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Merge branch 4.x

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This commit is contained in:
Alexander Smorkalov
2024-02-12 14:20:35 +03:00
parent 1d18aba587 76548e29bd
commit 3a55f50133
131 changed files with 3446 additions and 864 deletions
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modules/calib/src/calibinit.cpp
+4 -3
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@@ -156,7 +156,8 @@ struct ChessBoardQuad
float edge_len; // quad edge len, in pix^2
// neighbors and corners are synced, i.e., neighbor 0 shares corner 0
ChessBoardCorner *corners[4]; // Coordinates of quad corners
struct ChessBoardQuad *neighbors[4]; // Pointers of quad neighbors
struct ChessBoardQuad *neighbors[4]; // Pointers of quad neighbors. M.b. sparse.
// Each neighbors element corresponds to quad corner, but not just sequential index.
ChessBoardQuad(int group_idx_ = -1) :
count(0),
@@ -1701,12 +1702,12 @@ void ChessBoardDetector::findQuadNeighbors()
continue;
// Check that each corner is a neighbor of different quads
for(j = 0; j < closest_quad->count; j++ )
for(j = 0; j < 4; j++ )
{
if (closest_quad->neighbors[j] == &cur_quad)
break;
}
if (j < closest_quad->count)
if (j < 4)
continue;
// check whether the closest corner to closest_corner