From 8e65039083c91c01e866257e32e76ed5a5512451 Mon Sep 17 00:00:00 2001 From: ackimixs Date: Mon, 8 Apr 2024 18:19:14 +0200 Subject: [PATCH] flower representation --- aruco/ArucoTag.h | 10 ++++++---- arucoDetector.cpp | 8 ++++---- 2 files changed, 10 insertions(+), 8 deletions(-) diff --git a/aruco/ArucoTag.h b/aruco/ArucoTag.h index 0336693..d2cd09b 100644 --- a/aruco/ArucoTag.h +++ b/aruco/ArucoTag.h @@ -30,10 +30,12 @@ public: void setFlowerObjectRepresentation() { + // 18.96 w + // 19.3 h this->objectRepresenation = cv::Mat(4, 1, CV_32FC3); - this->objectRepresenation.ptr(0)[0] = cv::Vec3f(-19.5f/2.f, 20.f/2.f, 0); - this->objectRepresenation.ptr(0)[1] = cv::Vec3f(19.5f/2.f, 20.f/2.f, 0); - this->objectRepresenation.ptr(0)[2] = cv::Vec3f(19.f/2.f, -20.f/2.f, 0); - this->objectRepresenation.ptr(0)[3] = cv::Vec3f(-19.f/2.f, -20.f/2.f, 0); + this->objectRepresenation.ptr(0)[0] = cv::Vec3f(-19.f/2.f, 19.f/2.f, 0); + this->objectRepresenation.ptr(0)[1] = cv::Vec3f(19.f/2.f, 19.f/2.f, 0); + this->objectRepresenation.ptr(0)[2] = cv::Vec3f(19.f/2.f, -19.f/2.f, 0); + this->objectRepresenation.ptr(0)[3] = cv::Vec3f(-19.f/2.f, -19.f/2.f, 0); } }; diff --git a/arucoDetector.cpp b/arucoDetector.cpp index af2d49f..e45b03e 100644 --- a/arucoDetector.cpp +++ b/arucoDetector.cpp @@ -58,10 +58,10 @@ int main(int argc, char *argv[]) ArucoDetector detector(robotPose, calibrationPath, BLUE, headless); - auto whiteFlower = ArucoTag(36, "White_flower", 20, FLOWER); - whiteFlower.setFlowerObjectRepresentation(); - auto purpleFlower = ArucoTag(13, "Purple_flower", 20, FLOWER); - purpleFlower.setFlowerObjectRepresentation(); + auto whiteFlower = ArucoTag(36, "White_flower", 19.6, FLOWER); + // whiteFlower.setFlowerObjectRepresentation(); + auto purpleFlower = ArucoTag(13, "Purple_flower", 19.6, FLOWER); + // purpleFlower.setFlowerObjectRepresentation(); auto solarPanel = ArucoTag(47, "Solar_panel", 50, SOLAR_PANEL);