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rotate and undistorted the frame

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ackimixs
2024-04-03 14:49:26 +02:00
parent 5cbba032ee
commit 3b513fe657
2 changed files with 7 additions and 3 deletions
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9
aruco/ArucoDetector.cpp
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@@ -9,6 +9,7 @@ ArucoDetector::ArucoDetector(Type::RobotPose* pose, const std::string& calibrati
// 4.6
this->dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_4X4_50);
this->parameters = cv::aruco::DetectorParameters::create();
this->transformationMatrix = (cv::Mat_<double>(4, 4) <<
@@ -84,9 +85,11 @@ std::pair<int, std::vector<std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>>> Ar
cv::Mat frame;
cv::Mat frameNotRotated;
cv::Mat frameDistored;
cam->getVideoFrame(frameNotRotated, 1000);
// cap >> frame; // Capture frame from the camera
cv::flip(frameNotRotated, frame, -1);
cv::flip(frameNotRotated, frameDistored, -1);
cv::undistort(frameDistored, fram, cameraMatrix, distCoeffs);
std::pair<int, std::vector<std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>>> result;
@@ -102,7 +105,7 @@ std::pair<int, std::vector<std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>>> Ar
std::vector<std::vector<cv::Point2f>> markerCorners;
// 4.6
cv::aruco::detectMarkers(frame, this->dictionary, markerCorners, markerIds);
cv::aruco::detectMarkers(frame, this->dictionary, markerCorners, markerIds, );
// opencv 4.8
// detector.detectMarkers(frame, markerCorners, markerIds);
@@ -127,7 +130,7 @@ std::pair<int, std::vector<std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>>> Ar
cv::Mat rvec, tvec;
solvePnP(tag.objectRepresenation, markerCorners.at(i), cameraMatrix, distCoeffs, rvec, tvec);
solvePnP(tag.objectRepresenation, markerCorners.at(i), cameraMatrix, distCoeffs, rvec, tvec, false, SOLVEPNP_IPPE);
if (!headless)
{

1
aruco/ArucoDetector.h
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@@ -17,6 +17,7 @@ class ArucoDetector {
// 4.6
cv::Ptr<cv::aruco::Dictionary> dictionary;
cv::Ptr<cv::aruco::DetectorParameters> parameters;
// 4.8
// cv::aruco::Dictionary dictionary;