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*/

#include "test_precomp.hpp"
#include <opencv2/core/utils/logger.defines.hpp>

namespace opencv_test { namespace {

/**
 * @brief Draw 2D synthetic markers and detect them
 */
class CV_ArucoDetectionSimple : public cvtest::BaseTest {
    public:
    CV_ArucoDetectionSimple();

    protected:
    void run(int);
};


CV_ArucoDetectionSimple::CV_ArucoDetectionSimple() {}


void CV_ArucoDetectionSimple::run(int) {

    Ptr<aruco::Dictionary> dictionary = aruco::getPredefinedDictionary(aruco::DICT_6X6_250);

    // 20 images
    for(int i = 0; i < 20; i++) {

        const int markerSidePixels = 100;
        int imageSize = markerSidePixels * 2 + 3 * (markerSidePixels / 2);

        // draw synthetic image and store marker corners and ids
        vector< vector< Point2f > > groundTruthCorners;
        vector< int > groundTruthIds;
        Mat img = Mat(imageSize, imageSize, CV_8UC1, Scalar::all(255));
        for(int y = 0; y < 2; y++) {
            for(int x = 0; x < 2; x++) {
                Mat marker;
                int id = i * 4 + y * 2 + x;
                aruco::drawMarker(dictionary, id, markerSidePixels, marker);
                Point2f firstCorner =
                    Point2f(markerSidePixels / 2.f + x * (1.5f * markerSidePixels),
                            markerSidePixels / 2.f + y * (1.5f * markerSidePixels));
                Mat aux = img.colRange((int)firstCorner.x, (int)firstCorner.x + markerSidePixels)
                              .rowRange((int)firstCorner.y, (int)firstCorner.y + markerSidePixels);
                marker.copyTo(aux);
                groundTruthIds.push_back(id);
                groundTruthCorners.push_back(vector< Point2f >());
                groundTruthCorners.back().push_back(firstCorner);
                groundTruthCorners.back().push_back(firstCorner + Point2f(markerSidePixels - 1, 0));
                groundTruthCorners.back().push_back(
                    firstCorner + Point2f(markerSidePixels - 1, markerSidePixels - 1));
                groundTruthCorners.back().push_back(firstCorner + Point2f(0, markerSidePixels - 1));
            }
        }
        if(i % 2 == 1) img.convertTo(img, CV_8UC3);

        // detect markers
        vector< vector< Point2f > > corners;
        vector< int > ids;
        Ptr<aruco::DetectorParameters> params = aruco::DetectorParameters::create();

        aruco::detectMarkers(img, dictionary, corners, ids, params);

        // check detection results
        for(unsigned int m = 0; m < groundTruthIds.size(); m++) {
            int idx = -1;
            for(unsigned int k = 0; k < ids.size(); k++) {
                if(groundTruthIds[m] == ids[k]) {
                    idx = (int)k;
                    break;
                }
            }
            if(idx == -1) {
                ts->printf(cvtest::TS::LOG, "Marker not detected");
                ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
                return;
            }

            for(int c = 0; c < 4; c++) {
                double dist = cv::norm(groundTruthCorners[m][c] - corners[idx][c]);  // TODO cvtest
                if(dist > 0.001) {
                    ts->printf(cvtest::TS::LOG, "Incorrect marker corners position");
                    ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
                    return;
                }
            }
        }
    }
}


static double deg2rad(double deg) { return deg * CV_PI / 180.; }

/**
 * @brief Get rvec and tvec from yaw, pitch and distance
 */
static void getSyntheticRT(double yaw, double pitch, double distance, Mat &rvec, Mat &tvec) {

    rvec = Mat(3, 1, CV_64FC1);
    tvec = Mat(3, 1, CV_64FC1);

    // Rvec
    // first put the Z axis aiming to -X (like the camera axis system)
    Mat rotZ(3, 1, CV_64FC1);
    rotZ.ptr< double >(0)[0] = 0;
    rotZ.ptr< double >(0)[1] = 0;
    rotZ.ptr< double >(0)[2] = -0.5 * CV_PI;

    Mat rotX(3, 1, CV_64FC1);
    rotX.ptr< double >(0)[0] = 0.5 * CV_PI;
    rotX.ptr< double >(0)[1] = 0;
    rotX.ptr< double >(0)[2] = 0;

    Mat camRvec, camTvec;
    composeRT(rotZ, Mat(3, 1, CV_64FC1, Scalar::all(0)), rotX, Mat(3, 1, CV_64FC1, Scalar::all(0)),
              camRvec, camTvec);

    // now pitch and yaw angles
    Mat rotPitch(3, 1, CV_64FC1);
    rotPitch.ptr< double >(0)[0] = 0;
    rotPitch.ptr< double >(0)[1] = pitch;
    rotPitch.ptr< double >(0)[2] = 0;

    Mat rotYaw(3, 1, CV_64FC1);
    rotYaw.ptr< double >(0)[0] = yaw;
    rotYaw.ptr< double >(0)[1] = 0;
    rotYaw.ptr< double >(0)[2] = 0;

    composeRT(rotPitch, Mat(3, 1, CV_64FC1, Scalar::all(0)), rotYaw,
              Mat(3, 1, CV_64FC1, Scalar::all(0)), rvec, tvec);

    // compose both rotations
    composeRT(camRvec, Mat(3, 1, CV_64FC1, Scalar::all(0)), rvec,
              Mat(3, 1, CV_64FC1, Scalar::all(0)), rvec, tvec);

    // Tvec, just move in z (camera) direction the specific distance
    tvec.ptr< double >(0)[0] = 0.;
    tvec.ptr< double >(0)[1] = 0.;
    tvec.ptr< double >(0)[2] = distance;
}

/**
 * @brief Create a synthetic image of a marker with perspective
 */
static Mat projectMarker(Ptr<aruco::Dictionary> &dictionary, int id, Mat cameraMatrix, double yaw,
                         double pitch, double distance, Size imageSize, int markerBorder,
                         vector< Point2f > &corners, int encloseMarker=0) {

    // canonical image
    Mat marker, markerImg;
    const int markerSizePixels = 100;

    aruco::drawMarker(dictionary, id, markerSizePixels, marker, markerBorder);
    marker.copyTo(markerImg);

    if(encloseMarker){ //to enclose the marker
        int enclose = int(marker.rows/4);
        markerImg = Mat::zeros(marker.rows+(2*enclose), marker.cols+(enclose*2), CV_8UC1);

        Mat field= markerImg.rowRange(int(enclose), int(markerImg.rows-enclose))
                            .colRange(int(0), int(markerImg.cols));
        field.setTo(255);
        field= markerImg.rowRange(int(0), int(markerImg.rows))
                            .colRange(int(enclose), int(markerImg.cols-enclose));
        field.setTo(255);

        field = markerImg(Rect(enclose,enclose,marker.rows,marker.cols));
        marker.copyTo(field);
    }

    // get rvec and tvec for the perspective
    Mat rvec, tvec;
    getSyntheticRT(yaw, pitch, distance, rvec, tvec);

    const float markerLength = 0.05f;
    vector< Point3f > markerObjPoints;
    markerObjPoints.push_back(Point3f(-markerLength / 2.f, +markerLength / 2.f, 0));
    markerObjPoints.push_back(markerObjPoints[0] + Point3f(markerLength, 0, 0));
    markerObjPoints.push_back(markerObjPoints[0] + Point3f(markerLength, -markerLength, 0));
    markerObjPoints.push_back(markerObjPoints[0] + Point3f(0, -markerLength, 0));

    // project markers and draw them
    Mat distCoeffs(5, 1, CV_64FC1, Scalar::all(0));
    projectPoints(markerObjPoints, rvec, tvec, cameraMatrix, distCoeffs, corners);

    vector< Point2f > originalCorners;
    originalCorners.push_back(Point2f(0+float(encloseMarker*markerSizePixels/4), 0+float(encloseMarker*markerSizePixels/4)));
    originalCorners.push_back(originalCorners[0]+Point2f((float)markerSizePixels, 0));
    originalCorners.push_back(originalCorners[0]+Point2f((float)markerSizePixels, (float)markerSizePixels));
    originalCorners.push_back(originalCorners[0]+Point2f(0, (float)markerSizePixels));

    Mat transformation = getPerspectiveTransform(originalCorners, corners);

    Mat img(imageSize, CV_8UC1, Scalar::all(255));
    Mat aux;
    const char borderValue = 127;
    warpPerspective(markerImg, aux, transformation, imageSize, INTER_NEAREST, BORDER_CONSTANT,
                    Scalar::all(borderValue));

    // copy only not-border pixels
    for(int y = 0; y < aux.rows; y++) {
        for(int x = 0; x < aux.cols; x++) {
            if(aux.at< unsigned char >(y, x) == borderValue) continue;
            img.at< unsigned char >(y, x) = aux.at< unsigned char >(y, x);
        }
    }

    return img;
}

enum class ArucoAlgParams
{
    USE_DEFAULT = 0,
    USE_APRILTAG=1,             /// Detect marker candidates :: using AprilTag
    DETECT_INVERTED_MARKER,     /// Check if there is a white marker
    USE_ARUCO3                  /// Check if aruco3 should be used
};


/**
 * @brief Draws markers in perspective and detect them
 */
class CV_ArucoDetectionPerspective : public cvtest::BaseTest {
    public:
    CV_ArucoDetectionPerspective(ArucoAlgParams arucoAlgParam) : arucoAlgParams(arucoAlgParam) {}

    protected:
    void run(int);
    ArucoAlgParams arucoAlgParams;
};


void CV_ArucoDetectionPerspective::run(int) {

    int iter = 0;
    int szEnclosed = 0;
    Mat cameraMatrix = Mat::eye(3, 3, CV_64FC1);
    Size imgSize(500, 500);
    cameraMatrix.at< double >(0, 0) = cameraMatrix.at< double >(1, 1) = 650;
    cameraMatrix.at< double >(0, 2) = imgSize.width / 2;
    cameraMatrix.at< double >(1, 2) = imgSize.height / 2;
    Ptr<aruco::Dictionary> dictionary = aruco::getPredefinedDictionary(aruco::DICT_6X6_250);

    // detect from different positions
    for(double distance = 0.1; distance < 0.7; distance += 0.2) {
        for(int pitch = 0; pitch < 360; pitch += (distance == 0.1? 60:180)) {
            for(int yaw = 70; yaw <= 120; yaw += 40){
                int currentId = iter % 250;
                int markerBorder = iter % 2 + 1;
                iter++;
                vector< Point2f > groundTruthCorners;

                Ptr<aruco::DetectorParameters> params = aruco::DetectorParameters::create();
                params->minDistanceToBorder = 1;
                params->markerBorderBits = markerBorder;

                /// create synthetic image
                Mat img=
                    projectMarker(dictionary, currentId, cameraMatrix, deg2rad(yaw), deg2rad(pitch),
                                      distance, imgSize, markerBorder, groundTruthCorners, szEnclosed);
                // marker :: Inverted
                if(ArucoAlgParams::DETECT_INVERTED_MARKER == arucoAlgParams){
                    img = ~img;
                    params->detectInvertedMarker = true;
                }

                if(ArucoAlgParams::USE_APRILTAG == arucoAlgParams){
                    params->cornerRefinementMethod = cv::aruco::CORNER_REFINE_APRILTAG;
                }

                if (ArucoAlgParams::USE_ARUCO3 == arucoAlgParams) {
                    params->useAruco3Detection = true;
                    params->cornerRefinementMethod = cv::aruco::CORNER_REFINE_SUBPIX;
                }

                // detect markers
                vector< vector< Point2f > > corners;
                vector< int > ids;
                aruco::detectMarkers(img, dictionary, corners, ids, params);

                // check results
                if(ids.size() != 1 || (ids.size() == 1 && ids[0] != currentId)) {
                    if(ids.size() != 1)
                        ts->printf(cvtest::TS::LOG, "Incorrect number of detected markers");
                    else
                        ts->printf(cvtest::TS::LOG, "Incorrect marker id");
                    ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
                    return;
                }
                for(int c = 0; c < 4; c++) {
                    double dist = cv::norm(groundTruthCorners[c] - corners[0][c]);  // TODO cvtest
                    if(dist > 5) {
                            ts->printf(cvtest::TS::LOG, "Incorrect marker corners position");
                            ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
                            return;
                    }
                }
            }
        }
        // change the state :: to detect an enclosed inverted marker
        if(ArucoAlgParams::DETECT_INVERTED_MARKER == arucoAlgParams && distance == 0.1){
            distance -= 0.1;
            szEnclosed++;
        }
    }
}


/**
 * @brief Check max and min size in marker detection parameters
 */
class CV_ArucoDetectionMarkerSize : public cvtest::BaseTest {
    public:
    CV_ArucoDetectionMarkerSize();

    protected:
    void run(int);
};


CV_ArucoDetectionMarkerSize::CV_ArucoDetectionMarkerSize() {}


void CV_ArucoDetectionMarkerSize::run(int) {

    Ptr<aruco::Dictionary> dictionary = aruco::getPredefinedDictionary(aruco::DICT_6X6_250);
    int markerSide = 20;
    int imageSize = 200;

    // 10 cases
    for(int i = 0; i < 10; i++) {
        Mat marker;
        int id = 10 + i * 20;

        // create synthetic image
        Mat img = Mat(imageSize, imageSize, CV_8UC1, Scalar::all(255));
        aruco::drawMarker(dictionary, id, markerSide, marker);
        Mat aux = img.colRange(30, 30 + markerSide).rowRange(50, 50 + markerSide);
        marker.copyTo(aux);

        vector< vector< Point2f > > corners;
        vector< int > ids;
        Ptr<aruco::DetectorParameters> params = aruco::DetectorParameters::create();

        // set a invalid minMarkerPerimeterRate
        params->minMarkerPerimeterRate = min(4., (4. * markerSide) / float(imageSize) + 0.1);
        aruco::detectMarkers(img, dictionary, corners, ids, params);
        if(corners.size() != 0) {
            ts->printf(cvtest::TS::LOG, "Error in DetectorParameters::minMarkerPerimeterRate");
            ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
            return;
        }

        // set an valid minMarkerPerimeterRate
        params->minMarkerPerimeterRate = max(0., (4. * markerSide) / float(imageSize) - 0.1);
        aruco::detectMarkers(img, dictionary, corners, ids, params);
        if(corners.size() != 1 || (corners.size() == 1 && ids[0] != id)) {
            ts->printf(cvtest::TS::LOG, "Error in DetectorParameters::minMarkerPerimeterRate");
            ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
            return;
        }

        // set a invalid maxMarkerPerimeterRate
        params->maxMarkerPerimeterRate = min(4., (4. * markerSide) / float(imageSize) - 0.1);
        aruco::detectMarkers(img, dictionary, corners, ids, params);
        if(corners.size() != 0) {
            ts->printf(cvtest::TS::LOG, "Error in DetectorParameters::maxMarkerPerimeterRate");
            ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
            return;
        }

        // set an valid maxMarkerPerimeterRate
        params->maxMarkerPerimeterRate = max(0., (4. * markerSide) / float(imageSize) + 0.1);
        aruco::detectMarkers(img, dictionary, corners, ids, params);
        if(corners.size() != 1 || (corners.size() == 1 && ids[0] != id)) {
            ts->printf(cvtest::TS::LOG, "Error in DetectorParameters::maxMarkerPerimeterRate");
            ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
            return;
        }
    }
}


/**
 * @brief Check error correction in marker bits
 */
class CV_ArucoBitCorrection : public cvtest::BaseTest {
    public:
    CV_ArucoBitCorrection();

    protected:
    void run(int);
};


CV_ArucoBitCorrection::CV_ArucoBitCorrection() {}


void CV_ArucoBitCorrection::run(int) {

    Ptr<aruco::Dictionary> _dictionary = aruco::getPredefinedDictionary(aruco::DICT_6X6_250);
    aruco::Dictionary &dictionary = *_dictionary;
    aruco::Dictionary dictionary2 = *_dictionary;
    int markerSide = 50;
    int imageSize = 150;
    Ptr<aruco::DetectorParameters> params = aruco::DetectorParameters::create();

    // 10 markers
    for(int l = 0; l < 10; l++) {
        Mat marker;
        int id = 10 + l * 20;

        Mat currentCodeBytes = dictionary.bytesList.rowRange(id, id + 1);

        // 5 valid cases
        for(int i = 0; i < 5; i++) {
            // how many bit errors (the error is low enough so it can be corrected)
            params->errorCorrectionRate = 0.2 + i * 0.1;
            int errors =
                (int)std::floor(dictionary.maxCorrectionBits * params->errorCorrectionRate - 1.);

            // create erroneous marker in currentCodeBits
            Mat currentCodeBits =
                aruco::Dictionary::getBitsFromByteList(currentCodeBytes, dictionary.markerSize);
            for(int e = 0; e < errors; e++) {
                currentCodeBits.ptr< unsigned char >()[2 * e] =
                    !currentCodeBits.ptr< unsigned char >()[2 * e];
            }

            // add erroneous marker to dictionary2 in order to create the erroneous marker image
            Mat currentCodeBytesError = aruco::Dictionary::getByteListFromBits(currentCodeBits);
            currentCodeBytesError.copyTo(dictionary2.bytesList.rowRange(id, id + 1));
            Mat img = Mat(imageSize, imageSize, CV_8UC1, Scalar::all(255));
            dictionary2.drawMarker(id, markerSide, marker);
            Mat aux = img.colRange(30, 30 + markerSide).rowRange(50, 50 + markerSide);
            marker.copyTo(aux);

            // try to detect using original dictionary
            vector< vector< Point2f > > corners;
            vector< int > ids;
            aruco::detectMarkers(img, _dictionary, corners, ids, params);
            if(corners.size() != 1 || (corners.size() == 1 && ids[0] != id)) {
                ts->printf(cvtest::TS::LOG, "Error in bit correction");
                ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
                return;
            }
        }

        // 5 invalid cases
        for(int i = 0; i < 5; i++) {
            // how many bit errors (the error is too high to be corrected)
            params->errorCorrectionRate = 0.2 + i * 0.1;
            int errors =
                (int)std::floor(dictionary.maxCorrectionBits * params->errorCorrectionRate + 1.);

            // create erroneous marker in currentCodeBits
            Mat currentCodeBits =
                aruco::Dictionary::getBitsFromByteList(currentCodeBytes, dictionary.markerSize);
            for(int e = 0; e < errors; e++) {
                currentCodeBits.ptr< unsigned char >()[2 * e] =
                    !currentCodeBits.ptr< unsigned char >()[2 * e];
            }

            // dictionary3 is only composed by the modified marker (in its original form)
            Ptr<aruco::Dictionary> _dictionary3 = makePtr<aruco::Dictionary>(
                    dictionary2.bytesList.rowRange(id, id + 1).clone(),
                    dictionary.markerSize,
                    dictionary.maxCorrectionBits);

            // add erroneous marker to dictionary2 in order to create the erroneous marker image
            Mat currentCodeBytesError = aruco::Dictionary::getByteListFromBits(currentCodeBits);
            currentCodeBytesError.copyTo(dictionary2.bytesList.rowRange(id, id + 1));
            Mat img = Mat(imageSize, imageSize, CV_8UC1, Scalar::all(255));
            dictionary2.drawMarker(id, markerSide, marker);
            Mat aux = img.colRange(30, 30 + markerSide).rowRange(50, 50 + markerSide);
            marker.copyTo(aux);

            // try to detect using dictionary3, it should fail
            vector< vector< Point2f > > corners;
            vector< int > ids;
            aruco::detectMarkers(img, _dictionary3, corners, ids, params);
            if(corners.size() != 0) {
                ts->printf(cvtest::TS::LOG, "Error in DetectorParameters::errorCorrectionRate");
                ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
                return;
            }
        }
    }
}

typedef CV_ArucoDetectionPerspective CV_AprilTagDetectionPerspective;
typedef CV_ArucoDetectionPerspective CV_InvertedArucoDetectionPerspective;
typedef CV_ArucoDetectionPerspective CV_Aruco3DetectionPerspective;

TEST(CV_InvertedArucoDetectionPerspective, algorithmic) {
    CV_InvertedArucoDetectionPerspective test(ArucoAlgParams::DETECT_INVERTED_MARKER);
    test.safe_run();
}

TEST(CV_AprilTagDetectionPerspective, algorithmic) {
    CV_AprilTagDetectionPerspective test(ArucoAlgParams::USE_APRILTAG);
    test.safe_run();
}

TEST(CV_Aruco3DetectionPerspective, algorithmic) {
    CV_Aruco3DetectionPerspective test(ArucoAlgParams::USE_ARUCO3);
    test.safe_run();
}

TEST(CV_ArucoDetectionSimple, algorithmic) {
    CV_ArucoDetectionSimple test;
    test.safe_run();
}

TEST(CV_ArucoDetectionPerspective, algorithmic) {
    CV_ArucoDetectionPerspective test(ArucoAlgParams::USE_DEFAULT);
    test.safe_run();
}

TEST(CV_ArucoDetectionMarkerSize, algorithmic) {
    CV_ArucoDetectionMarkerSize test;
    test.safe_run();
}

TEST(CV_ArucoBitCorrection, algorithmic) {
    CV_ArucoBitCorrection test;
    test.safe_run();
}

TEST(CV_ArucoTutorial, can_find_singlemarkersoriginal)
{
    string img_path = cvtest::findDataFile("singlemarkersoriginal.jpg", false);
    Mat image = imread(img_path);
    Ptr<aruco::Dictionary> dictionary =  aruco::getPredefinedDictionary(aruco::DICT_6X6_250);
    Ptr<aruco::DetectorParameters> detectorParams = aruco::DetectorParameters::create();

    vector< int > ids;
    vector< vector< Point2f > > corners, rejected;
    const size_t N = 6ull;
    // corners of ArUco markers with indices goldCornersIds
    const int goldCorners[N][8] = { {359,310, 404,310, 410,350, 362,350}, {427,255, 469,256, 477,289, 434,288},
                                    {233,273, 190,273, 196,241, 237,241}, {298,185, 334,186, 335,212, 297,211},
                                    {425,163, 430,186, 394,186, 390,162}, {195,155, 230,155, 227,178, 190,178} };
    const int goldCornersIds[N] = { 40, 98, 62, 23, 124, 203};
    map<int, const int*> mapGoldCorners;
    for (size_t i = 0; i < N; i++)
        mapGoldCorners[goldCornersIds[i]] = goldCorners[i];

    aruco::detectMarkers(image, dictionary, corners, ids, detectorParams, rejected);

    ASSERT_EQ(N, ids.size());
    for (size_t i = 0; i < N; i++)
    {
        int arucoId = ids[i];
        ASSERT_EQ(4ull, corners[i].size());
        ASSERT_TRUE(mapGoldCorners.find(arucoId) != mapGoldCorners.end());
        for (int j = 0; j < 4; j++)
        {
            EXPECT_NEAR(static_cast<float>(mapGoldCorners[arucoId][j * 2]), corners[i][j].x, 1.f);
            EXPECT_NEAR(static_cast<float>(mapGoldCorners[arucoId][j * 2 + 1]), corners[i][j].y, 1.f);
        }
    }
}

TEST(CV_ArucoTutorial, can_find_gboriginal)
{
    string imgPath = cvtest::findDataFile("gboriginal.png", false);
    Mat image = imread(imgPath);
    string dictPath = cvtest::findDataFile("tutorial_dict.yml", false);
    cv::Ptr<cv::aruco::Dictionary> dictionary;

    FileStorage fs(dictPath, FileStorage::READ);
    aruco::Dictionary::readDictionary(fs.root(), dictionary); // set marker from tutorial_dict.yml

    Ptr<aruco::DetectorParameters> detectorParams = aruco::DetectorParameters::create();

    vector< int > ids;
    vector< vector< Point2f > > corners, rejected;
    const size_t N = 35ull;
    // corners of ArUco markers with indices 0, 1, ..., 34
    const int goldCorners[N][8] = { {252,74, 286,81, 274,102, 238,95},    {295,82, 330,89, 319,111, 282,104},
                                    {338,91, 375,99, 365,121, 327,113},   {383,100, 421,107, 412,130, 374,123},
                                    {429,109, 468,116, 461,139, 421,132}, {235,100, 270,108, 257,130, 220,122},
                                    {279,109, 316,117, 304,140, 266,133}, {324,119, 362,126, 352,150, 313,143},
                                    {371,128, 410,136, 400,161, 360,152}, {418,139, 459,145, 451,170, 410,163},
                                    {216,128, 253,136, 239,161, 200,152}, {262,138, 300,146, 287,172, 248,164},
                                    {309,148, 349,156, 337,183, 296,174}, {358,158, 398,167, 388,194, 346,185},
                                    {407,169, 449,176, 440,205, 397,196}, {196,158, 235,168, 218,195, 179,185},
                                    {243,170, 283,178, 269,206, 228,197}, {293,180, 334,190, 321,218, 279,209},
                                    {343,192, 385,200, 374,230, 330,220}, {395,203, 438,211, 429,241, 384,233},
                                    {174,192, 215,201, 197,231, 156,221}, {223,204, 265,213, 249,244, 207,234},
                                    {275,215, 317,225, 303,257, 259,246}, {327,227, 371,238, 359,270, 313,259},
                                    {381,240, 426,249, 416,282, 369,273}, {151,228, 193,238, 173,271, 130,260},
                                    {202,241, 245,251, 228,285, 183,274}, {255,254, 300,264, 284,299, 238,288},
                                    {310,267, 355,278, 342,314, 295,302}, {366,281, 413,290, 402,327, 353,317},
                                    {125,267, 168,278, 147,314, 102,303}, {178,281, 223,293, 204,330, 157,317},
                                    {233,296, 280,307, 263,346, 214,333}, {291,310, 338,322, 323,363, 274,349},
                                    {349,325, 399,336, 386,378, 335,366} };
    map<int, const int*> mapGoldCorners;
    for (int i = 0; i < static_cast<int>(N); i++)
        mapGoldCorners[i] = goldCorners[i];

    aruco::detectMarkers(image, dictionary, corners, ids, detectorParams, rejected);


    ASSERT_EQ(N, ids.size());
    for (size_t i = 0; i < N; i++)
    {
        int arucoId = ids[i];
        ASSERT_EQ(4ull, corners[i].size());
        ASSERT_TRUE(mapGoldCorners.find(arucoId) != mapGoldCorners.end());
        for (int j = 0; j < 4; j++)
        {
            EXPECT_NEAR(static_cast<float>(mapGoldCorners[arucoId][j*2]), corners[i][j].x, 1.f);
            EXPECT_NEAR(static_cast<float>(mapGoldCorners[arucoId][j*2+1]), corners[i][j].y, 1.f);
        }
    }
}

}} // namespace