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体验新版 GitCode,发现更多精彩内容 >>
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b0aace31
编写于
2月 05, 2023
作者:
K
keith siilats
提交者:
GitHub
2月 05, 2023
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差异文件
Update charuco_detector.cpp
Delete the debug print statements accidentally left in
上级
9eb78eeb
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modules/objdetect/src/aruco/charuco_detector.cpp
modules/objdetect/src/aruco/charuco_detector.cpp
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未找到文件。
modules/objdetect/src/aruco/charuco_detector.cpp
浏览文件 @
b0aace31
...
...
@@ -129,25 +129,25 @@ struct CharucoDetector::CharucoDetectorImpl {
// approximated pose estimation using marker corners
Mat
approximatedRvec
,
approximatedTvec
;
Mat
objPoints
,
imgPoints
;
// object and image points for the solvePnP function
printf
(
"before board.matchImagePoints(markerCorners, markerIds, objPoints, imgPoints);
\n
"
);
//
printf("before board.matchImagePoints(markerCorners, markerIds, objPoints, imgPoints);\n");
board
.
matchImagePoints
(
markerCorners
,
markerIds
,
objPoints
,
imgPoints
);
printf
(
"after board.matchImagePoints(markerCorners, markerIds, objPoints, imgPoints);
\n
"
);
//
printf("after board.matchImagePoints(markerCorners, markerIds, objPoints, imgPoints);\n");
if
(
objPoints
.
total
()
<
4ull
)
// need, at least, 4 corners
return
;
solvePnP
(
objPoints
,
imgPoints
,
charucoParameters
.
cameraMatrix
,
charucoParameters
.
distCoeffs
,
approximatedRvec
,
approximatedTvec
);
printf
(
"after solvePnP
\n
"
);
//
printf("after solvePnP\n");
// project chessboard corners
vector
<
Point2f
>
allChessboardImgPoints
;
projectPoints
(
board
.
getChessboardCorners
(),
approximatedRvec
,
approximatedTvec
,
charucoParameters
.
cameraMatrix
,
charucoParameters
.
distCoeffs
,
allChessboardImgPoints
);
printf
(
"after projectPoints
\n
"
);
//
printf("after projectPoints\n");
// calculate maximum window sizes for subpixel refinement. The size is limited by the distance
// to the closes marker corner to avoid erroneous displacements to marker corners
vector
<
Size
>
subPixWinSizes
=
getMaximumSubPixWindowSizes
(
markerCorners
,
markerIds
,
allChessboardImgPoints
);
// filter corners outside the image and subpixel-refine charuco corners
printf
(
"before selectAndRefineChessboardCorners
\n
"
);
//
printf("before selectAndRefineChessboardCorners\n");
selectAndRefineChessboardCorners
(
allChessboardImgPoints
,
image
,
charucoCorners
,
charucoIds
,
subPixWinSizes
);
}
...
...
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