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asmorkalov
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asmorkalov
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modules/aruco/src/aruco.cpp
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| // get object and image points for the solvePnP function | ||
| Mat objPoints, imgPoints; | ||
| board->matchImagePoints(charucoCorners, charucoIds, objPoints, imgPoints); | ||
| solvePnP(objPoints, imgPoints, cameraMatrix, distCoeffs, rvec, tvec, useExtrinsicGuess); |
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solvePnP throws exception, if there are no enough points.
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added points check:
if(charucoIds.getMat().total() < 4) return false;
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I propose to add try-catch block and return false in case of exception. The function did not throw exceptions before and should not do it after the PR.
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Add try catch:
try {
solvePnP(objPoints, imgPoints, cameraMatrix, distCoeffs, rvec, tvec, useExtrinsicGuess);
}
catch (const cv::Exception& e) {
CV_LOG_WARNING(NULL, "estimatePoseCharucoBoard: " << std::endl << e.what());
return false;
}
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asmorkalov
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Jan 26, 2023
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This caused a regression in interpolateCornersCharuco, which does not detect the markers anymore. |
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@AleksandrPanov could you take a look? |
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Removed charuco duplication after move aruco to main repo.
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Patch to opencv_extra has the same branch name.