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Merge branch 4.x

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This commit is contained in:
Alexander Smorkalov
2024-07-25 18:29:12 +03:00
parent 459a9c60ed eab21b6106
commit 672a662dff
61 changed files with 1615 additions and 29782 deletions
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modules/calib/src/calibinit.cpp
+33 -15
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@@ -1151,22 +1151,40 @@ int ChessBoardDetector::addOuterQuad(ChessBoardQuad& quad, std::vector<ChessBoar
// have to set exact corner
q.corners[j] = quad.corners[i];
// now find other neighbor and add it, if possible
int next_i = (i + 1) & 3;
int prev_i = (i + 3) & 3; // equal to (j + 1) & 3
ChessBoardQuad* quad_prev = quad.neighbors[prev_i];
if (quad_prev &&
quad_prev->ordered &&
quad_prev->neighbors[i] &&
quad_prev->neighbors[i]->ordered )
// set row and col for next step check
switch (i)
{
ChessBoardQuad* qn = quad_prev->neighbors[i];
q.count = 2;
q.neighbors[prev_i] = qn;
qn->neighbors[next_i] = &q;
qn->count += 1;
// have to set exact corner
q.corners[prev_i] = qn->corners[next_i];
case 0:
q.col = quad.col - 1; q.row = quad.row - 1; break;
case 1:
q.col = quad.col + 1; q.row = quad.row - 1; break;
case 2:
q.col = quad.col + 1; q.row = quad.row - 1; break;
case 3:
q.col = quad.col - 1; q.row = quad.row + 1; break;
}
// now find other neighbor and add it, if possible
for (int k = 1; k <= 3; k += 2)
{
int next_i = (i + k) % 4;
int prev_i = (i + k + 2) % 4;
ChessBoardQuad* quad_prev = quad.neighbors[prev_i];
if (quad_prev &&
quad_prev->ordered &&
quad_prev->neighbors[i] &&
quad_prev->neighbors[i]->ordered &&
std::abs(quad_prev->neighbors[i]->col - q.col) == 1 &&
std::abs(quad_prev->neighbors[i]->row - q.row) == 1)
{
ChessBoardQuad* qn = quad_prev->neighbors[i];
q.count = 2;
q.neighbors[prev_i] = qn;
qn->neighbors[next_i] = &q;
qn->count += 1;
// have to set exact corner
q.corners[prev_i] = qn->corners[next_i];
}
}
}
}