/// <summary>
/// Basic marker detection
/// </summary>
/// <param name="image">input image</param>
/// <param name="dictionary">indicates the type of markers that will be searched</param>
/// <param name="corners">vector of detected marker corners.
/// For each marker, its four corners are provided. For N detected markers,
/// the dimensions of this array is Nx4.The order of the corners is clockwise.</param>
/// <param name="ids">vector of identifiers of the detected markers. The identifier is of type int.
/// For N detected markers, the size of ids is also N. The identifiers have the same order than the markers in the imgPoints array.</param>
/// <param name="parameters">marker detection parameters</param>
/// <param name="rejectedImgPoints">contains the imgPoints of those squares whose inner code has not a
/// correct codification.Useful for debugging purposes.</param>
public static void DetectMarkers(InputArray image, Dictionary dictionary, out Point2f[][] corners,
out int[] ids, DetectorParameters parameters, out Point2f[][] rejectedImgPoints)
{
if (image == null)
{
throw new ArgumentNullException(nameof(image));
}
if (dictionary.ObjectPtr == null)
{
throw new ArgumentException($"{nameof(dictionary)} is disposed", nameof(dictionary));
}
using var cornersVec = new VectorOfVectorPoint2f();
using var idsVec = new VectorOfInt32();
using var rejectedImgPointsVec = new VectorOfVectorPoint2f();
NativeMethods.HandleException(
NativeMethods.aruco_detectMarkers(
image.CvPtr, dictionary.ObjectPtr.CvPtr, cornersVec.CvPtr, idsVec.CvPtr, ref parameters.Native,
rejectedImgPointsVec.CvPtr));
corners = cornersVec.ToArray();
ids = idsVec.ToArray();
rejectedImgPoints = rejectedImgPointsVec.ToArray();
GC.KeepAlive(image);
GC.KeepAlive(dictionary);
GC.KeepAlive(parameters);
}
/// <summary>
/// Basic marker detection
/// </summary>
/// <param name="image">input image</param>
/// <param name="dictionary">indicates the type of markers that will be searched</param>
/// <param name="corners">vector of detected marker corners.
/// For each marker, its four corners are provided. For N detected markers,
/// the dimensions of this array is Nx4.The order of the corners is clockwise.</param>
/// <param name="ids">vector of identifiers of the detected markers. The identifier is of type int.
/// For N detected markers, the size of ids is also N. The identifiers have the same order than the markers in the imgPoints array.</param>
/// <param name="parameters">marker detection parameters</param>
/// <param name="rejectedImgPoints">contains the imgPoints of those squares whose inner code has not a
/// correct codification.Useful for debugging purposes.</param>
public static void DetectMarkers(InputArray image, Dictionary dictionary, out Point2f[][] corners, out int[] ids, DetectorParameters parameters, out Point2f[][] rejectedImgPoints)
{
if (image == null)
{
throw new ArgumentNullException("image");
}
using (var cornersVec = new VectorOfVectorPoint2f())
using (var idsVec = new VectorOfInt32())
using (var rejectedImgPointsVec = new VectorOfVectorPoint2f())
{
NativeMethods.aruco_detectMarkers(image.CvPtr, dictionary.ptrObj.CvPtr, cornersVec.CvPtr, idsVec.CvPtr, parameters.ptrObj.CvPtr, rejectedImgPointsVec.CvPtr);
corners = cornersVec.ToArray();
ids = idsVec.ToArray();
rejectedImgPoints = rejectedImgPointsVec.ToArray();
}
GC.KeepAlive(image);
GC.KeepAlive(dictionary);
}
