fix

Author: AleksandrPanov

modules/aruco/perf/perf_aruco.cpp

@@ -152,22 +152,19 @@ class MarkerPainter
     }
 };
 
-static inline vector<double> getDistanceVector(map<int, vector<Point2f> > &golds, const vector<int>& ids,
+static inline double getMaxDistance(map<int, vector<Point2f> > &golds, const vector<int>& ids,
                                                const vector<vector<Point2f> >& corners)
 {
-    vector<double> distVector(ids.size(), numeric_limits<double>::max());
+    double distance = 0.;
     for (size_t i = 0; i < ids.size(); i++)
     {
         int id = ids[i];
         const auto gold_corners = golds.find(id);
         if (gold_corners != golds.end())
         for (int c = 0; c < 4; c++)
-        {
-            double distance = cv::norm(gold_corners->second[c] - corners[i][c]);
-            distVector[i] = distance;
-        }
+            distance = std::max(distance, cv::norm(gold_corners->second[c] - corners[i][c]));
     }
-    return distVector;
+    return distance;
 }
 
 PERF_TEST_P(EstimateAruco, ArucoFirst, ESTIMATE_PARAMS)
@@ -180,7 +177,7 @@ PERF_TEST_P(EstimateAruco, ArucoFirst, ESTIMATE_PARAMS)
     detectorParams->cornerRefinementMethod = cv::aruco::CORNER_REFINE_SUBPIX;
 
     const int markerSize = 100;
-    const size_t numMarkersInRow = 9;
+    const int numMarkersInRow = 9;
     //USE_ARUCO3
     detectorParams->useAruco3Detection = get<0>(testParams);
     if (detectorParams->useAruco3Detection) {
@@ -197,9 +194,10 @@ PERF_TEST_P(EstimateAruco, ArucoFirst, ESTIMATE_PARAMS)
     {
         aruco::detectMarkers(image_map.first, dictionary, corners, ids, detectorParams);
     }
-    ASSERT_EQ(numMarkersInRow*numMarkersInRow, ids.size());
-    auto distVector = getDistanceVector(image_map.second, ids, corners);
-    SANITY_CHECK(distVector, 3.0*4.0, ERROR_ABSOLUTE);
+    ASSERT_EQ(numMarkersInRow*numMarkersInRow, static_cast<int>(ids.size()));
+    double maxDistance = getMaxDistance(image_map.second, ids, corners);
+    ASSERT_LT(maxDistance, 3.);
+    SANITY_CHECK_NOTHING();
 }
 
 PERF_TEST_P(EstimateAruco, ArucoSecond, ESTIMATE_PARAMS)
@@ -218,7 +216,7 @@ PERF_TEST_P(EstimateAruco, ArucoSecond, ESTIMATE_PARAMS)
         detectorParams->minMarkerLengthRatioOriginalImg = 0.f;
     }
     const int markerSize = 200;
-    const size_t numMarkersInRow = 11;
+    const int numMarkersInRow = 11;
     MarkerPainter painter(markerSize);
     auto image_map = painter.getProjectMarkersTile(numMarkersInRow, detectorParams, dictionary);
 
@@ -229,9 +227,10 @@ PERF_TEST_P(EstimateAruco, ArucoSecond, ESTIMATE_PARAMS)
     {
         aruco::detectMarkers(image_map.first, dictionary, corners, ids, detectorParams);
     }
-    ASSERT_EQ(numMarkersInRow*numMarkersInRow, ids.size());
-    auto distVector = getDistanceVector(image_map.second, ids, corners);
-    SANITY_CHECK(distVector, 3.0*4.0, ERROR_ABSOLUTE);
+    ASSERT_EQ(numMarkersInRow*numMarkersInRow, static_cast<int>(ids.size()));
+    double maxDistance = getMaxDistance(image_map.second, ids, corners);
+    ASSERT_LT(maxDistance, 3.);
+    SANITY_CHECK_NOTHING();
 }
 
 struct Aruco3Params
@@ -284,8 +283,9 @@ PERF_TEST_P(EstimateLargeAruco, ArucoFHD, ESTIMATE_FHD_PARAMS)
         aruco::detectMarkers(image_map.first, dictionary, corners, ids, detectorParams);
     }
     ASSERT_EQ(numMarkersInRow*numMarkersInRow, static_cast<int>(ids.size()));
-    auto distVector = getDistanceVector(image_map.second, ids, corners);
-    SANITY_CHECK(distVector, 3.0*4.0, ERROR_ABSOLUTE);
+    double maxDistance = getMaxDistance(image_map.second, ids, corners);
+    ASSERT_LT(maxDistance, 3.);
+    SANITY_CHECK_NOTHING();
 }
 
 }

modules/aruco/perf/perf_main.cpp

@@ -1,8 +1,3 @@
 #include "perf_precomp.hpp"
 
-static void initTests()
-{
-    cvtest::addDataSearchSubDirectory("contrib/aruco");
-}
-
-CV_PERF_TEST_MAIN(aruco, initTests())
+CV_PERF_TEST_MAIN(aruco)