public static void GetBoardObjectAndImagePoints(Board board, Std.VectorVectorPoint2f detectedCorners, Std.VectorInt detectedIds,
out Std.VectorPoint3f objPoints, out Std.VectorPoint2f imgPoints)
{
Cv.Exception exception = new Cv.Exception();
IntPtr objPointsPtr, imgPointsPtr;
au_getBoardObjectAndImagePoints(board.CppPtr, detectedCorners.CppPtr, detectedIds.CppPtr, out objPointsPtr, out imgPointsPtr,
exception.CppPtr);
objPoints = new Std.VectorPoint3f(objPointsPtr);
imgPoints = new Std.VectorPoint2f(imgPointsPtr);
exception.Check();
}
public static int InterpolateCornersCharuco(Std.VectorVectorPoint2f markerCorners, Std.VectorInt markerIds, Cv.Core.Mat image, CharucoBoard board,
out Std.VectorPoint2f charucoCorners, out Std.VectorInt charucoIds)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
System.IntPtr charucoCornersPtr, charucoIdsPtr;
int interpolateCorners = au_interpolateCornersCharuco3(markerCorners.cppPtr, markerIds.cppPtr, image.cppPtr, board.cppPtr,
out charucoCornersPtr, out charucoIdsPtr, exception.cppPtr);
charucoCorners = new Std.VectorPoint2f(charucoCornersPtr);
charucoIds = new Std.VectorInt(charucoIdsPtr);
exception.Check();
return(interpolateCorners);
}
public static bool EstimatePoseCharucoBoard(Std.VectorPoint2f charucoCorners, Std.VectorInt charucoIds, CharucoBoard board, Cv.Core.Mat cameraMatrix,
Cv.Core.Mat distCoeffs, out Cv.Core.Vec3d rvec, out Cv.Core.Vec3d tvec)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
System.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.Core.Vec3d(rvecPtr);
tvec = new Cv.Core.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 void DrawDetectedCornersCharuco(Cv.Core.Mat image, Std.VectorPoint2f charucoCorners)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
au_drawDetectedCornersCharuco3(image.cppPtr, charucoCorners.cppPtr, exception.cppPtr);
exception.Check();
}
public static void DrawDetectedCornersCharuco(Cv.Core.Mat image, Std.VectorPoint2f charucoCorners, Std.VectorInt charucoIds, Cv.Core.Scalar cornerColor)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
au_drawDetectedCornersCharuco1(image.cppPtr, charucoCorners.cppPtr, charucoIds.cppPtr, cornerColor.cppPtr, exception.cppPtr);
exception.Check();
}
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 = new Cv.Mat();
return(InterpolateCornersCharuco(markerCorners, markerIds, image, board, out charucoCorners, out charucoIds, cameraMatrix));
}
public static void DrawDetectedCornersCharuco(Cv.Mat image, Std.VectorPoint2f charucoCorners)
{
Std.VectorInt charucoIds = new Std.VectorInt();
DrawDetectedCornersCharuco(image, charucoCorners, charucoIds);
}
public static void DrawDetectedCornersCharuco(Cv.Mat image, Std.VectorPoint2f charucoCorners, Std.VectorInt charucoIds)
{
Cv.Scalar cornerColor = new Cv.Scalar(255, 0, 0);
DrawDetectedCornersCharuco(image, charucoCorners, charucoIds, cornerColor);
}
