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Code Packages Releases Wiki Activity

Merge branch 4.x

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This commit is contained in:
Alexander Smorkalov
2025-04-28 22:13:51 +03:00
parent 1df06488b1 4ad4bd5dc0
commit f8de2e06e6
243 changed files with 12965 additions and 3216 deletions
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modules/objdetect/src/aruco/aruco_detector.cpp
+26 -23
View File
@@ -130,10 +130,10 @@ static void _threshold(InputArray _in, OutputArray _out, int winSize, double con
static void _findMarkerContours(const Mat &in, vector<vector<Point2f> > &candidates,
vector<vector<Point> > &contoursOut, double minPerimeterRate,
double maxPerimeterRate, double accuracyRate,
double minCornerDistanceRate, int minDistanceToBorder, int minSize) {
double minCornerDistanceRate, int minSize) {
CV_Assert(minPerimeterRate > 0 && maxPerimeterRate > 0 && accuracyRate > 0 &&
minCornerDistanceRate >= 0 && minDistanceToBorder >= 0);
minCornerDistanceRate >= 0);
// calculate maximum and minimum sizes in pixels
unsigned int minPerimeterPixels =
@@ -171,16 +171,6 @@ static void _findMarkerContours(const Mat &in, vector<vector<Point2f> > &candida
double minCornerDistancePixels = double(contours[i].size()) * minCornerDistanceRate;
if(minDistSq < minCornerDistancePixels * minCornerDistancePixels) continue;
// check if it is too near to the image border
bool tooNearBorder = false;
for(int j = 0; j < 4; j++) {
if(approxCurve[j].x < minDistanceToBorder || approxCurve[j].y < minDistanceToBorder ||
approxCurve[j].x > in.cols - 1 - minDistanceToBorder ||
approxCurve[j].y > in.rows - 1 - minDistanceToBorder)
tooNearBorder = true;
}
if(tooNearBorder) continue;
// if it passes all the test, add to candidates vector
vector<Point2f> currentCandidate;
currentCandidate.resize(4);
@@ -305,7 +295,7 @@ static void _detectInitialCandidates(const Mat &grey, vector<vector<Point2f> > &
_findMarkerContours(thresh, candidatesArrays[i], contoursArrays[i],
params.minMarkerPerimeterRate, params.maxMarkerPerimeterRate,
params.polygonalApproxAccuracyRate, params.minCornerDistanceRate,
params.minDistanceToBorder, params.minSideLengthCanonicalImg);
params.minSideLengthCanonicalImg);
}
});
// join candidates
@@ -742,7 +732,7 @@ struct ArucoDetector::ArucoDetectorImpl {
vector<vector<Point2f>> rejectedImgPoints;
if (DictionaryMode::Single == dictMode) {
Dictionary& dictionary = dictionaries.at(0);
auto selectedCandidates = filterTooCloseCandidates(candidates, contours, dictionary.markerSize);
auto selectedCandidates = filterTooCloseCandidates(grey.size(), candidates, contours, dictionary.markerSize);
candidates.clear();
contours.clear();
@@ -765,7 +755,7 @@ struct ArucoDetector::ArucoDetectorImpl {
// copy candidates
vector<vector<Point2f>> candidatesCopy = candidates;
vector<vector<Point> > contoursCopy = contours;
candidatesTreeEntry.second = filterTooCloseCandidates(candidatesCopy, contoursCopy, candidatesTreeEntry.first);
candidatesTreeEntry.second = filterTooCloseCandidates(grey.size(), candidatesCopy, contoursCopy, candidatesTreeEntry.first);
}
candidates.clear();
contours.clear();
@@ -872,14 +862,14 @@ struct ArucoDetector::ArucoDetectorImpl {
}
/**
* @brief FILTER OUT NEAR CANDIDATE PAIRS
* @brief FILTER OUT NEAR CANDIDATES PAIRS AND TOO NEAR CANDIDATES TO IMAGE BORDER
*
* save the outter/inner border (i.e. potential candidates) to vector<MarkerCandidateTree>,
* save the outer/inner border (i.e. potential candidates) to vector<MarkerCandidateTree>,
* clear candidates and contours
*/
vector<MarkerCandidateTree>
filterTooCloseCandidates(vector<vector<Point2f> > &candidates, vector<vector<Point> > &contours, int markerSize) {
CV_Assert(detectorParams.minMarkerDistanceRate >= 0.);
filterTooCloseCandidates(const Size &imageSize, vector<vector<Point2f> > &candidates, vector<vector<Point> > &contours, int markerSize) {
CV_Assert(detectorParams.minMarkerDistanceRate >= 0. && detectorParams.minDistanceToBorder >= 0);
vector<MarkerCandidateTree> candidateTree(candidates.size());
for(size_t i = 0ull; i < candidates.size(); i++) {
candidateTree[i] = MarkerCandidateTree(std::move(candidates[i]), std::move(contours[i]));
@@ -940,6 +930,20 @@ struct ArucoDetector::ArucoDetectorImpl {
else // if detectInvertedMarker==false choose largest contours
std::stable_sort(grouped.begin(), grouped.end());
size_t currId = grouped[0];
// check if it is too near to the image border
bool tooNearBorder = false;
for (const auto& corner : candidateTree[currId].corners) {
if (corner.x < detectorParams.minDistanceToBorder ||
corner.y < detectorParams.minDistanceToBorder ||
corner.x > imageSize.width - 1 - detectorParams.minDistanceToBorder ||
corner.y > imageSize.height - 1 - detectorParams.minDistanceToBorder) {
tooNearBorder = true;
break;
}
}
if (tooNearBorder) {
continue;
}
isSelectedContours[currId] = true;
for (size_t i = 1ull; i < grouped.size(); i++) {
size_t id = grouped[i];
@@ -952,12 +956,11 @@ struct ArucoDetector::ArucoDetectorImpl {
}
}
vector<MarkerCandidateTree> selectedCandidates(groupedCandidates.size());
size_t countSelectedContours = 0ull;
vector<MarkerCandidateTree> selectedCandidates;
selectedCandidates.reserve(groupedCandidates.size());
for (size_t i = 0ull; i < candidateTree.size(); i++) {
if (isSelectedContours[i]) {
selectedCandidates[countSelectedContours] = std::move(candidateTree[i]);
countSelectedContours++;
selectedCandidates.push_back(std::move(candidateTree[i]));
}
}
modules/objdetect/src/qrcode_encoder.cpp
+2
View File
@@ -397,7 +397,9 @@ void QRCodeEncoderImpl::generateQR(const std::string &input)
original = Mat(Size(version_size, version_size), CV_8UC1, Scalar(255));
masked_data = original.clone();
Mat qrcode = masked_data.clone();
std::swap(version_level, tmp_version_level);
generatingProcess(input_info, qrcode);
std::swap(version_level, tmp_version_level);
final_qrcodes.push_back(qrcode);
}
}