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update detect marker

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This commit is contained in:
ackimixs
2024-04-08 20:24:25 +02:00
parent 8e65039083
commit 571be7906b
2 changed files with 13 additions and 11 deletions
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16
aruco/ArucoDetector.cpp
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@@ -111,8 +111,11 @@ std::pair<int, std::vector<std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>>> Ar
cv::Mat gray;
cv::cvtColor(frame, gray, cv::COLOR_BGR2GRAY);
std::vector<int> markerIds;
std::vector<std::vector<cv::Point2f>> markerCorners;
// Preprocess with adaptive thresholding to handle varying lighting
cv::Mat adaptiveThresh;
/*cv::Mat adaptiveThresh;
cv::adaptiveThreshold(gray, adaptiveThresh, 255, cv::ADAPTIVE_THRESH_MEAN_C, cv::THRESH_BINARY, 11, 2);
// Find contours in the thresholded image
@@ -135,10 +138,6 @@ std::pair<int, std::vector<std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>>> Ar
// if (boundingRect.area() > minArea && boundingRect.width / static_cast<double>(boundingRect.height) > minAspectRatio) {
ROIs.push_back(boundingRect);
}
std::vector<int> markerIds;
std::vector<std::vector<cv::Point2f>> markerCorners;
// Detect ArUco markers within defined ROIs
for (const auto& roi : ROIs) {
cv::Rect roiRect = roi & cv::Rect(0, 0, frame.cols, frame.rows); // Ensure the ROI is within the image boundaries
@@ -160,10 +159,13 @@ std::pair<int, std::vector<std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>>> Ar
// Merge results
markerIds.insert(markerIds.end(), ids.begin(), ids.end());
markerCorners.insert(markerCorners.end(), corners.begin(), corners.end());
}
}*/
// opencv 4.8
// detector.detectMarkers(frame, markerCorners, markerIds);
// 4.6
cv::aruco::detectMarkers(frame, this->dictionary, markerCorners, markerIds, this->parameters);
if (!markerIds.empty())
{
if (!headless)
@@ -206,7 +208,7 @@ std::pair<int, std::vector<std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>>> Ar
cv::Mat rotaEuler = (cv::Mat_<double>(3, 1) << roll, pitch, yaw);
// Apply the homogeneous transformation to tvec
cv::Mat translat = (cv::Mat_<double>(4, 1) << tvec.at<double>(2, 0) + 91, tvec.at<double>(1, 0), (tvec.at<double>(0, 0)), 1);
cv::Mat translat = (cv::Mat_<double>(4, 1) << tvec.at<double>(2, 0) + 91, tvec.at<double>(1, 0) /* + TODO HAUTEUR CAMERA */, (tvec.at<double>(0, 0)), 1);
cv::Mat transformedTvec = (transformationMatrix * translat);

8
aruco/ArucoTag.h
View File

@@ -33,9 +33,9 @@ public:
// 18.96 w
// 19.3 h
this->objectRepresenation = cv::Mat(4, 1, CV_32FC3);
this->objectRepresenation.ptr<cv::Vec3f>(0)[0] = cv::Vec3f(-19.f/2.f, 19.f/2.f, 0);
this->objectRepresenation.ptr<cv::Vec3f>(0)[1] = cv::Vec3f(19.f/2.f, 19.f/2.f, 0);
this->objectRepresenation.ptr<cv::Vec3f>(0)[2] = cv::Vec3f(19.f/2.f, -19.f/2.f, 0);
this->objectRepresenation.ptr<cv::Vec3f>(0)[3] = cv::Vec3f(-19.f/2.f, -19.f/2.f, 0);
this->objectRepresenation.ptr<cv::Vec3f>(0)[0] = cv::Vec3f(-18.9f/2.f, 19.1f/2.f, 0);
this->objectRepresenation.ptr<cv::Vec3f>(0)[1] = cv::Vec3f(18.9f/2.f, 19.1f/2.f, 0);
this->objectRepresenation.ptr<cv::Vec3f>(0)[2] = cv::Vec3f(18.9f/2.f, -19.1f/2.f, 0);
this->objectRepresenation.ptr<cv::Vec3f>(0)[3] = cv::Vec3f(-18.9f/2.f, -19.1f/2.f, 0);
}
};