/// <summary>
/// Detects the Aruco markers on the current images of the cameras and store the results in the <see cref="MarkerCornersCurrentImage"/> and
/// <see cref="MarkerIdsCurrentImage"/> properties.
/// </summary>
public virtual void DetectMarkers()
{
if (!IsConfigured)
{
throw new Exception("Configure the calibration controller before detect markers.");
}
for (int cameraId = 0; cameraId < ArucoCamera.CameraNumber; cameraId++)
{
Std.VectorInt markerIds;
Std.VectorVectorPoint2f markerCorners, rejectedCandidateCorners;
Cv.Mat image = ArucoCamera.Images[cameraId];
Aruco.DetectMarkers(image, CalibrationBoard.Dictionary, out markerCorners, out markerIds, DetectorParameters, out rejectedCandidateCorners);
MarkerCornersCurrentImage[cameraId] = markerCorners;
MarkerIdsCurrentImage[cameraId] = markerIds;
if (RefineMarkersDetection)
{
Aruco.RefineDetectedMarkers(image, CalibrationBoard.Board, MarkerCornersCurrentImage[cameraId], MarkerIdsCurrentImage[cameraId],
rejectedCandidateCorners);
}
}
}
public void Detect()
{
if (!IsConfigured)
{
return;
}
for (int cameraId = 0; cameraId < ArucoCamera.CamerasNumber; cameraId++)
{
Std.VectorInt markerIds;
Std.VectorVectorPoint2f markerCorners, rejectedCandidateCorners;
Cv.Core.Mat image = ArucoCamera.Images[cameraId];
Aruco.DetectMarkers(image, CalibrationBoard.Dictionary, out markerCorners, out markerIds, DetectorParameters, out rejectedCandidateCorners);
MarkerCornersCurrentImage[cameraId] = markerCorners;
MarkerIdsCurrentImage[cameraId] = markerIds;
if (RefineMarkersDetection)
{
Aruco.RefineDetectedMarkers(image, CalibrationBoard.Board, MarkerCornersCurrentImage[cameraId], MarkerIdsCurrentImage[cameraId], rejectedCandidateCorners);
}
}
}
public override void Detect(int cameraId, Aruco.Dictionary dictionary, Cv.Mat image)
{
Std.VectorVectorPoint2f markerCorners, rejectedCandidateCorners;
Std.VectorInt markerIds;
Aruco.DetectMarkers(image, dictionary, out markerCorners, out markerIds, arucoTracker.DetectorParameters, out rejectedCandidateCorners);
DetectedMarkers[cameraId][dictionary] = (int)markerIds.Size();
MarkerCorners[cameraId][dictionary] = markerCorners;
MarkerIds[cameraId][dictionary] = markerIds;
RejectedCandidateCorners[cameraId][dictionary] = rejectedCandidateCorners;
}
/// <summary>
/// <see cref="ArucoObjectTracker.Detect(int, Dictionary)"/>
/// </summary>
public override void Detect(int cameraId, Aruco.Dictionary dictionary)
{
if (!IsActivated)
{
return;
}
Std.VectorVectorPoint2f markerCorners, rejectedCandidateCorners;
Std.VectorInt markerIds;
Aruco.DetectMarkers(arucoTracker.ArucoCamera.Images[cameraId], dictionary, out markerCorners, out markerIds,
arucoTracker.DetectorParameters, out rejectedCandidateCorners);
DetectedMarkers[cameraId][dictionary] = (int)markerIds.Size();
MarkerCorners[cameraId][dictionary] = markerCorners;
MarkerIds[cameraId][dictionary] = markerIds;
RejectedCandidateCorners[cameraId][dictionary] = rejectedCandidateCorners;
}
