public static bool EstimatePoseCharucoBoard(Std.VectorPoint2f charucoCorners, Std.VectorInt charucoIds, CharucoBoard board,
Cv.Mat cameraMatrix, Cv.Mat distCoeffs, out Cv.Vec3d rvec, out Cv.Vec3d tvec)
{
Cv.Exception exception = new Cv.Exception();
IntPtr rvecPtr, tvecPtr;
bool valid = au_estimatePoseCharucoBoard(charucoCorners.CppPtr, charucoIds.CppPtr, board.CppPtr, cameraMatrix.CppPtr, distCoeffs.CppPtr,
out rvecPtr, out tvecPtr, exception.CppPtr);
rvec = new Cv.Vec3d(rvecPtr);
tvec = new Cv.Vec3d(tvecPtr);
exception.Check();
return(valid);
}
public static int InterpolateCornersCharuco(Std.VectorVectorPoint2f markerCorners, Std.VectorInt markerIds, Cv.Mat image, CharucoBoard board,
out Std.VectorPoint2f charucoCorners, out Std.VectorInt charucoIds, Cv.Mat cameraMatrix, Cv.Mat distCoeffs)
{
Cv.Exception exception = new Cv.Exception();
IntPtr charucoCornersPtr, charucoIdsPtr;
int interpolateCorners = au_interpolateCornersCharuco(markerCorners.CppPtr, markerIds.CppPtr, image.CppPtr, board.CppPtr,
out charucoCornersPtr, out charucoIdsPtr, cameraMatrix.CppPtr, distCoeffs.CppPtr, exception.CppPtr);
charucoCorners = new Std.VectorPoint2f(charucoCornersPtr);
charucoIds = new Std.VectorInt(charucoIdsPtr);
exception.Check();
return(interpolateCorners);
}
public static int EstimatePoseBoard(Std.VectorVectorPoint2f corners, Std.VectorInt ids, Board board, Cv.Mat cameraMatrix, Cv.Mat distCoeffs,
out Cv.Vec3d rvec, out Cv.Vec3d tvec)
{
Cv.Exception exception = new Cv.Exception();
IntPtr rvecPtr, tvecPtr;
int valid = au_estimatePoseBoard(corners.CppPtr, ids.CppPtr, board.CppPtr, cameraMatrix.CppPtr, distCoeffs.CppPtr, out rvecPtr, out tvecPtr,
exception.CppPtr);
rvec = new Cv.Vec3d(rvecPtr);
tvec = new Cv.Vec3d(tvecPtr);
exception.Check();
return(valid);
}
public static double CalibrateCameraCharuco(Std.VectorVectorPoint2f charucoCorners, Std.VectorVectorInt charucoIds, CharucoBoard board,
Cv.Size imageSize, Cv.Mat cameraMatrix, Cv.Mat distCoeffs, out Std.VectorMat rvecs, out Std.VectorMat tvecs, Cv.Calib flags,
Cv.TermCriteria criteria)
{
Cv.Exception exception = new Cv.Exception();
IntPtr rvecsPtr, tvecsPtr;
double reProjectionError = au_calibrateCameraCharuco(charucoCorners.CppPtr, charucoIds.CppPtr, board.CppPtr, imageSize.CppPtr,
cameraMatrix.CppPtr, distCoeffs.CppPtr, out rvecsPtr, out tvecsPtr, (int)flags, criteria.CppPtr, exception.CppPtr);
rvecs = new Std.VectorMat(rvecsPtr);
tvecs = new Std.VectorMat(tvecsPtr);
exception.Check();
return(reProjectionError);
}
public void Reserve(uint newCap)
{
Cv.Exception exception = new Cv.Exception();
au_std_vectorDouble_reserve(CppPtr, newCap, exception.CppPtr);
exception.Check();
}
public static void DrawDetectedMarkers(Cv.Mat image, Std.VectorVectorPoint2f corners, Std.VectorInt ids, Cv.Scalar borderColor)
{
Cv.Exception exception = new Cv.Exception();
au_drawDetectedMarkers(image.CppPtr, corners.CppPtr, ids.CppPtr, borderColor.CppPtr, exception.CppPtr);
exception.Check();
}
public static void DrawDetectedCornersCharuco(Cv.Mat image, Std.VectorPoint2f charucoCorners, Std.VectorInt charucoIds, Cv.Scalar cornerColor)
{
Cv.Exception exception = new Cv.Exception();
au_drawDetectedCornersCharuco(image.CppPtr, charucoCorners.CppPtr, charucoIds.CppPtr, cornerColor.CppPtr, exception.CppPtr);
exception.Check();
}
public static void DrawAxis(Cv.Mat image, Cv.Mat cameraMatrix, Cv.Mat distCoeffs, Cv.Vec3d rvec, Cv.Vec3d tvec, float length)
{
Cv.Exception exception = new Cv.Exception();
au_drawAxis(image.CppPtr, cameraMatrix.CppPtr, distCoeffs.CppPtr, rvec.CppPtr, tvec.CppPtr, length, exception.CppPtr);
exception.Check();
}
