fixed merge conflict with 'marker-rot-fix'

ident_7x7.cpp

@@ -55,17 +55,20 @@ bool Identificator7x7::readMarkerCode(const cv::Mat &area, Marker &marker) {
     }
 
     // check marker code for all possible 4 rotations
+//    printf("---\n");
     for (int rot = 0; rot < 4; rot++) {
     	if (checkMarkerCode(bitMatrix)) { // found a valid marker code!
             // set the id and rotate the corner points
             int id = markerCodeToId(bitMatrix);
             marker.setId(id);
-
+            marker.rotatePoints(rot);
+
             return true;
     	}
 
         Tools::matRot90CW(bitMatrix);   // rotate the matrix
     }
+//    printf("---\n");
 
     return false;
 }

ident_templ.cpp

@@ -71,6 +71,7 @@ bool IdentificatorTemplMatch::readMarkerCode(const cv::Mat &area, Marker &marker
         int validRot;
         if (checkTemplateRotations(areaContent, it->second, &validRot)) {  // found a matching template!
             marker.setId(it->first);
+            marker.rotatePoints(validRot);
             return true;
         }
     }

marker.cpp

@@ -60,34 +60,8 @@ Marker::~Marker() {
     if (tVecHist) delete [] tVecHist;
 }
 
-void Marker::mapPoints(const ocv_ar::Marker &otherMrk) {
-    Point2fVec otherPts = otherMrk.getPoints();
-
-    int rotBy = 0;
-
-    // find the rotation the rotation that yields minimum average distance
-    // between the vertex points of this marker and <otherMrk>
-    float minAvgDist = numeric_limits<float>::max();
-    for (int rot = 0; rot < 4; ++rot) { // for each possible rotation
-        float avgDist = 0.0f;
-        for (int p = 0; p < 4; ++p) {   // for each vertex point
-            // calculate squared distance to the (rotated) other vertex
-            avgDist += Tools::distSquared(points[p], otherPts[(p + rot) % 4]);
-        }
-
-        avgDist /= 4;
-
-        if (avgDist < minAvgDist) {
-            minAvgDist = avgDist;
-            rotBy = rot;
-        }
-    }
-
-    // rotate our points to match the vertex order of <otherMrk>
-    if (rotBy > 0) {
-//        printf("ocv_ar::Marker %d - rotating vertices by %d with min. avg. dist. %f\n", id, rotBy, minAvgDist);
-        rotatePoints(rotBy);
-    }
+void Marker::rotatePoints(int rot) {
+	rotate(points.begin(), points.begin() + rot + 1, points.end());
 }
 
 void Marker::updateDetectionTime() {
@@ -170,10 +144,6 @@ void Marker::init() {
     updateDetectionTime();  // set to now
 }
 
-void Marker::rotatePoints(int rot) {
-	rotate(points.begin(), points.begin() + 4 - rot, points.end());
-}
-
 void Marker::sortPoints() {
 	// Sort the points in anti-clockwise order
 	cv::Point v1 = points[1] - points[0];

marker.h

@@ -82,12 +82,6 @@ class Marker {
      */
     Point2fVec getPoints() const { return points; }
 
-    /**
-     * Rotate the vertices (the points vector) so that this marker's points
-     * match up with <otherMrk>'s vertex points.
-     */
-    void mapPoints(const Marker &otherMrk);
-
     /**
      * Set the points in <pVec>.
      */
@@ -103,6 +97,11 @@ class Marker {
      */
     void clearPoints() { points.clear(); }
 
+    /**
+     * Rotate the corner points in the vector <rot> times.
+     */
+    void rotatePoints(int rot);
+
     /**
      * Return the controid calculated from the corner points.
      */
@@ -152,11 +151,6 @@ class Marker {
      */
     void sortPoints();
 
-    /**
-     * Rotate the corner points in the vector <rot> times.
-     */
-    void rotatePoints(int rot);
-
     /**
      * Calculate the shape properties from the corner points like centroid
      * and perimeter radius.

track.cpp

@@ -31,9 +31,6 @@ void Track::detect(const cv::Mat *frame) {
 
     lockMarkers();  // lock markers map
 
-    // correct the vertices of the found markers
-    correctMarkerVertexOrder(detector->getMarkers());
-
     // estimate the markers' 3D poses
     detector->estimateMarkersPoses();
 
@@ -127,33 +124,3 @@ void Track::update() {
 
     unlockMarkers();    // unlock markers map
 }
-
-#pragma mark private methods
-
-void Track::correctMarkerVertexOrder(std::vector<Marker *> newMarkers) {
-    // map the vertex order of currently found markers to previously found
-    // markers. this prevents the vertex order from jumping around and
-    // therefore changing the rotation vector of the markers
-
-    // note that lockMarkers() needs to be called before!
-
-    for (MarkerMap::const_iterator it = markers.begin();
-         it != markers.end();
-         ++it)
-    {
-        int existingMrkId = it->first;
-
-        // try to find a matching marker in the "new markers" vector
-        for (vector<Marker *>::iterator newMrkIt = newMarkers.begin();
-             newMrkIt != newMarkers.end();
-             ++newMrkIt)
-        {
-            Marker *newMrk = *newMrkIt;
-            if (existingMrkId == newMrk->getId()) { // we found a matching marker
-                // update the new marker so that the order of vertices matches to
-                // the existing marker
-                newMrk->mapPoints(it->second);
-            }
-        }
-    }
-}

track.h

@@ -77,14 +77,6 @@ class Track {
     const MarkerMap *getMarkers() const { return &markers; }
 
 private:
-    /**
-     * Correct the marker vertex order of the markers in <newMarkers> by mapping
-     * their corner points to already existing markers. This is important to
-     * have a stable marker vertex point order.
-     */
-    void correctMarkerVertexOrder(std::vector<Marker *> newMarkers);
-
-
     std::vector<Marker> newMarkers; // vector that holds Marker objects from the
                                     // last time when detect() was called
     bool newMarkersFresh;   // is true if detect() was called before and is set