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update for 4.6

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This commit is contained in:
ackimixs
2024-01-19 13:03:01 +01:00
parent a1975fc750
commit c64a19fa74
2 changed files with 4 additions and 4 deletions
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4
utils/ArucoDetector.cpp
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@@ -4,7 +4,7 @@ ArucoDetector::ArucoDetector(const Type::RobotPose& pose, const std::string& cal
{
// this->detector = cv::aruco::ArucoDetector(getPredefinedDictionary(cv::aruco::DICT_4X4_50), cv::aruco::DetectorParameters());
this->dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_4X4_50);
this->parameters = cv::aruco::DetectorParameters();
// this->parameters = cv::aruco::DetectorParameters();
this->transformationMatrix = (cv::Mat_<double>(4, 4) <<
cos(pose.theta), 0, sin(pose.theta), pose.position.x,
@@ -82,7 +82,7 @@ std::pair<int, std::vector<std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>>> Ar
std::vector<int> markerIds;
std::vector<std::vector<cv::Point2f>> markerCorners;
cv::aruco::detectMarkers(frame, &this->dictionary, markerCorners, markerIds, &parameters);
cv::aruco::detectMarkers(frame, this->dictionary, markerCorners, markerIds);
// opencv 4.8
// detector.detectMarkers(frame, markerCorners, markerIds);

4
utils/ArucoDetector.h
View File

@@ -13,8 +13,8 @@ class ArucoDetector {
cv::VideoCapture cap;
cv::aruco::Dictionary dictionary;
cv::aruco::DetectorParameters parameters;
cv::Ptr<cv::aruco::Dictionary> dictionary;
// cv::aruco::DetectorParameters parameters;
// cv::aruco::ArucoDetector detector;
bool headless;