potok/opencv
1
0
Fork 0
mirror of https://github.com/opencv/opencv.git synced 2026-07-29 15:23:05 +04:00
Code Packages Releases Wiki Activity

fix refineDetectedMarkers, add test

Browse Source
This commit is contained in:
Alex
2023-09-04 18:28:28 +03:00
parent 3421b950ce
commit ca527040e2
2 changed files with 40 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
modules/objdetect/src/aruco/aruco_detector.cpp
+7 -1
View File
@@ -1000,7 +1000,13 @@ static inline void _projectUndetectedMarkers(const Board &board, InputOutputArra
OutputArray undetectedMarkersIds) {
Mat rvec, tvec; // first estimate board pose with the current avaible markers
Mat objPoints, imgPoints; // object and image points for the solvePnP function
board.matchImagePoints(detectedCorners, detectedIds, objPoints, imgPoints);
// To refine corners of ArUco markers the function refineDetectedMarkers() find an aruco markers pose from 3D-2D point correspondences.
// To find 3D-2D point correspondences uses matchImagePoints().
// The method matchImagePoints() works with ArUco corners (in Board/GridBoard cases) or with ChArUco corners (in CharucoBoard case).
// To refine corners of ArUco markers we need work with ArUco corners only in all boards.
// To call matchImagePoints() with ArUco corners for all boards we need to call matchImagePoints() from base class Board.
// The method matchImagePoints() implemented in Pimpl and we need to create temp Board object to call the base method.
Board(board.getObjPoints(), board.getDictionary(), board.getIds()).matchImagePoints(detectedCorners, detectedIds, objPoints, imgPoints);
if (objPoints.total() < 4ull) // at least one marker from board so rvec and tvec are valid
return;
solvePnP(objPoints, imgPoints, cameraMatrix, distCoeffs, rvec, tvec);