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
@@ -687,7 +687,6 @@ 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);
@@ -720,7 +719,12 @@ 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) {
@@ -743,8 +747,8 @@ 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
`@@ -687,7 +687,6 @@ struct ArucoDetector::ArucoDetectorImpl {`
`687`	`687`	`vector<vector<size_t> > groupedCandidates;`
`688`	`688`	`vector<bool> isSelectedContours(candidateTree.size(), true);`
`689`	`689`
`690`		`- size_t countSelectedContours = 0ull;`
`691`	`690`	`for (size_t i = 0ull; i < candidateTree.size(); i++) {`
`692`	`691`	`for (size_t j = i + 1ull; j < candidateTree.size(); j++) {`
`693`	`692`	`float minDist = getAverageDistance(candidateTree[i].corners, candidateTree[j].corners);`
`@@ -720,7 +719,12 @@ struct ArucoDetector::ArucoDetectorImpl {`
`720`	`719`	`}`
`721`	`720`	`}`
`722`	`721`	`}`
`723`		`- countSelectedContours += isSelectedContours[i];`
	`722`	`+ // group of one candidate`
	`723`	`+ if(isSelectedContours[i]) {`
	`724`	`+ isSelectedContours[i] = false;`
	`725`	`+ groupId[i] = (int)groupedCandidates.size();`
	`726`	`+ groupedCandidates.push_back({i});`
	`727`	`+ }`
`724`	`728`	`}`
`725`	`729`
`726`	`730`	`for (vector<size_t>& grouped : groupedCandidates) {`
`@@ -743,8 +747,8 @@ struct ArucoDetector::ArucoDetectorImpl {`
`743`	`747`	`}`
`744`	`748`	`}`
`745`	`749`
`746`		`- vector<MarkerCandidateTree> selectedCandidates(countSelectedContours + groupedCandidates.size());`
`747`		`- countSelectedContours = 0ull;`
	`750`	`+ vector<MarkerCandidateTree> selectedCandidates(groupedCandidates.size());`
	`751`	`+ size_t countSelectedContours = 0ull;`
`748`	`752`	`for (size_t i = 0ull; i < candidateTree.size(); i++) {`
`749`	`753`	`if (isSelectedContours[i]) {`
`750`	`754`	`selectedCandidates[countSelectedContours] = std::move(candidateTree[i]);`