JavaTypedScript
diff --git a/‎modules/objdetect/src/aruco/aruco_detector.cpp
Copy file name to clipboardExpand all lines: modules/objdetect/src/aruco/aruco_detector.cpp
+8-4Lines changed: 8 additions & 4 deletions b/‎modules/objdetect/src/aruco/aruco_detector.cpp
Copy file name to clipboardExpand all lines: modules/objdetect/src/aruco/aruco_detector.cpp
+8-4Lines changed: 8 additions & 4 deletions
@@ -892,7 +892,6 @@ struct ArucoDetector::ArucoDetectorImpl {
         vector<vector<size_t> > groupedCandidates;
         vector<bool> isSelectedContours(candidateTree.size(), true);
 
-        size_t countSelectedContours = 0ull;
         for (size_t i = 0ull; i < candidateTree.size(); i++) {
             for (size_t j = i + 1ull; j < candidateTree.size(); j++) {
                 float minDist = getAverageDistance(candidateTree[i].corners, candidateTree[j].corners);
@@ -925,7 +924,12 @@ struct ArucoDetector::ArucoDetectorImpl {
                     }
                 }
             }
-            countSelectedContours += isSelectedContours[i];
+            // group of one candidate
+            if(isSelectedContours[i]) {
+                isSelectedContours[i] = false;
+                groupId[i] = (int)groupedCandidates.size();
+                groupedCandidates.push_back({i});
+            }
         }
 
         for (vector<size_t>& grouped : groupedCandidates) {
@@ -948,8 +952,8 @@ struct ArucoDetector::ArucoDetectorImpl {
             }
         }
 
-        vector<MarkerCandidateTree> selectedCandidates(countSelectedContours + groupedCandidates.size());
-        countSelectedContours = 0ull;
+        vector<MarkerCandidateTree> selectedCandidates(groupedCandidates.size());
+        size_t countSelectedContours = 0ull;
         for (size_t i = 0ull; i < candidateTree.size(); i++) {
             if (isSelectedContours[i]) {
                 selectedCandidates[countSelectedContours] = std::move(candidateTree[i]);
Original file line number	Diff line number	Diff line change
`@@ -892,7 +892,6 @@ struct ArucoDetector::ArucoDetectorImpl {`
`892`	`892`	`vector<vector<size_t> > groupedCandidates;`
`893`	`893`	`vector<bool> isSelectedContours(candidateTree.size(), true);`
`894`	`894`
`895`		`- size_t countSelectedContours = 0ull;`
`896`	`895`	`for (size_t i = 0ull; i < candidateTree.size(); i++) {`
`897`	`896`	`for (size_t j = i + 1ull; j < candidateTree.size(); j++) {`
`898`	`897`	`float minDist = getAverageDistance(candidateTree[i].corners, candidateTree[j].corners);`
`@@ -925,7 +924,12 @@ struct ArucoDetector::ArucoDetectorImpl {`
`925`	`924`	`}`
`926`	`925`	`}`
`927`	`926`	`}`
`928`		`- countSelectedContours += isSelectedContours[i];`
	`927`	`+ // group of one candidate`
	`928`	`+ if(isSelectedContours[i]) {`
	`929`	`+ isSelectedContours[i] = false;`
	`930`	`+ groupId[i] = (int)groupedCandidates.size();`
	`931`	`+ groupedCandidates.push_back({i});`
	`932`	`+ }`
`929`	`933`	`}`
`930`	`934`
`931`	`935`	`for (vector<size_t>& grouped : groupedCandidates) {`
`@@ -948,8 +952,8 @@ struct ArucoDetector::ArucoDetectorImpl {`
`948`	`952`	`}`
`949`	`953`	`}`
`950`	`954`
`951`		`- vector<MarkerCandidateTree> selectedCandidates(countSelectedContours + groupedCandidates.size());`
`952`		`- countSelectedContours = 0ull;`
	`955`	`+ vector<MarkerCandidateTree> selectedCandidates(groupedCandidates.size());`
	`956`	`+ size_t countSelectedContours = 0ull;`
`953`	`957`	`for (size_t i = 0ull; i < candidateTree.size(); i++) {`
`954`	`958`	`if (isSelectedContours[i]) {`
`955`	`959`	`selectedCandidates[countSelectedContours] = std::move(candidateTree[i]);`