private void prepareForOutput ( Polygon2D_F64 imageShape , Result result ) { // the rotation estimate, apply in counter clockwise direction // since result.rotation is a clockwise rotation in the visual sense, which // is CCW on the grid int rotationCCW = ( 4 - result . rotation ) % 4 ; for ( int j = 0 ; j < rotationCCW ; j ++ ) { UtilPolygons2D_F64 . shiftUp ( imageShape ) ; } // save the results for output FoundFiducial f = found . grow ( ) ; f . id = result . which ; for ( int i = 0 ; i < 4 ; i ++ ) { Point2D_F64 a = imageShape . get ( i ) ; undistToDist . compute ( a . x , a . y , f . distortedPixels . get ( i ) ) ; } }
Takes the found quadrilateral and the computed 3D information and prepares it for output