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Merge branch 4.x

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This commit is contained in:
Alexander Smorkalov
2023-09-11 13:22:22 +03:00
parent a6748df587 ee867ead1d
commit fdab565711
148 changed files with 2384 additions and 1876 deletions
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modules/objdetect/src/aruco/aruco_detector.cpp
+7 -1
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@@ -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);
modules/objdetect/src/aruco/aruco_dictionary.cpp
+2 -1
View File
@@ -355,6 +355,7 @@ static int _getSelfDistance(const Mat &marker) {
Dictionary extendDictionary(int nMarkers, int markerSize, const Dictionary &baseDictionary, int randomSeed) {
CV_Assert(nMarkers > 0);
RNG rng((uint64)(randomSeed));
Dictionary out = Dictionary(Mat(), markerSize);
@@ -370,7 +371,7 @@ Dictionary extendDictionary(int nMarkers, int markerSize, const Dictionary &base
// if baseDictionary is provided, calculate its intermarker distance
if(baseDictionary.bytesList.rows > 0) {
CV_Assert(baseDictionary.markerSize == markerSize);
out.bytesList = baseDictionary.bytesList.clone();
out.bytesList = baseDictionary.bytesList.rowRange(0, min(nMarkers, baseDictionary.bytesList.rows)).clone();
int minDistance = markerSize * markerSize + 1;
for(int i = 0; i < out.bytesList.rows; i++) {
modules/objdetect/src/qrcode.cpp
+13 -18
View File
@@ -68,19 +68,14 @@ static void updatePointsResult(OutputArray points_, const vector<Point2f>& point
static Point2f intersectionLines(Point2f a1, Point2f a2, Point2f b1, Point2f b2)
{
// Try to solve a two lines intersection (a1, a2) and (b1, b2) as a system of equations:
// a2 + u * (a1 - a2) = b2 + v * (b1 - b2)
const float divisor = (a1.x - a2.x) * (b1.y - b2.y) - (a1.y - a2.y) * (b1.x - b2.x);
const float eps = 0.001f;
if (abs(divisor) < eps)
return a2;
Point2f result_square_angle(
((a1.x * a2.y - a1.y * a2.x) * (b1.x - b2.x) -
(b1.x * b2.y - b1.y * b2.x) * (a1.x - a2.x)) /
divisor,
((a1.x * a2.y - a1.y * a2.x) * (b1.y - b2.y) -
(b1.x * b2.y - b1.y * b2.x) * (a1.y - a2.y)) /
divisor
);
return result_square_angle;
const float u = ((b2.x - a2.x) * (b1.y - b2.y) + (b1.x - b2.x) * (a2.y - b2.y)) / divisor;
return a2 + u * (a1 - a2);
}
// / | b
@@ -1254,14 +1249,14 @@ bool QRDecode::computeSidesPoints(const vector<Point> &result_integer_hull)
{
if (points.front().x > points.back().x)
{
reverse(points.begin(), points.end());
std::reverse(points.begin(), points.end());
}
}
else
{
if (points.front().y > points.back().y)
{
reverse(points.begin(), points.end());
std::reverse(points.begin(), points.end());
}
}
if (points.empty())
@@ -1637,7 +1632,7 @@ bool QRDecode::findPatternsVerticesPoints(vector<vector<Point> > &patterns_verti
}
if ((int)min_angle_pnts_indexes.size() == num_vertices) { break; }
}
sort(min_angle_pnts_indexes.begin(), min_angle_pnts_indexes.end());
std::sort(min_angle_pnts_indexes.begin(), min_angle_pnts_indexes.end());
vector<Point> contour_vertices_points;
@@ -1766,11 +1761,11 @@ bool QRDecode::findTempPatternsAddingPoints(vector<std::pair<int, vector<Point>
}
if (abs(p1.x - p2.x) > abs(p1.y - p2.y))
{
sort(points.begin(), points.end(), sortPointsByX());
std::sort(points.begin(), points.end(), sortPointsByX());
}
else
{
sort(points.begin(), points.end(), sortPointsByY());
std::sort(points.begin(), points.end(), sortPointsByY());
}
temp_patterns_add_points.push_back(std::pair<int, vector<Point> >(idx_curved_side,points));
@@ -1914,11 +1909,11 @@ void QRDecode::completeAndSortSides()
Point p2 = it->second.back();
if (abs(p1.x - p2.x) > abs(p1.y - p2.y))
{
sort(it->second.begin(), it->second.end(), sortPointsByX());
std::sort(it->second.begin(), it->second.end(), sortPointsByX());
}
else
{
sort(it->second.begin(), it->second.end(), sortPointsByY());
std::sort(it->second.begin(), it->second.end(), sortPointsByY());
}
}
}
@@ -2080,8 +2075,8 @@ bool QRDecode::divideIntoEvenSegments(vector<vector<Point2f> > &segments_points)
Point2f segment_start = segments_points[i][j];
Point2f segment_end = segments_points[i][j + 1];
vector<Point2f>::iterator it_start, it_end, it;
it_start = find(spline_lines[i].begin(), spline_lines[i].end(), segment_start);
it_end = find(spline_lines[i].begin(), spline_lines[i].end(), segment_end);
it_start = std::find(spline_lines[i].begin(), spline_lines[i].end(), segment_start);
it_end = std::find(spline_lines[i].begin(), spline_lines[i].end(), segment_end);
float max_dist_to_line = 0.0;
for (it = it_start; it != it_end; it++)
{