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MarkerDetection: added automatic marker's length estimation when depth image is provided (and when Aruco/MarkerLength is 0).

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matlabbe
2019-02-22 20:01:09 -05:00
parent e635f35cf1
commit d089e95e5a
6 changed files with 111 additions and 12 deletions
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corelib/src/Memory.cpp
+5 -2
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@@ -4604,11 +4604,14 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
static bool warned = false;
if(!warned)
{
UWARN("Detecting markers in multi-camera setup is not yet implemented, detecting only in first camera. This message is only printed once.");
UWARN("Detecting markers in multi-camera setup is not yet implemented, aborting marker detection. This message is only printed once.");
}
warned = true;
}
markers = _markerDetector->detect(data.imageRaw(), data.cameraModels()[0]);
else
{
markers = _markerDetector->detect(data.imageRaw(), data.cameraModels()[0], data.depthRaw());
}
}
else if(data.stereoCameraModel().isValidForProjection())
{