Merge pull request #769 from sovrasov:aruco_fix

modules/aruco/src/charuco.cpp

@@ -243,14 +243,14 @@ static unsigned int _filterCornersWithoutMinMarkers(Ptr<CharucoBoard> &_board,
     vector< int > filteredCharucoIds;
     // for each charuco corner
     for(unsigned int i = 0; i < _allCharucoIds.getMat().total(); i++) {
-        int currentCharucoId = _allCharucoIds.getMat().ptr< int >(0)[i];
+        int currentCharucoId = _allCharucoIds.getMat().at< int >(i);
         int totalMarkers = 0; // nomber of closest marker detected
         // look for closest markers
         for(unsigned int m = 0; m < _board->nearestMarkerIdx[currentCharucoId].size(); m++) {
             int markerId = _board->ids[_board->nearestMarkerIdx[currentCharucoId][m]];
             bool found = false;
             for(unsigned int k = 0; k < _allArucoIds.getMat().total(); k++) {
-                if(_allArucoIds.getMat().ptr< int >(0)[k] == markerId) {
+                if(_allArucoIds.getMat().at< int >(k) == markerId) {
                     found = true;
                     break;
                 }
@@ -260,19 +260,19 @@ static unsigned int _filterCornersWithoutMinMarkers(Ptr<CharucoBoard> &_board,
         // if enough markers detected, add the charuco corner to the final list
         if(totalMarkers >= minMarkers) {
             filteredCharucoIds.push_back(currentCharucoId);
-            filteredCharucoCorners.push_back(_allCharucoCorners.getMat().ptr< Point2f >(0)[i]);
+            filteredCharucoCorners.push_back(_allCharucoCorners.getMat().at< Point2f >(i));
         }
     }
 
     // parse output
     _filteredCharucoCorners.create((int)filteredCharucoCorners.size(), 1, CV_32FC2);
     for(unsigned int i = 0; i < filteredCharucoCorners.size(); i++) {
-        _filteredCharucoCorners.getMat().ptr< Point2f >(0)[i] = filteredCharucoCorners[i];
+        _filteredCharucoCorners.getMat().at< Point2f >(i) = filteredCharucoCorners[i];
     }
 
     _filteredCharucoIds.create((int)filteredCharucoIds.size(), 1, CV_32SC1);
     for(unsigned int i = 0; i < filteredCharucoIds.size(); i++) {
-        _filteredCharucoIds.getMat().ptr< int >(0)[i] = filteredCharucoIds[i];
+        _filteredCharucoIds.getMat().at< int >(i) = filteredCharucoIds[i];
     }
 
     return (unsigned int)filteredCharucoCorners.size();
@@ -341,8 +341,8 @@ static unsigned int _selectAndRefineChessboardCorners(InputArray _allCorners, In
     Rect innerRect(minDistToBorder, minDistToBorder, _image.getMat().cols - 2 * minDistToBorder,
                    _image.getMat().rows - 2 * minDistToBorder);
     for(unsigned int i = 0; i < _allCorners.getMat().total(); i++) {
-        if(innerRect.contains(_allCorners.getMat().ptr< Point2f >(0)[i])) {
-            filteredChessboardImgPoints.push_back(_allCorners.getMat().ptr< Point2f >(0)[i]);
+        if(innerRect.contains(_allCorners.getMat().at< Point2f >(i))) {
+            filteredChessboardImgPoints.push_back(_allCorners.getMat().at< Point2f >(i));
             filteredIds.push_back(i);
             filteredWinSizes.push_back(winSizes[i]);
         }
@@ -382,12 +382,12 @@ static unsigned int _selectAndRefineChessboardCorners(InputArray _allCorners, In
     // parse output
     _selectedCorners.create((int)filteredChessboardImgPoints.size(), 1, CV_32FC2);
     for(unsigned int i = 0; i < filteredChessboardImgPoints.size(); i++) {
-        _selectedCorners.getMat().ptr< Point2f >(0)[i] = filteredChessboardImgPoints[i];
+        _selectedCorners.getMat().at< Point2f >(i) = filteredChessboardImgPoints[i];
     }
 
     _selectedIds.create((int)filteredIds.size(), 1, CV_32SC1);
     for(unsigned int i = 0; i < filteredIds.size(); i++) {
-        _selectedIds.getMat().ptr< int >(0)[i] = filteredIds[i];
+        _selectedIds.getMat().at< int >(i) = filteredIds[i];
     }
 
     return (unsigned int)filteredChessboardImgPoints.size();
@@ -406,7 +406,7 @@ static void _getMaximumSubPixWindowSizes(InputArrayOfArrays markerCorners, Input
     sizes.resize(nCharucoCorners, Size(-1, -1));
 
     for(unsigned int i = 0; i < nCharucoCorners; i++) {
-        if(charucoCorners.getMat().ptr< Point2f >(0)[i] == Point2f(-1, -1)) continue;
+        if(charucoCorners.getMat().at< Point2f >(i) == Point2f(-1, -1)) continue;
         if(board->nearestMarkerIdx[i].size() == 0) continue;
 
         double minDist = -1;
@@ -418,15 +418,15 @@ static void _getMaximumSubPixWindowSizes(InputArrayOfArrays markerCorners, Input
             int markerId = board->ids[board->nearestMarkerIdx[i][j]];
             int markerIdx = -1;
             for(unsigned int k = 0; k < markerIds.getMat().total(); k++) {
-                if(markerIds.getMat().ptr< int >(0)[k] == markerId) {
+                if(markerIds.getMat().at< int >(k) == markerId) {
                     markerIdx = k;
                     break;
                 }
             }
             if(markerIdx == -1) continue;
             Point2f markerCorner =
-                markerCorners.getMat(markerIdx).ptr< Point2f >(0)[board->nearestMarkerCorners[i][j]];
-            Point2f charucoCorner = charucoCorners.getMat().ptr< Point2f >(0)[i];
+                markerCorners.getMat(markerIdx).at< Point2f >(board->nearestMarkerCorners[i][j]);
+            Point2f charucoCorner = charucoCorners.getMat().at< Point2f >(i);
             double dist = norm(markerCorner - charucoCorner);
             if(minDist == -1) minDist = dist; // if first distance, just assign it
             minDist = min(dist, minDist);
@@ -519,7 +519,7 @@ static int _interpolateCornersCharucoLocalHom(InputArrayOfArrays _markerCorners,
     transformations.resize(nMarkers);
     for(unsigned int i = 0; i < nMarkers; i++) {
         vector< Point2f > markerObjPoints2D;
-        int markerId = _markerIds.getMat().ptr< int >(0)[i];
+        int markerId = _markerIds.getMat().at< int >(i);
         vector< int >::const_iterator it = find(_board->ids.begin(), _board->ids.end(), markerId);
         if(it == _board->ids.end()) continue;
         int boardIdx = (int)std::distance<std::vector<int>::const_iterator>(_board->ids.begin(), it);
@@ -544,7 +544,7 @@ static int _interpolateCornersCharucoLocalHom(InputArrayOfArrays _markerCorners,
             int markerId = _board->ids[_board->nearestMarkerIdx[i][j]];
             int markerIdx = -1;
             for(unsigned int k = 0; k < _markerIds.getMat().total(); k++) {
-                if(_markerIds.getMat().ptr< int >(0)[k] == markerId) {
+                if(_markerIds.getMat().at< int >(k) == markerId) {
                     markerIdx = k;
                     break;
                 }
@@ -623,14 +623,14 @@ void drawDetectedCornersCharuco(InputOutputArray _image, InputArray _charucoCorn
 
     unsigned int nCorners = (unsigned int)_charucoCorners.getMat().total();
     for(unsigned int i = 0; i < nCorners; i++) {
-        Point2f corner = _charucoCorners.getMat().ptr< Point2f >(0)[i];
+        Point2f corner = _charucoCorners.getMat().at< Point2f >(i);
 
         // draw first corner mark
         rectangle(_image, corner - Point2f(3, 3), corner + Point2f(3, 3), cornerColor, 1, LINE_AA);
 
         // draw ID
         if(_charucoIds.total() != 0) {
-            int id = _charucoIds.getMat().ptr< int >(0)[i];
+            int id = _charucoIds.getMat().at< int >(i);
             stringstream s;
             s << "id=" << id;
             putText(_image, s.str(), corner + Point2f(5, -5), FONT_HERSHEY_SIMPLEX, 0.5,
@@ -692,7 +692,7 @@ bool estimatePoseCharucoBoard(InputArray _charucoCorners, InputArray _charucoIds
     vector< Point3f > objPoints;
     objPoints.reserve(_charucoIds.getMat().total());
     for(unsigned int i = 0; i < _charucoIds.getMat().total(); i++) {
-        int currId = _charucoIds.getMat().ptr< int >(0)[i];
+        int currId = _charucoIds.getMat().at< int >(i);
         CV_Assert(currId >= 0 && currId < (int)_board->chessboardCorners.size());
         objPoints.push_back(_board->chessboardCorners[currId]);
     }
@@ -730,7 +730,7 @@ double calibrateCameraCharuco(InputArrayOfArrays _charucoCorners, InputArrayOfAr
         allObjPoints[i].reserve(nCorners);
 
         for(unsigned int j = 0; j < nCorners; j++) {
-            int pointId = _charucoIds.getMat(i).ptr< int >(0)[j];
+            int pointId = _charucoIds.getMat(i).at< int >(j);
             CV_Assert(pointId >= 0 && pointId < (int)_board->chessboardCorners.size());
             allObjPoints[i].push_back(_board->chessboardCorners[pointId]);
         }
@@ -793,16 +793,13 @@ void detectCharucoDiamond(InputArray _image, InputArrayOfArrays _markerCorners,
         float perimeterSq = 0;
         Mat corners = _markerCorners.getMat(i);
         for(int c = 0; c < 4; c++) {
-            perimeterSq +=
-                (corners.ptr< Point2f >()[c].x - corners.ptr< Point2f >()[(c + 1) % 4].x) *
-                    (corners.ptr< Point2f >()[c].x - corners.ptr< Point2f >()[(c + 1) % 4].x) +
-                (corners.ptr< Point2f >()[c].y - corners.ptr< Point2f >()[(c + 1) % 4].y) *
-                    (corners.ptr< Point2f >()[c].y - corners.ptr< Point2f >()[(c + 1) % 4].y);
+          Point2f edge = corners.at< Point2f >(c) - corners.at< Point2f >((c + 1) % 4);
+          perimeterSq += edge.x*edge.x + edge.y*edge.y;
         }
         // maximum reprojection error relative to perimeter
         float minRepDistance = perimeterSq * minRepDistanceRate * minRepDistanceRate;
 
-        int currentId = _markerIds.getMat().ptr< int >()[i];
+        int currentId = _markerIds.getMat().at< int >(i);
 
         // prepare data to call refineDetectedMarkers()
         // detected markers (only the current one)
@@ -848,7 +845,7 @@ void detectCharucoDiamond(InputArray _image, InputArrayOfArrays _markerCorners,
             markerId[0] = currentId;
             for(int k = 1; k < 4; k++) {
                 int currentMarkerIdx = candidatesIdxs[acceptedIdxs[k - 1]];
-                markerId[k] = _markerIds.getMat().ptr< int >()[currentMarkerIdx];
+                markerId[k] = _markerIds.getMat().at< int >(currentMarkerIdx);
                 assigned[currentMarkerIdx] = true;
             }
 
@@ -880,13 +877,13 @@ void detectCharucoDiamond(InputArray _image, InputArrayOfArrays _markerCorners,
         // parse output
         _diamondIds.create((int)diamondIds.size(), 1, CV_32SC4);
         for(unsigned int i = 0; i < diamondIds.size(); i++)
-            _diamondIds.getMat().ptr< Vec4i >(0)[i] = diamondIds[i];
+            _diamondIds.getMat().at< Vec4i >(i) = diamondIds[i];
 
         _diamondCorners.create((int)diamondCorners.size(), 1, CV_32FC2);
         for(unsigned int i = 0; i < diamondCorners.size(); i++) {
             _diamondCorners.create(4, 1, CV_32FC2, i, true);
             for(int j = 0; j < 4; j++) {
-                _diamondCorners.getMat(i).ptr< Point2f >()[j] = diamondCorners[i][j];
+                _diamondCorners.getMat(i).at< Point2f >(j) = diamondCorners[i][j];
             }
         }
     }
@@ -940,23 +937,23 @@ void drawDetectedDiamonds(InputOutputArray _image, InputArrayOfArrays _corners,
         // draw marker sides
         for(int j = 0; j < 4; j++) {
             Point2f p0, p1;
-            p0 = currentMarker.ptr< Point2f >(0)[j];
-            p1 = currentMarker.ptr< Point2f >(0)[(j + 1) % 4];
+            p0 = currentMarker.at< Point2f >(j);
+            p1 = currentMarker.at< Point2f >((j + 1) % 4);
             line(_image, p0, p1, borderColor, 1);
         }
 
         // draw first corner mark
-        rectangle(_image, currentMarker.ptr< Point2f >(0)[0] - Point2f(3, 3),
-                  currentMarker.ptr< Point2f >(0)[0] + Point2f(3, 3), cornerColor, 1, LINE_AA);
+        rectangle(_image, currentMarker.at< Point2f >(0) - Point2f(3, 3),
+                  currentMarker.at< Point2f >(0) + Point2f(3, 3), cornerColor, 1, LINE_AA);
 
         // draw id composed by four numbers
         if(_ids.total() != 0) {
             Point2f cent(0, 0);
             for(int p = 0; p < 4; p++)
-                cent += currentMarker.ptr< Point2f >(0)[p];
+                cent += currentMarker.at< Point2f >(p);
             cent = cent / 4.;
             stringstream s;
-            s << "id=" << _ids.getMat().ptr< Vec4i >(0)[i];
+            s << "id=" << _ids.getMat().at< Vec4i >(i);
             putText(_image, s.str(), cent, FONT_HERSHEY_SIMPLEX, 0.5, textColor, 2);
         }
     }