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@@ -89,8 +89,7 @@ def getCMarkers (img):
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continue
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u = np.array([p1[0]-p[0], p1[1]-p[1]])
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v = np.array([p2[0]-p[0], p2[1]-p[1]])
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- c = np.dot(u,v)/norm(u)/norm(v)
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- angle = np.arccos(c)
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+ angle = np.math.atan2(np.linalg.det([u,v]),np.dot(u,v))
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if abs(angle-math.pi/2.0) < math.pi/10.0:
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bottom = p1
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rigth = p2
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@@ -107,11 +106,7 @@ def getCMarkers (img):
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number = getNumber(code, 150)
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if number == False:
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continue
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- uvalid, vvalid = u >= 0, v > 0
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- valid = [uvalid[0], uvalid[1], vvalid[0], vvalid[1]]
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- if valid not in validcheck:
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- continue
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#cv2.imshow("m2", code)
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uu = np.array([0, 1])
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@@ -121,8 +116,8 @@ def getCMarkers (img):
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if number != 0:
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markers.append([number, mid, angle])
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- img2 = cv2.drawKeypoints(img2, kk, np.array([]), (0,0,255), cv2.DRAW_MATCHES_FLAGS_DRAW_RICH_KEYPOINTS)
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- cv2.imshow("m3", img2)
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+ #img2 = cv2.drawKeypoints(img2, kk, np.array([]), (0,0,255), cv2.DRAW_MATCHES_FLAGS_DRAW_RICH_KEYPOINTS)
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+ #cv2.imshow("m3", img2)
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return markers
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def getNumber(img, threshold):
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