aruco refactoring and class interface #3240

AleksandrPanov · 2022-04-28T22:47:46Z

Preparing ArUco module to move to main opencv repository.

add ArucoDetector class (with detectMarkers() and refineDetectedMarkers() methods)
class ArucoDetector inherits from class cv::Algorithm and implemented read()/write()
add C wrapper for old API (in aruco.hpp/aruco.cpp)
add aruco_calib_pose.hpp/aruco_calib_pose.cpp and aruco_utils.cpp/aruco_utils.hpp
add Java and Python tests

possible add class BaseBoard to work with calibrateCamera/PoseEstimation/SolvePnP?

To move ArUco module to main opencv repository need to move all files except "aruco.cpp" and "aruco.hpp"

Before merging, it is necessary to make a git squash.

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

modules/aruco/src/apriltag/apriltag_quad_thresh.cpp

modules/aruco/include/opencv2/aruco/board.hpp

modules/aruco/include/opencv2/aruco_detector.hpp

modules/aruco/include/opencv2/aruco/board.hpp

modules/aruco/src/aruco_detector.cpp

modules/aruco/src/aruco_utils.cpp

modules/aruco/include/opencv2/aruco/board.hpp

asmorkalov · 2022-05-06T05:52:45Z

cc @alalek @vpisarev @victor1234 @savuor

modules/aruco/src/apriltag/apriltag_quad_thresh.hpp

asmorkalov · 2022-05-26T06:16:53Z

Thanks a lot for the patch! I tested the solution manually and it works for me. Couple of general comments on the code:

It make sense to duplicate some of detector tests, but with old API and stay it in contrib after migration. It allows to ensure that wrappers are in "calable" state and presumes original behaviour. They should be in separate test file for easy extraction.
There are still several "todo" in code like "// Todo: update other CORNER_REFINE methods". Do you plan to implement this after merge?

modules/aruco/include/opencv2/aruco/aruco_calib_pose.hpp

vpisarev · 2022-06-17T08:29:24Z

modules/aruco/include/opencv2/aruco/aruco_calib_pose.hpp

+CV_EXPORTS_W void estimatePoseSingleMarkers(InputArrayOfArrays corners, float markerLength,
+                                            InputArray cameraMatrix, InputArray distCoeffs,
+                                            OutputArray rvecs, OutputArray tvecs, OutputArray _objPoints = noArray(),
+                                            Ptr<EstimateParameters> estimateParameters = EstimateParameters::create());


for now it's fine, but when we move these functions to the main opencv module, can we consider using named parameters concept, which will provide more convenient API, especially for Python and modern C++ users? (https://github.com/opencv/opencv/wiki/OE-34.-Named-Parameters)

vpisarev · 2022-06-17T08:31:00Z

modules/aruco/include/opencv2/aruco/aruco_calib_pose.hpp

+                            Size imageSize, InputOutputArray cameraMatrix, InputOutputArray distCoeffs,
+                            OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, OutputArray stdDeviationsIntrinsics,
+                            OutputArray stdDeviationsExtrinsics, OutputArray perViewErrors, int flags = 0,
+                            TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 30, DBL_EPSILON));


since this is new API, do we need both Extended and simple variants? Can we retain just extended? (and maybe later convert it to "named-parameters" style (see above))

modules/aruco/include/opencv2/aruco/board.hpp

modules/aruco/include/opencv2/aruco/aruco_calib_pose.hpp

alalek · 2022-07-04T11:34:35Z

modules/aruco/include/opencv2/aruco/board.hpp

+    private:
+    // number of markers in X and Y directions
+    int _markersX, _markersY;
+
+    // marker side length (normally in meters)
+    float _markerLength;
+
+    // separation between markers in the grid
+    float _markerSeparation;


no changes and no objectives here

modules/aruco/include/opencv2/aruco/board.hpp

modules/aruco/include/opencv2/aruco_detector.hpp

AleksandrPanov · 2022-07-07T23:25:40Z

@alalek, gridImpl and charucoImpl were added. Need help with getters and setters.

create aruco_utils.hpp move Board, GridBoard, CharucoBoard to board.hpp/board.cpp refactoring _getSingleMarkerObjectPoints() refactoring _extractBits() refactoring _findMarkerContours() fix _copyVector2Output() in detectMarkers() move testCharucoCornersCollinear() to board.hpp/board.cpp move poseEstimate()/calibAruco() to aruco_calib_pose.hpp reduce include files move detectMarkers() to class ArucoDetector move refineDetectedMarkers() to class ArucoDetector add C API wrapper to detectMarkers(), refineDetectedMarkers() update tests and samples to class API add py tests: test_aruco_detector, test_aruco_detector_refine refactoring, fix docs add java tests: testArucoIssue3133, testArucoDetector add readWriteParameter(), update readParameter() implemented cv::Algorithm - read/write, added read/write to RefineParameters, added write to DetectorParameters merge PatternPos/EstimateParameters after rebase remove empty docstring for private function fixes fixes license

modules/aruco/include/opencv2/aruco/board.hpp

asmorkalov

👍 LGTM

alalek · 2022-08-06T19:56:40Z

@asmorkalov merged commit 8eaa8ac into opencv:4.x

All 11 commits are merged. They should be squashed instead.

alalek · 2022-08-21T14:29:28Z

modules/aruco/src/aruco.cpp

-the use of this software, even if advised of the possibility of such damage.
-*/
-
-#include "precomp.hpp"


precomp.hpp must be restored.

alalek · 2022-08-21T14:33:18Z

modules/aruco/test/test_precomp.hpp

@@ -7,7 +7,6 @@
 #include "opencv2/ts.hpp"
 #include "opencv2/imgproc.hpp"
 #include "opencv2/calib3d.hpp"
-#include "opencv2/aruco.hpp"
 #include <opencv2/aruco/charuco.hpp>


What is the purpose of this change?

If you want to remove module's headers, then remove them all (charuco.hpp is still here).

Currently it looks like that something was broken and there is a hack to hide that (so user code may be broken too).

AleksandrPanov force-pushed the aruco_add_class_API branch from 1152e93 to 9567454 Compare April 28, 2022 23:19

asmorkalov reviewed Apr 29, 2022

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AleksandrPanov force-pushed the aruco_add_class_API branch from dc7d392 to ef2ec1d Compare May 5, 2022 13:07

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AleksandrPanov force-pushed the aruco_add_class_API branch 6 times, most recently from 3614e3c to 5775474 Compare May 12, 2022 18:31

AleksandrPanov force-pushed the aruco_add_class_API branch from d0f2ba6 to c471967 Compare May 13, 2022 07:49

AleksandrPanov marked this pull request as ready for review May 13, 2022 07:49

AleksandrPanov force-pushed the aruco_add_class_API branch 2 times, most recently from c5ade77 to dfd8e9b Compare May 18, 2022 00:41

vpisarev self-requested a review May 20, 2022 09:22

asmorkalov reviewed May 26, 2022

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AleksandrPanov force-pushed the aruco_add_class_API branch from dfd8e9b to 2b78dfe Compare June 7, 2022 22:06

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asmorkalov requested a review from alalek July 4, 2022 08:47

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AleksandrPanov force-pushed the aruco_add_class_API branch from f572d15 to 4b321ac Compare July 4, 2022 17:05

vpisarev approved these changes Jul 12, 2022

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AleksandrPanov and others added 10 commits July 25, 2022 17:31

update docs and refactoring

774faf3

fix docs/API

64804f0

fix indentation, add enum prefix

db55474

remove readWrite() from API

4326ae5

add gridImpl

b511cfa

add charucoImpl

ba4d60e

add CV_WRAP, add default Board constructor

d1fe61a

add const

39dabc1

fix readWrite()

1f003fe

AleksandrPanov force-pushed the aruco_add_class_API branch from f720075 to 1f003fe Compare July 25, 2022 14:34

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asmorkalov approved these changes Aug 3, 2022

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add set/get/dictionary/objPoints, update tests

230b6c9

AleksandrPanov force-pushed the aruco_add_class_API branch from a8be488 to 230b6c9 Compare August 3, 2022 13:30

asmorkalov merged commit 8eaa8ac into opencv:4.x Aug 5, 2022

alalek mentioned this pull request Aug 14, 2022

aruco: build warnings (MSVS 2015) #3327

Closed

alalek reviewed Aug 21, 2022

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alalek mentioned this pull request Aug 21, 2022

(5.x) Merge 4.x #3333

Merged

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aruco refactoring and class interface #3240

aruco refactoring and class interface #3240

AleksandrPanov commented Apr 28, 2022 •

edited

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asmorkalov commented May 6, 2022

asmorkalov commented May 26, 2022

vpisarev Jun 17, 2022

vpisarev Jun 17, 2022

alalek Jul 4, 2022

AleksandrPanov commented Jul 7, 2022

asmorkalov left a comment

alalek commented Aug 6, 2022

alalek Aug 21, 2022

alalek Aug 21, 2022

aruco refactoring and class interface #3240

aruco refactoring and class interface #3240

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AleksandrPanov commented Apr 28, 2022 • edited Loading

Pull Request Readiness Checklist

asmorkalov commented May 6, 2022

asmorkalov commented May 26, 2022

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AleksandrPanov commented Apr 28, 2022 •

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