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Added ArUco marker size check for Aruco and Charuco boards.

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This commit is contained in:
Alex
2023-10-02 10:48:45 +03:00
committed by Alexander Smorkalov
parent f3c724d449
commit e5b114e5b8
2 changed files with 17 additions and 2 deletions
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modules/objdetect/src/aruco/aruco_board.cpp
+12 -2
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@@ -3,6 +3,7 @@
// of this distribution and at http://opencv.org/license.html
#include "../precomp.hpp"
#include <opencv2/core/utils/logger.hpp>
#include "opencv2/objdetect/aruco_board.hpp"
#include <opencv2/objdetect/aruco_dictionary.hpp>
@@ -250,7 +251,11 @@ GridBoard::GridBoard() {}
GridBoard::GridBoard(const Size& size, float markerLength, float markerSeparation,
const Dictionary &dictionary, InputArray ids):
Board(new GridBoardImpl(dictionary, size, markerLength, markerSeparation)) {
float onePin = markerLength / ((float)(dictionary.markerSize+2));
if (markerSeparation < onePin*.7f) {
CV_LOG_WARNING(NULL, "Marker border " << markerSeparation << " is less than 70% of ArUco pin size "
<< onePin << ". Please increase markerSeparation or decrease markerLength for stable board detection");
}
size_t totalMarkers = (size_t) size.width*size.height;
CV_Assert(ids.empty() || totalMarkers == ids.total());
vector<vector<Point3f> > objPoints;
@@ -541,7 +546,12 @@ CharucoBoard::CharucoBoard(const Size& size, float squareLength, float markerLen
Board(new CharucoBoardImpl(dictionary, size, squareLength, markerLength)) {
CV_Assert(size.width > 1 && size.height > 1 && markerLength > 0 && squareLength > markerLength);
float onePin = markerLength / ((float)(dictionary.markerSize+2));
float markerSeparation = (squareLength - markerLength)/2.f;
if (markerSeparation < onePin*.7f) {
CV_LOG_WARNING(NULL, "Marker border " << markerSeparation << " is less than 70% of ArUco pin size "
<< onePin <<". Please increase markerSeparation or decrease markerLength for stable board detection");
}
ids.copyTo(impl->ids);
static_pointer_cast<CharucoBoardImpl>(impl)->createCharucoBoard();