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Merge pull request #24829 from vrabaud:aruco_fix

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Make aruco detector deterministic.
This commit is contained in:
Alexander Smorkalov 2024-01-09 15:48:13 +03:00 committed by GitHub
commit 26c44aa7c6
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1 changed files with 3 additions and 3 deletions
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6
modules/objdetect/src/aruco/aruco_detector.cpp
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@ -684,7 +684,7 @@ struct ArucoDetector::ArucoDetectorImpl {
contours.clear(); contours.clear();
// sort candidates from big to small // sort candidates from big to small
std::sort(candidateTree.begin(), candidateTree.end()); std::stable_sort(candidateTree.begin(), candidateTree.end());
// group index for each candidate // group index for each candidate
vector<int> groupId(candidateTree.size(), -1); vector<int> groupId(candidateTree.size(), -1);
vector<vector<size_t> > groupedCandidates; vector<vector<size_t> > groupedCandidates;
@ -728,11 +728,11 @@ struct ArucoDetector::ArucoDetectorImpl {
for (vector<size_t>& grouped : groupedCandidates) { for (vector<size_t>& grouped : groupedCandidates) {
if (detectorParams.detectInvertedMarker) // if detectInvertedMarker choose smallest contours if (detectorParams.detectInvertedMarker) // if detectInvertedMarker choose smallest contours
std::sort(grouped.begin(), grouped.end(), [](const size_t &a, const size_t &b) { std::stable_sort(grouped.begin(), grouped.end(), [](const size_t &a, const size_t &b) {
return a > b; return a > b;
}); });
else // if detectInvertedMarker==false choose largest contours else // if detectInvertedMarker==false choose largest contours
std::sort(grouped.begin(), grouped.end()); std::stable_sort(grouped.begin(), grouped.end());
size_t currId = grouped[0]; size_t currId = grouped[0];
isSelectedContours[currId] = true; isSelectedContours[currId] = true;
for (size_t i = 1ull; i < grouped.size(); i++) { for (size_t i = 1ull; i < grouped.size(); i++) {