(4.x) Merge 3.4

modules/aruco/src/aruco.cpp

@@ -1443,7 +1443,7 @@ void refineDetectedMarkers(InputArray _image, const Ptr<Board> &_board,
     _convertToGrey(_image, grey);
 
     // vector of final detected marker corners and ids
-    vector< Mat > finalAcceptedCorners;
+    vector<vector<Point2f> > finalAcceptedCorners;
     vector< int > finalAcceptedIds;
     // fill with the current markers
     finalAcceptedCorners.resize(_detectedCorners.total());
@@ -1554,38 +1554,18 @@ void refineDetectedMarkers(InputArray _image, const Ptr<Board> &_board,
 
     // parse output
     if(finalAcceptedIds.size() != _detectedIds.total()) {
-        _detectedCorners.clear();
-        _detectedIds.clear();
-
         // parse output
         Mat(finalAcceptedIds).copyTo(_detectedIds);
-
-        _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);
-            for(int j = 0; j < 4; j++) {
-                _detectedCorners.getMat(i).ptr< Point2f >()[j] =
-                    finalAcceptedCorners[i].ptr< Point2f >()[j];
-            }
-        }
+        _copyVector2Output(finalAcceptedCorners, _detectedCorners);
 
         // recalculate _rejectedCorners based on alreadyIdentified
-        vector< Mat > finalRejected;
+        vector<vector<Point2f> > finalRejected;
         for(unsigned int i = 0; i < alreadyIdentified.size(); i++) {
             if(!alreadyIdentified[i]) {
                 finalRejected.push_back(_rejectedCorners.getMat(i).clone());
             }
         }
-
-        _rejectedCorners.clear();
-        _rejectedCorners.create((int)finalRejected.size(), 1, CV_32FC2);
-        for(unsigned int i = 0; i < finalRejected.size(); i++) {
-            _rejectedCorners.create(4, 1, CV_32FC2, i, true);
-            for(int j = 0; j < 4; j++) {
-                _rejectedCorners.getMat(i).ptr< Point2f >()[j] =
-                    finalRejected[i].ptr< Point2f >()[j];
-            }
-        }
+        _copyVector2Output(finalRejected, _rejectedCorners);
 
         if(_recoveredIdxs.needed()) {
             Mat(recoveredIdxs).copyTo(_recoveredIdxs);

modules/aruco/test/test_charucodetection.cpp

@@ -849,4 +849,35 @@ TEST(CV_ArucoTutorial, can_find_diamondmarkers)
     EXPECT_EQ(counterGoldCornersIds, counterRes); // check the number of ArUco markers
 }
 
+TEST(Charuco, issue_14014)
+{
+    string imgPath = cvtest::findDataFile("aruco/recover.png");
+    Mat img = imread(imgPath);
+
+    Ptr<aruco::Dictionary> dict = aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(cv::aruco::DICT_7X7_250));
+    Ptr<aruco::CharucoBoard> board = aruco::CharucoBoard::create(8, 5, 0.03455f, 0.02164f, dict);
+    Ptr<aruco::DetectorParameters> detectorParams = aruco::DetectorParameters::create();
+    detectorParams->cornerRefinementMethod = aruco::CORNER_REFINE_SUBPIX;
+    detectorParams->cornerRefinementMinAccuracy = 0.01;
+
+    vector<Mat> corners, rejectedPoints;
+    vector<int> ids;
+
+    aruco::detectMarkers(img, dict, corners, ids, detectorParams, rejectedPoints);
+
+    ASSERT_EQ(corners.size(), 19ull);
+    EXPECT_EQ(Size(4, 1), corners[0].size()); // check dimension of detected corners
+
+    ASSERT_EQ(rejectedPoints.size(), 21ull);
+    EXPECT_EQ(Size(4, 1), rejectedPoints[0].size()); // check dimension of detected corners
+
+    aruco::refineDetectedMarkers(img, board, corners, ids, rejectedPoints);
+
+    ASSERT_EQ(corners.size(), 20ull);
+    EXPECT_EQ(Size(4, 1), corners[0].size()); // check dimension of rejected corners after successfully refine
+
+    ASSERT_EQ(rejectedPoints.size(), 20ull);
+    EXPECT_EQ(Size(4, 1), rejectedPoints[0].size()); // check dimension of rejected corners after successfully refine
+}
+
 }} // namespace