public static void DrawMarkers()
{
int i;
Emgu.CV.Aruco.Dictionary myDict = new Emgu.CV.Aruco.Dictionary(Emgu.CV.Aruco.Dictionary.PredefinedDictionaryName.Dict4X4_1000);
for (i = 0; i < 1000; i++)
{
Mat img = new Mat(6, 6, Emgu.CV.CvEnum.DepthType.Cv8U, 3);
Emgu.CV.Aruco.ArucoInvoke.DrawMarker(myDict, i, 64, img);
img.Save("C:\\Temp\\Aruco Markers HiRes\\Marker" + (i + 1).ToString("0000") + ".png");
}
}
public static void DoDetection(string myCalibFile, string myImageFile)
{
int i, j;
Mat myImage = Emgu.CV.CvInvoke.Imread(myImageFile, Emgu.CV.CvEnum.ImreadModes.Color);
FileStream sr = File.Open(myCalibFile, FileMode.Open, FileAccess.Read);
BinaryReader br = new BinaryReader(sr);
ARParam param = new ARParam();
param.xsize = byteSwapInt(br.ReadInt32());
param.ysize = byteSwapInt(br.ReadInt32());
for (i = 0; i < 3; i++)
{
for (j = 0; j < 4; j++)
{
param.mat[i, j] = byteSwapDouble(br.ReadDouble());
}
}
for (i = 0; i < 9; i++)
{
param.dist_factor[i] = byteSwapDouble(br.ReadDouble());
}
br.Close();
sr.Close();
double s = param.dist_factor[8];
param.mat[0, 0] *= s;
param.mat[0, 1] *= s;
param.mat[1, 0] *= s;
param.mat[1, 1] *= s;
Mat cameraMatrix = new Mat(3, 3, Emgu.CV.CvEnum.DepthType.Cv64F, 1);
Mat distortionCoeffs = new Mat(4, 1, Emgu.CV.CvEnum.DepthType.Cv64F, 1);
double[] cameraArray = new double[9];
for (j = 0; j < 3; j++)
{
for (i = 0; i < 3; i++)
{
cameraArray[j * 3 + i] = param.mat[j, i];
}
}
double[] distCoeffArray = new double[4];
for (i = 0; i < 4; i++)
{
distCoeffArray[i] = param.dist_factor[i];
}
Marshal.Copy(cameraArray, 0, cameraMatrix.DataPointer, 9);
Marshal.Copy(distCoeffArray, 0, distortionCoeffs.DataPointer, 4);
Emgu.CV.Aruco.Dictionary myDict = new Emgu.CV.Aruco.Dictionary(Emgu.CV.Aruco.Dictionary.PredefinedDictionaryName.Dict4X4_1000);
Emgu.CV.Aruco.GridBoard myBoard = new Emgu.CV.Aruco.GridBoard(2, 1, 0.08f, 0.005f, myDict, 33);
Mat mappedImage = myImage.Clone();
CvInvoke.Undistort(myImage, mappedImage, cameraMatrix, distortionCoeffs);
//Mat rvecs = new Mat(3, 1, Emgu.CV.CvEnum.DepthType.Cv32F, 1);
//Mat tvecs = new Mat(3, 1, Emgu.CV.CvEnum.DepthType.Cv32F, 1);
Emgu.CV.Aruco.DetectorParameters myParams = Emgu.CV.Aruco.DetectorParameters.GetDefault();
myParams.CornerRefinementMethod = Emgu.CV.Aruco.DetectorParameters.RefinementMethod.Subpix;
//myParams.AdaptiveThreshWinSizeStep = 10;
//myParams.AdaptiveThreshWinSizeMax = 23;
//myParams.AdaptiveThreshWinSizeMin = 3;
//myParams.MaxMarkerPerimeterRate = 4.0;
//myParams.MinMarkerPerimeterRate = 0.03;
//myParams.AdaptiveThreshConstant = 7;
//myParams.PolygonalApproxAccuracyRate = 0.1;
//myParams.MinCornerDistanceRate = 0.05;
//myParams.MinDistanceToBorder = 3;
//myParams.MinMarkerDistanceRate = 0.05;
//myParams.CornerRefinementMinAccuracy = 0.1;
//myParams.CornerRefinementWinSize = 5;
//myParams.CornerRefinementMaxIterations = 30;
myParams.MarkerBorderBits = 2;
//myParams.PerspectiveRemoveIgnoredMarginPerCell = 0.13;
//myParams.PerspectiveRemovePixelPerCell = 8;
//myParams.MaxErroneousBitsInBorderRate = 0.35;
//myParams.MinOtsuStdDev = 5.0;
//myParams.ErrorCorrectionRate = 0.6;
using (Emgu.CV.Util.VectorOfInt ids = new Emgu.CV.Util.VectorOfInt())
using (Emgu.CV.Util.VectorOfVectorOfPointF corners = new Emgu.CV.Util.VectorOfVectorOfPointF())
using (Emgu.CV.Util.VectorOfVectorOfPointF rejected = new Emgu.CV.Util.VectorOfVectorOfPointF()) {
Emgu.CV.Aruco.ArucoInvoke.DetectMarkers(mappedImage, myDict, corners, ids, myParams, rejected);
if (ids.Size > 0)
{
//Emgu.CV.Aruco.ArucoInvoke.RefineDetectedMarkers(mappedImage, myBoard, corners, ids, rejected, null, null, 10, 3, true, null, myParams);
using (Mat rvecs = new Mat(3, 1, Emgu.CV.CvEnum.DepthType.Cv32F, 1))
using (Mat tvecs = new Mat(3, 1, Emgu.CV.CvEnum.DepthType.Cv32F, 1)) {
Emgu.CV.Aruco.ArucoInvoke.EstimatePoseSingleMarkers(corners, 0.08f, cameraMatrix, distortionCoeffs, rvecs, tvecs);
for (i = 0; i < rvecs.Rows; i++)
{
Emgu.CV.Aruco.ArucoInvoke.DrawAxis(mappedImage, cameraMatrix, distortionCoeffs, rvecs.Row(i), tvecs.Row(i), 0.05f);
}
}
Emgu.CV.Aruco.ArucoInvoke.DrawDetectedMarkers(mappedImage, corners, ids, new Emgu.CV.Structure.MCvScalar(0.0, 200.0, 50.0));
mappedImage.Save("C:\\Temp\\ArucoDetect.png");
}
else if (rejected.Size > 0)
{
PointF[][] myPts = rejected.ToArrayOfArray();
for (i = 0; i < myPts.GetUpperBound(0); i++)
{
CvInvoke.Line(mappedImage, new Point((int)myPts[i][0].X, (int)myPts[i][0].Y), new Point((int)myPts[i][1].X, (int)myPts[i][1].Y), new Emgu.CV.Structure.MCvScalar(0.0, 0.5, 200.0), 2);
CvInvoke.Line(mappedImage, new Point((int)myPts[i][1].X, (int)myPts[i][1].Y), new Point((int)myPts[i][2].X, (int)myPts[i][2].Y), new Emgu.CV.Structure.MCvScalar(0.0, 0.5, 200.0), 2);
CvInvoke.Line(mappedImage, new Point((int)myPts[i][2].X, (int)myPts[i][2].Y), new Point((int)myPts[i][3].X, (int)myPts[i][3].Y), new Emgu.CV.Structure.MCvScalar(0.0, 0.5, 200.0), 2);
CvInvoke.Line(mappedImage, new Point((int)myPts[i][3].X, (int)myPts[i][3].Y), new Point((int)myPts[i][0].X, (int)myPts[i][0].Y), new Emgu.CV.Structure.MCvScalar(0.0, 0.5, 200.0), 2);
}
mappedImage.Save("C:\\Temp\\ArucoReject.png");
}
}
}
