/// <summary>
/// <see cref="ArucoObjectTracker.Draw(int, Dictionary)"/>
/// </summary>
public override void Draw(int cameraId, Aruco.Dictionary dictionary)
{
if (!IsActivated)
{
return;
}
bool updatedCameraImage = false;
Cv.Core.Mat[] cameraImages = arucoTracker.ArucoCamera.Images;
// Draw the detected markers
// TODO: draw only markers in ArucoObjects list + add option to draw all the detected markers
if (arucoTracker.DrawDetectedMarkers && DetectedMarkers[cameraId][dictionary] > 0)
{
Aruco.DrawDetectedMarkers(cameraImages[cameraId], MarkerCorners[cameraId][dictionary], MarkerIds[cameraId][dictionary]);
updatedCameraImage = true;
}
// Draw the rejected marker candidates
if (arucoTracker.DrawRejectedCandidates && RejectedCandidateCorners[cameraId][dictionary].Size() > 0)
{
Aruco.DrawDetectedMarkers(cameraImages[cameraId], RejectedCandidateCorners[cameraId][dictionary], REJECTED_MARKERS_CANDIDATES_COLOR);
updatedCameraImage = true;
}
if (updatedCameraImage)
{
arucoTracker.ArucoCamera.Images = cameraImages;
}
}
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]);
}
}
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 void Draw()
{
if (!IsConfigured)
{
return;
}
bool updatedCameraImage = false;
Cv.Core.Mat[] cameraImages = ArucoCamera.Images;
for (int cameraId = 0; cameraId < ArucoCamera.CamerasNumber; cameraId++)
{
if (MarkerIdsCurrentImage[cameraId] != null && MarkerIdsCurrentImage[cameraId].Size() > 0)
{
Aruco.DrawDetectedMarkers(cameraImages[cameraId], MarkerCornersCurrentImage[cameraId], MarkerIdsCurrentImage[cameraId]);
updatedCameraImage = true;
}
}
if (updatedCameraImage)
{
ArucoCamera.Images = cameraImages;
}
}
/// <summary>
/// Draws the detected ArUco markers on the current images of the cameras.
/// </summary>
public virtual void DrawDetectedMarkers()
{
if (!IsConfigured)
{
throw new Exception("Configure the calibration controller before drawing detected markers.");
}
for (int cameraId = 0; cameraId < ArucoCamera.CameraNumber; cameraId++)
{
if (MarkerIdsCurrentImage[cameraId] != null && MarkerIdsCurrentImage[cameraId].Size() > 0)
{
Aruco.DrawDetectedMarkers(ArucoCamera.Images[cameraId], MarkerCornersCurrentImage[cameraId], MarkerIdsCurrentImage[cameraId]);
}
}
}
/// <summary>
/// Draw the detected ArUco markers on the current images of the cameras.
/// </summary>
public void Draw()
{
if (!IsConfigured)
{
return;
}
for (int cameraId = 0; cameraId < ArucoCamera.CameraNumber; cameraId++)
{
if (MarkerIdsCurrentImage[cameraId] != null && MarkerIdsCurrentImage[cameraId].Size() > 0)
{
Aruco.DrawDetectedMarkers(ArucoCamera.Images[cameraId], MarkerCornersCurrentImage[cameraId], MarkerIdsCurrentImage[cameraId]);
}
}
}
