modelec/detection_pot
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opencv 4.6

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ackimixs
2024-04-08 16:07:38 +02:00
parent 484a4cf011
commit 5b05a8dc2c
1 changed files with 7 additions and 7 deletions
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14
calibrationCharuco.cpp
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@@ -8,10 +8,10 @@ int main(int argc, char *argv[]) {
cv::Ptr<cv::aruco::Dictionary> AruCoDict = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_4X4_50);
int squaresX = 1920;
int squaresY = 1080;
float squareLength = 20;
float markerLength = 10;
int squaresX = 7;
int squaresY = 5;
float squareLength = 0.04f;
float markerLength = 0.02f;
std::string outputFile = "camera_calibration.yml";
// create charuco board object
@@ -59,12 +59,12 @@ int main(int argc, char *argv[]) {
cv::aruco::detectMarkers(image, AruCoDict, corners, ids, detectorParams, rejected);
cv::Mat currentCharucoCorners, currentCharucoIds;
if(ids.size() > 0)
if(!ids.empty())
cv::aruco::interpolateCornersCharuco(corners, ids, image, charucoboard, currentCharucoCorners,
currentCharucoIds);
// draw results
image.copyTo(imageCopy);
if(ids.size() > 0) cv::aruco::drawDetectedMarkers(imageCopy, corners);
if(!ids.empty()) cv::aruco::drawDetectedMarkers(imageCopy, corners);
if(currentCharucoCorners.total() > 0)
cv::aruco::drawDetectedCornersCharuco(imageCopy, currentCharucoCorners, currentCharucoIds);
@@ -75,7 +75,7 @@ int main(int argc, char *argv[]) {
imshow("out", imageCopy);
char key = (char)cv::waitKey(1000);
if(key == 27) break;
if(key == 'c' && ids.size() > 0) {
if(key == 'c' && !ids.empty()) {
std::cout << "Frame captured" << std::endl;
allCorners.push_back(corners);
allIds.push_back(ids);