public override IDisposable Load()
{
detector = new MarkerDetector();
if (!string.IsNullOrEmpty(CameraParameters))
{
parameters = new CameraParameters();
parameters.ReadFromXmlFile(CameraParameters);
cameraMatrix = new CvMat(3, 3, CvMatDepth.CV_32F, 1);
distortion = new CvMat(1, 4, CvMatDepth.CV_32F, 1);
parameters.CopyParameters(cameraMatrix.DangerousGetHandle(), distortion.DangerousGetHandle());
}
return(base.Load());
}
public override MarkerFrame Process(IplImage input)
{
var hInput = input.DangerousGetHandle();
var hCamMatrix = cameraMatrix != null?cameraMatrix.DangerousGetHandle() : IntPtr.Zero;
var hDistortion = distortion != null?distortion.DangerousGetHandle() : IntPtr.Zero;
detector.ThresholdType = ThresholdType;
detector.Param1 = Param1;
detector.Param2 = Param2;
detector.CornerRefinement = CornerRefinement;
var detectedMarkers = detector.Detect(hInput, hCamMatrix, hDistortion, MarkerSize);
return(new MarkerFrame(parameters, detectedMarkers));
}
