public byte[] FusionCameraPose()
{
//Create a defined registration pattern - in this case a cube
var cube = CoordinateDefinition.Microcube();
var yu2 = LatestYUVImage();
var colorCv = new CvColor(yu2);
//Find and draw (make sure it can be found)
var markers = Vision.FindAruco(colorCv);
if (!markers.Any())
{
return(PoseFormatter.PoseToBytes(new double[4, 4]));
} //zeros
//Calculate pose
var depth = LatestDepthImage();
CameraSpacePoint[] _3dImage = new CameraSpacePoint[KinectSettings.COLOR_PIXEL_COUNT];
KxBuffer.instance.coordinateMapper.MapColorFrameToCameraSpace(depth, _3dImage);
var cvCameraSpace = new CvCameraSpace(_3dImage);
var kxTransform = Vision.GetPoseFromImage(cube, cvCameraSpace, markers);
var pose = kxTransform.FusionCameraPose;
return(PoseFormatter.PoseToBytes(pose));
}
public int GetArucoMarkerCount()
{
var yu2 = LatestYUVImage();
var colorCv = new CvColor(yu2);
//Find and draw (make sure it can be found)
var markers = Vision.FindAruco(colorCv);
return(markers.Count);
}