/// <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 arucoCharucoBoard in arucoTracker.GetArucoObjects <ArucoCharucoBoard>(dictionary))
{
Cv.Core.Vec3d rvec, tvec;
arucoCharucoBoard.ValidTransform = Aruco.EstimatePoseCharucoBoard(arucoCharucoBoard.DetectedCorners, arucoCharucoBoard.DetectedIds,
(Aruco.CharucoBoard)arucoCharucoBoard.Board, cameraParameters.CamerasMatrix[cameraId], cameraParameters.DistCoeffs[cameraId], out rvec, out tvec);
arucoCharucoBoard.Rvec = rvec;
arucoCharucoBoard.Tvec = tvec;
}
}
public override void EstimateTransforms(int cameraId, Aruco.Dictionary dictionary)
{
foreach (var arucoCharucoBoard in arucoTracker.GetArucoObjects <ArucoCharucoBoard>(dictionary))
{
Cv.Vec3d rvec = null, tvec = null;
bool validTransform = false;
if (arucoTracker.MarkerTracker.DetectedMarkers[cameraId][dictionary] > 0 && cameraParameters != null)
{
validTransform = Aruco.EstimatePoseCharucoBoard(arucoCharucoBoard.DetectedCorners, arucoCharucoBoard.DetectedIds,
(Aruco.CharucoBoard)arucoCharucoBoard.Board, cameraParameters.CameraMatrices[cameraId], cameraParameters.DistCoeffs[cameraId], out rvec,
out tvec);
}
arucoCharucoBoard.Rvec = rvec;
arucoCharucoBoard.Tvec = tvec;
arucoCharucoBoard.ValidTransform = validTransform;
}
}
