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update aruco tag

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This commit is contained in:
ackimixs
2024-04-03 17:23:29 +02:00
parent 3b513fe657
commit c2b1bc6d49
2 changed files with 6 additions and 6 deletions
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4
aruco/ArucoDetector.cpp
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@@ -23,7 +23,7 @@ ArucoDetector::ArucoDetector(Type::RobotPose* pose, const std::string& calibrati
this->cam = new lccv::PiCamera;
cam->options->video_width=1920;
cam->options->video_height=1080;
cam->options->framerate=10;
cam->options->framerate=5;
cam->options->verbose=true;
started = true;
@@ -105,7 +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, this->parameters);
// opencv 4.8
// detector.detectMarkers(frame, markerCorners, markerIds);

8
aruco/ArucoTag.h
View File

@@ -31,9 +31,9 @@ public:
void setFlowerObjectRepresentation()
{
this->objectRepresenation = cv::Mat(4, 1, CV_32FC3);
this->objectRepresenation.ptr<cv::Vec3f>(0)[0] = cv::Vec3f(-19/2.f, 19/2.f, 0);
this->objectRepresenation.ptr<cv::Vec3f>(0)[1] = cv::Vec3f(19/2.f, 19/2.f, 0);
this->objectRepresenation.ptr<cv::Vec3f>(0)[2] = cv::Vec3f(18.7f/2.f, -19/2.f, 0);
this->objectRepresenation.ptr<cv::Vec3f>(0)[3] = cv::Vec3f(-18.7f/2.f, -19/2.f, 0);
this->objectRepresenation.ptr<cv::Vec3f>(0)[0] = cv::Vec3f(-19.5/2.f, 20/2.f, 0);
this->objectRepresenation.ptr<cv::Vec3f>(0)[1] = cv::Vec3f(19.5/2.f, 20/2.f, 0);
this->objectRepresenation.ptr<cv::Vec3f>(0)[2] = cv::Vec3f(19f/2.f, -20/2.f, 0);
this->objectRepresenation.ptr<cv::Vec3f>(0)[3] = cv::Vec3f(-19f/2.f, -20/2.f, 0);
}
};