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4.6

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This commit is contained in:
ackimixs
2024-01-24 16:12:44 +01:00
parent a3b9ae3c06
commit d83ccff03d
3 changed files with 20 additions and 16 deletions
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26
aruco/ArucoDetector.cpp
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@@ -3,12 +3,12 @@
ArucoDetector::ArucoDetector(const Type::RobotPose& pose, const std::string& calibrationPath, const Team team, const int cameraId, const bool headless) : robotPose(pose), headless(headless), team(team)
{
// opencv 4.8
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->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();
// 4.6
// this->dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_4X4_50);
this->dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_4X4_50);
this->transformationMatrix = (cv::Mat_<double>(4, 4) <<
@@ -73,11 +73,6 @@ void ArucoDetector::addArucoTag(const ArucoTag& tag)
std::pair<int, std::vector<std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>>> ArucoDetector::detectArucoTags(std::vector<ArucoTag> tags)
{
if (tags.empty())
{
tags = this->arucoTags;
}
if (!started)
{
std::pair<int, std::vector<std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>>> result;
@@ -85,6 +80,11 @@ std::pair<int, std::vector<std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>>> Ar
return result;
}
if (tags.empty())
{
tags = this->arucoTags;
}
cv::Mat frame;
cap >> frame; // Capture frame from the camera
@@ -102,10 +102,10 @@ 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);
// opencv 4.8
detector.detectMarkers(frame, markerCorners, markerIds);
// detector.detectMarkers(frame, markerCorners, markerIds);
if (!markerIds.empty())
{
@@ -208,6 +208,10 @@ void ArucoDetector::solarPanelDetector(const ArucoTag& tag, cv::Mat translationM
{
std::cout << "Yellow side" << std::endl;
}
else
{
std::cout << "Mid" << std::endl;
}
// BLUE => 90, YELLOW => -90
}

8
aruco/ArucoDetector.h
View File

@@ -14,12 +14,12 @@ class ArucoDetector {
cv::VideoCapture cap;
// 4.6
// cv::Ptr<cv::aruco::Dictionary> dictionary;
cv::Ptr<cv::aruco::Dictionary> dictionary;
// 4.8
cv::aruco::Dictionary dictionary;
cv::aruco::DetectorParameters parameters;
cv::aruco::ArucoDetector detector;
// cv::aruco::Dictionary dictionary;
// cv::aruco::DetectorParameters parameters;
// cv::aruco::ArucoDetector detector;
bool headless;

2
arucoDetector.cpp
View File

@@ -64,7 +64,7 @@ int main(int argc, char *argv[])
auto solarPanel = ArucoTag(47, "Solar panel", 50, SOLAR_PANEL);
while (true) {
const auto [code, res] = detector.detectArucoTags({solarPanel});
const auto [code, res] = detector.detectArucoTags({whiteFlower, purpleFlower, solarPanel});
if (code == -2)
{