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ovis: force camera extent update to get correct bbox #3735

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Merged
merged 2 commits into from
May 15, 2024
Merged

ovis: force camera extent update to get correct bbox #3735

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1dd5449
ovis: force camera extent update to get correct bbox
paroj May 6, 2024
375be98
ovis: update samples to new aruco API
paroj May 8, 2024
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2 changes: 1 addition & 1 deletion modules/ovis/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,7 @@ ocv_glob_module_sources()
ocv_module_include_directories()
ocv_create_module()

ocv_add_samples(opencv_aruco)
ocv_add_samples(opencv_objdetect opencv_aruco)

ocv_warnings_disable(CMAKE_CXX_FLAGS -Wunused-parameter)
ocv_target_link_libraries(${the_module} ${OGRE_LIBRARIES})
14 changes: 8 additions & 6 deletions modules/ovis/samples/aruco_ar_demo.cpp
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Expand Up @@ -3,7 +3,7 @@
#include <opencv2/videoio.hpp>

#include <opencv2/ovis.hpp>
#include <opencv2/aruco_detector.hpp>
#include <opencv2/aruco.hpp>

#include <iostream>

Expand All @@ -24,10 +24,12 @@ int main()
const double focal_length = 800.0;

// aruco
Ptr<aruco::Dictionary> adict = aruco::getPredefinedDictionary(aruco::DICT_4X4_50);
//Mat out_img;
//aruco::drawMarker(adict, 0, 400, out_img);
//imshow("marker", out_img);
aruco::Dictionary adict = aruco::getPredefinedDictionary(aruco::DICT_4X4_50);

aruco::ArucoDetector detector(adict);
Mat out_img;
adict.generateImageMarker(0, 400, out_img);
imshow("marker", out_img);

// random calibration data, your mileage may vary
Mat1d cm = Mat1d::zeros(3, 3); // init empty matrix
Expand All @@ -53,7 +55,7 @@ int main()
while (ovis::waitKey(1) != KEY_ESCAPE) {
cap.read(img);
win->setBackground(img);
aruco::detectMarkers(img, adict, corners, ids);
detector.detectMarkers(img, corners, ids);

waitKey(1);

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2 changes: 1 addition & 1 deletion modules/ovis/samples/aruco_ar_demo.py
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Expand Up @@ -3,7 +3,7 @@

# aruco
adict = cv.aruco.getPredefinedDictionary(cv.aruco.DICT_4X4_50)
cv.imshow("marker", cv.aruco.drawMarker(adict, 0, 400))
cv.imshow("marker", adict.generateImageMarker(0, 400))

# random calibration data. your mileage may vary.
imsize = (800, 600)
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1 change: 1 addition & 0 deletions modules/ovis/src/ovis.cpp
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Expand Up @@ -588,6 +588,7 @@ class WindowSceneImpl : public WindowScene
cam->setDebugDisplayEnabled(true);
cam->setNearClipDistance(1e-9);
cam->setFarClipDistance(zFar);
cam->getFrustumExtents(); // force update

_setCameraIntrinsics(cam, K, imsize);

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