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implement multi camera marker detection #898 (#899)

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* Added multicamera marker detection support

* Fixed marker detection on camera index> 0

Co-authored-by: mathieu86 <mathieu@robust.ai>
This commit is contained in:
matlabbe
2022-09-14 17:13:59 -07:00
committed by GitHub
parent adfb250d4e
commit 4d6bc78e3d
3 changed files with 96 additions and 47 deletions
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22
corelib/include/rtabmap/core/MarkerDetector.h
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@@ -65,16 +65,22 @@ public:
RTABMAP_DEPRECATED(
MapIdPose detect(const cv::Mat & image,
const CameraModel & model,
const cv::Mat & depth = cv::Mat(),
float * estimatedMarkerLength = 0,
cv::Mat * imageWithDetections = 0), "Use the other constructor, in which the returned map contains the length of each marker detected.");
const CameraModel & model,
const cv::Mat & depth = cv::Mat(),
float * estimatedMarkerLength = 0,
cv::Mat * imageWithDetections = 0), "Use the other detect(), in which the returned map contains the length of each marker detected.");
std::map<int, MarkerInfo> detect(const cv::Mat & image,
const CameraModel & model,
const cv::Mat & depth = cv::Mat(),
const std::map<int, float> & markerLengths = std::map<int, float>(),
cv::Mat * imageWithDetections = 0);
const std::vector<CameraModel> & models,
const cv::Mat & depth = cv::Mat(),
const std::map<int, float> & markerLengths = std::map<int, float>(),
cv::Mat * imageWithDetections = 0);
std::map<int, MarkerInfo> detect(const cv::Mat & image,
const CameraModel & model,
const cv::Mat & depth = cv::Mat(),
const std::map<int, float> & markerLengths = std::map<int, float>(),
cv::Mat * imageWithDetections = 0);
private:
#ifdef HAVE_OPENCV_ARUCO