Merge pull request #24228 from AleksandrPanov:fix_extendDictionary

fix extendDictionary

modules/objdetect/src/aruco/aruco_dictionary.cpp

@@ -355,6 +355,7 @@ static int _getSelfDistance(const Mat &marker) {
 
 
 Dictionary extendDictionary(int nMarkers, int markerSize, const Dictionary &baseDictionary, int randomSeed) {
+    CV_Assert(nMarkers > 0);
     RNG rng((uint64)(randomSeed));
 
     Dictionary out = Dictionary(Mat(), markerSize);
@@ -370,7 +371,7 @@ Dictionary extendDictionary(int nMarkers, int markerSize, const Dictionary &base
     // if baseDictionary is provided, calculate its intermarker distance
     if(baseDictionary.bytesList.rows > 0) {
         CV_Assert(baseDictionary.markerSize == markerSize);
-        out.bytesList = baseDictionary.bytesList.clone();
+        out.bytesList = baseDictionary.bytesList.rowRange(0, min(nMarkers, baseDictionary.bytesList.rows)).clone();
 
         int minDistance = markerSize * markerSize + 1;
         for(int i = 0; i < out.bytesList.rows; i++) {

modules/objdetect/test/test_boarddetection.cpp

@@ -318,4 +318,12 @@ TEST(CV_ArucoGenerateBoard, regression_1226) {
     });
 }
 
+TEST(CV_ArucoDictionary, extendDictionary) {
+    aruco::Dictionary base_dictionary = aruco::getPredefinedDictionary(aruco::DICT_4X4_250);
+    aruco::Dictionary custom_dictionary = aruco::extendDictionary(150, 4, base_dictionary);
+
+    ASSERT_EQ(custom_dictionary.bytesList.rows, 150);
+    ASSERT_EQ(cv::norm(custom_dictionary.bytesList, base_dictionary.bytesList.rowRange(0, 150)), 0.);
+}
+
 }} // namespace