// detects Aruco markers in the frame
unsafe public static UDetectMarkersData UDetectMarkers(Color32[] texture, int width, int height)
{
var watch = System.Diagnostics.Stopwatch.StartNew();
VectorIntMarshaller markerIds = new VectorIntMarshaller();
DoubleVectorPoint2FMarshaller markerCornerMarshaller = new DoubleVectorPoint2FMarshaller();
DoubleVectorPoint2FMarshaller rejectedCandidateMarshaller = new DoubleVectorPoint2FMarshaller();
fixed(Color32 *texP = texture)
{
DetectMarkers(
texP,
width,
height,
markerIds.NativeDataPointer,
markerCornerMarshaller.NativeDataPointer,
rejectedCandidateMarshaller.NativeDataPointer
);
}
UDetectMarkersData markerData = new UDetectMarkersData(
(int[])markerIds.GetMangedObject(),
(List <List <Vector2> >)markerCornerMarshaller.GetMangedObject(),
(List <List <Vector2> >)rejectedCandidateMarshaller.GetMangedObject(),
markerIds.NativeDataPointer,
markerCornerMarshaller.NativeDataPointer,
rejectedCandidateMarshaller.NativeDataPointer
);
watch.Stop();
var elapsedMs = watch.ElapsedMilliseconds;
return(markerData);
}
public unsafe static (UDetectMarkersData, UBoardMarkerPoseEstimationDataEuler) UEstimateCharucoBoardPose(Color32[] texture, int width, int height, CharucoBoardParameters boardParameters, IntPtr cameraMatrix, IntPtr distCoeffs)
{
int cornersH = 3;
int cornersW = 4;
float markerLength = 0.045f;
float squareLength = 0.06f;
// marshallers
Vec3dMarshaller tvecMarshaller = new Vec3dMarshaller();
Vec3dMarshaller rvecMarshaller = new Vec3dMarshaller();
MatDoubleMarshaller eulerAngles = new MatDoubleMarshaller();
// marker pointers
VectorIntMarshaller markerIds = new VectorIntMarshaller();
DoubleVectorPoint2FMarshaller markerCornerMarshaller = new DoubleVectorPoint2FMarshaller();
DoubleVectorPoint2FMarshaller rejectedCandidateMarshaller = new DoubleVectorPoint2FMarshaller();
estimateCharucoBoardPosePerfMarker.Begin();
fixed(Color32 *texP = texture)
{
EstimateCharucoBoardPose(
texP,
width,
height,
// markerLength,
// squareLength,
// cornersW,
// cornersH,
boardParameters.markerLength,
boardParameters.squareLength,
boardParameters.squaresW,
boardParameters.squaresH,
markerIds.NativeDataPointer,
markerCornerMarshaller.NativeDataPointer,
rejectedCandidateMarshaller.NativeDataPointer,
cameraMatrix,
distCoeffs,
rvecMarshaller.NativeDataPointer,
tvecMarshaller.NativeDataPointer,
eulerAngles.NativeDataPointer
);
}
estimateCharucoBoardPosePerfMarker.End();
UDetectMarkersData markerData = new UDetectMarkersData(
(int[])markerIds.GetMangedObject(),
(List <List <Vector2> >)markerCornerMarshaller.GetMangedObject(),
(List <List <Vector2> >)rejectedCandidateMarshaller.GetMangedObject(),
markerIds.NativeDataPointer,
markerCornerMarshaller.NativeDataPointer,
rejectedCandidateMarshaller.NativeDataPointer
);
UBoardMarkerPoseEstimationDataEuler PoseEstimateData = new UBoardMarkerPoseEstimationDataEuler(
(Vec3d)rvecMarshaller.GetMangedObject(),
(Vec3d)tvecMarshaller.GetMangedObject(),
(double[][])eulerAngles.GetMangedObject()
);
return(markerData : markerData, PoseEstimateData : PoseEstimateData);
}
