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ackimixs
2024-05-02 14:50:22 +02:00
parent d7d2ea493f
commit 9fba9a577e
1 changed files with 5 additions and 5 deletions
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10
aruco/ArucoDetector.cpp
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@@ -13,8 +13,8 @@ ArucoDetector::ArucoDetector(const std::string& calibrationPath, const Team team
// TODO
// Adjusting parameters based on specific needs
parameters->adaptiveThreshConstant = true;
/*parameters->minMarkerPerimeterRate = 0.02;
/*parameters->adaptiveThreshConstant = true;
parameters->minMarkerPerimeterRate = 0.02;
parameters->maxMarkerPerimeterRate = 4.0;
parameters->perspectiveRemoveIgnoredMarginPerCell = 0.13;
parameters->polygonalApproxAccuracyRate = 0.03;*/
@@ -89,8 +89,8 @@ std::pair<int, std::vector<std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>>> Ar
cv::Mat frameNotRotated;
cv::Mat frameDistored;
cam->getVideoFrame(frameNotRotated, 1000);
cv::flip(frameNotRotated, frame, -1);
// cv::undistort(frameDistored, frame, cameraMatrix, distCoeffs);
cv::flip(frameNotRotated, frameDistored, -1);
cv::undistort(frameDistored, frame, cameraMatrix, distCoeffs);
std::pair<int, std::vector<std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>>> result;
@@ -179,7 +179,7 @@ std::pair<int, std::vector<std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>>> Ar
cv::Mat rvec, tvec;
try {
solvePnP(tag.objectRepresenation, markerCorners.at(i), cameraMatrix, distCoeffs, rvec, tvec, false);
solvePnP(tag.objectRepresenation, markerCorners.at(i), cameraMatrix, distCoeffs, rvec, tvec, false, cv::SOLVEPNP_IPPE_SQUARE);
} catch (const cv::Exception& e) {
std::cerr << "Error: " << e.what() << std::endl;
continue;