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>
/// <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;
}