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authorStanislaw Halik <sthalik@misaki.pl>2015-06-15 07:41:07 +0200
committerStanislaw Halik <sthalik@misaki.pl>2015-06-15 07:41:07 +0200
commit879351cffc896a64513da6b7e076f1cd907f9db8 (patch)
treea83184fca7ecfd16399415d34110f9de407cd768
parent7c4ca9a84a4b68e113bd8cdde09d9b730d657047 (diff)
aruco: check retval of solvepnp and more sanity checks
-rw-r--r--ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp19
1 files changed, 13 insertions, 6 deletions
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
index cf9dc7cb..ca8cea9e 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
@@ -236,8 +236,8 @@ void Tracker::run()
obj_points.at<float>(x4,2)= 0 + s.headpos_z;
std::vector<cv::Point2f> img_points = m;
- cv::solvePnP(obj_points, img_points, intrinsics, dist_coeffs, rvec, tvec, false, cv::SOLVEPNP_DLS);
- cv::solvePnP(obj_points, img_points, intrinsics, dist_coeffs, rvec, tvec, true, cv::SOLVEPNP_ITERATIVE);
+ if (!cv::solvePnP(obj_points, img_points, intrinsics, dist_coeffs, rvec, tvec, false, cv::SOLVEPNP_ITERATIVE))
+ goto fail;
{
std::vector<cv::Point2f> repr2;
@@ -287,11 +287,17 @@ void Tracker::run()
last_roi.x = 0;
if (last_roi.y < 0)
last_roi.y = 0;
-
- if (last_roi.width+1 > color.cols)
+ if (last_roi.width < 0)
+ last_roi.width = 0;
+ if (last_roi.height < 0)
+ last_roi.height = 0;
+ if (last_roi.x >= color.cols-1)
+ last_roi.x = color.cols-1;
+ if (last_roi.width >= color.cols-1)
last_roi.width = color.cols-1;
-
- if (last_roi.height+1 > color.rows)
+ if (last_roi.y >= color.rows-1)
+ last_roi.y= color.rows-1;
+ if (last_roi.height >= color.rows-1)
last_roi.height = color.rows-1;
last_roi.width -= last_roi.x;
@@ -320,6 +326,7 @@ void Tracker::run()
cv::rectangle(frame, last_roi, cv::Scalar(255, 0, 255), 1);
}
else
+fail:
last_roi = cv::Rect(65535, 65535, 0, 0);
if (frame.rows > 0)