Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Fix aruco _filterTooCloseCandidates #2900

Merged
merged 1 commit into from
Apr 1, 2021
Merged

Fix aruco _filterTooCloseCandidates #2900

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
42 changes: 22 additions & 20 deletions modules/aruco/src/aruco.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -306,34 +306,36 @@ static void _filterTooCloseCandidates(const vector< vector< Point2f > > &candida
vector< vector< Point > > smallerContours;

// save possible candidates
for( unsigned int i = 0; i < groupedCandidates.size(); i++ ) {
int smallerIdx = groupedCandidates[i][0];
int biggerIdx = -1;
for(unsigned int i = 0; i < groupedCandidates.size(); i++) {
unsigned int smallerIdx = groupedCandidates[i][0];
unsigned int biggerIdx = smallerIdx;
double smallerArea = contourArea(candidatesIn[smallerIdx]);
double biggerArea = smallerArea;

// evaluate group elements
for( unsigned int j = 1; j < groupedCandidates[i].size(); j++ ) {
size_t currPerim = contoursIn[ groupedCandidates[i][j] ].size();
for(unsigned int j = 1; j < groupedCandidates[i].size(); j++) {
unsigned int currIdx = groupedCandidates[i][j];
double currArea = contourArea(candidatesIn[currIdx]);

// check if current contour is bigger
if ( biggerIdx < 0 )
biggerIdx = groupedCandidates[i][j];
else if(currPerim >= contoursIn[ biggerIdx ].size())
biggerIdx = groupedCandidates[i][j];
if(currArea >= biggerArea) {
biggerIdx = currIdx;
biggerArea = currArea;
}

// check if current contour is smaller
if(currPerim < contoursIn[ smallerIdx ].size() && detectInvertedMarker)
smallerIdx = groupedCandidates[i][j];
if(currArea < smallerArea && detectInvertedMarker) {
smallerIdx = currIdx;
smallerArea = currArea;
}
}
// add contours und candidates
if(biggerIdx > -1){

biggerCandidates.push_back(candidatesIn[biggerIdx]);
biggerContours.push_back(contoursIn[biggerIdx]);

if( detectInvertedMarker ){
smallerCandidates.push_back(alignContourOrder(candidatesIn[biggerIdx][0], candidatesIn[smallerIdx]));
smallerContours.push_back(contoursIn[smallerIdx]);
}
// add contours and candidates
biggerCandidates.push_back(candidatesIn[biggerIdx]);
biggerContours.push_back(contoursIn[biggerIdx]);
if(detectInvertedMarker) {
smallerCandidates.push_back(alignContourOrder(candidatesIn[biggerIdx][0], candidatesIn[smallerIdx]));
smallerContours.push_back(contoursIn[smallerIdx]);
}
}
// to preserve the structure :: candidateSet< defaultCandidates, whiteCandidates >
Expand Down