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Merge pull request #3269 from alalek:aruco_merge_fixes

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Alexander Alekhin
2022-06-05 15:13:46 +00:00
parent 442085f859 2e3f918ff7
commit db16caf6ce
1 changed files with 4 additions and 1 deletions
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5
modules/aruco/src/aruco.cpp
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@@ -894,7 +894,10 @@ static void _refineCandidateLines(std::vector<Point>& nContours, std::vector<Poi
cntPts[group].push_back(contour2f[i]); cntPts[group].push_back(contour2f[i]);
} }
for (int i = 0; i < 4; i++) for (int i = 0; i < 4; i++)
{
CV_Assert(cornerIndex[i] != -1); CV_Assert(cornerIndex[i] != -1);
}
// saves extra group into corresponding // saves extra group into corresponding
if( !cntPts[4].empty() ){ if( !cntPts[4].empty() ){
for( unsigned int i=0; i < cntPts[4].size() ; i++ ) for( unsigned int i=0; i < cntPts[4].size() ; i++ )
@@ -1240,7 +1243,7 @@ void estimatePoseSingleMarkers(InputArrayOfArrays _corners, float markerLength,
for (int i = begin; i < end; i++) { for (int i = begin; i < end; i++) {
solvePnP(markerObjPoints, _corners.getMat(i), _cameraMatrix, _distCoeffs, rvecs.at<Vec3d>(i), solvePnP(markerObjPoints, _corners.getMat(i), _cameraMatrix, _distCoeffs, rvecs.at<Vec3d>(i),
tvecs.at<Vec3d>(i)); tvecs.at<Vec3d>(i), estimateParameters->solvePnPMethod);
} }
}); });