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Make aruco detector deterministic.

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This commit is contained in:
Vincent Rabaud 2024-01-08 14:57:57 +01:00
parent 9691a2dccf
commit bb40237498
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();
// sort candidates from big to small
std::sort(candidateTree.begin(), candidateTree.end());
std::stable_sort(candidateTree.begin(), candidateTree.end());
// group index for each candidate
vector<int> groupId(candidateTree.size(), -1);
vector<vector<size_t> > groupedCandidates;
@ -728,11 +728,11 @@ struct ArucoDetector::ArucoDetectorImpl {
for (vector<size_t>& grouped : groupedCandidates) {
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;
});
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];
isSelectedContours[currId] = true;
for (size_t i = 1ull; i < grouped.size(); i++) {