OpenCV/opencv_contrib/modules/aruco/test/test_charucodetection.cpp

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#include "test_precomp.hpp"

namespace opencv_test { namespace {

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 Project a synthetic marker
 */
static void projectMarker(Mat &img, Ptr<aruco::Dictionary> dictionary, int id,
                          vector< Point3f > markerObjPoints, Mat cameraMatrix, Mat rvec, Mat tvec,
                          int markerBorder) {


    Mat markerImg;
    const int markerSizePixels = 100;
    aruco::drawMarker(dictionary, id, markerSizePixels, markerImg, markerBorder);

    Mat distCoeffs(5, 1, CV_64FC1, Scalar::all(0));
    vector< Point2f > corners;
    projectPoints(markerObjPoints, rvec, tvec, cameraMatrix, distCoeffs, corners);

    vector< Point2f > originalCorners;
    originalCorners.push_back(Point2f(0, 0));
    originalCorners.push_back(Point2f((float)markerSizePixels, 0));
    originalCorners.push_back(Point2f((float)markerSizePixels, (float)markerSizePixels));
    originalCorners.push_back(Point2f(0, (float)markerSizePixels));

    Mat transformation = getPerspectiveTransform(originalCorners, corners);

    Mat aux;
    const char borderValue = 127;
    warpPerspective(markerImg, aux, transformation, img.size(), 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);
        }
    }
}

/**
 * @brief Get a synthetic image of Chessboard in perspective
 */
static Mat projectChessboard(int squaresX, int squaresY, float squareSize, Size imageSize,
                             Mat cameraMatrix, Mat rvec, Mat tvec) {

    Mat img(imageSize, CV_8UC1, Scalar::all(255));
    Mat distCoeffs(5, 1, CV_64FC1, Scalar::all(0));

    for(int y = 0; y < squaresY; y++) {
        float startY = float(y) * squareSize;
        for(int x = 0; x < squaresX; x++) {
            if(y % 2 != x % 2) continue;
            float startX = float(x) * squareSize;

            vector< Point3f > squareCorners;
            squareCorners.push_back(Point3f(startX, startY, 0));
            squareCorners.push_back(squareCorners[0] + Point3f(squareSize, 0, 0));
            squareCorners.push_back(squareCorners[0] + Point3f(squareSize, squareSize, 0));
            squareCorners.push_back(squareCorners[0] + Point3f(0, squareSize, 0));

            vector< vector< Point2f > > projectedCorners;
            projectedCorners.push_back(vector< Point2f >());
            projectPoints(squareCorners, rvec, tvec, cameraMatrix, distCoeffs, projectedCorners[0]);

            vector< vector< Point > > projectedCornersInt;
            projectedCornersInt.push_back(vector< Point >());

            for(int k = 0; k < 4; k++)
                projectedCornersInt[0]
                    .push_back(Point((int)projectedCorners[0][k].x, (int)projectedCorners[0][k].y));

            fillPoly(img, projectedCornersInt, Scalar::all(0));
        }
    }

    return img;
}


/**
 * @brief Check pose estimation of charuco board
 */
static Mat projectCharucoBoard(Ptr<aruco::CharucoBoard> &board, Mat cameraMatrix, double yaw,
                               double pitch, double distance, Size imageSize, int markerBorder,
                               Mat &rvec, Mat &tvec) {

    getSyntheticRT(yaw, pitch, distance, rvec, tvec);

    // project markers
    Mat img = Mat(imageSize, CV_8UC1, Scalar::all(255));
    for(unsigned int m = 0; m < board->ids.size(); m++) {
        projectMarker(img, board->dictionary, board->ids[m], board->objPoints[m], cameraMatrix, rvec,
                      tvec, markerBorder);
    }

    // project chessboard
    Mat chessboard =
        projectChessboard(board->getChessboardSize().width, board->getChessboardSize().height,
                          board->getSquareLength(), imageSize, cameraMatrix, rvec, tvec);

    for(unsigned int i = 0; i < chessboard.total(); i++) {
        if(chessboard.ptr< unsigned char >()[i] == 0) {
            img.ptr< unsigned char >()[i] = 0;
        }
    }

    return img;
}

/**
 * @brief Check Charuco detection
 */
class CV_CharucoDetection : public cvtest::BaseTest {
    public:
    CV_CharucoDetection();

    protected:
    void run(int);
};


CV_CharucoDetection::CV_CharucoDetection() {}


void CV_CharucoDetection::run(int) {

    int iter = 0;
    Mat cameraMatrix = Mat::eye(3, 3, CV_64FC1);
    Size imgSize(500, 500);
    Ptr<aruco::Dictionary> dictionary = aruco::getPredefinedDictionary(aruco::DICT_6X6_250);
    Ptr<aruco::CharucoBoard> board = aruco::CharucoBoard::create(4, 4, 0.03f, 0.015f, dictionary);

    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;

    Mat distCoeffs(5, 1, CV_64FC1, Scalar::all(0));

    // for different perspectives
    for(double distance = 0.2; distance <= 0.4; distance += 0.2) {
        for(int yaw = 0; yaw < 360; yaw += 100) {
            for(int pitch = 30; pitch <= 90; pitch += 50) {

                int markerBorder = iter % 2 + 1;
                iter++;

                // create synthetic image
                Mat rvec, tvec;
                Mat img = projectCharucoBoard(board, cameraMatrix, deg2rad(pitch), deg2rad(yaw),
                                              distance, imgSize, markerBorder, rvec, tvec);

                // detect markers
                vector< vector< Point2f > > corners;
                vector< int > ids;
                Ptr<aruco::DetectorParameters> params = aruco::DetectorParameters::create();
                params->minDistanceToBorder = 3;
                params->markerBorderBits = markerBorder;
                aruco::detectMarkers(img, dictionary, corners, ids, params);

                if(ids.size() == 0) {
                    ts->printf(cvtest::TS::LOG, "Marker detection failed");
                    ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
                    return;
                }

                // interpolate charuco corners
                vector< Point2f > charucoCorners;
                vector< int > charucoIds;

                if(iter % 2 == 0) {
                    aruco::interpolateCornersCharuco(corners, ids, img, board, charucoCorners,
                                                     charucoIds);
                } else {
                    aruco::interpolateCornersCharuco(corners, ids, img, board, charucoCorners,
                                                     charucoIds, cameraMatrix, distCoeffs);
                }

                // check results
                vector< Point2f > projectedCharucoCorners;
                projectPoints(board->chessboardCorners, rvec, tvec, cameraMatrix, distCoeffs,
                              projectedCharucoCorners);

                for(unsigned int i = 0; i < charucoIds.size(); i++) {

                    int currentId = charucoIds[i];

                    if(currentId >= (int)board->chessboardCorners.size()) {
                        ts->printf(cvtest::TS::LOG, "Invalid Charuco corner id");
                        ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
                        return;
                    }

                    double repError = cv::norm(charucoCorners[i] - projectedCharucoCorners[currentId]);  // TODO cvtest


                    if(repError > 5.) {
                        ts->printf(cvtest::TS::LOG, "Charuco corner reprojection error too high");
                        ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
                        return;
                    }
                }
            }
        }
    }
}



/**
 * @brief Check charuco pose estimation
 */
class CV_CharucoPoseEstimation : public cvtest::BaseTest {
    public:
    CV_CharucoPoseEstimation();

    protected:
    void run(int);
};


CV_CharucoPoseEstimation::CV_CharucoPoseEstimation() {}


void CV_CharucoPoseEstimation::run(int) {

    int iter = 0;
    Mat cameraMatrix = Mat::eye(3, 3, CV_64FC1);
    Size imgSize(500, 500);
    Ptr<aruco::Dictionary> dictionary = aruco::getPredefinedDictionary(aruco::DICT_6X6_250);
    Ptr<aruco::CharucoBoard> board = aruco::CharucoBoard::create(4, 4, 0.03f, 0.015f, dictionary);

    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;

    Mat distCoeffs(5, 1, CV_64FC1, Scalar::all(0));
    // for different perspectives
    for(double distance = 0.2; distance <= 0.4; distance += 0.2) {
        for(int yaw = 0; yaw < 360; yaw += 100) {
            for(int pitch = 30; pitch <= 90; pitch += 50) {

                int markerBorder = iter % 2 + 1;
                iter++;

                // get synthetic image
                Mat rvec, tvec;
                Mat img = projectCharucoBoard(board, cameraMatrix, deg2rad(pitch), deg2rad(yaw),
                                              distance, imgSize, markerBorder, rvec, tvec);

                // detect markers
                vector< vector< Point2f > > corners;
                vector< int > ids;
                Ptr<aruco::DetectorParameters> params = aruco::DetectorParameters::create();
                params->minDistanceToBorder = 3;
                params->markerBorderBits = markerBorder;
                aruco::detectMarkers(img, dictionary, corners, ids, params);

                if(ids.size() == 0) {
                    ts->printf(cvtest::TS::LOG, "Marker detection failed");
                    ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
                    return;
                }

                // interpolate charuco corners
                vector< Point2f > charucoCorners;
                vector< int > charucoIds;

                if(iter % 2 == 0) {
                    aruco::interpolateCornersCharuco(corners, ids, img, board, charucoCorners,
                                                     charucoIds);
                } else {
                    aruco::interpolateCornersCharuco(corners, ids, img, board, charucoCorners,
                                                     charucoIds, cameraMatrix, distCoeffs);
                }

                if(charucoIds.size() == 0) continue;

                // estimate charuco pose
                aruco::estimatePoseCharucoBoard(charucoCorners, charucoIds, board, cameraMatrix,
                                                distCoeffs, rvec, tvec);


                // check result
                vector< Point2f > projectedCharucoCorners;
                projectPoints(board->chessboardCorners, rvec, tvec, cameraMatrix, distCoeffs,
                              projectedCharucoCorners);

                for(unsigned int i = 0; i < charucoIds.size(); i++) {

                    int currentId = charucoIds[i];

                    if(currentId >= (int)board->chessboardCorners.size()) {
                        ts->printf(cvtest::TS::LOG, "Invalid Charuco corner id");
                        ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
                        return;
                    }

                    double repError = cv::norm(charucoCorners[i] - projectedCharucoCorners[currentId]);  // TODO cvtest


                    if(repError > 5.) {
                        ts->printf(cvtest::TS::LOG, "Charuco corner reprojection error too high");
                        ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
                        return;
                    }
                }
            }
        }
    }
}


/**
 * @brief Check diamond detection
 */
class CV_CharucoDiamondDetection : public cvtest::BaseTest {
    public:
    CV_CharucoDiamondDetection();

    protected:
    void run(int);
};


CV_CharucoDiamondDetection::CV_CharucoDiamondDetection() {}


void CV_CharucoDiamondDetection::run(int) {

    int iter = 0;
    Mat cameraMatrix = Mat::eye(3, 3, CV_64FC1);
    Size imgSize(500, 500);
    Ptr<aruco::Dictionary> dictionary = aruco::getPredefinedDictionary(aruco::DICT_6X6_250);
    float squareLength = 0.03f;
    float markerLength = 0.015f;
    Ptr<aruco::CharucoBoard> board =
        aruco::CharucoBoard::create(3, 3, squareLength, markerLength, dictionary);

    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;

    Mat distCoeffs(5, 1, CV_64FC1, Scalar::all(0));
    // for different perspectives
    for(double distance = 0.3; distance <= 0.3; distance += 0.2) {
        for(int yaw = 0; yaw < 360; yaw += 100) {
            for(int pitch = 30; pitch <= 90; pitch += 30) {

                int markerBorder = iter % 2 + 1;
                for(int i = 0; i < 4; i++)
                    board->ids[i] = 4 * iter + i;
                iter++;

                // get synthetic image
                Mat rvec, tvec;
                Mat img = projectCharucoBoard(board, cameraMatrix, deg2rad(pitch), deg2rad(yaw),
                                              distance, imgSize, markerBorder, rvec, tvec);

                // detect markers
                vector< vector< Point2f > > corners;
                vector< int > ids;
                Ptr<aruco::DetectorParameters> params = aruco::DetectorParameters::create();
                params->minDistanceToBorder = 0;
                params->markerBorderBits = markerBorder;
                aruco::detectMarkers(img, dictionary, corners, ids, params);

                if(ids.size() != 4) {
                    ts->printf(cvtest::TS::LOG, "Not enough markers for diamond detection");
                    ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
                    return;
                }

                // detect diamonds
                vector< vector< Point2f > > diamondCorners;
                vector< Vec4i > diamondIds;
                aruco::detectCharucoDiamond(img, corners, ids, squareLength / markerLength,
                                            diamondCorners, diamondIds, cameraMatrix, distCoeffs);

                // check results
                if(diamondIds.size() != 1) {
                    ts->printf(cvtest::TS::LOG, "Diamond not detected correctly");
                    ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
                    return;
                }

                for(int i = 0; i < 4; i++) {
                    if(diamondIds[0][i] != board->ids[i]) {
                        ts->printf(cvtest::TS::LOG, "Incorrect diamond ids");
                        ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
                        return;
                    }
                }


                vector< Point2f > projectedDiamondCorners;
                projectPoints(board->chessboardCorners, rvec, tvec, cameraMatrix, distCoeffs,
                              projectedDiamondCorners);

                vector< Point2f > projectedDiamondCornersReorder(4);
                projectedDiamondCornersReorder[0] = projectedDiamondCorners[2];
                projectedDiamondCornersReorder[1] = projectedDiamondCorners[3];
                projectedDiamondCornersReorder[2] = projectedDiamondCorners[1];
                projectedDiamondCornersReorder[3] = projectedDiamondCorners[0];


                for(unsigned int i = 0; i < 4; i++) {

                    double repError = cv::norm(diamondCorners[0][i] - projectedDiamondCornersReorder[i]);  // TODO cvtest

                    if(repError > 5.) {
                        ts->printf(cvtest::TS::LOG, "Diamond corner reprojection error too high");
                        ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
                        return;
                    }
                }

                // estimate diamond pose
                vector< Vec3d > estimatedRvec, estimatedTvec;
                aruco::estimatePoseSingleMarkers(diamondCorners, squareLength, cameraMatrix,
                                                 distCoeffs, estimatedRvec, estimatedTvec);

                // check result
                vector< Point2f > projectedDiamondCornersPose;
                vector< Vec3f > diamondObjPoints(4);
                diamondObjPoints[0] = Vec3f(-squareLength / 2.f, squareLength / 2.f, 0);
                diamondObjPoints[1] = Vec3f(squareLength / 2.f, squareLength / 2.f, 0);
                diamondObjPoints[2] = Vec3f(squareLength / 2.f, -squareLength / 2.f, 0);
                diamondObjPoints[3] = Vec3f(-squareLength / 2.f, -squareLength / 2.f, 0);
                projectPoints(diamondObjPoints, estimatedRvec[0], estimatedTvec[0], cameraMatrix,
                              distCoeffs, projectedDiamondCornersPose);

                for(unsigned int i = 0; i < 4; i++) {
                    double repError = cv::norm(projectedDiamondCornersReorder[i] - projectedDiamondCornersPose[i]);  // TODO cvtest

                    if(repError > 5.) {
                        ts->printf(cvtest::TS::LOG, "Charuco pose error too high");
                        ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
                        return;
                    }
                }
            }
        }
    }
}

/**
* @brief Check charuco board creation
*/
class CV_CharucoBoardCreation : public cvtest::BaseTest {
public:
    CV_CharucoBoardCreation();

protected:
    void run(int);
};

CV_CharucoBoardCreation::CV_CharucoBoardCreation() {}

void CV_CharucoBoardCreation::run(int)
{
    Ptr<aruco::Dictionary> dictionary = aruco::getPredefinedDictionary(aruco::DICT_5X5_250);
    int n = 6;

    float markerSizeFactor = 0.5f;

    for (float squareSize_mm = 5.0f; squareSize_mm < 35.0f; squareSize_mm += 0.1f)
    {
        Ptr<aruco::CharucoBoard> board_meters = aruco::CharucoBoard::create(
            n, n, squareSize_mm*1e-3f, squareSize_mm * markerSizeFactor * 1e-3f, dictionary);

        Ptr<aruco::CharucoBoard> board_millimeters = aruco::CharucoBoard::create(
            n, n, squareSize_mm, squareSize_mm * markerSizeFactor, dictionary);

        for (size_t i = 0; i < board_meters->nearestMarkerIdx.size(); i++)
        {
            if (board_meters->nearestMarkerIdx[i].size() != board_millimeters->nearestMarkerIdx[i].size() ||
                board_meters->nearestMarkerIdx[i][0] != board_millimeters->nearestMarkerIdx[i][0])
            {
                ts->printf(cvtest::TS::LOG,
                    cv::format("Charuco board topology is sensitive to scale with squareSize=%.1f\n",
                        squareSize_mm).c_str());
                ts->set_failed_test_info(cvtest::TS::FAIL_INVALID_OUTPUT);
                break;
            }
        }
    }
}


TEST(CV_CharucoDetection, accuracy) {
    CV_CharucoDetection test;
    test.safe_run();
}

TEST(CV_CharucoPoseEstimation, accuracy) {
    CV_CharucoPoseEstimation test;
    test.safe_run();
}

TEST(CV_CharucoDiamondDetection, accuracy) {
    CV_CharucoDiamondDetection test;
    test.safe_run();
}

TEST(CV_CharucoBoardCreation, accuracy) {
    CV_CharucoBoardCreation test;
    test.safe_run();
}

TEST(Charuco, testCharucoCornersCollinear_true)
{
    int squaresX = 13;
    int squaresY = 28;
    float squareLength = 300;
    float markerLength = 150;
    int dictionaryId = 11;


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

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

    Ptr<aruco::CharucoBoard> charucoBoard =
            aruco::CharucoBoard::create(squaresX, squaresY, squareLength, markerLength, dictionary);

    // consistency with C++98
    const int arrLine[9] = {192, 204, 216, 228, 240, 252, 264, 276, 288};
    vector<int> charucoIdsAxisLine(9, 0);

    for (int i = 0; i < 9; i++){
        charucoIdsAxisLine[i] = arrLine[i];
    }

    const int arrDiag[7] = {198, 209, 220, 231, 242, 253, 264};

    vector<int> charucoIdsDiagonalLine(7, 0);

    for (int i = 0; i < 7; i++){
        charucoIdsDiagonalLine[i] = arrDiag[i];
    }

    bool resultAxisLine = cv::aruco::testCharucoCornersCollinear(charucoBoard, charucoIdsAxisLine);

    bool resultDiagonalLine = cv::aruco::testCharucoCornersCollinear(charucoBoard, charucoIdsDiagonalLine);

    EXPECT_TRUE(resultAxisLine);

    EXPECT_TRUE(resultDiagonalLine);
}

TEST(Charuco, testCharucoCornersCollinear_false)
{
    int squaresX = 13;
    int squaresY = 28;
    float squareLength = 300;
    float markerLength = 150;
    int dictionaryId = 11;


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

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

    Ptr<aruco::CharucoBoard> charucoBoard =
            aruco::CharucoBoard::create(squaresX, squaresY, squareLength, markerLength, dictionary);

    // consistency with C++98
    const int arr[63] = {192, 193, 194, 195, 196, 197, 198, 204, 205, 206, 207, 208,
                                209, 210, 216, 217, 218, 219, 220, 221, 222, 228, 229, 230,
                                231, 232, 233, 234, 240, 241, 242, 243, 244, 245, 246, 252,
                                253, 254, 255, 256, 257, 258, 264, 265, 266, 267, 268, 269,
                                270, 276, 277, 278, 279, 280, 281, 282, 288, 289, 290, 291,
                                292, 293, 294};

    vector<int> charucoIds(63, 0);
    for (int i = 0; i < 63; i++){
        charucoIds[i] = arr[i];
    }


    bool result = cv::aruco::testCharucoCornersCollinear(charucoBoard, charucoIds);

    EXPECT_FALSE(result);
}

// test that ChArUco board detection is subpixel accurate
TEST(Charuco, testBoardSubpixelCoords)
{
    cv::Size res{500, 500};
    cv::Mat K = (cv::Mat_<double>(3,3) <<
        0.5*res.width, 0, 0.5*res.width,
        0, 0.5*res.height, 0.5*res.height,
        0, 0, 1);

    // load board image with corners at round values
    cv::String testImagePath = cvtest::TS::ptr()->get_data_path() + "aruco/" + "trivial_board_detection.png";
    Mat img = imread(testImagePath);
    cv::Mat expected_corners = (cv::Mat_<float>(9,2) <<
        200, 300,
        250, 300,
        300, 300,
        200, 250,
        250, 250,
        300, 250,
        200, 200,
        250, 200,
        300, 200
    );

    cv::Mat gray;
    cv::cvtColor(img, gray, cv::COLOR_BGR2GRAY);

    auto dict = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_APRILTAG_36h11);
    auto board = cv::aruco::CharucoBoard::create(4, 4, 1.f, .8f, dict);

    auto params = cv::aruco::DetectorParameters::create();
    params->cornerRefinementMethod = cv::aruco::CORNER_REFINE_APRILTAG;

    std::vector<int> ids;
    std::vector<std::vector<cv::Point2f>> corners, rejected;

    cv::aruco::detectMarkers(gray, dict, corners, ids, params, rejected, K);

    ASSERT_EQ(ids.size(), size_t(8));

    cv::Mat c_ids, c_corners;
    cv::aruco::interpolateCornersCharuco(corners, ids, gray, board, c_corners, c_ids, K);
    cv::Mat corners_reshaped = c_corners.reshape(1);

    ASSERT_EQ(c_corners.rows, expected_corners.rows);
    EXPECT_NEAR(0, cvtest::norm(expected_corners, c_corners.reshape(1), NORM_INF), 1e-3);

    c_ids = cv::Mat();
    c_corners = cv::Mat();
    cv::aruco::interpolateCornersCharuco(corners, ids, gray, board, c_corners, c_ids);
    corners_reshaped = c_corners.reshape(1);

    ASSERT_EQ(c_corners.rows, expected_corners.rows);
    EXPECT_NEAR(0, cvtest::norm(expected_corners, c_corners.reshape(1), NORM_INF), 1e-3);
}

TEST(CV_ArucoTutorial, can_find_choriginal)
{
    string imgPath = cvtest::findDataFile("choriginal.jpg", false);
    Mat image = imread(imgPath);
    cv::Ptr<cv::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 = 17ull;
    // corners of aruco markers with indices goldCornersIds
    const int goldCorners[N][8] = { {268,77,  290,80,  286,97,  263,94},  {360,90,  382,93,  379,111, 357,108},
                                    {211,106, 233,109, 228,127, 205,123}, {306,120, 328,124, 325,142, 302,138},
                                    {402,135, 425,139, 423,157, 400,154}, {247,152, 271,155, 267,174, 242,171},
                                    {347,167, 371,171, 369,191, 344,187}, {185,185, 209,189, 203,210, 178,206},
                                    {288,201, 313,206, 309,227, 284,223}, {393,218, 418,222, 416,245, 391,241},
                                    {223,240, 250,244, 244,268, 217,263}, {333,258, 359,262, 356,286, 329,282},
                                    {152,281, 179,285, 171,312, 143,307}, {267,300, 294,305, 289,331, 261,327},
                                    {383,319, 410,324, 408,351, 380,347}, {194,347, 223,352, 216,382, 186,377},
                                    {315,368, 345,373, 341,403, 310,398} };
    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);
        }
    }
}

TEST(CV_ArucoTutorial, can_find_chocclusion)
{
    string imgPath = cvtest::findDataFile("chocclusion_original.jpg", false);
    Mat image = imread(imgPath);
    cv::Ptr<cv::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 = 13ull;
    // corners of aruco markers with indices goldCornersIds
    const int goldCorners[N][8] = { {301,57, 322,62, 317,79, 295,73}, {391,80, 413,85, 408,103, 386,97},
                                    {242,79, 264,85, 256,102, 234,96}, {334,103, 357,109, 352,126, 329,121},
                                    {428,129, 451,134, 448,152, 425,146}, {274,128, 296,134, 290,153, 266,147},
                                    {371,154, 394,160, 390,180, 366,174}, {208,155, 232,161, 223,181, 199,175},
                                    {309,182, 333,188, 327,209, 302,203}, {411,210, 436,216, 432,238, 407,231},
                                    {241,212, 267,219, 258,242, 232,235}, {167,244, 194,252, 183,277, 156,269},
                                    {202,314, 230,322, 220,349, 191,341} };
    map<int, const int*> mapGoldCorners;
    const int goldCornersIds[N] = { 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 12, 15};
    for (int i = 0; i < static_cast<int>(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_diamondmarkers)
{
    string imgPath = cvtest::findDataFile("diamondmarkers.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

    string detectorPath = cvtest::findDataFile("detector_params.yml", false);
    fs = FileStorage(detectorPath, FileStorage::READ);
    Ptr<aruco::DetectorParameters> detectorParams;
    aruco::DetectorParameters::readDetectorParameters(fs.root(), detectorParams);
    detectorParams->cornerRefinementMethod = 3;

    vector< int > ids;
    vector< vector< Point2f > > corners, rejected;
    const size_t N = 12ull;
    // corner indices of ArUco markers
    const int goldCornersIds[N] = { 4, 12, 11, 3, 12, 10, 12, 10, 10, 11, 2, 11 };
    map<int, int> counterGoldCornersIds;
    for (int i = 0; i < static_cast<int>(N); i++)
        counterGoldCornersIds[goldCornersIds[i]]++;

    aruco::detectMarkers(image, dictionary, corners, ids, detectorParams, rejected);
    map<int, int> counterRes;
    for (size_t i = 0; i < N; i++)
    {
        int arucoId = ids[i];
        counterRes[arucoId]++;
    }

    ASSERT_EQ(N, ids.size());
    EXPECT_EQ(counterGoldCornersIds, counterRes); // check the number of ArUco markers
}

TEST(Charuco, issue_14014)
{
    string imgPath = cvtest::findDataFile("aruco/recover.png");
    Mat img = imread(imgPath);

    Ptr<aruco::Dictionary> dict = aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(cv::aruco::DICT_7X7_250));
    Ptr<aruco::CharucoBoard> board = aruco::CharucoBoard::create(8, 5, 0.03455f, 0.02164f, dict);
    Ptr<aruco::DetectorParameters> detectorParams = aruco::DetectorParameters::create();
    detectorParams->cornerRefinementMethod = aruco::CORNER_REFINE_SUBPIX;
    detectorParams->cornerRefinementMinAccuracy = 0.01;

    vector<Mat> corners, rejectedPoints;
    vector<int> ids;

    aruco::detectMarkers(img, dict, corners, ids, detectorParams, rejectedPoints);

    ASSERT_EQ(corners.size(), 19ull);
    EXPECT_EQ(Size(4, 1), corners[0].size()); // check dimension of detected corners

    ASSERT_EQ(rejectedPoints.size(), 21ull);
    EXPECT_EQ(Size(4, 1), rejectedPoints[0].size()); // check dimension of detected corners

    aruco::refineDetectedMarkers(img, board, corners, ids, rejectedPoints);

    ASSERT_EQ(corners.size(), 20ull);
    EXPECT_EQ(Size(4, 1), corners[0].size()); // check dimension of rejected corners after successfully refine

    ASSERT_EQ(rejectedPoints.size(), 20ull);
    EXPECT_EQ(Size(4, 1), rejectedPoints[0].size()); // check dimension of rejected corners after successfully refine
}

}} // namespace