fix axes and docs #3256

AleksandrPanov · 2022-05-18T22:42:58Z

fixes #3250
update docs and tutorials for Aruco estimatePoseSingleMarkers()

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

asmorkalov · 2022-05-25T12:14:39Z

modules/aruco/include/opencv2/aruco.hpp

@@ -245,7 +266,7 @@ CV_EXPORTS_W void detectMarkers(InputArray image, const Ptr<Dictionary> &diction
 * the camera individually. So for each marker, one rotation and translation vector is returned.
 * The returned transformation is the one that transforms points from each marker coordinate system
 * to the camera coordinate system.
- * The marker corrdinate system is centered on the middle of the marker, with the Z axis
+ * The marker coordinate system is centered on the top-left corner of the marker, with the Z axis


"top-left corner" is against default behaviour:

EstimateParameters() { pattern = PatternPos::CCW_center; useExtrinsicGuess = false; solvePnPMethod = SOLVEPNP_ITERATIVE; }

asmorkalov · 2022-05-25T12:15:04Z

modules/aruco/tutorials/aruco_detection/aruco_detection.markdown

@@ -286,7 +286,7 @@ translation vectors of the estimated poses will be in the same unit
 - The output parameters `rvecs` and `tvecs` are the rotation and translation vectors respectively, for each of the markers
 in `markerCorners`.

-The marker coordinate system that is assumed by this function is placed at the center of the marker
+The marker coordinate system that is assumed by this function is placed in the top left corner of the marker


The same for documentation here.

asmorkalov · 2022-05-25T12:16:26Z

Please add documentation for the new parameters structure and add reference to it. The default behaviour should be presumed.

asmorkalov · 2022-05-25T12:17:58Z

In file included from /build/precommit-contrib_linux64/3.4/opencv_contrib/modules/aruco/src/aruco.cpp:40:0:
/build/precommit-contrib_linux64/3.4/opencv_contrib/modules/aruco/include/opencv2/aruco.hpp: In constructor 'cv::aruco::EstimateParameters::EstimateParameters()':
/build/precommit-contrib_linux64/3.4/opencv_contrib/modules/aruco/include/opencv2/aruco.hpp:235:19: error: 'PatternPos' is not a class or namespace
         pattern = PatternPos::CCW_center;
                   ^
/build/precommit-contrib_linux64/3.4/opencv_contrib/modules/aruco/src/aruco.cpp: In function 'void cv::aruco::_getSingleMarkerObjectPoints(float, cv::OutputArray, cv::aruco::EstimateParameters)':
/build/precommit-contrib_linux64/3.4/opencv_contrib/modules/aruco/src/aruco.cpp:823:59: error: 'cv::aruco::EstimateParameters::PatternPos' is not a class or namespace
     if (estimateParameters.pattern == EstimateParameters::PatternPos::CW_top_left_corner) {
                                                           ^
/build/precommit-contrib_linux64/3.4/opencv_contrib/modules/aruco/src/aruco.cpp:829:64: error: 'cv::aruco::EstimateParameters::PatternPos' is not a class or namespace
     else if (estimateParameters.pattern == EstimateParameters::PatternPos::CCW_center) {
                                                                ^
make[2]: *** [modules/aruco/CMakeFiles/opencv_aruco.dir/src/aruco.cpp.o] Error 1

asmorkalov · 2022-05-30T08:50:41Z

modules/aruco/include/opencv2/aruco.hpp

+        * The coordinates of the four corners of the marker in its own coordinate system are:
+        * (0, 0, 0), (markerLength, 0, 0),
+        * (markerLength, markerLength, 0), (0, markerLength, 0)
+        */


I think that CCW and CW meaning should be covered too.

asmorkalov · 2022-05-30T08:55:25Z

modules/aruco/src/aruco.cpp

@@ -810,19 +810,30 @@ static void _identifyCandidates(InputArray _image, vector< vector< vector< Point


 /**
-  * @brief Return object points for the system centered in a single marker, given the marker length
+  * @brief Return object points for the system centered in a top left corner of single marker, given the marker length


Need to cover all function parameters. Center coordinate system is default behaviour, but not the only one.

…rameters in test

asmorkalov · 2022-06-01T14:02:21Z

@alalek The patch ready for merge.

alalek · 2022-06-04T19:19:45Z

modules/aruco/src/aruco.cpp

  */
-static void _getSingleMarkerObjectPoints(float markerLength, OutputArray _objPoints) {
+static void _getSingleMarkerObjectPoints(float markerLength, OutputArray _objPoints,
+                                         EstimateParameters estimateParameters) {


const reference.

alalek · 2022-06-04T19:19:57Z

modules/aruco/src/aruco.cpp

@@ -1221,17 +1233,17 @@ class SinglePoseEstimationParallel : public ParallelLoopBody {
    public:
    SinglePoseEstimationParallel(Mat& _markerObjPoints, InputArrayOfArrays _corners,
                                 InputArray _cameraMatrix, InputArray _distCoeffs,
-                                 Mat& _rvecs, Mat& _tvecs)
+                                 Mat& _rvecs, Mat& _tvecs, EstimateParameters _estimateParameters)


const reference

alalek · 2022-06-04T19:20:03Z

modules/aruco/src/aruco.cpp

@@ -1242,21 +1254,20 @@ class SinglePoseEstimationParallel : public ParallelLoopBody {
    InputArrayOfArrays corners;
    InputArray cameraMatrix, distCoeffs;
    Mat& rvecs, tvecs;
+    EstimateParameters estimateParameters;


const reference

alalek · 2022-06-04T19:20:45Z

modules/aruco/src/aruco.cpp


    CV_Assert(markerLength > 0);

    Mat markerObjPoints;
-    _getSingleMarkerObjectPoints(markerLength, markerObjPoints);
+    _getSingleMarkerObjectPoints(markerLength, markerObjPoints, *estimateParameters);


unchecked pointer unreference.

alalek · 2022-06-04T19:29:20Z

modules/aruco/include/opencv2/aruco.hpp

+        * These pattern points define this coordinate system:
+        * ![Image with axes drawn](images/singlemarkersaxes.jpg)
+        */
+    CCW_center,


Missing prefix for enum and its values violates OpenCV coding style guide.

Constants MUST be UPPERCASE (defined by the same coding style guide)

fix axes and docs * fix axes docs, tutorial and add estimateParameters, change estimateParameters in test * update docs, add singlemarkersaxes2.jpg * fix docs

AleksandrPanov mentioned this pull request May 18, 2022

aruco: conflicting documentation in estimatePoseSingleMarkers #3250

Closed

AleksandrPanov added category: aruco category: documentation Documentation fix or update, does not affect code labels May 18, 2022

AleksandrPanov force-pushed the fix_aruco_axes_docs branch 2 times, most recently from b4ba56c to 3c58d9d Compare May 19, 2022 19:06

asmorkalov reviewed May 25, 2022

View reviewed changes

AleksandrPanov changed the title ~~fix axes docs~~ fix axes and docs May 25, 2022

asmorkalov mentioned this pull request May 27, 2022

Aruco pose estimation in Python differs from C++ #3263

Closed

4 tasks

AleksandrPanov force-pushed the fix_aruco_axes_docs branch from 3c58d9d to cf58522 Compare May 30, 2022 07:50

AleksandrPanov marked this pull request as ready for review May 30, 2022 07:51

AleksandrPanov force-pushed the fix_aruco_axes_docs branch from cf58522 to 6bfc6ad Compare May 30, 2022 08:44

asmorkalov reviewed May 30, 2022

View reviewed changes

AleksandrPanov force-pushed the fix_aruco_axes_docs branch 2 times, most recently from 899a218 to 5f780e2 Compare May 31, 2022 16:09

fix axes docs, tutorial and add estimateParameters, change estimatePa…

e4c264a

…rameters in test

AleksandrPanov force-pushed the fix_aruco_axes_docs branch from 5f780e2 to e4c264a Compare May 31, 2022 16:18

update docs, add singlemarkersaxes2.jpg

7ce8a88

asmorkalov approved these changes Jun 1, 2022

View reviewed changes

fix docs

c72a832

AleksandrPanov force-pushed the fix_aruco_axes_docs branch from 087e307 to c72a832 Compare June 1, 2022 12:17

alalek assigned asmorkalov Jun 2, 2022

alalek merged commit 0eda296 into opencv:3.4 Jun 2, 2022

alalek reviewed Jun 4, 2022

View reviewed changes

alalek mentioned this pull request Jun 4, 2022

(4.x) Merge 3.4 #3268

Merged

AleksandrPanov mentioned this pull request Jun 8, 2022

aruco: marker origin no longer at center #3252

Closed

alalek mentioned this pull request Aug 21, 2022

(5.x) Merge 4.x #3333

Merged

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

fix axes and docs #3256

fix axes and docs #3256

AleksandrPanov commented May 18, 2022 •

edited

Loading

asmorkalov May 25, 2022

AleksandrPanov Jun 1, 2022

asmorkalov May 25, 2022

AleksandrPanov Jun 1, 2022 •

edited

Loading

asmorkalov commented May 25, 2022

asmorkalov commented May 25, 2022

asmorkalov May 30, 2022

AleksandrPanov Jun 1, 2022

asmorkalov May 30, 2022

AleksandrPanov Jun 1, 2022

asmorkalov commented Jun 1, 2022

alalek Jun 4, 2022

alalek Jun 4, 2022

alalek Jun 4, 2022

alalek Jun 4, 2022

alalek Jun 4, 2022 •

edited

Loading

fix axes and docs #3256

fix axes and docs #3256

Conversation

AleksandrPanov commented May 18, 2022 • edited Loading

Pull Request Readiness Checklist

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

AleksandrPanov Jun 1, 2022 • edited Loading

Choose a reason for hiding this comment

asmorkalov commented May 25, 2022

asmorkalov commented May 25, 2022

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

asmorkalov commented Jun 1, 2022

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

alalek Jun 4, 2022 • edited Loading

Choose a reason for hiding this comment

AleksandrPanov commented May 18, 2022 •

edited

Loading

AleksandrPanov Jun 1, 2022 •

edited

Loading

alalek Jun 4, 2022 •

edited

Loading