Replace use of degrees where radians should be in QRCode FinderPatter…

…nDetector Summary: Fixes how cosine value thresholds are calculated. Also modifies acceptable range of `angleTolerance` parameter for `FinderPatternDetector::extractIndexTriplets()` and cleans up some assert statements.. Reviewed By: janherling Differential Revision: D60244369 fbshipit-source-id: a5ae51a5d089157982a7ccf5ba5c29339c285baa
facebookresearch · Jul 31, 2024 · 872022d · 872022d
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commit 872022d
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Showing 2 changed files with 7 additions and 8 deletions.
diff --git a/impl/ocean/cv/detector/qrcodes/FinderPatternDetector.cpp b/impl/ocean/cv/detector/qrcodes/FinderPatternDetector.cpp
@@ -379,13 +379,12 @@ IndexTriplets FinderPatternDetector::extractIndexTriplets(const FinderPatterns&
 	ocean_assert(finderPatterns.size() >= 3);
 	ocean_assert(Numeric::isInsideRange(Scalar(0), distanceScaleTolerance, Scalar(1)));
 	ocean_assert_and_suppress_unused(Numeric::isInsideRange(Scalar(0), moduleSizeScaleTolerance, Scalar(1)), moduleSizeScaleTolerance);
-	ocean_assert(angleTolerance >= Numeric::deg2rad(Scalar(0)) && angleTolerance < Numeric::deg2rad(Scalar(90)));
+	ocean_assert(angleTolerance >= Scalar(0) && angleTolerance < Numeric::pi_4());
 
 	IndexTriplets finderPatternTriplets;
 
-	const Scalar angleThreshold = Numeric::abs(Numeric::cos(angleTolerance));
-	const Scalar parallelOrientationTreshold = Numeric::cos(Scalar(0)) - angleThreshold;
-	const Scalar perpendicularOrientationThreshold = Numeric::cos(Scalar(90)) + angleThreshold;
+	const Scalar parallelOrientationTreshold = Numeric::cos(angleTolerance);
+	const Scalar perpendicularOrientationThreshold = Numeric::cos(Numeric::pi_2() - angleTolerance);
 
 	for (size_t a = 0; a < finderPatterns.size() - 2; ++a)
 	{
@@ -408,7 +407,7 @@ IndexTriplets FinderPatternDetector::extractIndexTriplets(const FinderPatterns&
 			const Scalar absCosOrientationAB = std::abs(finderPatternA.orientation() * finderPatternB.orientation());
 			if (absCosOrientationAB <= parallelOrientationTreshold && absCosOrientationAB >= perpendicularOrientationThreshold)
 			{
-				ocean_assert(Numeric::rad2deg(Numeric::acos(absCosOrientationAB)) >= Numeric::rad2deg(angleTolerance) && Numeric::rad2deg(Numeric::acos(absCosOrientationAB)) <= (Scalar(90) - Numeric::rad2deg(angleTolerance)));
+				ocean_assert(Numeric::acos(absCosOrientationAB) >= angleTolerance && Numeric::acos(absCosOrientationAB) <= Numeric::pi_2() - angleTolerance);
 				continue;
 			}
 
@@ -436,8 +435,8 @@ IndexTriplets FinderPatternDetector::extractIndexTriplets(const FinderPatterns&
 				if ((absCosOrientationAC <= parallelOrientationTreshold && absCosOrientationAC >= perpendicularOrientationThreshold)
 					|| (absCosOrientationBC <= parallelOrientationTreshold && absCosOrientationBC >= perpendicularOrientationThreshold))
 				{
-					ocean_assert((Numeric::rad2deg(Numeric::acos(absCosOrientationAB)) >= Numeric::rad2deg(angleTolerance) && Numeric::rad2deg(Numeric::acos(absCosOrientationAB)) <= (Scalar(90) - Numeric::rad2deg(angleTolerance)))
-						|| (Numeric::rad2deg(Numeric::acos(absCosOrientationAB)) >= Numeric::rad2deg(angleTolerance) && Numeric::rad2deg(Numeric::acos(absCosOrientationAB)) <= (Scalar(90) - Numeric::rad2deg(angleTolerance))));
+					ocean_assert((Numeric::acos(absCosOrientationAC) >= angleTolerance && Numeric::acos(absCosOrientationAC) <= Numeric::pi_2() - angleTolerance)
+						|| (Numeric::acos(absCosOrientationBC) >= angleTolerance && Numeric::acos(absCosOrientationBC) <= Numeric::pi_2() - angleTolerance));
 					continue;
 				}
 

diff --git a/impl/ocean/cv/detector/qrcodes/FinderPatternDetector.h b/impl/ocean/cv/detector/qrcodes/FinderPatternDetector.h
@@ -286,7 +286,7 @@ class OCEAN_CV_DETECTOR_QRCODES_EXPORT FinderPatternDetector
 		 * @param finderPatterns The list finder patterns in which 3-tuples forming potential QR code symbols are sought, must be valid, minimum size: 3
 		 * @param distanceScaleTolerance Scale factor that define how much corners of one finder pattern may deviate from the parallel lines of another finder pattern, range: [0, infinity), default: 0.05
 		 * @param moduleSizeScaleTolerance Defines the maximum difference scale of the module size between pairs of finder patterns in order to be considered a match, range: [0, 1], default: 0.35
-		 * @param angleTolerance Defines the maximum difference of the dominant orientation of pairs of finder patterns in order to be considered a match, measured in radian, range: [0, PI/2), default: deg2rad(9)
+		 * @param angleTolerance Defines the maximum difference of the dominant orientation of pairs of finder patterns in order to be considered a match, measured in radian, range: [0, PI/4), default: deg2rad(9)
 		 * @return A list of 3-tuples of finder patterns, will be empty on failure (or if nothing was found)
 		 */
 		static IndexTriplets extractIndexTriplets(const FinderPatterns& finderPatterns, const Scalar distanceScaleTolerance = Scalar(0.175), const Scalar moduleSizeScaleTolerance = Scalar(0.35), const Scalar angleTolerance = Numeric::deg2rad(Scalar(9)));