public override void Draw(int cameraId, Aruco.Dictionary dictionary, Cv.Mat image)
{
if (DetectedMarkers[cameraId][dictionary] > 0)
{
// Draw all the detected markers
if (arucoTracker.DrawDetectedMarkers)
{
// TODO: draw only markers in ArucoObjects list + add option to draw all the detected markers
Aruco.DrawDetectedMarkers(image, MarkerCorners[cameraId][dictionary], MarkerIds[cameraId][dictionary]);
}
// Draw axes of detected tracked markers
if (arucoTracker.DrawAxes && cameraParameters != null && MarkerRvecs[cameraId][dictionary] != null)
{
for (uint i = 0; i < DetectedMarkers[cameraId][dictionary]; i++)
{
ArucoObject foundArucoObject;
int detectedMarkerHashCode = ArucoMarker.GetArucoHashCode(MarkerIds[cameraId][dictionary].At(i));
if (arucoTracker.ArucoObjects[dictionary].TryGetValue(detectedMarkerHashCode, out foundArucoObject))
{
Aruco.DrawAxis(image, cameraParameters.CameraMatrices[cameraId], cameraParameters.DistCoeffs[cameraId],
MarkerRvecs[cameraId][dictionary].At(i), MarkerTvecs[cameraId][dictionary].At(i), EstimatePoseMarkerLength);
}
}
}
}
// Draw the rejected marker candidates
if (arucoTracker.DrawRejectedCandidates && RejectedCandidateCorners[cameraId][dictionary].Size() > 0)
{
Aruco.DrawDetectedMarkers(image, RejectedCandidateCorners[cameraId][dictionary]);
}
}
public override void Draw(int cameraId, Aruco.Dictionary dictionary, Cv.Mat image)
{
base.Draw(cameraId, dictionary, image);
if (DetectedMarkers[cameraId][dictionary] > 0)
{
// Draw all the detected markers
if (arucoTracker.DrawDetectedMarkers)
{
Aruco.DrawDetectedMarkers(image, MarkerCorners[cameraId][dictionary], MarkerIds[cameraId][dictionary]);
}
// Draw axes of detected tracked markers
if (arucoTracker.DrawAxes && arucoCameraUndistortion != null && MarkerRvecs[cameraId][dictionary] != null)
{
for (uint i = 0; i < DetectedMarkers[cameraId][dictionary]; i++)
{
ArucoObject foundArucoObject;
int detectedMarkerHashCode = ArucoMarker.GetArucoHashCode(MarkerIds[cameraId][dictionary].At(i));
if (arucoTracker.ArucoObjects[dictionary].TryGetValue(detectedMarkerHashCode, out foundArucoObject))
{
Aruco.DrawAxis(image, arucoCameraUndistortion.RectifiedCameraMatrices[cameraId], arucoCameraUndistortion.UndistortedDistCoeffs[cameraId],
MarkerRvecs[cameraId][dictionary].At(i), MarkerTvecs[cameraId][dictionary].At(i), estimatePoseMarkerLength);
}
}
}
}
// Draw the rejected marker candidates
if (arucoTracker.DrawRejectedCandidates && RejectedCandidateCorners[cameraId][dictionary].Size() > 0)
{
Aruco.DrawDetectedMarkers(image, RejectedCandidateCorners[cameraId][dictionary]);
}
}
public override void Place(int cameraId, Aruco.Dictionary dictionary)
{
if (MarkerRvecs[cameraId][dictionary] != null)
{
for (uint i = 0; i < DetectedMarkers[cameraId][dictionary]; i++)
{
ArucoObject foundArucoObject;
int detectedMarkerHashCode = ArucoMarker.GetArucoHashCode(MarkerIds[cameraId][dictionary].At(i));
if (arucoTracker.ArucoObjects[dictionary].TryGetValue(detectedMarkerHashCode, out foundArucoObject))
{
float positionFactor = foundArucoObject.MarkerSideLength / EstimatePoseMarkerLength;
PlaceArucoObject(foundArucoObject, MarkerRvecs[cameraId][dictionary].At(i), MarkerTvecs[cameraId][dictionary].At(i),
cameraId, positionFactor);
}
}
}
}
/// <summary>
/// <see cref="ArucoObjectTracker.Place(int, Dictionary)"/>
/// </summary>
public override void Place(int cameraId, Aruco.Dictionary dictionary)
{
if (!IsActivated)
{
return;
}
for (uint i = 0; i < DetectedMarkers[cameraId][dictionary]; i++)
{
ArucoObject foundArucoObject;
int detectedMarkerHashCode = ArucoMarker.GetArucoHashCode(MarkerIds[cameraId][dictionary].At(i));
if (arucoTracker.ArucoObjects[dictionary].TryGetValue(detectedMarkerHashCode, out foundArucoObject))
{
float positionFactor = foundArucoObject.MarkerSideLength / ESTIMATE_POSE_MARKER_LENGTH;
PlaceArucoObject(foundArucoObject, MarkerRvecs[cameraId][dictionary].At(i), MarkerTvecs[cameraId][dictionary].At(i),
cameraId, positionFactor);
}
}
}
public override void UpdateTransforms(int cameraId, Aruco.Dictionary dictionary)
{
base.UpdateTransforms(cameraId, dictionary);
if (MarkerRvecs[cameraId][dictionary] != null)
{
for (uint i = 0; i < DetectedMarkers[cameraId][dictionary]; i++)
{
ArucoObject foundArucoObject;
int detectedMarkerHashCode = ArucoMarker.GetArucoHashCode(MarkerIds[cameraId][dictionary].At(i));
if (arucoTracker.ArucoObjects[dictionary].TryGetValue(detectedMarkerHashCode, out foundArucoObject))
{
var localPosition = MarkerTvecs[cameraId][dictionary].At(i).ToPosition() * foundArucoObject.MarkerSideLength / estimatePoseMarkerLength;
arucoCameraDisplay.PlaceArucoObject(foundArucoObject.transform, cameraId, localPosition,
MarkerRvecs[cameraId][dictionary].At(i).ToRotation());
}
}
}
}
