public override void Draw(int cameraId, Aruco.Dictionary dictionary, Cv.Mat image)
{
base.Draw(cameraId, dictionary, image);
if (DetectedMarkers[cameraId][dictionary] > 0)
{
// Draw all the detected markers
if (arucoTracker.DrawDetectedMarkers)
{
Aruco.DrawDetectedMarkers(image, MarkerCorners[cameraId][dictionary], MarkerIds[cameraId][dictionary]);
}
// Draw axes of detected tracked markers
if (arucoTracker.DrawAxes && arucoCameraUndistortion != null && MarkerRvecs[cameraId][dictionary] != null)
{
for (uint i = 0; i < DetectedMarkers[cameraId][dictionary]; i++)
{
ArucoObject foundArucoObject;
int detectedMarkerHashCode = ArucoMarker.GetArucoHashCode(MarkerIds[cameraId][dictionary].At(i));
if (arucoTracker.ArucoObjects[dictionary].TryGetValue(detectedMarkerHashCode, out foundArucoObject))
{
Aruco.DrawAxis(image, arucoCameraUndistortion.RectifiedCameraMatrices[cameraId], arucoCameraUndistortion.UndistortedDistCoeffs[cameraId],
MarkerRvecs[cameraId][dictionary].At(i), MarkerTvecs[cameraId][dictionary].At(i), estimatePoseMarkerLength);
}
}
}
}
// Draw the rejected marker candidates
if (arucoTracker.DrawRejectedCandidates && RejectedCandidateCorners[cameraId][dictionary].Size() > 0)
{
Aruco.DrawDetectedMarkers(image, RejectedCandidateCorners[cameraId][dictionary]);
}
}
public override void Draw(int cameraId, Aruco.Dictionary dictionary, Cv.Mat image)
{
if (DetectedMarkers[cameraId][dictionary] > 0)
{
// Draw all the detected markers
if (arucoTracker.DrawDetectedMarkers)
{
// TODO: draw only markers in ArucoObjects list + add option to draw all the detected markers
Aruco.DrawDetectedMarkers(image, MarkerCorners[cameraId][dictionary], MarkerIds[cameraId][dictionary]);
}
// Draw axes of detected tracked markers
if (arucoTracker.DrawAxes && cameraParameters != null && MarkerRvecs[cameraId][dictionary] != null)
{
for (uint i = 0; i < DetectedMarkers[cameraId][dictionary]; i++)
{
ArucoObject foundArucoObject;
int detectedMarkerHashCode = ArucoMarker.GetArucoHashCode(MarkerIds[cameraId][dictionary].At(i));
if (arucoTracker.ArucoObjects[dictionary].TryGetValue(detectedMarkerHashCode, out foundArucoObject))
{
Aruco.DrawAxis(image, cameraParameters.CameraMatrices[cameraId], cameraParameters.DistCoeffs[cameraId],
MarkerRvecs[cameraId][dictionary].At(i), MarkerTvecs[cameraId][dictionary].At(i), EstimatePoseMarkerLength);
}
}
}
}
// Draw the rejected marker candidates
if (arucoTracker.DrawRejectedCandidates && RejectedCandidateCorners[cameraId][dictionary].Size() > 0)
{
Aruco.DrawDetectedMarkers(image, RejectedCandidateCorners[cameraId][dictionary]);
}
}
/// <summary>
/// <see cref="ArucoObjectTracker.Draw(int, Dictionary, HashSet{ArucoObject})"/>
/// </summary>
public override void Draw(int cameraId, Aruco.Dictionary dictionary)
{
if (!IsActivated || arucoTracker.MarkerTracker.DetectedMarkers[cameraId][dictionary] <= 0)
{
return;
}
bool updatedCameraImage = false;
Cv.Core.Mat[] cameraImages = arucoTracker.ArucoCamera.Images;
CameraParameters cameraParameters = arucoTracker.ArucoCamera.CameraParameters;
foreach (var arucoGridBoard in arucoTracker.GetArucoObjects <ArucoGridBoard>(dictionary))
{
if (arucoTracker.DrawAxes && cameraParameters != null && arucoGridBoard.MarkersUsedForEstimation > 0 && arucoGridBoard.Rvec != null)
{
Aruco.DrawAxis(cameraImages[cameraId], cameraParameters.CamerasMatrix[cameraId], cameraParameters.DistCoeffs[cameraId],
arucoGridBoard.Rvec, arucoGridBoard.Tvec, arucoGridBoard.AxisLength);
updatedCameraImage = true;
}
}
if (updatedCameraImage)
{
arucoTracker.ArucoCamera.Images = cameraImages;
}
}
public override void Draw(int cameraId, Aruco.Dictionary dictionary, Cv.Mat image)
{
foreach (var arucoGridBoard in arucoTracker.GetArucoObjects <ArucoGridBoard>(dictionary))
{
if (arucoTracker.DrawAxes && cameraParameters != null && arucoGridBoard.Rvec != null)
{
Aruco.DrawAxis(image, cameraParameters.CameraMatrices[cameraId], cameraParameters.DistCoeffs[cameraId],
arucoGridBoard.Rvec, arucoGridBoard.Tvec, arucoGridBoard.AxisLength);
}
}
}
public override void Draw(int cameraId, Aruco.Dictionary dictionary, Cv.Mat image)
{
base.Draw(cameraId, dictionary, image);
foreach (var arucoGridBoard in arucoTracker.GetArucoObjects<ArucoGridBoard>(dictionary))
{
if (arucoTracker.DrawAxes && arucoCameraUndistortion != null && arucoGridBoard.Rvec != null)
{
Aruco.DrawAxis(image, arucoCameraUndistortion.RectifiedCameraMatrices[cameraId], arucoCameraUndistortion.UndistortedDistCoeffs[cameraId],
arucoGridBoard.Rvec, arucoGridBoard.Tvec, arucoGridBoard.AxisLength);
}
}
}
public override void Draw(int cameraId, Aruco.Dictionary dictionary, Cv.Mat image)
{
foreach (var arucoCharucoBoard in arucoTracker.GetArucoObjects <ArucoCharucoBoard>(dictionary))
{
if (arucoCharucoBoard.DetectedIds.Size() > 0)
{
if (arucoTracker.DrawDetectedCharucoMarkers)
{
Aruco.DrawDetectedCornersCharuco(image, arucoCharucoBoard.DetectedCorners, arucoCharucoBoard.DetectedIds);
}
if (arucoTracker.DrawAxes && cameraParameters != null && arucoCharucoBoard.Rvec != null)
{
Aruco.DrawAxis(image, cameraParameters.CameraMatrices[cameraId], cameraParameters.DistCoeffs[cameraId],
arucoCharucoBoard.Rvec, arucoCharucoBoard.Tvec, arucoCharucoBoard.AxisLength);
}
}
}
}
public override void Draw(int cameraId, Aruco.Dictionary dictionary, Cv.Mat image)
{
if (DetectedDiamonds[cameraId][dictionary] > 0)
{
// Draw detected diamonds
if (arucoTracker.DrawDetectedDiamonds)
{
Aruco.DrawDetectedDiamonds(image, DiamondCorners[cameraId][dictionary], DiamondIds[cameraId][dictionary]);
}
// Draw axes of detected diamonds
if (arucoTracker.DrawAxes && cameraParameters != null && DiamondRvecs[cameraId][dictionary] != null)
{
for (uint i = 0; i < DetectedDiamonds[cameraId][dictionary]; i++)
{
Aruco.DrawAxis(image, cameraParameters.CameraMatrices[cameraId], cameraParameters.DistCoeffs[cameraId],
DiamondRvecs[cameraId][dictionary].At(i), DiamondTvecs[cameraId][dictionary].At(i), DrawAxisLength);
}
}
}
}
/// <summary>
/// <see cref="ArucoObjectTracker.Draw(int, Dictionary, HashSet{ArucoObject})"/>
/// </summary>
public override void Draw(int cameraId, Aruco.Dictionary dictionary)
{
if (!IsActivated)
{
return;
}
bool updatedCameraImage = false;
Cv.Core.Mat[] cameraImages = arucoTracker.ArucoCamera.Images;
CameraParameters cameraParameters = arucoTracker.ArucoCamera.CameraParameters;
if (DetectedDiamonds[cameraId][dictionary] > 0)
{
// Draw detected diamonds
if (arucoTracker.DrawDetectedDiamonds)
{
Aruco.DrawDetectedDiamonds(cameraImages[cameraId], DiamondCorners[cameraId][dictionary], DiamondIds[cameraId][dictionary]);
updatedCameraImage = true;
}
// Draw axes of detected diamonds
if (arucoTracker.DrawAxes && cameraParameters != null && DiamondRvecs[cameraId][dictionary] != null)
{
for (uint i = 0; i < DetectedDiamonds[cameraId][dictionary]; i++)
{
Aruco.DrawAxis(cameraImages[cameraId], cameraParameters.CamerasMatrix[cameraId], cameraParameters.DistCoeffs[cameraId],
DiamondRvecs[cameraId][dictionary].At(i), DiamondTvecs[cameraId][dictionary].At(i), DRAW_AXIS_LENGTH);
updatedCameraImage = true;
}
}
}
if (updatedCameraImage)
{
arucoTracker.ArucoCamera.Images = cameraImages;
}
}
public override void Draw(int cameraId, Aruco.Dictionary dictionary, Cv.Mat image)
{
base.Draw(cameraId, dictionary, image);
if (DetectedDiamonds[cameraId][dictionary] > 0)
{
// Draw detected diamonds
if (arucoTracker.DrawDetectedDiamonds)
{
Aruco.DrawDetectedDiamonds(image, DiamondCorners[cameraId][dictionary], DiamondIds[cameraId][dictionary]);
}
// Draw axes of detected diamonds
if (arucoTracker.DrawAxes && arucoCameraUndistortion != null && DiamondRvecs[cameraId][dictionary] != null)
{
for (uint i = 0; i < DetectedDiamonds[cameraId][dictionary]; i++)
{
Aruco.DrawAxis(image, arucoCameraUndistortion.RectifiedCameraMatrices[cameraId], arucoCameraUndistortion.UndistortedDistCoeffs[cameraId],
DiamondRvecs[cameraId][dictionary].At(i), DiamondTvecs[cameraId][dictionary].At(i), DrawAxisLength);
}
}
}
}
