public override void Draw(int cameraId, Aruco.Dictionary dictionary, Cv.Mat image)
{
foreach (var arucoCharucoBoard in arucoTracker.GetArucoObjects <ArucoCharucoBoard>(dictionary))
{
if (arucoCharucoBoard.DetectedIds.Size() > 0)
{
if (arucoTracker.DrawDetectedCharucoMarkers)
{
Aruco.DrawDetectedCornersCharuco(image, arucoCharucoBoard.DetectedCorners, arucoCharucoBoard.DetectedIds);
}
if (arucoTracker.DrawAxes && cameraParameters != null && arucoCharucoBoard.Rvec != null)
{
Aruco.DrawAxis(image, cameraParameters.CameraMatrices[cameraId], cameraParameters.DistCoeffs[cameraId],
arucoCharucoBoard.Rvec, arucoCharucoBoard.Tvec, arucoCharucoBoard.AxisLength);
}
}
}
}
/// <summary>
/// <see cref="ArucoObjectTracker.Draw(int, Dictionary, HashSet{ArucoObject})"/>
/// </summary>
public override void Draw(int cameraId, Aruco.Dictionary dictionary)
{
if (!IsActivated || arucoTracker.MarkerTracker.DetectedMarkers[cameraId][dictionary] <= 0)
{
return;
}
bool updatedCameraImage = false;
Cv.Core.Mat[] cameraImages = arucoTracker.ArucoCamera.Images;
CameraParameters cameraParameters = arucoTracker.ArucoCamera.CameraParameters;
foreach (var arucoCharucoBoard in arucoTracker.GetArucoObjects <ArucoCharucoBoard>(dictionary))
{
if (arucoCharucoBoard.InterpolatedCorners > 0 && arucoCharucoBoard.Rvec != null)
{
if (arucoTracker.DrawDetectedCharucoMarkers)
{
Aruco.DrawDetectedCornersCharuco(cameraImages[cameraId], arucoCharucoBoard.DetectedCorners, arucoCharucoBoard.DetectedIds);
updatedCameraImage = true;
}
if (arucoTracker.DrawAxes && cameraParameters != null && arucoCharucoBoard.ValidTransform)
{
Aruco.DrawAxis(cameraImages[cameraId], cameraParameters.CamerasMatrix[cameraId], cameraParameters.DistCoeffs[cameraId],
arucoCharucoBoard.Rvec, arucoCharucoBoard.Tvec, arucoCharucoBoard.AxisLength);
updatedCameraImage = true;
}
}
}
if (updatedCameraImage)
{
arucoTracker.ArucoCamera.Images = cameraImages;
}
}
