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add aruco member funs

This commit is contained in:
jario-jin 2023-12-15 22:13:32 +08:00
parent dd3216e19e
commit c74319529c
4 changed files with 17 additions and 0 deletions
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6
algorithm/sv_algorithm_base.cpp
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@ -80,6 +80,12 @@ ArucoDetector::ArucoDetector()
}
void ArucoDetector::getIdsWithLengths(std::vector<int>& ids_, std::vector<double>& lengths_)
{
ids_ = this->_ids_need;
lengths_ = this->_lengths_need;
}
void ArucoDetector::_load()
{
JsonValue all_value;

1
include/sv_algorithm_base.h
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@ -46,6 +46,7 @@ class ArucoDetector : public CameraAlgorithm
public:
ArucoDetector();
void detect(cv::Mat img_, TargetsInFrame& tgts_);
void getIdsWithLengths(std::vector<int>& ids_, std::vector<double>& lengths_);
private:
void _load();
bool _params_loaded;

1
include/sv_video_base.h
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@ -128,6 +128,7 @@ public:
bool getBox(Box& b);
bool getAruco(int& id, std::vector<cv::Point2f> &corners);
bool getAruco(int& id, std::vector<cv::Point2f> &corners, cv::Vec3d &rvecs, cv::Vec3d &tvecs);
bool getEllipse(double& xc_, double& yc_, double& a_, double& b_, double& rad_);
std::string getJsonStr();

9
video_io/sv_video_base.cpp
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@ -588,6 +588,15 @@ bool Target::getAruco(int& id, std::vector<cv::Point2f> &corners)
return this->has_aruco;
}
bool Target::getAruco(int& id, std::vector<cv::Point2f> &corners, cv::Vec3d &rvecs, cv::Vec3d &tvecs)
{
id = this->_a_id;
corners = this->_a_corners;
rvecs = this->_a_rvecs;
tvecs = this->_a_tvecs;
return this->has_aruco;
}
bool Target::getBox(Box& b)
{
b = this->_b_box;