opencv/opencv_contrib
1
0
Fork 0
mirror of https://github.com/opencv/opencv_contrib.git synced 2025-10-18 08:44:11 +08:00
Code Issues Releases Wiki Activity

shift corner positions to the correct rotation

Browse Source
This commit is contained in:
Lizeth Huertas
2019-12-03 11:11:47 +01:00
parent 763a451654
commit 13f7637585
1 changed files with 36 additions and 18 deletions
Download Patch File Download Diff File Expand all files Collapse all files

54
modules/aruco/src/aruco.cpp
View File

@@ -210,6 +210,22 @@ static void _reorderCandidatesCorners(vector< vector< Point2f > > &candidates) {
}
}
/**
* @brief to make sure that the corner's order of both candidates (default/white) is the same
*/
static vector< Point2f > alignContourOrder( Point2f corner, vector< Point2f > candidate){
uint8_t r=0;
double min = cv::norm( Vec2f( corner - candidate[0] ), NORM_L2SQR);
for(uint8_t pos=1; pos < 4; pos++) {
double nDiff = cv::norm( Vec2f( corner - candidate[pos] ), NORM_L2SQR);
if(nDiff < min){
r = pos;
min =nDiff;
}
}
std::rotate(candidate.begin(), candidate.begin() + r, candidate.end());
return candidate;
}
/**
* @brief Check candidates that are too close to each other, save the potential candidates
@@ -315,7 +331,7 @@ static void _filterTooCloseCandidates(const vector< vector< Point2f > > &candida
biggerContours.push_back(contoursIn[biggerIdx]);
if( detectInvertedMarker ){
smallerCandidates.push_back(candidatesIn[smallerIdx]);
smallerCandidates.push_back(alignContourOrder(candidatesIn[biggerIdx][0], candidatesIn[smallerIdx]));
smallerContours.push_back(contoursIn[smallerIdx]);
}
}
@@ -509,7 +525,7 @@ static int _getBorderErrors(const Mat &bits, int markerSize, int borderSize) {
*/
static uint8_t _identifyOneCandidate(const Ptr<Dictionary>& dictionary, InputArray _image,
vector<Point2f>& _corners, int& idx,
const Ptr<DetectorParameters>& params)
const Ptr<DetectorParameters>& params, int& rotation)
{
CV_Assert(_corners.size() == 4);
CV_Assert(_image.getMat().total() != 0);
@@ -549,14 +565,9 @@ static uint8_t _identifyOneCandidate(const Ptr<Dictionary>& dictionary, InputArr
.colRange(params->markerBorderBits, candidateBits.rows - params->markerBorderBits);
// try to indentify the marker
int rotation;
if(!dictionary->identify(onlyBits, idx, rotation, params->errorCorrectionRate))
return 0;
// shift corner positions to the correct rotation
if(rotation != 0) {
std::rotate(_corners.begin(), _corners.begin() + 4 - rotation, _corners.end());
}
return typ;
}
@@ -593,7 +604,12 @@ static void _copyVector2Output(vector< vector< Point2f > > &vec, OutputArrayOfAr
}
}
/**
* @brief rotate the initial corner to get to the right position
*/
static void correctCornerPosition( vector< Point2f >& _candidate, int rotate){
std::rotate(_candidate.begin(), _candidate.begin() + 4 - rotate, _candidate.end());
}
/**
* @brief Identify square candidates according to a marker dictionary
@@ -616,6 +632,7 @@ static void _identifyCandidates(InputArray _image, vector< vector< vector< Point
_convertToGrey(_image.getMat(), grey);
vector< int > idsTmp(ncandidates, -1);
vector< int > rotated(ncandidates, 0);
vector< uint8_t > validCandidates(ncandidates, 0);
//// Analyze each of the candidates
@@ -627,7 +644,7 @@ static void _identifyCandidates(InputArray _image, vector< vector< vector< Point
for(int i = begin; i < end; i++) {
int currId;
validCandidates[i] = _identifyOneCandidate(_dictionary, grey, candidates[i], currId, params);
validCandidates[i] = _identifyOneCandidate(_dictionary, grey, candidates[i], currId, params, rotated[i]);
if(validCandidates[i] > 0)
idsTmp[i] = currId;
@@ -636,19 +653,20 @@ static void _identifyCandidates(InputArray _image, vector< vector< vector< Point
for(int i = 0; i < ncandidates; i++) {
if(validCandidates[i] > 0) {
// add the white valid candidate
if( params->detectInvertedMarker && validCandidates[i] == 2 ){
accepted.push_back(_candidatesSet[1][i]);
ids.push_back(idsTmp[i]);
// to choose the right set of candidates :: 0 for default, 1 for white markers
uint8_t set = validCandidates[i]-1;
contours.push_back(_contoursSet[1][i]);
// shift corner positions to the correct rotation
correctCornerPosition(_candidatesSet[set][i], rotated[i]);
if( !params->detectInvertedMarker && validCandidates[i] == 2 )
continue;
}
// add the default (black) valid candidate
accepted.push_back(_candidatesSet[0][i]);
// add valid candidate
accepted.push_back(_candidatesSet[set][i]);
ids.push_back(idsTmp[i]);
contours.push_back(_contoursSet[0][i]);
contours.push_back(_contoursSet[set][i]);
} else {
rejected.push_back(_candidatesSet[0][i]);