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Published 20 hours ago • verified publisher icon opencv

ChArUco pre460 pattern support via legacy switch - true by default.

Open stefan523 opened this issue 3 years ago • 2 comments

Support pre- and post-4.6.0 ChaRuCo patterns (even rows) via a "legacy" flag. Default is set to "true" for best backwards compatibility as discussed in https://github.com/opencv/opencv_contrib/issues/3291.

  • [X] I agree to contribute to the project under Apache 2 License.
  • [X] 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
  • [X] The PR is proposed to the proper branch
  • [X] There is a reference to the original bug report and related work
  • [X] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name.
  • [X] The feature is well documented and sample code can be built with the project CMake

stefan523 avatar Jul 19 '22 07:07 stefan523

Also fixed issue Function interpolateCornersCharuco misplace corners #3301

AleksandrPanov avatar Jul 26 '22 07:07 AleksandrPanov

Patch updated to resolve latest 4.x development conflicts. @AleksandrPanov, please review.

stefan523 avatar Sep 09 '22 14:09 stefan523

@AleksandrPanov , @asmorkalov any feedback on this pull-request? Can you please review, approve, merge? I'd be also sufficiently happy with "false by default".

stefan523 avatar Sep 29 '22 17:09 stefan523

Hello,

I use post-4.6.0 version of ChaRuCo printed patterns. I noticed that interpolateCornersCharuco misplace corners. The markers are detected correctly but so of the corners as you can see in the attached image are misplaced. This did not happen in version 4.4.

When will the fix for this be available?

seg_charuco_corners_6_16 copy

apurvazaveri avatar Oct 04 '22 01:10 apurvazaveri

@AleksandrPanov Please take a look on the issue with corners.

asmorkalov avatar Oct 04 '22 05:10 asmorkalov

I am

Hello,

I use post-4.6.0 version of ChaRuCo printed patterns. I noticed that interpolateCornersCharuco misplace corners. The markers are detected correctly but so of the corners as you can see in the attached image are misplaced. This did not happen in version 4.4.

When will the fix for this be available?

seg_charuco_corners_6_16 copy

Also, here's the image showing the markers being detected correctly.

seg_charuco_detectMarkers_6_14 jpg

apurvazaveri avatar Oct 04 '22 05:10 apurvazaveri

I am

Hello, I use post-4.6.0 version of ChaRuCo printed patterns. I noticed that interpolateCornersCharuco misplace corners. The markers are detected correctly but so of the corners as you can see in the attached image are misplaced. This did not happen in version 4.4. When will the fix for this be available? seg_charuco_corners_6_16 copy

Also, here's the image showing the markers being detected correctly.

seg_charuco_detectMarkers_6_14 jpg

Did some digging into it and I can confirm that it was working as expected until opencv version 4.5.5.64

apurvazaveri avatar Oct 04 '22 06:10 apurvazaveri

@apurvazaveri, although related, this patch will (most likely) not fix this issue. Probably best if you raise a new issue, adding some more details on how to reproduce it, e.g. dictionary and board creation parameters etc.

stefan523 avatar Oct 04 '22 11:10 stefan523

@apurvazaveri, although related, this patch will (most likely) not fix this issue. Probably best if you raise a new issue, adding some more details on how to reproduce it, e.g. dictionary and board creation parameters etc.

Sure, I will do it.

apurvazaveri avatar Oct 04 '22 16:10 apurvazaveri

Fixed in main branch by https://github.com/opencv/opencv/pull/23153 for next OpenCV release 4.8.0.

stefan523 avatar May 05 '23 19:05 stefan523

Thanks, I will test it and get back to you!

apurvazaveri avatar May 05 '23 19:05 apurvazaveri