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Merge pull request #26976 from MaximSmolskiy/refactor-ArucoDetector-ArucoDetectorImpl-filterTooCloseCandidates

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Refactor ArucoDetector::ArucoDetectorImpl::filterTooCloseCandidates
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Alexander Smorkalov 2025-03-11 16:10:48 +03:00 committed by GitHub
commit 1f63b986a1
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1 changed files with 8 additions and 4 deletions
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12
modules/objdetect/src/aruco/aruco_detector.cpp
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@ -892,7 +892,6 @@ struct ArucoDetector::ArucoDetectorImpl {
vector<vector<size_t> > groupedCandidates;
vector<bool> isSelectedContours(candidateTree.size(), true);
size_t countSelectedContours = 0ull;
for (size_t i = 0ull; i < candidateTree.size(); i++) {
for (size_t j = i + 1ull; j < candidateTree.size(); j++) {
float minDist = getAverageDistance(candidateTree[i].corners, candidateTree[j].corners);
@ -925,7 +924,12 @@ struct ArucoDetector::ArucoDetectorImpl {
}
}
}
countSelectedContours += isSelectedContours[i];
// group of one candidate
if(isSelectedContours[i]) {
isSelectedContours[i] = false;
groupId[i] = (int)groupedCandidates.size();
groupedCandidates.push_back({i});
}
}
for (vector<size_t>& grouped : groupedCandidates) {
@ -948,8 +952,8 @@ struct ArucoDetector::ArucoDetectorImpl {
}
}
vector<MarkerCandidateTree> selectedCandidates(countSelectedContours + groupedCandidates.size());
countSelectedContours = 0ull;
vector<MarkerCandidateTree> selectedCandidates(groupedCandidates.size());
size_t countSelectedContours = 0ull;
for (size_t i = 0ull; i < candidateTree.size(); i++) {
if (isSelectedContours[i]) {
selectedCandidates[countSelectedContours] = std::move(candidateTree[i]);