// Methods
public Cv.Vec4i At(uint pos)
{
Cv.Exception exception = new Cv.Exception();
Cv.Vec4i element = new Cv.Vec4i(au_std_vectorVec4i_at(CppPtr, pos, exception.CppPtr), DeleteResponsibility.False);
exception.Check();
return(element);
}
public static void DrawDetectedDiamonds(Cv.Mat image, Std.VectorVectorPoint2f diamondCorners, Std.VectorVec4i diamondIds,
Cv.Scalar borderColor)
{
Cv.Exception exception = new Cv.Exception();
au_drawDetectedDiamonds(image.CppPtr, diamondCorners.CppPtr, diamondIds.CppPtr, borderColor.CppPtr, exception.CppPtr);
exception.Check();
}
// Static methods
static public Cv.Mat GetBitsFromByteList(Cv.Mat byteList, int markerSiz)
{
Cv.Exception exception = new Cv.Exception();
Cv.Mat bits = new Cv.Mat(au_Dictionary_getBitsFromByteList(byteList.CppPtr, markerSiz, exception.CppPtr));
exception.Check();
return(bits);
}
// Methods
public Cv.Point3f At(uint pos)
{
Cv.Exception exception = new Cv.Exception();
Cv.Point3f element = new Cv.Point3f(au_std_vectorPoint3f_at(CppPtr, pos, exception.CppPtr), Utility.DeleteResponsibility.False);
exception.Check();
return(element);
}
public static Dictionary GenerateCustomDictionary(int nMarkers, int markerSize, Dictionary baseDictionary)
{
Cv.Exception exception = new Cv.Exception();
System.IntPtr dictionaryPtr = au_generateCustomDictionary(nMarkers, markerSize, baseDictionary.CppPtr, exception.CppPtr);
exception.Check();
return(new Dictionary(dictionaryPtr));
}
// Methods
public int At(uint pos)
{
Cv.Exception exception = new Cv.Exception();
int element = au_std_vectorInt_at(CppPtr, pos, exception.CppPtr);
exception.Check();
return(element);
}
// Methods
public double At(uint pos)
{
Cv.Exception exception = new Cv.Exception();
double element = au_std_vectorDouble_at(CppPtr, pos, exception.CppPtr);
exception.Check();
return(element);
}
// Static methods
static public CharucoBoard Create(int squaresX, int squaresY, float squareLength, float markerLength, Dictionary dictionary)
{
Cv.Exception exception = new Cv.Exception();
System.IntPtr charucoBoardPtr = au_CharucoBoard_create(squaresX, squaresY, squareLength, markerLength, dictionary.CppPtr,
exception.CppPtr);
exception.Check();
return(new CharucoBoard(charucoBoardPtr));
}
public bool Identify(Dictionary dictionary, Cv.Mat onlyBits, out int idx, out int rotation, double maxCorrectionRate)
{
Cv.Exception exception = new Cv.Exception();
bool result = au_Dictionary_identify(CppPtr, onlyBits.CppPtr, out idx, out rotation, maxCorrectionRate, exception.CppPtr);
exception.Check();
return(result);
}
public int GetDistanceToId(Dictionary dictionary, Cv.Mat bits, int id, bool allRotations = true)
{
Cv.Exception exception = new Cv.Exception();
int distanceToId = au_Dictionary_getDistanceToId(CppPtr, bits.CppPtr, id, allRotations, exception.CppPtr);
exception.Check();
return(distanceToId);
}
// Methods
public VectorInt At(uint pos)
{
Cv.Exception exception = new Cv.Exception();
VectorInt element = new VectorInt(au_std_vectorVectorInt_at(CppPtr, pos, exception.CppPtr), Utility.DeleteResponsibility.False);
exception.Check();
return(element);
}
public static void RefineDetectedMarkers(Cv.Mat image, Board board, Std.VectorVectorPoint2f detectedCorners, Std.VectorInt detectedIds,
Std.VectorVectorPoint2f rejectedCorners, Cv.Mat cameraMatrix, Cv.Mat distCoeffs, float minRepDistance, float errorCorrectionRate,
bool checkAllOrders, Std.VectorInt recoveredIdxs, DetectorParameters parameters)
{
Cv.Exception exception = new Cv.Exception();
au_refineDetectedMarkers(image.CppPtr, board.CppPtr, detectedCorners.CppPtr, detectedIds.CppPtr, rejectedCorners.CppPtr, cameraMatrix.CppPtr,
distCoeffs.CppPtr, minRepDistance, errorCorrectionRate, checkAllOrders, recoveredIdxs.CppPtr, parameters.CppPtr, exception.CppPtr);
exception.Check();
}
// Static methods
static public GridBoard Create(int markersX, int markersY, float markerLength, float markerSeparation, Dictionary dictionary,
int firstMarker = 0)
{
Cv.Exception exception = new Cv.Exception();
System.IntPtr gridBoardPtr = au_GridBoard_create(markersX, markersY, markerLength, markerSeparation, dictionary.CppPtr, firstMarker,
exception.CppPtr);
exception.Check();
return(new GridBoard(gridBoardPtr));
}
// Methods
public VectorPoint2f At(uint pos)
{
Cv.Exception exception = new Cv.Exception();
VectorPoint2f element = new VectorPoint2f(au_std_vectorVectorPoint2f_at(CppPtr, pos, exception.CppPtr),
DeleteResponsibility.False);
exception.Check();
return(element);
}
// Methods
public void Draw(Cv.Size outSize, out Cv.Mat img, int marginSize = 0, int borderBits = 1)
{
Cv.Exception exception = new Cv.Exception();
System.IntPtr imgPtr;
au_GridBoard_draw(CppPtr, outSize.CppPtr, out imgPtr, marginSize, borderBits, exception.CppPtr);
img = new Cv.Mat(imgPtr);
exception.Check();
}
// Methods
public void DrawMarker(int id, int sidePixels, out Cv.Mat img, int borderBits)
{
var exception = new Cv.Exception();
IntPtr imgPtr;
au_Dictionary_drawMarker(CppPtr, id, sidePixels, out imgPtr, borderBits, exception.CppPtr);
img = new Cv.Mat(imgPtr);
exception.Check();
}
public static void DrawCharucoDiamond(Dictionary dictionary, Cv.Vec4i ids, int squareLength, int markerLength, out Cv.Mat image,
int marginSize = 0, int borderBits = 1)
{
Cv.Exception exception = new Cv.Exception();
IntPtr imagePtr;
au_drawCharucoDiamond(dictionary.CppPtr, ids.CppPtr, squareLength, markerLength, out imagePtr, marginSize, borderBits, exception.CppPtr);
image = new Cv.Mat(imagePtr);
exception.Check();
}
public static void DetectMarkers(Cv.Mat image, Dictionary dictionary, out Std.VectorVectorPoint2f corners, out Std.VectorInt ids,
DetectorParameters parameters, out Std.VectorVectorPoint2f rejectedImgPoints)
{
Cv.Exception exception = new Cv.Exception();
IntPtr cornersPtr, idsPtr, rejectedPtr;
au_detectMarkers(image.CppPtr, dictionary.CppPtr, out cornersPtr, out idsPtr, parameters.CppPtr, out rejectedPtr, exception.CppPtr);
corners = new Std.VectorVectorPoint2f(cornersPtr);
ids = new Std.VectorInt(idsPtr);
rejectedImgPoints = new Std.VectorVectorPoint2f(rejectedPtr);
exception.Check();
}
public static void GetBoardObjectAndImagePoints(Board board, Std.VectorVectorPoint2f detectedCorners, Std.VectorInt detectedIds,
out Std.VectorPoint3f objPoints, out Std.VectorPoint2f imgPoints)
{
Cv.Exception exception = new Cv.Exception();
IntPtr objPointsPtr, imgPointsPtr;
au_getBoardObjectAndImagePoints(board.CppPtr, detectedCorners.CppPtr, detectedIds.CppPtr, out objPointsPtr, out imgPointsPtr,
exception.CppPtr);
objPoints = new Std.VectorPoint3f(objPointsPtr);
imgPoints = new Std.VectorPoint2f(imgPointsPtr);
exception.Check();
}
public static void EstimatePoseSingleMarkers(Std.VectorVectorPoint2f corners, float markerLength, Cv.Mat cameraMatrix, Cv.Mat distCoeffs,
out Std.VectorVec3d rvecs, out Std.VectorVec3d tvecs)
{
Cv.Exception exception = new Cv.Exception();
IntPtr rvecsPtr, tvecsPtr;
au_estimatePoseSingleMarkers(corners.CppPtr, markerLength, cameraMatrix.CppPtr, distCoeffs.CppPtr, out rvecsPtr, out tvecsPtr,
exception.CppPtr);
rvecs = new Std.VectorVec3d(rvecsPtr);
tvecs = new Std.VectorVec3d(tvecsPtr);
exception.Check();
}
public static void DetectCharucoDiamond(Cv.Mat image, Std.VectorVectorPoint2f markerCorners, Std.VectorInt markerIds,
float squareMarkerLengthRate, out Std.VectorVectorPoint2f diamondCorners, out Std.VectorVec4i diamondIds, Cv.Mat cameraMatrix,
Cv.Mat distCoeffs)
{
Cv.Exception exception = new Cv.Exception();
IntPtr diamondCornersPtr, diamondIdsPtr;
au_detectCharucoDiamond(image.CppPtr, markerCorners.CppPtr, markerIds.CppPtr, squareMarkerLengthRate, out diamondCornersPtr,
out diamondIdsPtr, cameraMatrix.CppPtr, distCoeffs.CppPtr, exception.CppPtr);
diamondCorners = new Std.VectorVectorPoint2f(diamondCornersPtr);
diamondIds = new Std.VectorVec4i(diamondIdsPtr);
exception.Check();
}
public static int EstimatePoseBoard(Std.VectorVectorPoint2f corners, Std.VectorInt ids, Board board, Cv.Mat cameraMatrix, Cv.Mat distCoeffs,
out Cv.Vec3d rvec, out Cv.Vec3d tvec)
{
Cv.Exception exception = new Cv.Exception();
IntPtr rvecPtr, tvecPtr;
int valid = au_estimatePoseBoard(corners.CppPtr, ids.CppPtr, board.CppPtr, cameraMatrix.CppPtr, distCoeffs.CppPtr, out rvecPtr, out tvecPtr,
exception.CppPtr);
rvec = new Cv.Vec3d(rvecPtr);
tvec = new Cv.Vec3d(tvecPtr);
exception.Check();
return(valid);
}
public static int InterpolateCornersCharuco(Std.VectorVectorPoint2f markerCorners, Std.VectorInt markerIds, Cv.Mat image, CharucoBoard board,
out Std.VectorPoint2f charucoCorners, out Std.VectorInt charucoIds, Cv.Mat cameraMatrix, Cv.Mat distCoeffs)
{
Cv.Exception exception = new Cv.Exception();
IntPtr charucoCornersPtr, charucoIdsPtr;
int interpolateCorners = au_interpolateCornersCharuco(markerCorners.CppPtr, markerIds.CppPtr, image.CppPtr, board.CppPtr,
out charucoCornersPtr, out charucoIdsPtr, cameraMatrix.CppPtr, distCoeffs.CppPtr, exception.CppPtr);
charucoCorners = new Std.VectorPoint2f(charucoCornersPtr);
charucoIds = new Std.VectorInt(charucoIdsPtr);
exception.Check();
return(interpolateCorners);
}
public static bool EstimatePoseCharucoBoard(Std.VectorPoint2f charucoCorners, Std.VectorInt charucoIds, CharucoBoard board,
Cv.Mat cameraMatrix, Cv.Mat distCoeffs, out Cv.Vec3d rvec, out Cv.Vec3d tvec)
{
Cv.Exception exception = new Cv.Exception();
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.Vec3d(rvecPtr);
tvec = new Cv.Vec3d(tvecPtr);
exception.Check();
return(valid);
}
public static double CalibrateCameraCharuco(Std.VectorVectorPoint2f charucoCorners, Std.VectorVectorInt charucoIds, CharucoBoard board,
Cv.Size imageSize, Cv.Mat cameraMatrix, Cv.Mat distCoeffs, out Std.VectorMat rvecs, out Std.VectorMat tvecs, Cv.Calib flags,
Cv.TermCriteria criteria)
{
Cv.Exception exception = new Cv.Exception();
IntPtr rvecsPtr, tvecsPtr;
double reProjectionError = au_calibrateCameraCharuco(charucoCorners.CppPtr, charucoIds.CppPtr, board.CppPtr, imageSize.CppPtr,
cameraMatrix.CppPtr, distCoeffs.CppPtr, out rvecsPtr, out tvecsPtr, (int)flags, criteria.CppPtr, exception.CppPtr);
rvecs = new Std.VectorMat(rvecsPtr);
tvecs = new Std.VectorMat(tvecsPtr);
exception.Check();
return(reProjectionError);
}
public static void DrawAxis(Cv.Mat image, Cv.Mat cameraMatrix, Cv.Mat distCoeffs, Cv.Vec3d rvec, Cv.Vec3d tvec, float length)
{
Cv.Exception exception = new Cv.Exception();
au_drawAxis(image.CppPtr, cameraMatrix.CppPtr, distCoeffs.CppPtr, rvec.CppPtr, tvec.CppPtr, length, exception.CppPtr);
exception.Check();
}
public void Reserve(uint newCap)
{
Cv.Exception exception = new Cv.Exception();
au_std_vectorDouble_reserve(CppPtr, newCap, exception.CppPtr);
exception.Check();
}
public static void DrawDetectedCornersCharuco(Cv.Mat image, Std.VectorPoint2f charucoCorners, Std.VectorInt charucoIds, Cv.Scalar cornerColor)
{
Cv.Exception exception = new Cv.Exception();
au_drawDetectedCornersCharuco(image.CppPtr, charucoCorners.CppPtr, charucoIds.CppPtr, cornerColor.CppPtr, exception.CppPtr);
exception.Check();
}
public static void DrawDetectedMarkers(Cv.Mat image, Std.VectorVectorPoint2f corners, Std.VectorInt ids, Cv.Scalar borderColor)
{
Cv.Exception exception = new Cv.Exception();
au_drawDetectedMarkers(image.CppPtr, corners.CppPtr, ids.CppPtr, borderColor.CppPtr, exception.CppPtr);
exception.Check();
}
