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asmorkalov
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Aug 10, 2023
| 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); |
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Why does it change the function behaviour?
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The issue #24127 uses CharucoBoard and ChArUco board call matchImagePoints for charuco corners, but to refine ArUco markers we need to call matchImagePoints for ArUco corners. The method matchImagePoints implemented in Pimpl and we need to create Board object.
refineDetectedMarkers must always call matchImagePoints from the base class Board.
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It should be added to the implementation as comment.
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@AleksandrPanov Please add this information to the code as comment. Current comment is not informative.
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VadimLevin
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asmorkalov
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Sep 5, 2023
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Fixes #24127
To refine corners of ArUco markers we need to call matchImagePoints() from base class Board. The method matchImagePoints() implemented in Pimpl and we need to create temp Board object.
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Patch to opencv_extra has the same branch name.