private Dictionary<int, List<MarkerStructure>> MarkerTracker(OpenCvSharp.Mat frame, int video_idx, int frame_number)
{
if (frame.Empty())
return null;
using (var detector = new Aruco.Net.MarkerDetector())
{
Dictionary<int, List<MarkerStructure>> MarkerDict = new Dictionary<int, List<MarkerStructure>>();
var cameraMatrix = new OpenCV.Net.Mat(3, 3, OpenCV.Net.Depth.F32, 1);
var distortion = new OpenCV.Net.Mat(1, 4, OpenCV.Net.Depth.F32, 1);
detector.ThresholdMethod = ThresholdMethod.AdaptiveThreshold;
detector.Param1 = 7.0;
detector.Param2 = 7.0;
detector.MinSize = 0.04f;
detector.MaxSize = 0.5f;
detector.CornerRefinement = CornerRefinementMethod.Lines;
// Detect markers in a sequence of camera images.
var markerSize = 10;
var image2 =
new OpenCV.Net.Mat(new OpenCV.Net.Size(frame.Width, frame.Height),
(OpenCV.Net.Depth)frame.Depth(), frame.Channels(), frame.Data);
try {
var detectedMarkers = detector.Detect(image2, cameraMatrix, distortion, markerSize);
foreach (var marker in detectedMarkers)
{
//event trigger
List<MarkerStructure> tmp = new List<MarkerStructure>();
if (!MarkerDict.TryGetValue(marker.Id, out tmp))
{
if (tmp != null)
{
tmp.Add(new MarkerStructure(marker.Id, video_idx, frame_number,
new OpenCV.Net.Point2f(marker.Center.X - (marker.Size / 2), marker.Center.Y - (marker.Size / 2)),
new OpenCV.Net.Size((int)marker.Size, (int)marker.Size)));
MarkerDict[marker.Id] = tmp;
}
else
{
List<MarkerStructure> tmp2 = new List<MarkerStructure>();
tmp2.Add(new MarkerStructure(marker.Id, video_idx, frame_number,
new OpenCV.Net.Point2f(marker.Center.X - (marker.Size / 2), marker.Center.Y - (marker.Size / 2)),
new OpenCV.Net.Size((int)marker.Size, (int)marker.Size)));
MarkerDict[marker.Id] = tmp2;
}
}
else
{
List<MarkerStructure> new_list = new List<MarkerStructure>();
new_list.Add(new MarkerStructure(marker.Id, video_idx, frame_number,
new OpenCV.Net.Point2f(marker.Center.X - (marker.Size / 2), marker.Center.Y - (marker.Size / 2)),
new OpenCV.Net.Size((int)marker.Size, (int)marker.Size)));
MarkerDict.Add(marker.Id, new_list);
}
}
} catch(Exception)
{
}
return MarkerDict;
}
}
private Dictionary <int, List <MarkerStructure> > MarkerTracker(OpenCvSharp.Mat frame, int frame_number)
{
if (frame.Empty())
{
return(null);
}
using (var detector = new Aruco.Net.MarkerDetector())
{
Dictionary <int, List <MarkerStructure> > MarkerDict = new Dictionary <int, List <MarkerStructure> >();
var cameraMatrix = new OpenCV.Net.Mat(3, 3, OpenCV.Net.Depth.F32, 1);
var distortion = new OpenCV.Net.Mat(1, 4, OpenCV.Net.Depth.F32, 1);
detector.ThresholdMethod = ThresholdMethod.AdaptiveThreshold;
detector.Param1 = 7.0;
detector.Param2 = 7.0;
detector.MinSize = 0.04f;
detector.MaxSize = 0.5f;
detector.CornerRefinement = CornerRefinementMethod.Lines;
// Detect markers in a sequence of camera images.
var markerSize = 10;
var image2 =
new OpenCV.Net.Mat(new OpenCV.Net.Size(frame.Width, frame.Height),
(OpenCV.Net.Depth)frame.Depth(), frame.Channels(), frame.Data);
try {
var detectedMarkers = detector.Detect(image2, cameraMatrix, distortion, markerSize);
foreach (var marker in detectedMarkers)
{
//event trigger
List <MarkerStructure> tmp = new List <MarkerStructure>();
if (!MarkerDict.TryGetValue(marker.Id, out tmp))
{
if (tmp != null)
{
tmp.Add(new MarkerStructure(marker.Id, frame_number,
new OpenCV.Net.Point2f(marker.Center.X - (marker.Size / 2), marker.Center.Y - (marker.Size / 2)),
new OpenCV.Net.Size((int)marker.Size, (int)marker.Size)));
MarkerDict[marker.Id] = tmp;
}
else
{
List <MarkerStructure> tmp2 = new List <MarkerStructure>();
tmp2.Add(new MarkerStructure(marker.Id, frame_number,
new OpenCV.Net.Point2f(marker.Center.X - (marker.Size / 2), marker.Center.Y - (marker.Size / 2)),
new OpenCV.Net.Size((int)marker.Size, (int)marker.Size)));
MarkerDict[marker.Id] = tmp2;
}
}
else
{
List <MarkerStructure> new_list = new List <MarkerStructure>();
new_list.Add(new MarkerStructure(marker.Id, frame_number,
new OpenCV.Net.Point2f(marker.Center.X - (marker.Size / 2), marker.Center.Y - (marker.Size / 2)),
new OpenCV.Net.Size((int)marker.Size, (int)marker.Size)));
MarkerDict.Add(marker.Id, new_list);
}
}
} catch (Exception)
{
}
return(MarkerDict);
}
}
