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Charuco calibration + depthai calibration support (#1302)

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* In progress: adding charuco option

* DepthAI: added raw image publishing mode (added support rtabmap's calibration file). Calibration: working charuco board calibration (on opencv 4.5).

* fixed build with Qt<5.14

* Updated calibration options

* Removed depthai flashing delays

* depthai: fixed camera not detected as calibrated in Mono-depth mode. Calibration: added option to scale sampling factor.
This commit is contained in:
matlabbe
2024-06-30 17:11:37 -07:00
committed by GitHub
parent 2fbe31f7cb
commit f5a477f0f4
10 changed files with 1457 additions and 405 deletions
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corelib/src/MarkerDetector.cpp
+9 -2
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@@ -182,7 +182,7 @@ std::map<int, MarkerInfo> MarkerDetector::detect(const cv::Mat & image,
{
if(i==0)
{
*imageWithDetections = image.clone();
*imageWithDetections = cv::Mat(image.size(), subImageWithDetections.type());
}
if(!subImageWithDetections.empty())
{
@@ -363,7 +363,14 @@ std::map<int, MarkerInfo> MarkerDetector::detect(const cv::Mat & image,
if(imageWithDetections)
{
image.copyTo(*imageWithDetections);
if(image.channels()==1)
{
cv::cvtColor(image, *imageWithDetections, cv::COLOR_GRAY2BGR);
}
else
{
image.copyTo(*imageWithDetections);
}
if(!ids.empty())
{
cv::aruco::drawDetectedMarkers(*imageWithDetections, corners, ids);