public static double CalibrateCameraAruco(Std.VectorVectorPoint2f corners, Std.VectorInt ids, Std.VectorInt counter, Board board, Cv.Core.Size imageSize,
Cv.Core.Mat cameraMatrix, Cv.Core.Mat distCoeffs)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
double reProjectionError = au_calibrateCameraAruco5(corners.cppPtr, ids.cppPtr, counter.cppPtr, board.cppPtr, imageSize.cppPtr, cameraMatrix.cppPtr,
distCoeffs.cppPtr, exception.cppPtr);
exception.Check();
return(reProjectionError);
}
public static void DetectCharucoDiamond(Cv.Core.Mat image, Std.VectorVectorPoint2f markerCorners, Std.VectorInt markerIds, float squareMarkerLengthRate,
out Std.VectorVectorPoint2f diamondCorners, out Std.VectorVec4i diamondIds)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
System.IntPtr diamondCornersPtr, diamondIdsPtr;
au_detectCharucoDiamond3(image.cppPtr, markerCorners.cppPtr, markerIds.cppPtr, squareMarkerLengthRate, out diamondCornersPtr,
out diamondIdsPtr, exception.cppPtr);
diamondCorners = new Std.VectorVectorPoint2f(diamondCornersPtr);
diamondIds = new Std.VectorVec4i(diamondIdsPtr);
exception.Check();
}
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 = new Cv.Mat();
return(InterpolateCornersCharuco(markerCorners, markerIds, image, board, out charucoCorners, out charucoIds, cameraMatrix));
}
public static void RefineDetectedMarkers(Cv.Mat image, Board board, Std.VectorVectorPoint2f detectedCorners, Std.VectorInt detectedIds,
Std.VectorVectorPoint2f rejectedCorners, Cv.Mat cameraMatrix, Cv.Mat distCoeffs, float minRepDistance = 10f,
float errorCorrectionRate = 3f, bool checkAllOrders = true)
{
Std.VectorInt recoveredIdxs = new Std.VectorInt();
RefineDetectedMarkers(image, board, detectedCorners, detectedIds, rejectedCorners, cameraMatrix, distCoeffs, minRepDistance,
errorCorrectionRate, checkAllOrders, recoveredIdxs);
}
public static void DrawDetectedMarkers(Cv.Mat image, Std.VectorVectorPoint2f corners, Std.VectorInt ids, Cv.Scalar borderColor)
{
Cv.Exception exception = new Cv.Exception();
au_drawDetectedMarkers(image.CppPtr, corners.CppPtr, ids.CppPtr, borderColor.CppPtr, exception.CppPtr);
exception.Check();
}
public static void DrawDetectedMarkers(Cv.Mat image, Std.VectorVectorPoint2f diamondCorners)
{
Std.VectorInt ids = new Std.VectorInt();
DrawDetectedMarkers(image, diamondCorners, ids);
}
// Static methods
public static double CalibrateCameraAruco(Std.VectorVectorPoint2f corners, Std.VectorInt ids, Std.VectorInt counter, Board board,
Cv.Size imageSize, Cv.Mat cameraMatrix, Cv.Mat distCoeffs, out Std.VectorMat rvecs, out Std.VectorMat tvecs, Cv.Calib flags,
Cv.TermCriteria criteria)
{
Cv.Exception exception = new Cv.Exception();
IntPtr rvecsPtr, tvecsPtr;
double reProjectionError = au_calibrateCameraAruco(corners.CppPtr, ids.CppPtr, counter.CppPtr, board.CppPtr, imageSize.CppPtr,
cameraMatrix.CppPtr, distCoeffs.CppPtr, out rvecsPtr, out tvecsPtr, (int)flags, criteria.CppPtr, exception.CppPtr);
rvecs = new Std.VectorMat(rvecsPtr);
tvecs = new Std.VectorMat(tvecsPtr);
exception.Check();
return(reProjectionError);
}
public static double CalibrateCameraAruco(Std.VectorVectorPoint2f corners, Std.VectorInt ids, Std.VectorInt counter, Board board,
Cv.Size imageSize, Cv.Mat cameraMatrix, Cv.Mat distCoeffs, out Std.VectorMat rvecs, out Std.VectorMat tvecs, Cv.Calib flags = 0)
{
Cv.TermCriteria criteria = new Cv.TermCriteria(Cv.TermCriteria.Type.Count | Cv.TermCriteria.Type.Eps, 30, Cv.EPSILON);
return(CalibrateCameraAruco(corners, ids, counter, board, imageSize, cameraMatrix, distCoeffs, out rvecs, out tvecs, flags, criteria));
}
public static void RefineDetectedMarkers(Cv.Core.Mat image, Board board, Std.VectorVectorPoint2f detectedCorners, Std.VectorInt detectedIds,
Std.VectorVectorPoint2f rejectedCorners, Cv.Core.Mat cameraMatrix, Cv.Core.Mat distCoeffs, float minRepDistance)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
au_refineDetectedMarkers5(image.cppPtr, board.cppPtr, detectedCorners.cppPtr, detectedIds.cppPtr, rejectedCorners.cppPtr, cameraMatrix.cppPtr,
distCoeffs.cppPtr, minRepDistance, exception.cppPtr);
exception.Check();
}
public static void RefineDetectedMarkers(Cv.Core.Mat image, Board board, Std.VectorVectorPoint2f detectedCorners, Std.VectorInt detectedIds,
Std.VectorVectorPoint2f rejectedCorners)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
au_refineDetectedMarkers8(image.cppPtr, board.cppPtr, detectedCorners.cppPtr, detectedIds.cppPtr, rejectedCorners.cppPtr, exception.cppPtr);
exception.Check();
}
public static void DrawDetectedMarkers(Cv.Core.Mat image, Std.VectorVectorPoint2f corners, Std.VectorInt ids)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
au_drawDetectedMarkers2(image.cppPtr, corners.cppPtr, ids.cppPtr, exception.cppPtr);
exception.Check();
}
public static void DrawDetectedMarkers(Cv.Core.Mat image, Std.VectorVectorPoint2f corners, Std.VectorInt ids, Color borderColor)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
Cv.Core.Scalar borderColorScalar = borderColor;
au_drawDetectedMarkers1(image.cppPtr, corners.cppPtr, ids.cppPtr, borderColorScalar.cppPtr, exception.cppPtr);
exception.Check();
}
public static void DetectMarkers(Cv.Core.Mat image, Dictionary dictionary, out Std.VectorVectorPoint2f corners, out Std.VectorInt ids)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
System.IntPtr cornersPtr, idsPtr;
au_detectMarkers3(image.cppPtr, dictionary.cppPtr, out cornersPtr, out idsPtr, exception.cppPtr);
corners = new Std.VectorVectorPoint2f(cornersPtr);
ids = new Std.VectorInt(idsPtr);
exception.Check();
}
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);
}
public static double CalibrateCameraAruco(Std.VectorVectorPoint2f corners, Std.VectorInt ids, Std.VectorInt counter, Board board,
Cv.Size imageSize, Cv.Mat cameraMatrix, Cv.Mat distCoeffs)
{
Std.VectorMat rvecs;
return(CalibrateCameraAruco(corners, ids, counter, board, imageSize, cameraMatrix, distCoeffs, out rvecs));
}
public static void DrawDetectedCornersCharuco(Cv.Mat image, Std.VectorPoint2f charucoCorners)
{
Std.VectorInt charucoIds = new Std.VectorInt();
DrawDetectedCornersCharuco(image, charucoCorners, charucoIds);
}
public static void DetectCharucoDiamond(Cv.Mat image, Std.VectorVectorPoint2f markerCorners, Std.VectorInt markerIds,
float squareMarkerLengthRate, out Std.VectorVectorPoint2f diamondCorners, out Std.VectorVec4i diamondIds, Cv.Mat cameraMatrix,
Cv.Mat distCoeffs)
{
Cv.Exception exception = new Cv.Exception();
IntPtr diamondCornersPtr, diamondIdsPtr;
au_detectCharucoDiamond(image.CppPtr, markerCorners.CppPtr, markerIds.CppPtr, squareMarkerLengthRate, out diamondCornersPtr,
out diamondIdsPtr, cameraMatrix.CppPtr, distCoeffs.CppPtr, exception.CppPtr);
diamondCorners = new Std.VectorVectorPoint2f(diamondCornersPtr);
diamondIds = new Std.VectorVec4i(diamondIdsPtr);
exception.Check();
}
public static void DrawDetectedMarkers(Cv.Mat image, Std.VectorVectorPoint2f diamondCorners, Std.VectorInt ids)
{
Cv.Scalar borderColor = new Cv.Scalar(0, 255, 0);
DrawDetectedMarkers(image, diamondCorners, ids, borderColor);
}
public static void DetectCharucoDiamond(Cv.Mat image, Std.VectorVectorPoint2f markerCorners, Std.VectorInt markerIds,
float squareMarkerLengthRate, out Std.VectorVectorPoint2f diamondCorners, out Std.VectorVec4i diamondIds)
{
Cv.Mat cameraMatrix = new Cv.Mat();
DetectCharucoDiamond(image, markerCorners, markerIds, squareMarkerLengthRate, out diamondCorners, out diamondIds, cameraMatrix);
}
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 void DetectMarkers(Cv.Mat image, Dictionary dictionary, out Std.VectorVectorPoint2f corners, out Std.VectorInt ids,
DetectorParameters parameters, out Std.VectorVectorPoint2f rejectedImgPoints)
{
Cv.Exception exception = new Cv.Exception();
IntPtr cornersPtr, idsPtr, rejectedPtr;
au_detectMarkers(image.CppPtr, dictionary.CppPtr, out cornersPtr, out idsPtr, parameters.CppPtr, out rejectedPtr, exception.CppPtr);
corners = new Std.VectorVectorPoint2f(cornersPtr);
ids = new Std.VectorInt(idsPtr);
rejectedImgPoints = new Std.VectorVectorPoint2f(rejectedPtr);
exception.Check();
}
public static void RefineDetectedMarkers(Cv.Mat image, Board board, Std.VectorVectorPoint2f detectedCorners, Std.VectorInt detectedIds,
Std.VectorVectorPoint2f rejectedCorners, Cv.Mat cameraMatrix, Cv.Mat distCoeffs, float minRepDistance, float errorCorrectionRate,
bool checkAllOrders, Std.VectorInt recoveredIdxs, DetectorParameters parameters)
{
Cv.Exception exception = new Cv.Exception();
au_refineDetectedMarkers(image.CppPtr, board.CppPtr, detectedCorners.CppPtr, detectedIds.CppPtr, rejectedCorners.CppPtr, cameraMatrix.CppPtr,
distCoeffs.CppPtr, minRepDistance, errorCorrectionRate, checkAllOrders, recoveredIdxs.CppPtr, parameters.CppPtr, exception.CppPtr);
exception.Check();
}
public static void DetectMarkers(Cv.Mat image, Dictionary dictionary, out Std.VectorVectorPoint2f corners, out Std.VectorInt ids,
DetectorParameters parameters)
{
Std.VectorVectorPoint2f rejectedImgPoints;
DetectMarkers(image, dictionary, out corners, out ids, parameters, out rejectedImgPoints);
}
public static void RefineDetectedMarkers(Cv.Mat image, Board board, Std.VectorVectorPoint2f detectedCorners, Std.VectorInt detectedIds,
Std.VectorVectorPoint2f rejectedCorners)
{
Cv.Mat cameraMatrix = new Cv.Mat();
RefineDetectedMarkers(image, board, detectedCorners, detectedIds, rejectedCorners, cameraMatrix);
}
public static void DetectMarkers(Cv.Mat image, Dictionary dictionary, out Std.VectorVectorPoint2f corners, out Std.VectorInt ids)
{
DetectorParameters parameters = new DetectorParameters();
DetectMarkers(image, dictionary, out corners, out ids, parameters);
}
public static void DrawDetectedCornersCharuco(Cv.Core.Mat image, Std.VectorPoint2f charucoCorners, Std.VectorInt charucoIds)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
au_drawDetectedCornersCharuco2(image.cppPtr, charucoCorners.cppPtr, charucoIds.cppPtr, exception.cppPtr);
exception.Check();
}
public static void DrawDetectedCornersCharuco(Cv.Mat image, Std.VectorPoint2f charucoCorners, Std.VectorInt charucoIds, Cv.Scalar cornerColor)
{
Cv.Exception exception = new Cv.Exception();
au_drawDetectedCornersCharuco(image.CppPtr, charucoCorners.CppPtr, charucoIds.CppPtr, cornerColor.CppPtr, exception.CppPtr);
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.Mat cameraMatrix)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
System.IntPtr charucoCornersPtr, charucoIdsPtr;
int interpolateCorners = au_interpolateCornersCharuco2(markerCorners.cppPtr, markerIds.cppPtr, image.cppPtr, board.cppPtr,
out charucoCornersPtr, out charucoIdsPtr, cameraMatrix.cppPtr, exception.cppPtr);
charucoCorners = new Std.VectorPoint2f(charucoCornersPtr);
charucoIds = new Std.VectorInt(charucoIdsPtr);
exception.Check();
return(interpolateCorners);
}
public static double CalibrateCameraAruco(Std.VectorVectorPoint2f corners, Std.VectorInt ids, Std.VectorInt counter, Board board, Cv.Core.Size imageSize,
Cv.Core.Mat cameraMatrix, Cv.Core.Mat distCoeffs, out Std.VectorMat rvecs, out Std.VectorMat tvecs)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
System.IntPtr rvecsPtr, tvecsPtr;
double reProjectionError = au_calibrateCameraAruco3(corners.cppPtr, ids.cppPtr, counter.cppPtr, board.cppPtr, imageSize.cppPtr, cameraMatrix.cppPtr,
distCoeffs.cppPtr, out rvecsPtr, out tvecsPtr, exception.cppPtr);
rvecs = new Std.VectorMat(rvecsPtr);
tvecs = new Std.VectorMat(tvecsPtr);
exception.Check();
return(reProjectionError);
}
