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Update charuco_detector.cpp

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Delete the debug print statements accidentally left in
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keith siilats 2023-02-05 19:39:25 -05:00 committed by GitHub
parent 9eb78eeb18
commit b0aace31ec
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1 changed files with 5 additions and 5 deletions
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10
modules/objdetect/src/aruco/charuco_detector.cpp
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@ -129,25 +129,25 @@ struct CharucoDetector::CharucoDetectorImpl {
// approximated pose estimation using marker corners
Mat approximatedRvec, approximatedTvec;
Mat objPoints, imgPoints; // object and image points for the solvePnP function
printf("before board.matchImagePoints(markerCorners, markerIds, objPoints, imgPoints);\n");
// printf("before board.matchImagePoints(markerCorners, markerIds, objPoints, imgPoints);\n");
board.matchImagePoints(markerCorners, markerIds, objPoints, imgPoints);
printf("after board.matchImagePoints(markerCorners, markerIds, objPoints, imgPoints);\n");
// printf("after board.matchImagePoints(markerCorners, markerIds, objPoints, imgPoints);\n");
if (objPoints.total() < 4ull) // need, at least, 4 corners
return;
solvePnP(objPoints, imgPoints, charucoParameters.cameraMatrix, charucoParameters.distCoeffs, approximatedRvec, approximatedTvec);
printf("after solvePnP\n");
// printf("after solvePnP\n");
// project chessboard corners
vector<Point2f> allChessboardImgPoints;
projectPoints(board.getChessboardCorners(), approximatedRvec, approximatedTvec, charucoParameters.cameraMatrix,
charucoParameters.distCoeffs, allChessboardImgPoints);
printf("after projectPoints\n");
// printf("after projectPoints\n");
// calculate maximum window sizes for subpixel refinement. The size is limited by the distance
// to the closes marker corner to avoid erroneous displacements to marker corners
vector<Size> subPixWinSizes = getMaximumSubPixWindowSizes(markerCorners, markerIds, allChessboardImgPoints);
// filter corners outside the image and subpixel-refine charuco corners
printf("before selectAndRefineChessboardCorners\n");
// printf("before selectAndRefineChessboardCorners\n");
selectAndRefineChessboardCorners(allChessboardImgPoints, image, charucoCorners, charucoIds, subPixWinSizes);
}