Add missing detection parameters (backport #38) (#40)

* Add missing detection parameters (#38) * Populate default aruco parameter values from OpenCV library * Add detectInvertedMarker parameter * Add descriptions to aruco parameters in yaml file * Add option to generate inverted markers * Add Aruco3 detection parameters (cherry picked from commit 026af15) * reformat --------- Co-authored-by: Błażej Sowa <[email protected]>
fictionlab · May 7, 2024 · ff88ef3 · ff88ef3
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diff --git a/aruco_opencv/config/aruco_tracker.yaml b/aruco_opencv/config/aruco_tracker.yaml
@@ -17,23 +17,84 @@
     # Dynamically reconfigurable Detector parameters
     # https://docs.opencv.org/4.2.0/d5/dae/tutorial_aruco_detection.html
     aruco:
+      # minimum window size for adaptive thresholding before finding contours
       adaptiveThreshWinSizeMin: 3
+
+      # maximum window size for adaptive thresholding before finding contours 
       adaptiveThreshWinSizeMax: 23
+
+      # increments from adaptiveThreshWinSizeMin to adaptiveThreshWinSizeMax during the thresholding
       adaptiveThreshWinSizeStep: 10
+
+      # constant for adaptive thresholding before finding contours
       adaptiveThreshConstant: 7.0
+
+      # determine minimum perimeter for marker contour to be detected.
+      # This is defined as a rate respect to the maximum dimension of the input image
       minMarkerPerimeterRate: 0.03
+
+      # determine maximum perimeter for marker contour to be detected.
+      # This is defined as a rate respect to the maximum dimension of the input image
       maxMarkerPerimeterRate: 4.0
+
+      # minimum accuracy during the polygonal approximation process to determine which contours are squares.
       polygonalApproxAccuracyRate: 0.03
+
+      # minimum distance between corners for detected markers relative to its perimeter
       minCornerDistanceRate: 0.05
+
+      # minimum distance of any corner to the image border for detected markers
       minDistanceToBorder: 3
+
+      # minimum average distance between the corners of the two markers to be grouped (default 0.125).
+      # The rate is relative to the smaller perimeter of the two markers.
+      # Two markers are grouped if average distance between the corners of the two markers is less than
+      # min(MarkerPerimeter1, MarkerPerimeter2)*minMarkerDistanceRate.
       minMarkerDistanceRate: 0.05
+
+      # number of bits of the marker border, i.e. marker border width
       markerBorderBits: 1
+
+      # number of bits (per dimension) for each cell of the marker when removing the perspective
       perspectiveRemovePixelPerCell: 4
+
+      # width of the margin of pixels on each cell not considered for the determination of the cell bit.
+      # Represents the rate respect to the total size of the cell, i.e. perspectiveRemovePixelPerCell
       perspectiveRemoveIgnoredMarginPerCell: 0.13
+
+      # maximum number of accepted erroneous bits in the border (i.e. number of allowed white bits in the border).
+      # Represented as a rate respect to the total number of bits per marker
       maxErroneousBitsInBorderRate: 0.35
+
+      # minimun standard deviation in pixels values during the decodification step to apply Otsu
+      # thresholding (otherwise, all the bits are set to 0 or 1 depending on mean higher than 128 or not) 
       minOtsuStdDev: 5.0
+
+      # error correction rate respect to the maximun error correction capability for each dictionary
       errorCorrectionRate: 0.6
+
       cornerRefinementMethod: 2 # 0 - None, 1 - Subpix, 2 - Contour
+
+      # maximum window size for the corner refinement process (in pixels)
       cornerRefinementWinSize: 5
+
+      # maximum number of iterations for stop criteria of the corner refinement process
       cornerRefinementMaxIterations: 30
+
+      # minimum error for the stop cristeria of the corner refinement process
       cornerRefinementMinAccuracy: 0.1
+
+      # to check if there is a white marker
+      detectInvertedMarker: false
+
+      # (required OpenCV 4.6.0+) enable the new and faster Aruco detection strategy.
+      # Proposed in the paper:
+      # Romero-Ramirez et al: Speeded up detection of squared fiducial markers (2018)
+      # https://www.researchgate.net/publication/325787310_Speeded_Up_Detection_of_Squared_Fiducial_Markers
+      useAruco3Detection: false
+
+      # (required OpenCV 4.6.0+) minimum side length of a marker in the canonical image. Latter is the binarized image in which contours are searched
+      minSideLengthCanonicalImg: 32
+
+      # (required OpenCV 4.6.0+) range [0,1], eq (2) from paper. The parameter tau_i has a direct influence on the processing speed.
+      minMarkerLengthRatioOriginalImg: 0.0
diff --git a/aruco_opencv/include/aruco_opencv/parameters.hpp b/aruco_opencv/include/aruco_opencv/parameters.hpp
@@ -87,26 +87,95 @@ inline void declare_param_double_range(
 template<class NodeT>
 inline void declare_aruco_parameters(NodeT && node)
 {
-  declare_param_int_range(node, "aruco.adaptiveThreshWinSizeMin", 3, 3, 100);
-  declare_param_int_range(node, "aruco.adaptiveThreshWinSizeMax", 23, 3, 100);
-  declare_param_int_range(node, "aruco.adaptiveThreshWinSizeStep", 10, 1, 100);
-  declare_param_double_range(node, "aruco.adaptiveThreshConstant", 7.0, 0.0, 100.0);
-  declare_param_double_range(node, "aruco.minMarkerPerimeterRate", 0.03, 0.0, 4.0);
-  declare_param_double_range(node, "aruco.maxMarkerPerimeterRate", 4.0, 0.0, 4.0);
-  declare_param_double_range(node, "aruco.polygonalApproxAccuracyRate", 0.03, 0.0, 0.3);
-  declare_param_double_range(node, "aruco.minCornerDistanceRate", 0.05, 0.0, 0.25);
-  declare_param_int_range(node, "aruco.minDistanceToBorder", 3, 0, 100);
-  declare_param_double_range(node, "aruco.minMarkerDistanceRate", 0.05, 0.0, 0.25);
-  declare_param_int_range(node, "aruco.markerBorderBits", 1, 1, 3);
-  declare_param_int_range(node, "aruco.perspectiveRemovePixelPerCell", 4, 1, 20);
-  declare_param_double_range(node, "aruco.perspectiveRemoveIgnoredMarginPerCell", 0.13, 0.0, 0.5);
-  declare_param_double_range(node, "aruco.maxErroneousBitsInBorderRate", 0.35, 0.0, 1.0);
-  declare_param_double_range(node, "aruco.minOtsuStdDev", 5.0, 0.0, 30.0);
-  declare_param_double_range(node, "aruco.errorCorrectionRate", 0.6, 0.0, 1.0);
-  declare_param_int_range(node, "aruco.cornerRefinementMethod", 2, 0, 2);
-  declare_param_int_range(node, "aruco.cornerRefinementWinSize", 5, 2, 10);
-  declare_param_int_range(node, "aruco.cornerRefinementMaxIterations", 30, 1, 100);
-  declare_param_double_range(node, "aruco.cornerRefinementMinAccuracy", 0.1, 0.01, 1.0);
+  #if CV_VERSION_MAJOR > 4 || CV_VERSION_MAJOR == 4 && CV_VERSION_MINOR >= 7
+  auto default_parameters = cv::makePtr<cv::aruco::DetectorParameters>();
+  #else
+  auto default_parameters = cv::aruco::DetectorParameters::create();
+  #endif
+
+  declare_param_int_range(
+    node,
+    "aruco.adaptiveThreshWinSizeMin", default_parameters->adaptiveThreshWinSizeMin, 3, 100);
+  declare_param_int_range(
+    node,
+    "aruco.adaptiveThreshWinSizeMax", default_parameters->adaptiveThreshWinSizeMax, 3, 100);
+  declare_param_int_range(
+    node,
+    "aruco.adaptiveThreshWinSizeStep", default_parameters->adaptiveThreshWinSizeStep, 1, 100);
+  declare_param_double_range(
+    node,
+    "aruco.adaptiveThreshConstant", default_parameters->adaptiveThreshConstant, 0.0, 100.0);
+  declare_param_double_range(
+    node,
+    "aruco.minMarkerPerimeterRate", default_parameters->minMarkerPerimeterRate, 0.0, 4.0);
+  declare_param_double_range(
+    node,
+    "aruco.maxMarkerPerimeterRate", default_parameters->maxMarkerPerimeterRate, 0.0, 4.0);
+  declare_param_double_range(
+    node,
+    "aruco.polygonalApproxAccuracyRate",
+    default_parameters->polygonalApproxAccuracyRate, 0.0, 0.3);
+  declare_param_double_range(
+    node,
+    "aruco.minCornerDistanceRate", default_parameters->minCornerDistanceRate, 0.0, 0.25);
+  declare_param_int_range(
+    node,
+    "aruco.minDistanceToBorder", default_parameters->minDistanceToBorder, 0, 100);
+  declare_param_double_range(
+    node,
+    "aruco.minMarkerDistanceRate", default_parameters->minMarkerDistanceRate, 0.0, 0.25);
+  declare_param_int_range(
+    node,
+    "aruco.markerBorderBits", default_parameters->markerBorderBits, 1, 3);
+  declare_param_int_range(
+    node,
+    "aruco.perspectiveRemovePixelPerCell",
+    default_parameters->perspectiveRemovePixelPerCell, 1, 20);
+  declare_param_double_range(
+    node,
+    "aruco.perspectiveRemoveIgnoredMarginPerCell",
+    default_parameters->perspectiveRemoveIgnoredMarginPerCell, 0.0, 0.5);
+  declare_param_double_range(
+    node,
+    "aruco.maxErroneousBitsInBorderRate",
+    default_parameters->maxErroneousBitsInBorderRate, 0.0, 1.0);
+  declare_param_double_range(
+    node,
+    "aruco.minOtsuStdDev", default_parameters->minOtsuStdDev, 0.0, 30.0);
+  declare_param_double_range(
+    node,
+    "aruco.errorCorrectionRate", default_parameters->errorCorrectionRate, 0.0, 1.0);
+  declare_param_int_range(
+    node,
+    "aruco.cornerRefinementMethod", default_parameters->cornerRefinementMethod, 0, 2);
+  declare_param_int_range(
+    node,
+    "aruco.cornerRefinementWinSize", default_parameters->cornerRefinementWinSize, 2, 10);
+  declare_param_int_range(
+    node,
+    "aruco.cornerRefinementMaxIterations",
+    default_parameters->cornerRefinementMaxIterations, 1, 100);
+  declare_param_double_range(
+    node,
+    "aruco.cornerRefinementMinAccuracy",
+    default_parameters->cornerRefinementMinAccuracy, 0.01, 1.0);
+  declare_param(
+    node,
+    "aruco.detectInvertedMarker", default_parameters->detectInvertedMarker, true);
+
+  #if CV_VERSION_MAJOR > 4 || CV_VERSION_MAJOR == 4 && CV_VERSION_MINOR >= 6
+  declare_param(
+    node,
+    "aruco.useAruco3Detection", default_parameters->useAruco3Detection, true);
+  declare_param_int_range(
+    node,
+    "aruco.minSideLengthCanonicalImg",
+    default_parameters->minSideLengthCanonicalImg, 1, 100);
+  declare_param_double_range(
+    node,
+    "aruco.minMarkerLengthRatioOriginalImg",
+    default_parameters->minMarkerLengthRatioOriginalImg, 0.0, 1.0);
+  #endif
 }
 
 template<class NodeT>
@@ -164,6 +233,17 @@ void retrieve_aruco_parameters(
     "aruco.cornerRefinementMaxIterations", detector_parameters->cornerRefinementMaxIterations);
   node.get_parameter(
     "aruco.cornerRefinementMinAccuracy", detector_parameters->cornerRefinementMinAccuracy);
+  node.get_parameter(
+    "aruco.detectInvertedMarker", detector_parameters->detectInvertedMarker);
+
+  #if CV_VERSION_MAJOR > 4 || CV_VERSION_MAJOR == 4 && CV_VERSION_MINOR >= 6
+  node.get_parameter(
+    "aruco.useAruco3Detection", detector_parameters->useAruco3Detection);
+  node.get_parameter(
+    "aruco.minSideLengthCanonicalImg", detector_parameters->minSideLengthCanonicalImg);
+  node.get_parameter(
+    "aruco.minMarkerLengthRatioOriginalImg", detector_parameters->minMarkerLengthRatioOriginalImg);
+  #endif
 
   if (log_values) {
     RCLCPP_INFO_STREAM(
@@ -229,6 +309,24 @@ void retrieve_aruco_parameters(
     RCLCPP_INFO_STREAM(
       node.get_logger(),
       " * cornerRefinementMinAccuracy: " << detector_parameters->cornerRefinementMinAccuracy);
+    RCLCPP_INFO_STREAM(
+      node.get_logger(),
+      " * detectInvertedMarker: " <<
+        (detector_parameters->detectInvertedMarker ? "TRUE" : "FALSE"));
+
+    #if CV_VERSION_MAJOR > 4 || CV_VERSION_MAJOR == 4 && CV_VERSION_MINOR >= 6
+    RCLCPP_INFO_STREAM(
+      node.get_logger(),
+      " * useAruco3Detection: " <<
+        (detector_parameters->useAruco3Detection ? "TRUE" : "FALSE"));
+    RCLCPP_INFO_STREAM(
+      node.get_logger(),
+      " * minSideLengthCanonicalImg: " << detector_parameters->minSideLengthCanonicalImg);
+    RCLCPP_INFO_STREAM(
+      node.get_logger(),
+      " * minMarkerLengthRatioOriginalImg: " <<
+        detector_parameters->minMarkerLengthRatioOriginalImg);
+    #endif
   }
 }
 

diff --git a/aruco_opencv/scripts/create_board b/aruco_opencv/scripts/create_board
@@ -100,6 +100,12 @@ def parse_args() -> argparse.Namespace:
         default=2,
         help="Number of markers in the Y direction",
     )
+    parser.add_argument(
+        "-i",
+        "--inverted",
+        action='store_true',
+        help="Whether the board should be inverted (white board)",
+    )
     parser.add_argument(
         "id", type=int, nargs="+", help="ID of the first marker in the board"
     )
@@ -143,6 +149,7 @@ def main():
         f"Output image size: {args.size:.3f} x {output_y_size:.3f} m - {output_x_pixels} x {output_y_pixels} pixels"
     )
     print(f"Output DPI: {dpi:.3f}")
+    print(f"Inverted: {"TRUE" if args.inverted else "FALSE"}")
 
     images = []
     for marker_id in args.id:
@@ -166,6 +173,9 @@ def main():
             args.border_bits,
         )
 
+        if args.inverted:
+            marker = ~marker
+
         img = cv2.imencode(".png", marker)[1].tobytes()
         images.append(img)
 

diff --git a/aruco_opencv/scripts/create_marker b/aruco_opencv/scripts/create_marker
@@ -76,6 +76,12 @@ def parse_args() -> argparse.Namespace:
         default=0.10,
         help="Output marker size (with margins) in meters",
     )
+    parser.add_argument(
+        "-i",
+        "--inverted",
+        action='store_true',
+        help="Whether the marker should be inverted (white marker)",
+    )
     parser.add_argument("id", type=int, nargs="+", help="ID of the marker to generate")
     return parser.parse_args()
 
@@ -101,6 +107,7 @@ def main():
     )
     print(f"Output image side size: {args.size:.3f} m - {output_side_pixels} pixels")
     print(f"Output DPI: {dpi:.3f}")
+    print(f"Inverted: {"TRUE" if args.inverted else "FALSE"}")
 
     images = []
     for marker_id in args.id:
@@ -111,6 +118,8 @@ def main():
         )
         if args.margin_pixels > 0:
             marker = np.pad(marker, args.margin_pixels, constant_values=255)
+        if args.inverted:
+            marker = ~marker
         img = cv2.imencode(".png", marker)[1].tobytes()
         images.append(img)