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Marker detection: Fixing wrong depth used when rgb and depth image sizes cannot be divided exactly one from the the other #1455

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matlabbe
2025-03-09 18:39:38 -07:00
parent a52ae436a3
commit c049b40ce9
1 changed files with 2 additions and 2 deletions
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4
corelib/src/MarkerDetector.cpp
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@@ -226,8 +226,8 @@ std::map<int, MarkerInfo> MarkerDetector::detect(const cv::Mat & image,
float rgbToDepthFactorY = 1.0f;
if(!depth.empty())
{
rgbToDepthFactorX = 1.0f/(model.imageWidth()>0?model.imageWidth()/depth.cols:1);
rgbToDepthFactorY = 1.0f/(model.imageHeight()>0?model.imageHeight()/depth.rows:1);
rgbToDepthFactorX = 1.0f/(model.imageWidth()>0?float(model.imageWidth())/float(depth.cols):1.0f);
rgbToDepthFactorY = 1.0f/(model.imageHeight()>0?float(model.imageHeight())/float(depth.rows):1.0f);
}
else if(markerLength_ == 0)
{