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add dynamic window in aruco cornerRefinement

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Alex
2023-10-06 16:44:09 +03:00
parent 4e60392040
commit fd4af21350
2 changed files with 47 additions and 9 deletions
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modules/objdetect/include/opencv2/objdetect/aruco_detector.hpp
+20 -1
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@@ -36,6 +36,7 @@ struct CV_EXPORTS_W_SIMPLE DetectorParameters {
minMarkerDistanceRate = 0.05;
cornerRefinementMethod = (int)CORNER_REFINE_NONE;
cornerRefinementWinSize = 5;
relativeCornerRefinmentWinSize = 0.3f;
cornerRefinementMaxIterations = 30;
cornerRefinementMinAccuracy = 0.1;
markerBorderBits = 1;
@@ -108,9 +109,27 @@ struct CV_EXPORTS_W_SIMPLE DetectorParameters {
/** @brief default value CORNER_REFINE_NONE */
CV_PROP_RW int cornerRefinementMethod;
/// window size for the corner refinement process (in pixels) (default 5).
/** @brief maximum window size for the corner refinement process (in pixels) (default 5).
*
* The window size may decrease if the ArUco marker is too small, check relativeCornerRefinmentWinSize.
* The final window size is calculated as:
* min(cornerRefinementWinSize, averageArucoModuleSize*relativeCornerRefinmentWinSize),
* where averageArucoModuleSize is average module size of ArUco marker in pixels.
* (ArUco marker is composed of black and white modules)
*/
CV_PROP_RW int cornerRefinementWinSize;
/** @brief Dynamic window size for corner refinement relative to Aruco module size (default 0.3).
*
* The final window size is calculated as:
* min(cornerRefinementWinSize, averageArucoModuleSize*relativeCornerRefinmentWinSize),
* where averageArucoModuleSize is average module size of ArUco marker in pixels.
* (ArUco marker is composed of black and white modules)
* In the case of markers located far from each other, it may be useful to increase the value of the parameter to 0.4-0.5.
* In the case of markers located close to each other, it may be useful to decrease the parameter value to 0.1-0.2.
*/
CV_PROP_RW float relativeCornerRefinmentWinSize;
/// maximum number of iterations for stop criteria of the corner refinement process (default 30).
CV_PROP_RW int cornerRefinementMaxIterations;