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Add comprehensive tests for ArucoDetector, CharucoBoard, CharucoDetector, RefineParameters
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
1 parent 39fce7c commit 71a9a14

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Lines changed: 247 additions & 11 deletions

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‎test/OpenCvSharp.Tests/aruco/ArucoTest.cs‎

Lines changed: 247 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -7,6 +7,8 @@ namespace OpenCvSharp.Tests.Aruco;
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// ReSharper disable once InconsistentNaming
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public class ArucoTest : TestBase
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{
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// ==================== DetectorParameters ====================
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[Fact]
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public void CreateDetectorParameters()
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{
@@ -47,6 +49,28 @@ public void CreateDetectorParameters()
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Assert.Equal(0, param.MinMarkerLengthRatioOriginalImg);
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}
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// ==================== RefineParameters ====================
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[Fact]
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public void CreateRefineParametersDefaults()
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{
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var param = new RefineParameters();
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Assert.Equal(10f, param.MinRepDistance, 1e-3f);
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Assert.Equal(3f, param.ErrorCorrectionRate, 1e-3f);
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Assert.True(param.CheckAllOrders);
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}
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[Fact]
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public void CreateRefineParametersCustom()
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{
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var param = new RefineParameters(5f, 2f, false);
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Assert.Equal(5f, param.MinRepDistance, 1e-3f);
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Assert.Equal(2f, param.ErrorCorrectionRate, 1e-3f);
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Assert.False(param.CheckAllOrders);
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}
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// ==================== Dictionary ====================
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[Fact]
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public void GetPredefinedDictionary()
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{
@@ -86,16 +110,6 @@ public void ReadDictionaryFromFile()
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dict.Dispose();
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}
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[Fact]
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public void DetectMarkers()
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{
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using var image = LoadImage("markers_6x6_250.png", ImreadModes.Grayscale);
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using var dict = CvAruco.GetPredefinedDictionary(PredefinedDictionaryType.Dict6X6_250);
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using var detector = new ArucoDetector(dict);
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detector.DetectMarkers(image, out _, out _, out _);
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}
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[Fact]
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public void DictionaryProperties()
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{
@@ -111,6 +125,69 @@ public void DictionaryProperties()
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Assert.Equal(50, dict.MaxCorrectionBits);
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}
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// ==================== ArucoDetector ====================
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[Fact]
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public void ArucoDetector_CreateDefault()
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{
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using var dict = CvAruco.GetPredefinedDictionary(PredefinedDictionaryType.Dict6X6_250);
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using var detector = new ArucoDetector(dict);
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Assert.NotNull(detector);
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}
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[Fact]
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public void ArucoDetector_CreateWithCustomParams()
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{
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using var dict = CvAruco.GetPredefinedDictionary(PredefinedDictionaryType.Dict6X6_250);
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var dp = new DetectorParameters { CornerRefinementMethod = CornerRefineMethod.Subpix };
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var rp = new RefineParameters(5f, 2f, false);
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using var detector = new ArucoDetector(dict, dp, rp);
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Assert.NotNull(detector);
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}
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[Fact]
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public void ArucoDetector_DetectMarkers()
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{
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using var image = LoadImage("markers_6x6_250.png", ImreadModes.Grayscale);
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using var dict = CvAruco.GetPredefinedDictionary(PredefinedDictionaryType.Dict6X6_250);
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using var detector = new ArucoDetector(dict);
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detector.DetectMarkers(image, out var corners, out var ids, out var rejectedImgPoints);
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Assert.NotNull(corners);
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Assert.NotNull(ids);
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Assert.NotNull(rejectedImgPoints);
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Assert.True(ids.Length > 0, "Expected at least one marker to be detected");
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Assert.Equal(ids.Length, corners.Length);
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foreach (var markerCorners in corners)
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Assert.Equal(4, markerCorners.Length);
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}
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[Fact]
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public void ArucoDetector_DetectMarkersWithCustomParams()
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{
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using var image = LoadImage("markers_6x6_250.png", ImreadModes.Grayscale);
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using var dict = CvAruco.GetPredefinedDictionary(PredefinedDictionaryType.Dict6X6_250);
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var dp = new DetectorParameters { CornerRefinementMethod = CornerRefineMethod.Subpix };
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using var detector = new ArucoDetector(dict, dp, new RefineParameters());
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detector.DetectMarkers(image, out var corners, out var ids, out _);
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Assert.True(ids.Length > 0);
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Assert.Equal(ids.Length, corners.Length);
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}
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[Fact]
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public void ArucoDetector_Dispose()
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{
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using var dict = CvAruco.GetPredefinedDictionary(PredefinedDictionaryType.Dict4X4_50);
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var detector = new ArucoDetector(dict);
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detector.Dispose();
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Assert.True(detector.IsDisposed);
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}
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// ==================== DrawDetected* ====================
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[Fact]
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public void DrawDetectedMarker()
116193
{
@@ -121,14 +198,173 @@ public void DrawDetectedMarker()
121198
detector.DetectMarkers(image, out var corners, out var ids, out var rejectedImgPoints);
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CvAruco.DrawDetectedMarkers(outputImage, corners, ids, new Scalar(255, 0, 0));
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// ids=null path
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CvAruco.DrawDetectedMarkers(outputImage, rejectedImgPoints, null, new Scalar(0, 0, 255));
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126204
if (Debugger.IsAttached)
127205
{
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// If you want to save markers image, you must change the following values.
129206
const string path = "C:\\detected_markers_6x6_250.png";
130207
Cv2.ImWrite(path, outputImage);
131208
Process.Start(path);
132209
}
133210
}
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// ==================== CharucoBoard ====================
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[Fact]
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public void CharucoBoard_Create()
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{
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using var dict = CvAruco.GetPredefinedDictionary(PredefinedDictionaryType.Dict4X4_50);
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using var board = new CharucoBoard(5, 7, 0.04f, 0.02f, dict);
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Assert.NotNull(board);
220+
}
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[Fact]
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public void CharucoBoard_Properties()
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{
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using var dict = CvAruco.GetPredefinedDictionary(PredefinedDictionaryType.Dict4X4_50);
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using var board = new CharucoBoard(5, 7, 0.04f, 0.02f, dict);
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Assert.Equal(new Size(5, 7), board.ChessboardSize);
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Assert.Equal(0.04f, board.SquareLength, 1e-5f);
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Assert.Equal(0.02f, board.MarkerLength, 1e-5f);
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}
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[Fact]
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public void CharucoBoard_LegacyPattern()
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{
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using var dict = CvAruco.GetPredefinedDictionary(PredefinedDictionaryType.Dict4X4_50);
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using var board = new CharucoBoard(5, 7, 0.04f, 0.02f, dict);
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239+
Assert.False(board.LegacyPattern);
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board.LegacyPattern = true;
241+
Assert.True(board.LegacyPattern);
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board.LegacyPattern = false;
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Assert.False(board.LegacyPattern);
244+
}
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[Fact]
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public void CharucoBoard_GenerateImage()
248+
{
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using var dict = CvAruco.GetPredefinedDictionary(PredefinedDictionaryType.Dict4X4_50);
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using var board = new CharucoBoard(5, 7, 0.04f, 0.02f, dict);
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using var img = new Mat();
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253+
board.GenerateImage(new Size(500, 700), img);
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Assert.False(img.Empty());
256+
Assert.Equal(700, img.Rows);
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Assert.Equal(500, img.Cols);
258+
}
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[Fact]
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public void CharucoBoard_CheckCharucoCornersCollinear_Collinear()
262+
{
263+
using var dict = CvAruco.GetPredefinedDictionary(PredefinedDictionaryType.Dict4X4_50);
264+
using var board = new CharucoBoard(5, 7, 0.04f, 0.02f, dict);
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266+
// IDs on the same row are collinear
267+
var collinearIds = new[] { 0, 1, 2, 3 };
268+
using var idsMat = Mat.FromArray(collinearIds);
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Assert.True(board.CheckCharucoCornersCollinear(idsMat));
270+
}
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[Fact]
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public void CharucoBoard_Dispose()
274+
{
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using var dict = CvAruco.GetPredefinedDictionary(PredefinedDictionaryType.Dict4X4_50);
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var board = new CharucoBoard(5, 7, 0.04f, 0.02f, dict);
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board.Dispose();
278+
Assert.True(board.IsDisposed);
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}
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// ==================== CharucoDetector ====================
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[Fact]
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public void CharucoDetector_Create()
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{
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using var dict = CvAruco.GetPredefinedDictionary(PredefinedDictionaryType.Dict4X4_50);
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using var board = new CharucoBoard(5, 7, 0.04f, 0.02f, dict);
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using var detector = new CharucoDetector(board);
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Assert.NotNull(detector);
290+
}
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[Fact]
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public void CharucoDetector_CreateWithAllParams()
294+
{
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using var dict = CvAruco.GetPredefinedDictionary(PredefinedDictionaryType.Dict4X4_50);
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using var board = new CharucoBoard(5, 7, 0.04f, 0.02f, dict);
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var dp = new DetectorParameters();
298+
var rp = new RefineParameters();
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using var detector = new CharucoDetector(board, null, null, 2, false, true, dp, rp);
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Assert.NotNull(detector);
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}
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[Fact]
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public void CharucoDetector_DetectBoard()
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{
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// Generate a synthetic charuco board image and detect from it
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using var dict = CvAruco.GetPredefinedDictionary(PredefinedDictionaryType.Dict4X4_50);
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using var board = new CharucoBoard(5, 7, 0.04f, 0.02f, dict);
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using var boardImage = new Mat();
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board.GenerateImage(new Size(600, 800), boardImage, 10, 1);
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312+
using var detector = new CharucoDetector(board);
313+
detector.DetectBoard(boardImage, out var charucoCorners, out var charucoIds,
314+
out var markerCorners, out var markerIds);
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316+
Assert.NotNull(charucoCorners);
317+
Assert.NotNull(charucoIds);
318+
Assert.NotNull(markerCorners);
319+
Assert.NotNull(markerIds);
320+
Assert.True(charucoIds.Length > 0, "Expected at least one charuco corner detected");
321+
Assert.Equal(charucoCorners.Length, charucoIds.Length);
322+
Assert.Equal(markerCorners.Length, markerIds.Length);
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}
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[Fact]
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public void CharucoDetector_DetectBoard_EmptyImage()
327+
{
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using var dict = CvAruco.GetPredefinedDictionary(PredefinedDictionaryType.Dict4X4_50);
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using var board = new CharucoBoard(5, 7, 0.04f, 0.02f, dict);
330+
using var emptyImage = Mat.Zeros(300, 300, MatType.CV_8UC1);
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using var detector = new CharucoDetector(board);
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detector.DetectBoard(emptyImage, out var charucoCorners, out var charucoIds,
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out var markerCorners, out var markerIds);
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// No markers or corners should be detected in a blank image
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Assert.Equal(0, charucoIds.Length);
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Assert.Equal(0, markerIds.Length);
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}
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[Fact]
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public void CharucoDetector_Dispose()
343+
{
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using var dict = CvAruco.GetPredefinedDictionary(PredefinedDictionaryType.Dict4X4_50);
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using var board = new CharucoBoard(5, 7, 0.04f, 0.02f, dict);
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var detector = new CharucoDetector(board);
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detector.Dispose();
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Assert.True(detector.IsDisposed);
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}
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// ==================== DrawDetectedCornersCharuco / DrawDetectedDiamonds ====================
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[Fact]
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public void DrawDetectedCornersCharuco()
355+
{
356+
using var dict = CvAruco.GetPredefinedDictionary(PredefinedDictionaryType.Dict4X4_50);
357+
using var board = new CharucoBoard(5, 7, 0.04f, 0.02f, dict);
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using var boardImage = new Mat();
359+
board.GenerateImage(new Size(600, 800), boardImage, 10, 1);
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using var outputImage = boardImage.CvtColor(ColorConversionCodes.GRAY2RGB);
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362+
using var detector = new CharucoDetector(board);
363+
detector.DetectBoard(boardImage, out var charucoCorners, out var charucoIds, out _, out _);
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// With ids
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CvAruco.DrawDetectedCornersCharuco(outputImage, charucoCorners, charucoIds, new Scalar(0, 255, 0));
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// Without ids (null path)
368+
CvAruco.DrawDetectedCornersCharuco(outputImage, charucoCorners, null);
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}
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}

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