/*
* Find Playground in image and calc its Extrinsics
*/
bool PlaygroundDetector::detect(const cv::Mat &image, Playground &playground, Contours &candidateContours, aruco::CameraParameters &cameraParameters)
{
// pg not valid
playground.id = -1;
// get all contours from color thres image
Contours contours;
findContours(image, contours);
// search for L shaped contours
filterContours(contours, candidateContours);
if(candidateContours.size() < 4) return false;
// combine exatly 4 L-contours to one rectangle with 4 corners
std::vector<cv::Point2f> corners; // max length: 4
extractPlayGroundCorners(candidateContours, corners);
if(corners.size() != 4) return false;
playground.resize(4);
std::copy(corners.begin(), corners.end(), playground.begin());
// playground valid
playground.id = 0;
// calc translation and rotation
playground.calculateExtrinsics(cameraParameters);
return true;
}
