/// <summary>
/// Place and orient an ArUco object.
/// </summary>
protected void PlaceArucoObject(ArucoObject arucoObject, Cv.Core.Vec3d rvec, Cv.Core.Vec3d tvec, int cameraId, float positionFactor = 1f)
{
GameObject arucoGameObject = arucoObject.gameObject;
Camera camera = arucoTracker.ArucoCamera.ImageCameras[cameraId];
// Place and orient the object to match the marker
Transform arucoObjectTransform = arucoGameObject.transform;
arucoGameObject.transform.SetParent(camera.transform);
arucoGameObject.transform.localPosition = tvec.ToPosition() * positionFactor;
arucoGameObject.transform.localRotation = rvec.ToRotation();
arucoGameObject.transform.SetParent(arucoObjectTransform);
// Adjust the object position
Vector3 cameraOpticalCenter = arucoTracker.ArucoCamera.CameraParameters.OpticalCenters[cameraId];
Vector3 imageCenter = new Vector3(0.5f, 0.5f, arucoGameObject.transform.position.z);
Vector3 opticalCenter = new Vector3(cameraOpticalCenter.x, cameraOpticalCenter.y, arucoGameObject.transform.position.z);
Vector3 opticalShift = camera.ViewportToWorldPoint(opticalCenter) - camera.ViewportToWorldPoint(imageCenter);
// TODO: fix the position shift orientation
Vector3 positionShift = opticalShift // Take account of the optical center not in the image center
+ arucoGameObject.transform.up * arucoGameObject.transform.localScale.y / 2; // Move up the object to coincide with the marker
arucoGameObject.transform.localPosition += positionShift;
//print(arucoGameObject.name + " - imageCenter: " + imageCenter.ToString("F3") + "; opticalCenter: " + opticalCenter.ToString("F3")
// + "; positionShift: " + (arucoGameObject.transform.rotation * opticalShift).ToString("F4"));
arucoGameObject.SetActive(true);
}
public Cv.Core.Vec3d At(uint pos)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
Cv.Core.Vec3d element = new Cv.Core.Vec3d(au_std_vectorVec3d_at(cppPtr, pos, exception.cppPtr), DeleteResponsibility.False);
exception.Check();
return(element);
}
public unsafe Cv.Core.Vec3d[] Data()
{
System.IntPtr *dataPtr = au_std_vectorVec3d_data(cppPtr);
uint size = Size();
Cv.Core.Vec3d[] data = new Cv.Core.Vec3d[size];
for (int i = 0; i < size; i++)
{
data[i] = new Cv.Core.Vec3d(dataPtr[i], DeleteResponsibility.False);
}
return(data);
}
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);
}
/// <summary>
/// <see cref="ArucoObjectTracker.EstimateTranforms(int, Dictionary, HashSet{ArucoObject})"/>
/// </summary>
public override void EstimateTranforms(int cameraId, Aruco.Dictionary dictionary)
{
if (!IsActivated || arucoTracker.MarkerTracker.DetectedMarkers[cameraId][dictionary] <= 0)
{
return;
}
CameraParameters cameraParameters = arucoTracker.ArucoCamera.CameraParameters;
foreach (var arucoGridBoard in arucoTracker.GetArucoObjects <ArucoGridBoard>(dictionary))
{
Cv.Core.Vec3d rvec = null, tvec = null;
arucoGridBoard.MarkersUsedForEstimation = Aruco.EstimatePoseBoard(arucoTracker.MarkerTracker.MarkerCorners[cameraId][dictionary],
arucoTracker.MarkerTracker.MarkerIds[cameraId][dictionary], arucoGridBoard.Board, cameraParameters.CamerasMatrix[cameraId],
cameraParameters.DistCoeffs[cameraId], out rvec, out tvec);
arucoGridBoard.Rvec = rvec;
arucoGridBoard.Tvec = tvec;
}
}
public static void DrawAxis(Cv.Core.Mat image, Cv.Core.Mat cameraMatrix, Cv.Core.Mat distCoeffs, Cv.Core.Vec3d rvec, Cv.Core.Vec3d tvec, float length)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
au_drawAxis(image.cppPtr, cameraMatrix.cppPtr, distCoeffs.cppPtr, rvec.cppPtr, tvec.cppPtr, length, exception.cppPtr);
exception.Check();
}
public void PushBack(Cv.Core.Vec3d value)
{
au_std_vectorVec3d_push_back(cppPtr, value.cppPtr);
}
