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#include "ArucoUtils.h"
using namespace Tango::TCC::CardDetector;
Ptr<Dictionary> dictionary;
ArucoUtils::ArucoUtils()
{
dictionary = getPredefinedDictionary(aruco::DICT_4X4_50);
}
ArucoUtils::~ArucoUtils()
{
}
vector<Point> ArucoUtils::getArcusVertices(Mat image)
{
vector<Point> vertices;
vector<int> ids;
vector<vector<Point2f>> corners;
aruco::DetectorParameters* params = new aruco::DetectorParameters();
params->cornerRefinementMethod = aruco::CORNER_REFINE_SUBPIX;
params->perspectiveRemovePixelPerCell = 50;
aruco::detectMarkers(image, dictionary, corners, ids, &(*params));
if (corners.size() == 4)
{
//aruco::drawDetectedMarkers(image, corners, ids);
vertices =
{
Point(0,0),
Point(0,0),
Point(0,0),
Point(0,0)
};
InputArrayOfArrays _corners = corners;
InputArray _ids = ids;
int nMarkers = (int)_corners.total();
for (int i = 0; i < nMarkers; i++) {
Mat currentMarker = _corners.getMat(i);
int id = _ids.getMat().ptr< int >(0)[i] - 1;
switch (id)
{
case 0:
vertices[0] = currentMarker.ptr< Point2f >(0)[0];
break;
case 1:
vertices[1] = currentMarker.ptr< Point2f >(0)[1];
break;
case 2:
vertices[2] = currentMarker.ptr< Point2f >(0)[2];
break;
case 3:
vertices[3] = currentMarker.ptr< Point2f >(0)[3];
break;
}
}
}
return vertices;
}
Mat ArucoUtils::applyHomography(Mat image, vector<cv::Point> vertices, Size destination_size)
{
Mat im_dst = Mat::zeros(destination_size, CV_8UC3);
vector<Point2f> pts_dst;
pts_dst.push_back(Point2f(0, 0));
pts_dst.push_back(Point2f(destination_size.width - 1, 0));
pts_dst.push_back(Point2f(destination_size.width - 1, destination_size.height - 1));
pts_dst.push_back(Point2f(0, destination_size.height - 1));
Mat tform = findHomography(vertices, pts_dst);
warpPerspective(image, im_dst, tform, destination_size);
return im_dst;
}
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