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AleksandrPanov
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May 22, 2023
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| void detectBoard(InputArray image, OutputArray charucoCorners, OutputArray charucoIds, | ||
| InputOutputArrayOfArrays markerCorners, InputOutputArray markerIds) { | ||
| CV_Assert((markerCorners.empty() && markerIds.empty() && !image.empty()) || (markerCorners.total() == markerIds.total())); | ||
| vector<vector<Point2f>> tmpMarkerCorners; | ||
| vector<int> tmpMarkerIds; | ||
| InputOutputArrayOfArrays _markerCorners = markerCorners.needed() ? markerCorners : tmpMarkerCorners; | ||
| InputOutputArray _markerIds = markerIds.needed() ? markerIds : tmpMarkerIds; | ||
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| if (markerCorners.empty() && markerIds.empty()) { | ||
| vector<vector<Point2f> > rejectedMarkers; | ||
| arucoDetector.detectMarkers(image, _markerCorners, _markerIds, rejectedMarkers); | ||
| if (charucoParameters.tryRefineMarkers) | ||
| arucoDetector.refineDetectedMarkers(image, board, _markerCorners, _markerIds, rejectedMarkers); | ||
| } | ||
| // if camera parameters are avaible, use approximated calibration | ||
| if(!charucoParameters.cameraMatrix.empty()) | ||
| interpolateCornersCharucoApproxCalib(_markerCorners, _markerIds, image, charucoCorners, charucoIds); | ||
| // else use local homography | ||
| else | ||
| interpolateCornersCharucoLocalHom(_markerCorners, _markerIds, image, charucoCorners, charucoIds); | ||
| // to return a charuco corner, its closest aruco markers should have been detected | ||
| filterCornersWithoutMinMarkers(charucoCorners, charucoIds, _markerIds, charucoCorners, charucoIds); | ||
| } | ||
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just move detectBoard() to CharucoDetectorImpl
AleksandrPanov
commented
May 22, 2023
Comment on lines
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to
-302
| CV_Assert((markerCorners.empty() && markerIds.empty() && !image.empty()) || (markerCorners.total() == markerIds.total())); | ||
| vector<vector<Point2f>> tmpMarkerCorners; | ||
| vector<int> tmpMarkerIds; | ||
| InputOutputArrayOfArrays _markerCorners = markerCorners.needed() ? markerCorners : tmpMarkerCorners; | ||
| InputOutputArray _markerIds = markerIds.needed() ? markerIds : tmpMarkerIds; | ||
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| if (markerCorners.empty() && markerIds.empty()) { | ||
| vector<vector<Point2f> > rejectedMarkers; | ||
| charucoDetectorImpl->arucoDetector.detectMarkers(image, _markerCorners, _markerIds, rejectedMarkers); | ||
| if (charucoDetectorImpl->charucoParameters.tryRefineMarkers) | ||
| charucoDetectorImpl->arucoDetector.refineDetectedMarkers(image, charucoDetectorImpl->board, _markerCorners, | ||
| _markerIds, rejectedMarkers); |
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just move detectBoard() to CharucoDetectorImpl
AleksandrPanov
commented
May 22, 2023
| vector<Point2f> currentMarkerCorners; | ||
| Mat aux; | ||
| detectBoard(grey, currentMarkerCorners, aux, currentMarker, currentMarkerId); | ||
| charucoDetectorImpl->detectBoard(grey, currentMarkerCorners, aux, currentMarker, currentMarkerId); |
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call charucoDetectorImpl->detectBoard to skip call checkBoard()
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thewoz
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Jan 4, 2024
…_detect Add charuco board check opencv#23647 Added charuco board checking to avoid detection of incorrect board. Fixes opencv#23517 ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [x] The PR is proposed to the proper branch - [x] There is a reference to the original bug report and related work - [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name. - [ ] The feature is well documented and sample code can be built with the project CMake
thewoz
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to thewoz/opencv
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May 29, 2024
…_detect Add charuco board check opencv#23647 Added charuco board checking to avoid detection of incorrect board. Fixes opencv#23517 ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [x] The PR is proposed to the proper branch - [x] There is a reference to the original bug report and related work - [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name. - [ ] The feature is well documented and sample code can be built with the project CMake
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Added charuco board checking to avoid detection of incorrect board.
Fixes #23517
Pull Request Readiness Checklist
See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request
Patch to opencv_extra has the same branch name.