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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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6
guilib/src/MainWindow.cpp
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@@ -2656,7 +2656,7 @@ void MainWindow::updateMapCloud(
for(std::map<int, Transform>::const_iterator iter=posesIn.begin(); iter!=posesIn.end() && iter->first<0; ++iter)
{
#if PCL_VERSION_COMPARE(>=, 1, 7, 2)
_cloudViewer->addOrUpdateCoordinate(uFormat("landmark_%d", -iter->first), iter->second, _preferencesDialog->getMarkerLength()/2.0, false);
_cloudViewer->addOrUpdateCoordinate(uFormat("landmark_%d", -iter->first), iter->second, _preferencesDialog->getMarkerLength()<=0?0.1:_preferencesDialog->getMarkerLength()/2.0, false);
#endif
if(_preferencesDialog->isLabelsShown())
{
@@ -4361,11 +4361,11 @@ void MainWindow::drawLandmarks(cv::Mat & image, const Signature & signature)
t.rotationMatrix().convertTo(R, CV_64F);
cv::Rodrigues(R, rvec);
//cv::aruco::drawAxis(image, model.K(), model.D(), rvec, tvec, _preferencesDialog->getMarkerLength() * 0.5f);
//cv::aruco::drawAxis(image, model.K(), model.D(), rvec, tvec, _preferencesDialog->getMarkerLength()<=0?0.1:_preferencesDialog->getMarkerLength() * 0.5f);
// project axis points
std::vector< cv::Point3f > axisPoints;
float length = _preferencesDialog->getMarkerLength() * 0.5f;
float length = _preferencesDialog->getMarkerLength()<=0?0.1:_preferencesDialog->getMarkerLength() * 0.5f;
axisPoints.push_back(cv::Point3f(0, 0, 0));
axisPoints.push_back(cv::Point3f(length, 0, 0));
axisPoints.push_back(cv::Point3f(0, length, 0));