/// <summary>
/// Draw a set of detected ChArUco Diamond markers.
/// </summary>
/// <param name="image">input/output image. It must have 1 or 3 channels. The number of channels is not altered.</param>
/// <param name="diamondCorners">positions of diamond corners in the same format returned by detectCharucoDiamond(). (e.g std::vector<std::vector<cv::Point2f>>). For N detected markers, the dimensions of this array should be Nx4. The order of the corners should be clockwise.</param>
/// <param name="diamondIds">vector of identifiers for diamonds in diamondCorners, in the same format returned by detectCharucoDiamond() (e.g. std::vector<Vec4i>). Optional, if not provided, ids are not painted.</param>
/// <param name="borderColor">color of marker borders. Rest of colors (text color and first corner color) are calculated based on this one.</param>
public static void DrawDetectedDiamonds(InputArray image,
Point2f[][] diamondCorners, IEnumerable <Vec4i>?diamondIds, Scalar borderColor)
{
if (image == null)
{
throw new ArgumentNullException(nameof(image));
}
if (diamondCorners == null)
{
throw new ArgumentNullException(nameof(diamondCorners));
}
using var cornersAddress = new ArrayAddress2 <Point2f>(diamondCorners);
if (diamondIds == null)
{
NativeMethods.HandleException(
NativeMethods.aruco_drawDetectedDiamonds(image.CvPtr,
cornersAddress.GetPointer(), cornersAddress.GetDim1Length(), cornersAddress.GetDim2Lengths(),
IntPtr.Zero, borderColor));
}
else
{
using var ids = new VectorOfVec4i(diamondIds);
NativeMethods.HandleException(
NativeMethods.aruco_drawDetectedDiamonds(image.CvPtr,
cornersAddress.GetPointer(), cornersAddress.GetDim1Length(), cornersAddress.GetDim2Lengths(),
ids.CvPtr, borderColor));
}
GC.KeepAlive(image);
}
/// <summary>
/// Draw detected markers in image
/// </summary>
/// <param name="image">input/output image. It must have 1 or 3 channels. The number of channels is not altered.</param>
/// <param name="corners">positions of marker corners on input image.
/// For N detected markers, the dimensions of this array should be Nx4.The order of the corners should be clockwise.</param>
/// <param name="ids">vector of identifiers for markers in markersCorners. Optional, if not provided, ids are not painted.</param>
/// <param name="borderColor">color of marker borders. Rest of colors (text color and first corner color)
/// are calculated based on this one to improve visualization.</param>
public static void DrawDetectedMarkers(InputArray image, Point2f[][] corners, IEnumerable <int>?ids, Scalar borderColor)
{
if (image == null)
{
throw new ArgumentNullException(nameof(image));
}
if (corners == null)
{
throw new ArgumentNullException(nameof(corners));
}
using var cornersAddress = new ArrayAddress2 <Point2f>(corners);
if (ids == null)
{
NativeMethods.HandleException(
NativeMethods.aruco_drawDetectedMarkers(
image.CvPtr, cornersAddress.GetPointer(), cornersAddress.GetDim1Length(), cornersAddress.GetDim2Lengths(),
IntPtr.Zero, 0, borderColor));
}
else
{
var idxArray = ids.ToArray();
NativeMethods.HandleException(
NativeMethods.aruco_drawDetectedMarkers(
image.CvPtr, cornersAddress.GetPointer(), cornersAddress.GetDim1Length(), cornersAddress.GetDim2Lengths(),
idxArray, idxArray.Length, borderColor));
}
GC.KeepAlive(image);
}
/// <summary>
/// Try to stitch the given images.
/// </summary>
/// <param name="images">Input images.</param>
/// <param name="rois">Region of interest rectangles.</param>
/// <param name="pano">Final pano.</param>
/// <returns>Status code.</returns>
public Status Stitch(InputArray images, Rect[][] rois, OutputArray pano)
{
if (images == null)
{
throw new ArgumentNullException(nameof(images));
}
if (rois == null)
{
throw new ArgumentNullException(nameof(rois));
}
if (pano == null)
{
throw new ArgumentNullException(nameof(pano));
}
images.ThrowIfDisposed();
pano.ThrowIfNotReady();
using var roisPointer = new ArrayAddress2 <Rect>(rois);
NativeMethods.HandleException(
NativeMethods.stitching_Stitcher_stitch2_InputArray(
ptr, images.CvPtr,
roisPointer.GetPointer(), roisPointer.GetDim1Length(), roisPointer.GetDim2Lengths(),
pano.CvPtr, out var ret));
pano.Fix();
GC.KeepAlive(this);
GC.KeepAlive(images);
GC.KeepAlive(pano);
return((Status)ret);
}
/// <summary>
/// Try to stitch the given images.
/// </summary>
/// <param name="images">Input images.</param>
/// <param name="rois">Region of interest rectangles.</param>
/// <param name="pano">Final pano.</param>
/// <returns>Status code.</returns>
public Status Stitch(IEnumerable <Mat> images, Rect[][] rois, OutputArray pano)
{
if (images == null)
{
throw new ArgumentNullException(nameof(images));
}
if (rois == null)
{
throw new ArgumentNullException(nameof(rois));
}
if (pano == null)
{
throw new ArgumentNullException(nameof(pano));
}
pano.ThrowIfNotReady();
var imagesPtrs = images.Select(x => x.CvPtr).ToArray();
using var roisPointer = new ArrayAddress2 <Rect>(rois);
NativeMethods.HandleException(
NativeMethods.stitching_Stitcher_stitch2_MatArray(
ptr, imagesPtrs, imagesPtrs.Length,
roisPointer.GetPointer(), roisPointer.GetDim1Length(), roisPointer.GetDim2Lengths(),
pano.CvPtr, out var ret));
pano.Fix();
GC.KeepAlive(this);
GC.KeepAlive(images);
GC.KeepAlive(pano);
return((Status)ret);
}
/// <summary>
/// Detect ChArUco Diamond markers.
/// </summary>
/// <param name="image">input image necessary for corner subpixel.</param>
/// <param name="markerCorners">list of detected marker corners from detectMarkers function.</param>
/// <param name="markerIds">list of marker ids in markerCorners.</param>
/// <param name="squareMarkerLengthRate">rate between square and marker length: squareMarkerLengthRate = squareLength/markerLength. The real units are not necessary.</param>
/// <param name="diamondCorners">output list of detected diamond corners (4 corners per diamond). The order is the same than in marker corners: top left, top right, bottom right and bottom left. Similar format than the corners returned by detectMarkers (e.g std::vector<std::vector<cv::Point2f>>).</param>
/// <param name="diamondIds">ids of the diamonds in diamondCorners. The id of each diamond is in fact of type Vec4i, so each diamond has 4 ids, which are the ids of the aruco markers composing the diamond.</param>
/// <param name="cameraMatrix">Optional camera calibration matrix.</param>
/// <param name="distCoeffs">Optional camera distortion coefficients.</param>
public static void DetectCharucoDiamond(InputArray image, Point2f[][] markerCorners, IEnumerable <int> markerIds,
float squareMarkerLengthRate, out Point2f[][] diamondCorners, out Vec4i[] diamondIds,
InputArray?cameraMatrix = null, InputArray?distCoeffs = null)
{
if (image == null)
{
throw new ArgumentNullException(nameof(image));
}
if (markerCorners == null)
{
throw new ArgumentNullException(nameof(markerCorners));
}
if (markerIds == null)
{
throw new ArgumentNullException(nameof(markerIds));
}
if (cameraMatrix == null && distCoeffs != null)
{
throw new ArgumentNullException(nameof(cameraMatrix));
}
if (cameraMatrix != null && distCoeffs == null)
{
throw new ArgumentNullException(nameof(distCoeffs));
}
image.ThrowIfDisposed();
cameraMatrix?.ThrowIfDisposed();
distCoeffs?.ThrowIfDisposed();
using var markerCornersAddress = new ArrayAddress2 <Point2f>(markerCorners);
using var markerIdsVec = new VectorOfInt32(markerIds);
using var diamondCornersVec = new VectorOfVectorPoint2f();
using var diamondIdsVec = new VectorOfVec4i();
NativeMethods.HandleException(
NativeMethods.aruco_detectCharucoDiamond(
image.CvPtr, markerCornersAddress.GetPointer(), markerCornersAddress.GetDim1Length(), markerCornersAddress.GetDim2Lengths(),
markerIdsVec.CvPtr, squareMarkerLengthRate,
diamondCornersVec.CvPtr, diamondIdsVec.CvPtr,
cameraMatrix?.CvPtr ?? IntPtr.Zero, distCoeffs?.CvPtr ?? IntPtr.Zero));
diamondCorners = diamondCornersVec.ToArray();
diamondIds = diamondIdsVec.ToArray();
GC.KeepAlive(image);
if (cameraMatrix != null)
{
GC.KeepAlive(cameraMatrix);
}
if (distCoeffs != null)
{
GC.KeepAlive(distCoeffs);
}
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="values"></param>
public VectorOfVectorKeyPoint(KeyPoint[][] values)
{
if (values == null)
{
throw new ArgumentNullException(nameof(values));
}
using var aa = new ArrayAddress2 <KeyPoint>(values);
ptr = NativeMethods.vector_vector_KeyPoint_new3(
aa.GetPointer(), aa.GetDim1Length(), aa.GetDim2Lengths());
}
/// <summary>
/// Pose estimation for single markers
/// </summary>
/// <param name="corners">corners vector of already detected markers corners.
/// For each marker, its four corners are provided, (e.g std::vector<std::vector<cv::Point2f>> ).
/// For N detected markers, the dimensions of this array should be Nx4. The order of the corners should be clockwise.</param>
/// <param name="markerLength">the length of the markers' side. The returning translation vectors will
/// be in the same unit.Normally, unit is meters.</param>
/// <param name="cameraMatrix">input 3x3 floating-point camera matrix
/// \f$A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$</param>
/// <param name="distortionCoefficients">vector of distortion coefficients
/// \f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\f$ of 4, 5, 8 or 12 elements</param>
/// <param name="rvec">array of output rotation vectors (@sa Rodrigues) (e.g. std::vector<cv::Vec3d>).
/// Each element in rvecs corresponds to the specific marker in imgPoints.</param>
/// <param name="tvec">array of output translation vectors (e.g. std::vector<cv::Vec3d>).
/// Each element in tvecs corresponds to the specific marker in imgPoints.</param>
/// <param name="objPoints">array of object points of all the marker corners</param>
public static void EstimatePoseSingleMarkers(
Point2f[][] corners,
float markerLength,
InputArray cameraMatrix,
InputArray distortionCoefficients,
OutputArray rvec,
OutputArray tvec,
OutputArray?objPoints = null)
{
if (corners == null)
{
throw new ArgumentNullException(nameof(corners));
}
if (cameraMatrix == null)
{
throw new ArgumentNullException(nameof(cameraMatrix));
}
if (distortionCoefficients == null)
{
throw new ArgumentNullException(nameof(distortionCoefficients));
}
if (rvec == null)
{
throw new ArgumentNullException(nameof(rvec));
}
if (tvec == null)
{
throw new ArgumentNullException(nameof(tvec));
}
cameraMatrix.ThrowIfDisposed();
distortionCoefficients.ThrowIfDisposed();
rvec.ThrowIfNotReady();
tvec.ThrowIfNotReady();
objPoints?.ThrowIfNotReady();
using var cornersAddress = new ArrayAddress2 <Point2f>(corners);
NativeMethods.HandleException(
NativeMethods.aruco_estimatePoseSingleMarkers(
cornersAddress.GetPointer(), cornersAddress.GetDim1Length(), cornersAddress.GetDim2Lengths(),
markerLength, cameraMatrix.CvPtr, distortionCoefficients.CvPtr, rvec.CvPtr, tvec.CvPtr,
objPoints?.CvPtr ?? IntPtr.Zero));
GC.KeepAlive(cameraMatrix);
GC.KeepAlive(distortionCoefficients);
rvec.Fix();
tvec.Fix();
objPoints?.Fix();
}
/// <summary>
/// Converts std::vector to managed array
/// </summary>
/// <returns></returns>
public Point[][] ToArray()
{
var size1 = GetSize1();
if (size1 == 0)
{
return(Array.Empty <Point[]>());
}
var size2 = GetSize2();
var ret = new Point[size1][];
for (var i = 0; i < size1; i++)
{
ret[i] = new Point[size2[i]];
}
using var retPtr = new ArrayAddress2 <Point>(ret);
NativeMethods.vector_vector_Point_copy(ptr, retPtr.GetPointer());
GC.KeepAlive(this);
return(ret);
}
/// <summary>
///
/// </summary>
/// <param name="matches1to2"></param>
/// <param name="correctMatches1to2Mask"></param>
/// <returns>recallPrecisionCurve</returns>
public static Point2f[] ComputeRecallPrecisionCurve(
DMatch[][] matches1to2, byte[][] correctMatches1to2Mask)
{
if (matches1to2 == null)
{
throw new ArgumentNullException(nameof(matches1to2));
}
if (correctMatches1to2Mask == null)
{
throw new ArgumentNullException(nameof(correctMatches1to2Mask));
}
using var dm = new ArrayAddress2 <DMatch>(matches1to2);
using var cm = new ArrayAddress2 <byte>(correctMatches1to2Mask);
using var recall = new VectorOfPoint2f();
NativeMethods.HandleException(
NativeMethods.features2d_computeRecallPrecisionCurve(
dm.GetPointer(), dm.GetDim1Length(), dm.GetDim2Lengths(),
cm.GetPointer(), cm.GetDim1Length(), cm.GetDim2Lengths(),
recall.CvPtr));
return(recall.ToArray());
}
public Status EstimateTransform(InputArray images, Rect[][] rois)
{
if (images == null)
{
throw new ArgumentNullException(nameof(images));
}
if (rois == null)
{
throw new ArgumentNullException(nameof(rois));
}
images.ThrowIfDisposed();
using var roisPointer = new ArrayAddress2 <Rect>(rois);
NativeMethods.HandleException(
NativeMethods.stitching_Stitcher_estimateTransform_InputArray2(
ptr, images.CvPtr,
roisPointer.GetPointer(), roisPointer.GetDim1Length(), roisPointer.GetDim2Lengths(),
out var ret));
GC.KeepAlive(this);
GC.KeepAlive(images);
return((Status)ret);
}
/// <summary>
/// Converts std::vector to managed array
/// </summary>
/// <returns></returns>
public DMatch[][] ToArray()
{
var size1 = Size1;
if (size1 == 0)
{
return(Array.Empty <DMatch[]>());
}
var size2 = Size2;
var ret = new DMatch[size1][];
for (var i = 0; i < size1; i++)
{
ret[i] = new DMatch[size2[i]];
}
using (var retPtr = new ArrayAddress2 <DMatch>(ret))
{
NativeMethods.vector_vector_DMatch_copy(ptr, retPtr.GetPointer());
GC.KeepAlive(this);
}
return(ret);
}
public Status EstimateTransform(IEnumerable <Mat> images, Rect[][] rois)
{
if (images == null)
{
throw new ArgumentNullException(nameof(images));
}
if (rois == null)
{
throw new ArgumentNullException(nameof(rois));
}
var imagesPtrs = images.Select(x => x.CvPtr).ToArray();
using var roisPointer = new ArrayAddress2 <Rect>(rois);
NativeMethods.HandleException(
NativeMethods.stitching_Stitcher_estimateTransform_MatArray2(
ptr, imagesPtrs, imagesPtrs.Length,
roisPointer.GetPointer(), roisPointer.GetDim1Length(), roisPointer.GetDim2Lengths(),
out var ret));
GC.KeepAlive(this);
GC.KeepAlive(images);
return((Status)ret);
}
/// <summary>
/// Draws the found matches of keypoints from two images.
/// </summary>
/// <param name="img1">First source image.</param>
/// <param name="keypoints1">Keypoints from the first source image.</param>
/// <param name="img2">Second source image.</param>
/// <param name="keypoints2">Keypoints from the second source image.</param>
/// <param name="matches1To2">Matches from the first image to the second one, which means that keypoints1[i]
/// has a corresponding point in keypoints2[matches[i]] .</param>
/// <param name="outImg">Output image. Its content depends on the flags value defining what is drawn in the
/// output image. See possible flags bit values below.</param>
/// <param name="matchColor">Color of matches (lines and connected keypoints). If matchColor==Scalar::all(-1),
/// the color is generated randomly.</param>
/// <param name="singlePointColor">Color of single keypoints (circles), which means that keypoints do not
/// have the matches. If singlePointColor==Scalar::all(-1) , the color is generated randomly.</param>
/// <param name="matchesMask">Mask determining which matches are drawn. If the mask is empty, all matches are drawn.</param>
/// <param name="flags">Flags setting drawing features. Possible flags bit values are defined by DrawMatchesFlags.</param>
public static void DrawMatchesKnn(
Mat img1,
IEnumerable <KeyPoint> keypoints1,
Mat img2,
IEnumerable <KeyPoint> keypoints2,
IEnumerable <IEnumerable <DMatch> > matches1To2,
Mat outImg,
Scalar?matchColor = null,
Scalar?singlePointColor = null,
IEnumerable <IEnumerable <byte> >?matchesMask = null,
DrawMatchesFlags flags = DrawMatchesFlags.Default)
{
if (img1 == null)
{
throw new ArgumentNullException(nameof(img1));
}
if (img2 == null)
{
throw new ArgumentNullException(nameof(img2));
}
if (outImg == null)
{
throw new ArgumentNullException(nameof(outImg));
}
if (keypoints1 == null)
{
throw new ArgumentNullException(nameof(keypoints1));
}
if (keypoints2 == null)
{
throw new ArgumentNullException(nameof(keypoints2));
}
if (matches1To2 == null)
{
throw new ArgumentNullException(nameof(matches1To2));
}
img1.ThrowIfDisposed();
img2.ThrowIfDisposed();
outImg.ThrowIfDisposed();
var keypoints1Array = keypoints1.CastOrToArray();
var keypoints2Array = keypoints2.CastOrToArray();
var matches1To2Array = matches1To2.Select(m => m.ToArray()).ToArray();
var matches1To2Size1 = matches1To2Array.Length;
var matches1To2Size2 = matches1To2Array.Select(dm => dm.Length).ToArray();
var matchColor0 = matchColor.GetValueOrDefault(Scalar.All(-1));
var singlePointColor0 = singlePointColor.GetValueOrDefault(Scalar.All(-1));
using var matches1To2Ptr = new ArrayAddress2 <DMatch>(matches1To2Array);
if (matchesMask == null)
{
NativeMethods.HandleException(
NativeMethods.features2d_drawMatchesKnn(
img1.CvPtr, keypoints1Array, keypoints1Array.Length,
img2.CvPtr, keypoints2Array, keypoints2Array.Length,
matches1To2Ptr.GetPointer(), matches1To2Size1, matches1To2Size2,
outImg.CvPtr, matchColor0, singlePointColor0,
null, 0, null, (int)flags));
}
else
{
var matchesMaskArray = matchesMask.Select(m => m.ToArray()).ToArray();
var matchesMaskSize1 = matches1To2Array.Length;
var matchesMaskSize2 = matchesMaskArray.Select(dm => dm.Length).ToArray();
using var matchesMaskPtr = new ArrayAddress2 <byte>(matchesMaskArray);
NativeMethods.HandleException(
NativeMethods.features2d_drawMatchesKnn(
img1.CvPtr, keypoints1Array, keypoints1Array.Length,
img2.CvPtr, keypoints2Array, keypoints2Array.Length,
matches1To2Ptr.GetPointer(), matches1To2Size1, matches1To2Size2,
outImg.CvPtr, matchColor0, singlePointColor0,
matchesMaskPtr.GetPointer(), matchesMaskSize1, matchesMaskSize2, (int)flags));
}
GC.KeepAlive(img1);
GC.KeepAlive(img2);
GC.KeepAlive(outImg);
}
