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This commit is contained in:
Oleg Kalachev
2019-03-02 23:51:25 +03:00
parent 2b82516a97
commit 23516b0fc1
1 changed files with 53 additions and 53 deletions
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106
aruco_pose/src/draw.cpp
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@@ -7,68 +7,68 @@ using namespace cv;
using namespace cv::aruco;
void _drawPlanarBoard(Board *_board, Size outSize, OutputArray _img, int marginSize,
int borderBits) {
int borderBits) {
CV_Assert(outSize.area() > 0);
CV_Assert(marginSize >= 0);
CV_Assert(outSize.area() > 0);
CV_Assert(marginSize >= 0);
_img.create(outSize, CV_8UC1);
Mat out = _img.getMat();
out.setTo(Scalar::all(255));
out.adjustROI(-marginSize, -marginSize, -marginSize, -marginSize);
_img.create(outSize, CV_8UC1);
Mat out = _img.getMat();
out.setTo(Scalar::all(255));
out.adjustROI(-marginSize, -marginSize, -marginSize, -marginSize);
// calculate max and min values in XY plane
CV_Assert(_board->objPoints.size() > 0);
float minX, maxX, minY, maxY;
minX = maxX = _board->objPoints[0][0].x;
minY = maxY = _board->objPoints[0][0].y;
// calculate max and min values in XY plane
CV_Assert(_board->objPoints.size() > 0);
float minX, maxX, minY, maxY;
minX = maxX = _board->objPoints[0][0].x;
minY = maxY = _board->objPoints[0][0].y;
for(unsigned int i = 0; i < _board->objPoints.size(); i++) {
for(int j = 0; j < 4; j++) {
minX = min(minX, _board->objPoints[i][j].x);
maxX = max(maxX, _board->objPoints[i][j].x);
minY = min(minY, _board->objPoints[i][j].y);
maxY = max(maxY, _board->objPoints[i][j].y);
}
}
for(unsigned int i = 0; i < _board->objPoints.size(); i++) {
for(int j = 0; j < 4; j++) {
minX = min(minX, _board->objPoints[i][j].x);
maxX = max(maxX, _board->objPoints[i][j].x);
minY = min(minY, _board->objPoints[i][j].y);
maxY = max(maxY, _board->objPoints[i][j].y);
}
}
float sizeX = maxX - minX;
float sizeY = maxY - minY;
float sizeX = maxX - minX;
float sizeY = maxY - minY;
// proportion transformations
float xReduction = sizeX / float(out.cols);
float yReduction = sizeY / float(out.rows);
// proportion transformations
float xReduction = sizeX / float(out.cols);
float yReduction = sizeY / float(out.rows);
// determine the zone where the markers are placed
if(xReduction > yReduction) {
int nRows = int(sizeY / xReduction);
int rowsMargins = (out.rows - nRows) / 2;
out.adjustROI(-rowsMargins, -rowsMargins, 0, 0);
} else {
int nCols = int(sizeX / yReduction);
int colsMargins = (out.cols - nCols) / 2;
out.adjustROI(0, 0, -colsMargins, -colsMargins);
}
// determine the zone where the markers are placed
if(xReduction > yReduction) {
int nRows = int(sizeY / xReduction);
int rowsMargins = (out.rows - nRows) / 2;
out.adjustROI(-rowsMargins, -rowsMargins, 0, 0);
} else {
int nCols = int(sizeX / yReduction);
int colsMargins = (out.cols - nCols) / 2;
out.adjustROI(0, 0, -colsMargins, -colsMargins);
}
// now paint each marker
Dictionary &dictionary = *(_board->dictionary);
Mat marker;
Point2f outCorners[3];
Point2f inCorners[3];
for(unsigned int m = 0; m < _board->objPoints.size(); m++) {
// transform corners to markerZone coordinates
for(int j = 0; j < 3; j++) {
Point2f pf = Point2f(_board->objPoints[m][j].x, _board->objPoints[m][j].y);
// move top left to 0, 0
pf -= Point2f(minX, minY);
pf.x = pf.x / sizeX * float(out.cols);
pf.y = (1.0f - pf.y / sizeY) * float(out.rows);
outCorners[j] = pf;
}
// now paint each marker
Dictionary &dictionary = *(_board->dictionary);
Mat marker;
Point2f outCorners[3];
Point2f inCorners[3];
for(unsigned int m = 0; m < _board->objPoints.size(); m++) {
// transform corners to markerZone coordinates
for(int j = 0; j < 3; j++) {
Point2f pf = Point2f(_board->objPoints[m][j].x, _board->objPoints[m][j].y);
// move top left to 0, 0
pf -= Point2f(minX, minY);
pf.x = pf.x / sizeX * float(out.cols);
pf.y = (1.0f - pf.y / sizeY) * float(out.rows);
outCorners[j] = pf;
}
// get marker
Size dst_sz(outCorners[2] - outCorners[0]); // assuming CCW order
// dst_sz.width = dst_sz.height = std::min(dst_sz.width, dst_sz.height); //marker should be square
// get marker
Size dst_sz(outCorners[2] - outCorners[0]); // assuming CCW order
// dst_sz.width = dst_sz.height = std::min(dst_sz.width, dst_sz.height); //marker should be square
double diag = std::round(std::hypot(dst_sz.width, dst_sz.height));
int side = std::round(diag / std::sqrt(2));