page_width, page_height, markers, aruco_marker_size, dict_file)
# dict for easy lookup of pattern type
mp = {"circles": pm.make_circles_pattern, "acircles": pm.make_acircles_pattern,
Expand Down
14 changes: 12 additions & 2 deletions modules/objdetect/src/aruco/aruco_board.cpp
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Expand Up @@ -3,6 +3,7 @@
// of this distribution and at http://opencv.org/license.html

#include "../precomp.hpp"
#include <opencv2/core/utils/logger.hpp>
#include "opencv2/objdetect/aruco_board.hpp"

#include <opencv2/objdetect/aruco_dictionary.hpp>
Expand Down Expand Up @@ -250,7 +251,11 @@ GridBoard::GridBoard() {}
GridBoard::GridBoard(const Size& size, float markerLength, float markerSeparation,
const Dictionary &dictionary, InputArray ids):
Board(new GridBoardImpl(dictionary, size, markerLength, markerSeparation)) {

float onePin = markerLength / ((float)(dictionary.markerSize+2));
if (markerSeparation < onePin*.7f) {
CV_LOG_WARNING(NULL, "Marker border " << markerSeparation << " is less than 70% of ArUco pin size "
<< onePin << ". Please increase markerSeparation or decrease markerLength for stable board detection");
}
size_t totalMarkers = (size_t) size.width*size.height;
CV_Assert(ids.empty() || totalMarkers == ids.total());
vector<vector<Point3f> > objPoints;
Expand Down Expand Up @@ -541,7 +546,12 @@ CharucoBoard::CharucoBoard(const Size& size, float squareLength, float markerLen
Board(new CharucoBoardImpl(dictionary, size, squareLength, markerLength)) {

CV_Assert(size.width > 1 && size.height > 1 && markerLength > 0 && squareLength > markerLength);

float onePin = markerLength / ((float)(dictionary.markerSize+2));
float markerSeparation = (squareLength - markerLength)/2.f;
if (markerSeparation < onePin*.7f) {
CV_LOG_WARNING(NULL, "Marker border " << markerSeparation << " is less than 70% of ArUco pin size "
<< onePin <<". Please increase markerSeparation or decrease markerLength for stable board detection");
}
ids.copyTo(impl->ids);

static_pointer_cast<CharucoBoardImpl>(impl)->createCharucoBoard();
Expand Down