Merge pull request #2105 from shimat/fix/issue-2104

Fix CharucoDetector returning only the first corner

Author: shimat

src/OpenCvSharpExtern/aruco.h

@@ -731,13 +731,20 @@ CVAPI(ExceptionStatus) aruco_CharucoDetector_detectBoard(
 	std::vector<int>* markerIds)
 {
 	return cvTry([&] {
-	cv::Mat charucoCorners_mat, charucoIds_mat;
-	detector->detectBoard(InProxy(*image), charucoCorners_mat, charucoIds_mat, *markerCorners, *markerIds);
-	for (int i = 0; i < charucoCorners_mat.rows; ++i)
-	{
-		charucoCorners->push_back(charucoCorners_mat.at<cv::Point2f>(i, 0));
-		charucoIds->push_back(charucoIds_mat.at<int>(i, 0));
-	}
+		cv::Mat charucoCorners_mat, charucoIds_mat;
+		detector->detectBoard(InProxy(*image), charucoCorners_mat, charucoIds_mat, *markerCorners, *markerIds);
+		CV_Assert(charucoCorners_mat.total() == charucoIds_mat.total());
+		if (!charucoCorners_mat.empty())
+		{
+			charucoCorners->insert(
+				charucoCorners->end(),
+				charucoCorners_mat.begin<cv::Point2f>(),
+				charucoCorners_mat.end<cv::Point2f>());
+			charucoIds->insert(
+				charucoIds->end(),
+				charucoIds_mat.begin<int>(),
+				charucoIds_mat.end<int>());
+		}
 	});
 }
 

test/OpenCvSharp.Tests/aruco/ArucoTest.cs

@@ -736,7 +736,9 @@ public void CharucoDetector_DetectBoard()
         Assert.NotNull(charucoIds);
         Assert.NotNull(markerCorners);
         Assert.NotNull(markerIds);
-        Assert.True(charucoIds.Length > 0, "Expected at least one charuco corner detected");
+        var expectedCornerCount = (board.ChessboardSize.Width - 1) * (board.ChessboardSize.Height - 1);
+        Assert.Equal(expectedCornerCount, charucoCorners.Length);
+        Assert.Equal(expectedCornerCount, charucoIds.Length);
         Assert.Equal(charucoCorners.Length, charucoIds.Length);
         Assert.Equal(markerCorners.Length, markerIds.Length);
     }