/// <summary>
/// ChArUco board
/// </summary>
/// <param name="squaresX">number of chessboard squares in X direction</param>
/// <param name="squaresY">number of chessboard squares in Y direction</param>
/// <param name="squareLength">chessboard square side length (normally in meters)</param>
/// <param name="markerLength">marker side length (same unit than squareLength)</param>
/// <param name="dictionary">dictionary of markers indicating the type of markers.</param>
public CharucoBoard(
int squaresX, int squaresY,
float squareLength, float markerLength,
Dictionary dictionary)
{
_ptr = ArucoInvoke.cveCharucoBoardCreate(squaresX, squaresY, squareLength, markerLength, dictionary, ref _boardPtr);
}
/// <summary>
/// Release the unmanaged resource
/// </summary>
protected override void DisposeObject()
{
if (_ptr != IntPtr.Zero)
{
ArucoInvoke.cveArucoDictionaryRelease(ref _ptr, ref _sharedPtr);
}
}
/// <summary>
/// Get the detector parameters with default values
/// </summary>
/// <returns>The default detector parameters</returns>
public static DetectorParameters GetDefault()
{
DetectorParameters p = new DetectorParameters();
ArucoInvoke.cveArucoDetectorParametersGetDefault(ref p);
return(p);
}
/// <summary>
/// Release the unmanage resource associated with this GridBoard
/// </summary>
protected override void DisposeObject()
{
if (_ptr != IntPtr.Zero)
{
ArucoInvoke.cveArucoGridBoardRelease(ref _ptr);
}
_boardPtr = IntPtr.Zero;
}
/// <summary>
/// Release the unmanaged resource
/// </summary>
protected override void DisposeObject()
{
if (_predefined)
{
//no need to release any object here.
//The dictionary is static global in C++ code
_ptr = IntPtr.Zero;
}
else
{
if (_ptr != IntPtr.Zero)
{
ArucoInvoke.cveArucoDictionaryRelease(ref _ptr);
}
}
}
/// <summary>
/// Draw a GridBoard.
/// </summary>
/// <param name="outSize">size of the output image in pixels.</param>
/// <param name="img">output image with the board. The size of this image will be outSize and the board will be on the center, keeping the board proportions.</param>
/// <param name="margindSize">minimum margins (in pixels) of the board in the output image</param>
/// <param name="borderBits">width of the marker borders.</param>
public void Draw(Size outSize, IOutputArray img, int margindSize = 0, int borderBits = 1)
{
using (OutputArray oaImg = img.GetOutputArray())
ArucoInvoke.cveArucoGridBoardDraw(_ptr, ref outSize, oaImg, margindSize, borderBits);
}
/// <summary>
/// Create a GridBoard object.
/// </summary>
/// <param name="markersX">number of markers in X direction</param>
/// <param name="markersY">number of markers in Y direction</param>
/// <param name="markerLength">marker side length (normally in meters)</param>
/// <param name="markerSeparation">separation between two markers (same unit than markerLenght)</param>
/// <param name="dictionary">dictionary of markers indicating the type of markers. The first markersX*markersY markers in the dictionary are used.</param>
public GridBoard(int markersX, int markersY, float markerLength, float markerSeparation,
Dictionary dictionary)
{
_ptr = ArucoInvoke.cveArucoGridBoardCreate(markersX, markersY, markerLength, markerSeparation, dictionary, ref _boardPtr);
}
/// <summary>
/// Generates a new customizable marker dictionary.
/// </summary>
/// <param name="nMarkers">number of markers in the dictionary</param>
/// <param name="markerSize">number of bits per dimension of each markers</param>
/// <param name="baseDictionary">Include the markers in this dictionary at the beginning (optional)</param>
public Dictionary(int nMarkers, int markerSize, Dictionary baseDictionary)
{
//_predefined = false;
_ptr = ArucoInvoke.cveArucoDictionaryCreate2(nMarkers, markerSize, baseDictionary._sharedPtr, ref _sharedPtr);
}
/// <summary>
/// Create a Dictionary using predefined values
/// </summary>
/// <param name="name">The name of the predefined dictionary</param>
public Dictionary(PredefinedDictionaryName name)
{
//_predefined = true;
_ptr = ArucoInvoke.cveArucoGetPredefinedDictionary(name, ref _sharedPtr);
}
/// <summary>
/// Create a Dictionary using predefined values
/// </summary>
/// <param name="name">The name of the predefined dictionary</param>
public Dictionary(PredefinedDictionaryName name)
{
_ptr = ArucoInvoke.cveArucoGetPredefinedDictionary(name);
}
/// <summary>
/// Generates a new customizable marker dictionary.
/// </summary>
/// <param name="nMarkers">number of markers in the dictionary</param>
/// <param name="markerSize">number of bits per dimension of each markers</param>
public Dictionary(int nMarkers, int markerSize)
{
_predefined = false;
_ptr = ArucoInvoke.cveArucoDictionaryCreate1(nMarkers, markerSize);
}
