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Merge pull request #24354 from asmorkalov:as/charuco_ub

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Removed invalid reference usage in charuco detector
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Alexander Smorkalov 2023-10-03 17:45:42 +03:00 committed by GitHub
commit 6bcf3d4311
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1 changed files with 4 additions and 5 deletions
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9
modules/objdetect/src/aruco/charuco_detector.cpp
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@ -27,13 +27,12 @@ struct CharucoDetector::CharucoDetectorImpl {
bool checkBoard(InputArrayOfArrays markerCorners, InputArray markerIds, InputArray charucoCorners, InputArray charucoIds) {
vector<Mat> mCorners;
markerCorners.getMatVector(mCorners);
const Mat& mIds = markerIds.getMat();
const Mat& chCorners = charucoCorners.getMat();
const Mat& chIds = charucoIds.getMat();
const Mat mIds = markerIds.getMat();
const Mat chCorners = charucoCorners.getMat();
const Mat chIds = charucoIds.getMat();
const vector<int>& boardIds = board.getIds();
const vector<vector<int> >& nearestMarkerIdx = board.getNearestMarkerIdx();
const vector<vector<int> > nearestMarkerIdx = board.getNearestMarkerIdx();
vector<Point2f> distance(board.getNearestMarkerIdx().size(), Point2f(0.f, std::numeric_limits<float>::max()));
// distance[i].x: max distance from the i-th charuco corner to charuco corner-forming markers.
// The two charuco corner-forming markers of i-th charuco corner are defined in getNearestMarkerIdx()[i]