예제 #1
0
            public override void Detect(int cameraId, Aruco.Dictionary dictionary, Cv.Mat image)
            {
                base.Detect(cameraId, dictionary, image);

                ArucoMarkerTracker markerTracker = arucoTracker.MarkerTracker;

                Std.VectorVectorPoint2f diamondCorners = null;
                Std.VectorVec4i         diamondIds     = null;

                if (markerTracker.DetectedMarkers[cameraId][dictionary] > 0)
                {
                    if (arucoCameraUndistortion == null)
                    {
                        Aruco.DetectCharucoDiamond(image, markerTracker.MarkerCorners[cameraId][dictionary], markerTracker.MarkerIds[cameraId][dictionary],
                                                   DetectSquareMarkerLengthRate, out diamondCorners, out diamondIds);
                    }
                    else
                    {
                        Aruco.DetectCharucoDiamond(image, markerTracker.MarkerCorners[cameraId][dictionary], markerTracker.MarkerIds[cameraId][dictionary],
                                                   DetectSquareMarkerLengthRate, out diamondCorners, out diamondIds, arucoCameraUndistortion.RectifiedCameraMatrices[cameraId],
                                                   arucoCameraUndistortion.UndistortedDistCoeffs[cameraId]);
                    }
                }

                DiamondCorners[cameraId][dictionary]   = diamondCorners;
                DiamondIds[cameraId][dictionary]       = diamondIds;
                DetectedDiamonds[cameraId][dictionary] = (diamondIds != null) ? (int)diamondIds.Size() : 0;
            }
예제 #2
0
            // MonoBehaviour methods

            /// <summary>
            /// Initializes the trackers list.
            /// </summary>
            protected override void Awake()
            {
                base.Awake();

                MarkerTracker      = new ArucoMarkerTracker();
                additionalTrackers = new Dictionary <Type, ArucoObjectTracker>()
                {
                    { typeof(ArucoGridBoard), new ArucoGridBoardTracker() },
                    { typeof(ArucoCharucoBoard), new ArucoCharucoBoardTracker() },
                    { typeof(ArucoDiamond), new ArucoDiamondTracker() }
                };
            }
예제 #3
0
    // ArucoObjectTracker methods

    public override void Detect(int cameraId, Aruco.Dictionary dictionary, Cv.Mat image)
    {
      base.Detect(cameraId, dictionary, image);

      ArucoMarkerTracker markerTracker = arucoTracker.MarkerTracker;

      if (arucoTracker.RefineDetectedMarkers && arucoTracker.MarkerTracker.DetectedMarkers[cameraId][dictionary] > 0)
      {
        foreach (var arucoBoard in arucoTracker.GetArucoObjects<ArucoGridBoard>(dictionary))
        {
          Aruco.RefineDetectedMarkers(image, arucoBoard.Board, markerTracker.MarkerCorners[cameraId][dictionary],
            markerTracker.MarkerIds[cameraId][dictionary], markerTracker.RejectedCandidateCorners[cameraId][dictionary]);
          markerTracker.DetectedMarkers[cameraId][dictionary] = (int)markerTracker.MarkerIds[cameraId][dictionary].Size();
        }
      }
    }
        // MonoBehaviour methods

        /// <summary>
        ///     Initializes the trackers list and sets <see cref="ArucoCameraDisplay" /> from editor field if not null.
        /// </summary>
        protected override void Awake()
        {
            base.Awake();

            MarkerTracker      = new ArucoMarkerTracker();
            additionalTrackers = new Dictionary <Type, ArucoObjectTracker>
            {
                { typeof(ArucoGridBoard), new ArucoGridBoardTracker() },
                { typeof(ArucoCharucoBoard), new ArucoCharucoBoardTracker() },
                { typeof(ArucoDiamond), new ArucoDiamondTracker() }
            };

            if (arucoCameraDisplay != null)
            {
                ArucoCameraDisplay = arucoCameraDisplay;
            }
        }
예제 #5
0
            // ArucoObjectTracker methods

            public override void Detect(int cameraId, Aruco.Dictionary dictionary, Cv.Mat image)
            {
                base.Detect(cameraId, dictionary, image);

                ArucoMarkerTracker markerTracker = arucoTracker.MarkerTracker;

                foreach (var arucoCharucoBoard in arucoTracker.GetArucoObjects <ArucoCharucoBoard>(dictionary))
                {
                    if (arucoTracker.RefineDetectedMarkers)
                    {
                        Aruco.RefineDetectedMarkers(image, arucoCharucoBoard.Board, markerTracker.MarkerCorners[cameraId][dictionary],
                                                    markerTracker.MarkerIds[cameraId][dictionary], markerTracker.RejectedCandidateCorners[cameraId][dictionary]);
                        markerTracker.DetectedMarkers[cameraId][dictionary] = (int)markerTracker.MarkerIds[cameraId][dictionary].Size();
                    }

                    Std.VectorPoint2f charucoCorners = null;
                    Std.VectorInt     charucoIds     = null;

                    if (markerTracker.DetectedMarkers[cameraId][dictionary] > 0)
                    {
                        if (arucoCameraUndistortion == null)
                        {
                            Aruco.InterpolateCornersCharuco(markerTracker.MarkerCorners[cameraId][dictionary],
                                                            markerTracker.MarkerIds[cameraId][dictionary], arucoCamera.Images[cameraId],
                                                            (Aruco.CharucoBoard)arucoCharucoBoard.Board, out charucoCorners, out charucoIds);
                        }
                        else
                        {
                            Aruco.InterpolateCornersCharuco(markerTracker.MarkerCorners[cameraId][dictionary],
                                                            markerTracker.MarkerIds[cameraId][dictionary], arucoCamera.Images[cameraId],
                                                            (Aruco.CharucoBoard)arucoCharucoBoard.Board, out charucoCorners, out charucoIds, arucoCameraUndistortion.RectifiedCameraMatrices[cameraId],
                                                            arucoCameraUndistortion.UndistortedDistCoeffs[cameraId]);
                        }
                    }

                    arucoCharucoBoard.DetectedCorners = charucoCorners;
                    arucoCharucoBoard.DetectedIds     = charucoIds;
                }
            }