public override void EstimateTransforms(int cameraId, Aruco.Dictionary dictionary)
{
foreach (var arucoGridBoard in arucoTracker.GetArucoObjects <ArucoGridBoard>(dictionary))
{
Cv.Vec3d rvec = null, tvec = null;
int markersUsedForEstimation = 0;
if (arucoTracker.MarkerTracker.DetectedMarkers[cameraId][dictionary] > 0 && cameraParameters != null)
{
markersUsedForEstimation = Aruco.EstimatePoseBoard(arucoTracker.MarkerTracker.MarkerCorners[cameraId][dictionary],
arucoTracker.MarkerTracker.MarkerIds[cameraId][dictionary], arucoGridBoard.Board, cameraParameters.CameraMatrices[cameraId],
cameraParameters.DistCoeffs[cameraId], out rvec, out tvec);
}
arucoGridBoard.Rvec = rvec;
arucoGridBoard.Tvec = tvec;
arucoGridBoard.MarkersUsedForEstimation = markersUsedForEstimation;
}
}
/// <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;
}
}
