Resolve "Refactoring the findMultiColorMarker function"
The following functions have been factored out of findMultiColorMarker:
- findColorBlob
- restrictPositionBlackDot
- custonBgr2Gray (part of Black Dot)
- refineWithBlackDot
- refineWithAruco
There are multiple structs added for passing parameters, since there are plenty. This may be reduced in future by using classes in accordance to #123 . But this goes further than I want to go with this MR and requires more Discussion & Design. This just reduces function size, adds some docs and enables reusing of the colorblob detection.
ToDo:
-
Rename all variables according to convention (camelCase) -
Check for superflous copies caused by factoring out functions -
Factor control changes out of this MR
Closes #133 (closed)
Edited by d.kilic