fixed bad shape of markers (1x4) in several cases and added tests

Author: AleksandrPanov

modules/aruco/src/aruco.cpp

@@ -1563,7 +1563,7 @@ void refineDetectedMarkers(InputArray _image, const Ptr<Board> &_board,
 
         _detectedCorners.create((int)finalAcceptedCorners.size(), 1, CV_32FC2);
         for(unsigned int i = 0; i < finalAcceptedCorners.size(); i++) {
-            _detectedCorners.create(4, 1, CV_32FC2, i, true);
+            _detectedCorners.create(1, 4, CV_32FC2, i, true);
             for(int j = 0; j < 4; j++) {
                 _detectedCorners.getMat(i).ptr< Point2f >()[j] =
                     finalAcceptedCorners[i].ptr< Point2f >()[j];

modules/aruco/test/test_charucodetection.cpp

@@ -677,4 +677,38 @@ TEST(Charuco, testCharucoCornersCollinear_false)
     EXPECT_FALSE(result);
 }
 
+TEST(Charuco, issue_14014)
+{
+    Ptr<aruco::Dictionary> dico = aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(cv::aruco::DICT_7X7_250));
+    Ptr<aruco::CharucoBoard> board = aruco::CharucoBoard::create(8, 5, 0.03455, 0.02164, dico);
+    Ptr<aruco::DetectorParameters> detectorParams = aruco::DetectorParameters::create();
+    detectorParams.get()->cornerRefinementMethod = aruco::CORNER_REFINE_SUBPIX;
+    detectorParams.get()->cornerRefinementMinAccuracy = 0.01;
+
+    std::string testImagePath = cvtest::TS::ptr()->get_data_path() + "aruco/";
+    Mat img = imread(testImagePath + "nonrecover.png");
+    vector<vector<Point2f> > rejectedPoints;
+    vector<Mat> corners;
+    vector<int> ids;
+
+    aruco::detectMarkers(img, dico, corners, ids, detectorParams, rejectedPoints);
+    ASSERT_FALSE(corners.empty());
+    EXPECT_EQ(Size(4, 1), corners[0].size());
+    aruco::refineDetectedMarkers(img, board, corners, ids, rejectedPoints);
+    ASSERT_FALSE(corners.empty());
+    EXPECT_EQ(Size(4, 1), corners[0].size());
+
+    rejectedPoints.clear();
+    corners.clear();
+    ids.clear();
+
+    img = imread(testImagePath + "recover.png");
+    aruco::detectMarkers(img, dico, corners, ids, detectorParams, rejectedPoints);
+    ASSERT_FALSE(corners.empty());
+    EXPECT_EQ(Size(4, 1), corners[0].size());
+    aruco::refineDetectedMarkers(img, board, corners, ids, rejectedPoints);
+    ASSERT_FALSE(corners.empty());
+    EXPECT_EQ(Size(4, 1), corners[0].size());
+}
+
 }} // namespace