/// <summary>
/// <see cref="ArucoObjectTracker.Draw(int, Dictionary, HashSet{ArucoObject})"/>
/// </summary>
public override void Draw(int cameraId, Aruco.Dictionary dictionary)
{
if (!IsActivated || arucoTracker.MarkerTracker.DetectedMarkers[cameraId][dictionary] <= 0)
{
return;
}
bool updatedCameraImage = false;
Cv.Core.Mat[] cameraImages = arucoTracker.ArucoCamera.Images;
CameraParameters cameraParameters = arucoTracker.ArucoCamera.CameraParameters;
foreach (var arucoGridBoard in arucoTracker.GetArucoObjects <ArucoGridBoard>(dictionary))
{
if (arucoTracker.DrawAxes && cameraParameters != null && arucoGridBoard.MarkersUsedForEstimation > 0 && arucoGridBoard.Rvec != null)
{
Aruco.DrawAxis(cameraImages[cameraId], cameraParameters.CamerasMatrix[cameraId], cameraParameters.DistCoeffs[cameraId],
arucoGridBoard.Rvec, arucoGridBoard.Tvec, arucoGridBoard.AxisLength);
updatedCameraImage = true;
}
}
if (updatedCameraImage)
{
arucoTracker.ArucoCamera.Images = cameraImages;
}
}
protected virtual void ArucoObjectController_DictionaryRemoved(Aruco.Dictionary dictionary)
{
if (!IsActivated)
{
return;
}
}
/// <summary>
/// <see cref="ArucoObjectTracker.Draw(int, Dictionary)"/>
/// </summary>
public override void Draw(int cameraId, Aruco.Dictionary dictionary)
{
if (!IsActivated)
{
return;
}
bool updatedCameraImage = false;
Cv.Core.Mat[] cameraImages = arucoTracker.ArucoCamera.Images;
// Draw the detected markers
// TODO: draw only markers in ArucoObjects list + add option to draw all the detected markers
if (arucoTracker.DrawDetectedMarkers && DetectedMarkers[cameraId][dictionary] > 0)
{
Aruco.DrawDetectedMarkers(cameraImages[cameraId], MarkerCorners[cameraId][dictionary], MarkerIds[cameraId][dictionary]);
updatedCameraImage = true;
}
// Draw the rejected marker candidates
if (arucoTracker.DrawRejectedCandidates && RejectedCandidateCorners[cameraId][dictionary].Size() > 0)
{
Aruco.DrawDetectedMarkers(cameraImages[cameraId], RejectedCandidateCorners[cameraId][dictionary], REJECTED_MARKERS_CANDIDATES_COLOR);
updatedCameraImage = true;
}
if (updatedCameraImage)
{
arucoTracker.ArucoCamera.Images = cameraImages;
}
}
/// <summary>
/// <see cref="ArucoObjectTracker.Detect(int, Dictionary, HashSet{ArucoObject})"/>
/// </summary>
public override void Detect(int cameraId, Aruco.Dictionary dictionary)
{
if (!IsActivated)
{
return;
}
CameraParameters cameraParameters = arucoTracker.ArucoCamera.CameraParameters;
Std.VectorVectorPoint2f diamondCorners = null;
Std.VectorVec4i diamondIds = null;
if (arucoTracker.MarkerTracker.DetectedMarkers[cameraId][dictionary] > 0)
{
if (cameraParameters == null)
{
Aruco.DetectCharucoDiamond(arucoTracker.ArucoCamera.Images[cameraId], arucoTracker.MarkerTracker.MarkerCorners[cameraId][dictionary],
arucoTracker.MarkerTracker.MarkerIds[cameraId][dictionary], DETECT_SQUARE_MARKER_LENGTH_RATE, out diamondCorners, out diamondIds);
}
else
{
Aruco.DetectCharucoDiamond(arucoTracker.ArucoCamera.Images[cameraId], arucoTracker.MarkerTracker.MarkerCorners[cameraId][dictionary],
arucoTracker.MarkerTracker.MarkerIds[cameraId][dictionary], DETECT_SQUARE_MARKER_LENGTH_RATE, out diamondCorners, out diamondIds,
cameraParameters.CamerasMatrix[cameraId], cameraParameters.DistCoeffs[cameraId]);
}
}
DiamondCorners[cameraId][dictionary] = diamondCorners;
DiamondIds[cameraId][dictionary] = diamondIds;
DetectedDiamonds[cameraId][dictionary] = (diamondIds != null) ? (int)diamondIds.Size() : 0;
}
/// <summary>
/// Detect the ArUco objects for a camera on an custom image.
/// </summary>
/// <param name="cameraId">The id of the camera.</param>
/// <param name="dictionary">The dictionary to use for the detection.</param>
/// <param name="dictionary">The image to use for the detection.</param>
public virtual void Detect(int cameraId, Aruco.Dictionary dictionary, Cv.Mat image)
{
if (!IsActivated)
{
throw new Exception("Activate the tracker before detecting ArUco objects.");
}
}
/// <summary>
/// Place and orient the detected ArUco objects relative to a camera.
/// </summary>
/// <param name="cameraId">The id of the camera to use.</param>
/// <param name="dictionary">The dictionary to use.</param>
public virtual void UpdateTransforms(int cameraId, Aruco.Dictionary dictionary)
{
if (!IsActivated)
{
throw new Exception("Activate the tracker before updating transforms of ArUco objects.");
}
}
public override void Draw(int cameraId, Aruco.Dictionary dictionary, Cv.Mat image)
{
base.Draw(cameraId, dictionary, image);
if (DetectedMarkers[cameraId][dictionary] > 0)
{
// Draw all the detected markers
if (arucoTracker.DrawDetectedMarkers)
{
Aruco.DrawDetectedMarkers(image, MarkerCorners[cameraId][dictionary], MarkerIds[cameraId][dictionary]);
}
// Draw axes of detected tracked markers
if (arucoTracker.DrawAxes && arucoCameraUndistortion != null && MarkerRvecs[cameraId][dictionary] != null)
{
for (uint i = 0; i < DetectedMarkers[cameraId][dictionary]; i++)
{
ArucoObject foundArucoObject;
int detectedMarkerHashCode = ArucoMarker.GetArucoHashCode(MarkerIds[cameraId][dictionary].At(i));
if (arucoTracker.ArucoObjects[dictionary].TryGetValue(detectedMarkerHashCode, out foundArucoObject))
{
Aruco.DrawAxis(image, arucoCameraUndistortion.RectifiedCameraMatrices[cameraId], arucoCameraUndistortion.UndistortedDistCoeffs[cameraId],
MarkerRvecs[cameraId][dictionary].At(i), MarkerTvecs[cameraId][dictionary].At(i), estimatePoseMarkerLength);
}
}
}
}
// Draw the rejected marker candidates
if (arucoTracker.DrawRejectedCandidates && RejectedCandidateCorners[cameraId][dictionary].Size() > 0)
{
Aruco.DrawDetectedMarkers(image, RejectedCandidateCorners[cameraId][dictionary]);
}
}
// ArucoObjectTracker methods
/// <summary>
/// <see cref="ArucoObjectTracker.Activate(ArucoTracker)"/>
/// </summary>
public override void Activate(ArucoTracker arucoTracker)
{
base.Activate(arucoTracker);
// Initialize the properties and the ArUco objects
MarkerCorners = new Dictionary <Aruco.Dictionary, Std.VectorVectorPoint2f> [arucoTracker.ArucoCamera.CamerasNumber];
MarkerIds = new Dictionary <Aruco.Dictionary, Std.VectorInt> [arucoTracker.ArucoCamera.CamerasNumber];
RejectedCandidateCorners = new Dictionary <Aruco.Dictionary, Std.VectorVectorPoint2f> [arucoTracker.ArucoCamera.CamerasNumber];
MarkerRvecs = new Dictionary <Aruco.Dictionary, Std.VectorVec3d> [arucoTracker.ArucoCamera.CamerasNumber];
MarkerTvecs = new Dictionary <Aruco.Dictionary, Std.VectorVec3d> [arucoTracker.ArucoCamera.CamerasNumber];
DetectedMarkers = new Dictionary <Aruco.Dictionary, int> [arucoTracker.ArucoCamera.CamerasNumber];
for (int cameraId = 0; cameraId < arucoTracker.ArucoCamera.CamerasNumber; cameraId++)
{
MarkerCorners[cameraId] = new Dictionary <Aruco.Dictionary, Std.VectorVectorPoint2f>();
MarkerIds[cameraId] = new Dictionary <Aruco.Dictionary, Std.VectorInt>();
RejectedCandidateCorners[cameraId] = new Dictionary <Aruco.Dictionary, Std.VectorVectorPoint2f>();
MarkerRvecs[cameraId] = new Dictionary <Aruco.Dictionary, Std.VectorVec3d>();
MarkerTvecs[cameraId] = new Dictionary <Aruco.Dictionary, Std.VectorVec3d>();
DetectedMarkers[cameraId] = new Dictionary <Aruco.Dictionary, int>();
foreach (var arucoObjectDictionary in arucoTracker.ArucoObjects)
{
Aruco.Dictionary dictionary = arucoObjectDictionary.Key;
MarkerCorners[cameraId].Add(dictionary, new Std.VectorVectorPoint2f());
MarkerIds[cameraId].Add(dictionary, new Std.VectorInt());
RejectedCandidateCorners[cameraId].Add(dictionary, new Std.VectorVectorPoint2f());
MarkerRvecs[cameraId].Add(dictionary, new Std.VectorVec3d());
MarkerTvecs[cameraId].Add(dictionary, new Std.VectorVec3d());
DetectedMarkers[cameraId].Add(dictionary, 0);
}
}
}
// ArucoObjectTracker methods
public override void Activate(IArucoObjectsTracker arucoTracker)
{
base.Activate(arucoTracker);
DiamondCorners = new Dictionary <Aruco.Dictionary, Std.VectorVectorPoint2f> [arucoCamera.CameraNumber];
DiamondIds = new Dictionary <Aruco.Dictionary, Std.VectorVec4i> [arucoCamera.CameraNumber];
DetectedDiamonds = new Dictionary <Aruco.Dictionary, int> [arucoCamera.CameraNumber];
DiamondRvecs = new Dictionary <Aruco.Dictionary, Std.VectorVec3d> [arucoCamera.CameraNumber];
DiamondTvecs = new Dictionary <Aruco.Dictionary, Std.VectorVec3d> [arucoCamera.CameraNumber];
for (int cameraId = 0; cameraId < arucoCamera.CameraNumber; cameraId++)
{
DiamondCorners[cameraId] = new Dictionary <Aruco.Dictionary, Std.VectorVectorPoint2f>();
DiamondIds[cameraId] = new Dictionary <Aruco.Dictionary, Std.VectorVec4i>();
DetectedDiamonds[cameraId] = new Dictionary <Aruco.Dictionary, int>();
DiamondRvecs[cameraId] = new Dictionary <Aruco.Dictionary, Std.VectorVec3d>();
DiamondTvecs[cameraId] = new Dictionary <Aruco.Dictionary, Std.VectorVec3d>();
foreach (var arucoObjectDictionary in arucoTracker.ArucoObjects)
{
Aruco.Dictionary dictionary = arucoObjectDictionary.Key;
DiamondCorners[cameraId].Add(dictionary, new Std.VectorVectorPoint2f());
DiamondIds[cameraId].Add(dictionary, new Std.VectorVec4i());
DetectedDiamonds[cameraId].Add(dictionary, 0);
DiamondRvecs[cameraId].Add(dictionary, new Std.VectorVec3d());
DiamondTvecs[cameraId].Add(dictionary, new Std.VectorVec3d());
}
}
}
public override void Draw(int cameraId, Aruco.Dictionary dictionary, Cv.Mat image)
{
if (DetectedMarkers[cameraId][dictionary] > 0)
{
// Draw all the detected markers
if (arucoTracker.DrawDetectedMarkers)
{
// TODO: draw only markers in ArucoObjects list + add option to draw all the detected markers
Aruco.DrawDetectedMarkers(image, MarkerCorners[cameraId][dictionary], MarkerIds[cameraId][dictionary]);
}
// Draw axes of detected tracked markers
if (arucoTracker.DrawAxes && cameraParameters != null && MarkerRvecs[cameraId][dictionary] != null)
{
for (uint i = 0; i < DetectedMarkers[cameraId][dictionary]; i++)
{
ArucoObject foundArucoObject;
int detectedMarkerHashCode = ArucoMarker.GetArucoHashCode(MarkerIds[cameraId][dictionary].At(i));
if (arucoTracker.ArucoObjects[dictionary].TryGetValue(detectedMarkerHashCode, out foundArucoObject))
{
Aruco.DrawAxis(image, cameraParameters.CameraMatrices[cameraId], cameraParameters.DistCoeffs[cameraId],
MarkerRvecs[cameraId][dictionary].At(i), MarkerTvecs[cameraId][dictionary].At(i), EstimatePoseMarkerLength);
}
}
}
}
// Draw the rejected marker candidates
if (arucoTracker.DrawRejectedCandidates && RejectedCandidateCorners[cameraId][dictionary].Size() > 0)
{
Aruco.DrawDetectedMarkers(image, RejectedCandidateCorners[cameraId][dictionary]);
}
}
public override void Detect(int cameraId, Aruco.Dictionary dictionary, Cv.Mat image)
{
base.Detect(cameraId, dictionary, image);
ArucoMarkerTracker markerTracker = arucoTracker.MarkerTracker;
Std.VectorVectorPoint2f diamondCorners = null;
Std.VectorVec4i diamondIds = null;
if (markerTracker.DetectedMarkers[cameraId][dictionary] > 0)
{
if (arucoCameraUndistortion == null)
{
Aruco.DetectCharucoDiamond(image, markerTracker.MarkerCorners[cameraId][dictionary], markerTracker.MarkerIds[cameraId][dictionary],
DetectSquareMarkerLengthRate, out diamondCorners, out diamondIds);
}
else
{
Aruco.DetectCharucoDiamond(image, markerTracker.MarkerCorners[cameraId][dictionary], markerTracker.MarkerIds[cameraId][dictionary],
DetectSquareMarkerLengthRate, out diamondCorners, out diamondIds, arucoCameraUndistortion.RectifiedCameraMatrices[cameraId],
arucoCameraUndistortion.UndistortedDistCoeffs[cameraId]);
}
}
DiamondCorners[cameraId][dictionary] = diamondCorners;
DiamondIds[cameraId][dictionary] = diamondIds;
DetectedDiamonds[cameraId][dictionary] = (diamondIds != null) ? (int)diamondIds.Size() : 0;
}
/// <summary>
/// Detect the ArUco objects on the current image of a camera.
/// </summary>
/// <param name="cameraId">The id of the camera to use.</param>
/// <param name="dictionary">The dictionary to use for the detection.</param>
public virtual void Detect(int cameraId, Aruco.Dictionary dictionary)
{
if (IsActivated)
{
Detect(cameraId, dictionary, arucoTracker.ArucoCamera.Images[cameraId]);
}
}
// MonoBehaviour methods
/// <summary>
/// Initializes the properties.
/// </summary>
protected virtual void Awake()
{
if (Dictionary == null)
{
dictionary = Aruco.GetPredefinedDictionary(dictionaryName);
}
UpdateArucoHashCode();
}
// MonoBehaviour methods
/// <summary>
/// Calls <see cref="UpdateProperties()"/>.
/// </summary>
protected virtual void Awake()
{
if (Dictionary == null)
{
dictionary = Aruco.GetPredefinedDictionary(dictionaryName);
}
UpdateProperties();
}
public override void Place(int cameraId, Aruco.Dictionary dictionary)
{
foreach (var arucoGridBoard in arucoTracker.GetArucoObjects <ArucoGridBoard>(dictionary))
{
if (arucoGridBoard.Rvec != null)
{
PlaceArucoObject(arucoGridBoard, arucoGridBoard.Rvec, arucoGridBoard.Tvec, cameraId);
}
}
}
protected override void ArucoObjectsController_DictionaryRemoved(Aruco.Dictionary dictionary)
{
for (int cameraId = 0; cameraId < arucoCamera.CameraNumber; cameraId++)
{
DiamondIds[cameraId].Remove(dictionary);
DetectedDiamonds[cameraId].Remove(dictionary);
DiamondRvecs[cameraId].Remove(dictionary);
DiamondTvecs[cameraId].Remove(dictionary);
}
}
// ArucoObjectsController related methods
protected override void ArucoObjectsController_DictionaryAdded(Aruco.Dictionary dictionary)
{
for (int cameraId = 0; cameraId < arucoCamera.CameraNumber; cameraId++)
{
DiamondIds[cameraId].Add(dictionary, new Std.VectorVec4i());
DetectedDiamonds[cameraId].Add(dictionary, 0);
DiamondRvecs[cameraId].Add(dictionary, new Std.VectorVec3d());
DiamondTvecs[cameraId].Add(dictionary, new Std.VectorVec3d());
}
}
public override void Draw(int cameraId, Aruco.Dictionary dictionary, Cv.Mat image)
{
foreach (var arucoGridBoard in arucoTracker.GetArucoObjects <ArucoGridBoard>(dictionary))
{
if (arucoTracker.DrawAxes && cameraParameters != null && arucoGridBoard.Rvec != null)
{
Aruco.DrawAxis(image, cameraParameters.CameraMatrices[cameraId], cameraParameters.DistCoeffs[cameraId],
arucoGridBoard.Rvec, arucoGridBoard.Tvec, arucoGridBoard.AxisLength);
}
}
}
protected override void ArucoObjectsController_DictionaryRemoved(Aruco.Dictionary dictionary)
{
for (int cameraId = 0; cameraId < arucoTracker.ArucoCamera.CameraNumber; cameraId++)
{
MarkerCorners[cameraId].Remove(dictionary);
MarkerIds[cameraId].Remove(dictionary);
RejectedCandidateCorners[cameraId].Remove(dictionary);
MarkerRvecs[cameraId].Remove(dictionary);
MarkerTvecs[cameraId].Remove(dictionary);
DetectedMarkers[cameraId].Remove(dictionary);
}
}
public override void Detect(int cameraId, Aruco.Dictionary dictionary, Cv.Mat image)
{
Std.VectorVectorPoint2f markerCorners, rejectedCandidateCorners;
Std.VectorInt markerIds;
Aruco.DetectMarkers(image, dictionary, out markerCorners, out markerIds, arucoTracker.DetectorParameters, out rejectedCandidateCorners);
DetectedMarkers[cameraId][dictionary] = (int)markerIds.Size();
MarkerCorners[cameraId][dictionary] = markerCorners;
MarkerIds[cameraId][dictionary] = markerIds;
RejectedCandidateCorners[cameraId][dictionary] = rejectedCandidateCorners;
}
// ArucoObjectsController related methods
protected override void ArucoObjectsController_DictionaryAdded(Aruco.Dictionary dictionary)
{
for (int cameraId = 0; cameraId < arucoTracker.ArucoCamera.CameraNumber; cameraId++)
{
MarkerCorners[cameraId].Add(dictionary, new Std.VectorVectorPoint2f());
MarkerIds[cameraId].Add(dictionary, new Std.VectorInt());
RejectedCandidateCorners[cameraId].Add(dictionary, new Std.VectorVectorPoint2f());
MarkerRvecs[cameraId].Add(dictionary, new Std.VectorVec3d());
MarkerTvecs[cameraId].Add(dictionary, new Std.VectorVec3d());
DetectedMarkers[cameraId].Add(dictionary, 0);
}
}
public override void EstimateTransforms(int cameraId, Aruco.Dictionary dictionary)
{
Std.VectorVec3d rvecs = null, tvecs = null;
if (DetectedMarkers[cameraId][dictionary] > 0 && cameraParameters != null)
{
Aruco.EstimatePoseSingleMarkers(MarkerCorners[cameraId][dictionary], EstimatePoseMarkerLength, cameraParameters.CameraMatrices[cameraId],
cameraParameters.DistCoeffs[cameraId], out rvecs, out tvecs);
}
MarkerRvecs[cameraId][dictionary] = rvecs;
MarkerTvecs[cameraId][dictionary] = tvecs;
}
public override void UpdateTransforms(int cameraId, Aruco.Dictionary dictionary)
{
base.UpdateTransforms(cameraId, dictionary);
foreach (var arucoCharucoBoard in arucoTracker.GetArucoObjects <ArucoCharucoBoard>(dictionary))
{
if (arucoCharucoBoard.Rvec != null)
{
arucoCameraDisplay.PlaceArucoObject(arucoCharucoBoard.transform, cameraId, arucoCharucoBoard.Tvec.ToPosition(),
arucoCharucoBoard.Rvec.ToRotation());
}
}
}
/// <summary>
/// Calls <see cref="OnPropertyUpdated()"/> in editor mode.
/// </summary>
protected virtual void OnValidate()
{
#if UNITY_EDITOR
if (!UnityEditor.EditorApplication.isPlayingOrWillChangePlaymode)
{
if (Dictionary == null || dictionaryName != Dictionary.Name)
{
dictionary = Aruco.GetPredefinedDictionary(dictionaryName);
}
OnPropertyUpdated();
}
#endif
}
public override void Draw(int cameraId, Aruco.Dictionary dictionary, Cv.Mat image)
{
base.Draw(cameraId, dictionary, image);
foreach (var arucoGridBoard in arucoTracker.GetArucoObjects<ArucoGridBoard>(dictionary))
{
if (arucoTracker.DrawAxes && arucoCameraUndistortion != null && arucoGridBoard.Rvec != null)
{
Aruco.DrawAxis(image, arucoCameraUndistortion.RectifiedCameraMatrices[cameraId], arucoCameraUndistortion.UndistortedDistCoeffs[cameraId],
arucoGridBoard.Rvec, arucoGridBoard.Tvec, arucoGridBoard.AxisLength);
}
}
}
public override void EstimateTransforms(int cameraId, Aruco.Dictionary dictionary)
{
// TODO: add autoscale feature (see: https://github.com/opencv/opencv_contrib/blob/master/modules/aruco/samples/detect_diamonds.cpp#L203)
Std.VectorVec3d diamondRvecs = null, diamondTvecs = null;
if (DetectedDiamonds[cameraId][dictionary] > 0 && cameraParameters != null)
{
Aruco.EstimatePoseSingleMarkers(DiamondCorners[cameraId][dictionary], EstimatePoseSquareLength, cameraParameters.CameraMatrices[cameraId],
cameraParameters.DistCoeffs[cameraId], out diamondRvecs, out diamondTvecs);
}
DiamondRvecs[cameraId][dictionary] = diamondRvecs;
DiamondTvecs[cameraId][dictionary] = diamondTvecs;
}
// ArucoObjectTracker methods
public override void Detect(int cameraId, Aruco.Dictionary dictionary, Cv.Mat image)
{
ArucoMarkerTracker markerTracker = arucoTracker.MarkerTracker;
if (arucoTracker.RefineDetectedMarkers && arucoTracker.MarkerTracker.DetectedMarkers[cameraId][dictionary] > 0)
{
foreach (var arucoBoard in arucoTracker.GetArucoObjects <ArucoGridBoard>(dictionary))
{
Aruco.RefineDetectedMarkers(image, arucoBoard.Board, markerTracker.MarkerCorners[cameraId][dictionary],
markerTracker.MarkerIds[cameraId][dictionary], markerTracker.RejectedCandidateCorners[cameraId][dictionary]);
markerTracker.DetectedMarkers[cameraId][dictionary] = (int)markerTracker.MarkerIds[cameraId][dictionary].Size();
}
}
}
public override void EstimateTransforms(int cameraId, Aruco.Dictionary dictionary)
{
base.EstimateTransforms(cameraId, dictionary);
Std.VectorVec3d diamondRvecs = null, diamondTvecs = null;
if (DetectedDiamonds[cameraId][dictionary] > 0 && arucoCameraUndistortion != null)
{
Aruco.EstimatePoseSingleMarkers(DiamondCorners[cameraId][dictionary], EstimatePoseSquareLength, arucoCameraUndistortion.RectifiedCameraMatrices[cameraId],
arucoCameraUndistortion.UndistortedDistCoeffs[cameraId], out diamondRvecs, out diamondTvecs);
}
DiamondRvecs[cameraId][dictionary] = diamondRvecs;
DiamondTvecs[cameraId][dictionary] = diamondTvecs;
}
/// <summary>
/// <see cref="ArucoObjectTracker.Place(int, Dictionary, HashSet{ArucoObject})"/>
/// </summary>
public override void Place(int cameraId, Aruco.Dictionary dictionary)
{
if (!IsActivated || arucoTracker.MarkerTracker.DetectedMarkers[cameraId][dictionary] <= 0)
{
return;
}
foreach (var arucoCharucoBoard in arucoTracker.GetArucoObjects <ArucoCharucoBoard>(dictionary))
{
if (arucoCharucoBoard.ValidTransform)
{
PlaceArucoObject(arucoCharucoBoard, arucoCharucoBoard.Rvec, arucoCharucoBoard.Tvec, cameraId);
}
}
}
public override void EstimateTransforms(int cameraId, Aruco.Dictionary dictionary)
{
base.EstimateTransforms(cameraId, dictionary);
Std.VectorVec3d rvecs = null, tvecs = null;
if (DetectedMarkers[cameraId][dictionary] > 0 && arucoCameraUndistortion != null)
{
Aruco.EstimatePoseSingleMarkers(MarkerCorners[cameraId][dictionary], estimatePoseMarkerLength, arucoCameraUndistortion.RectifiedCameraMatrices[cameraId],
arucoCameraUndistortion.UndistortedDistCoeffs[cameraId], out rvecs, out tvecs);
}
MarkerRvecs[cameraId][dictionary] = rvecs;
MarkerTvecs[cameraId][dictionary] = tvecs;
}
