// Returns a vector of points that contains the four corners of a rectangle
// by finding the best features.
// Automatically refines the corners.
// Currently only tested with four points (rectangle)
// Returns empty vector when filter is not applied / successful.
std::vector<cv::Point2f> CornerExtractor::getCorners()
{
#if CALIB && !isStreaming
// TODO: set this up with callbacks that somehow call update()
startWindows();
#endif
if (!(params_->applyFilter))
return std::vector<cv::Point2f>();
// if (params_->applyFilter)
{
findGoodCorners();
// Refine the corners so that distances are absolute minima
refineCorners();
orderCorners();
return corners_;
}
}
AdvancedEdge::AdvancedEdge(AdvancedVertex& startPoint, AdvancedVertex& endPoint)
: Edge<AdvancedVertex>(startPoint, endPoint)
{
orderCorners();
}
