private void cameraButton_Click(object sender, EventArgs e)
{
if (_capture != null)
{
if (_captureInProgress)
{
int totalPoints = _markerCounterPerFrame.ToArray().Sum();
if (totalPoints > 0)
{
double repError = ArucoInvoke.CalibrateCameraAruco(_allCorners, _allIds, _markerCounterPerFrame, ArucoBoard, _imageSize,
_cameraMatrix, _distCoeffs, null, null, CalibType.Default, new MCvTermCriteria(30, double.Epsilon));
UpdateMessage(String.Format("Camera calibration completed with reprojection error: {0}", repError));
_allCorners.Clear();
_allIds.Clear();
_markerCounterPerFrame.Clear();
_imageSize = Size.Empty;
}
//stop the capture
cameraButton.Text = "Start Capture";
_capture.Pause();
}
else
{
//start the capture
cameraButton.Text = "Stop Capture";
_capture.Start();
}
_captureInProgress = !_captureInProgress;
}
}
public MarkerResult[] FindMarkers(Bitmap image)
{
Image <Bgr, byte> openCVImage = new Image <Bgr, byte>(image);
Dictionary.PredefinedDictionaryName name = new Dictionary.PredefinedDictionaryName();
Dictionary Dict = new Dictionary(name);
VectorOfVectorOfPointF Corners = new VectorOfVectorOfPointF();
VectorOfInt Ids = new VectorOfInt();
DetectorParameters Parameters = DetectorParameters.GetDefault();
VectorOfVectorOfPointF Rejected = new VectorOfVectorOfPointF();
ArucoInvoke.DetectMarkers(openCVImage, Dict, Corners, Ids, Parameters, Rejected);
var markers = new MarkerResult[Corners.Size];
for (int i = 0; i < Corners.Size; i++)
{
var markerCorners = new Vector2[4];
for (int y = 0; y < 4; y++)
{
markerCorners[y] = new Vector2(Corners[i][y].X, Corners[i][y].Y);
}
markers[i] = new MarkerResult(Ids[i], markerCorners);
}
return(markers);
}
private void HandleGrab(object sender, EventArgs e)
{
Mat image = new Mat();
if (capture.IsOpened)
{
capture.Retrieve(image);
}
if (image.IsEmpty)
{
return;
}
Mat grayImg = image.Clone();
CvInvoke.CvtColor(image, grayImg, ColorConversion.Bgr2Gray);
CvInvoke.AdaptiveThreshold(grayImg, grayImg, 255, AdaptiveThresholdType.MeanC, ThresholdType.BinaryInv, 21, 11);
VectorOfInt ids = new VectorOfInt();
VectorOfVectorOfPointF corners = new VectorOfVectorOfPointF();
VectorOfVectorOfPointF rejected = new VectorOfVectorOfPointF();
ArucoInvoke.DetectMarkers(image, dico, corners, ids, arucoParam, rejected);
if (ids.Size > 0)
{
ArucoInvoke.DrawDetectedMarkers(image, corners, ids, new MCvScalar(0, 0, 255));
}
CvInvoke.Imshow("Original", image);
CvInvoke.Imshow("Gray", grayImg);
}
public static Mat Draw(Mat image, VectorOfInt markerIds, VectorOfVectorOfPointF markerCorners, VectorOfInt charucoIds, VectorOfPointF charucoCorners)
{
Mat result = image.ToImage <Rgb, byte>().Mat;
ArucoInvoke.DrawDetectedMarkers(result, markerCorners, markerIds, new MCvScalar(255, 0, 0));
ArucoInvoke.DrawDetectedCornersCharuco(result, charucoCorners, charucoIds, new MCvScalar(255, 255, 0));
return(result);
}
public void Visualize(FrameResult fr)
{
if (fr.QRLocation != null)
{
fr.Visual.DrawPolyline(fr.QRLocation, true, new Bgr(0, 0, 255), 2);
fr.Visual.Draw(new CircleF(fr.QRCenter, 6), new Bgr(0, 255, 0), 2);
fr.Visual.Draw(new CircleF(fr.QRLocation[0], 6), new Bgr(255, 255, 255), 2);
fr.Visual.Draw(new CircleF(fr.QRLocation[2], 6), new Bgr(255, 0, 0), 2);
Point TopMiddle = PointOperations.Middle(fr.QRLocation[0], fr.QRLocation[3]);
fr.Visual.Draw(new LineSegment2D(fr.QRCenter, TopMiddle), new Bgr(0, 255, 0), 2);
}
if (fr.ArucoLocation != null)
{
ArucoInvoke.DrawDetectedMarkers(fr.Visual, corners, ids, new MCvScalar(0, 255, 0));
}
}
private void CalibrateCamera()
{
int totalPoints = _markerCounterPerFrame.ToArray().Sum();
if (totalPoints > 0)
{
double repError = ArucoInvoke.CalibrateCameraAruco(_allCorners, _allIds, _markerCounterPerFrame, ArucoBoard, _imageSize,
_cameraMatrix, _distCoeffs, null, null, CalibType.Default, new MCvTermCriteria(30, double.Epsilon));
UpdateMessage(String.Format("Camera calibration completed with reprojection error: {0}", repError));
_allCorners.Clear();
_allIds.Clear();
_markerCounterPerFrame.Clear();
_imageSize = Size.Empty;
}
}
public static double ValidateCharuco(int squaresX, int squaresY, float squareLength, float markerLength, PredefinedDictionaryName dictionary, Size imageSize, VectorOfInt charucoIds, VectorOfPointF charucoCorners, VectorOfInt markerCounterPerFrame, bool fisheye, Func <byte[], byte[]> GetRemoteChessboardCorner, Mat cameraMatrix, Mat distCoeffs)
{
VectorOfVectorOfPoint3D32F processedObjectPoints = new VectorOfVectorOfPoint3D32F();
VectorOfVectorOfPointF processedImagePoints = new VectorOfVectorOfPointF();
VectorOfPoint3D32F rvecs = new VectorOfPoint3D32F();
VectorOfPoint3D32F tvecs = new VectorOfPoint3D32F();
int k = 0;
for (int i = 0; i < markerCounterPerFrame.Size; i++)
{
int nMarkersInThisFrame = markerCounterPerFrame[i];
VectorOfPointF currentImgPoints = new VectorOfPointF();
VectorOfPointF currentImgPointsUndistort = new VectorOfPointF();
VectorOfInt currentIds = new VectorOfInt();
VectorOfPoint3D32F currentObjPoints = new VectorOfPoint3D32F();
Mat tvec = new Mat();
Mat rvec = new Mat();
for (int j = 0; j < nMarkersInThisFrame; j++)
{
currentImgPoints.Push(new PointF[] { charucoCorners[k] });
currentIds.Push(new int[] { charucoIds[k] });
currentObjPoints.Push(new MCvPoint3D32f[] { GetChessboardCorner(squaresX, squaresY, squareLength, markerLength, charucoIds[k], dictionary, GetRemoteChessboardCorner) });
k++;
}
Mat distCoeffsNew = new Mat(1, 4, DepthType.Cv64F, 1);
distCoeffsNew.SetValue(0, 0, 0);
distCoeffsNew.SetValue(0, 1, 0);
distCoeffsNew.SetValue(0, 2, 0);
distCoeffsNew.SetValue(0, 3, 0);
Fisheye.UndistorPoints(currentImgPoints, currentImgPointsUndistort, cameraMatrix, distCoeffs, Mat.Eye(3, 3, DepthType.Cv64F, 1), Mat.Eye(3, 3, DepthType.Cv64F, 1));
if (ArucoInvoke.EstimatePoseCharucoBoard(currentImgPointsUndistort, currentIds, CreateBoard(squaresX, squaresY, squareLength, markerLength, new Dictionary(dictionary)), Mat.Eye(3, 3, DepthType.Cv64F, 1), distCoeffsNew, rvec, tvec))
{
rvecs.Push(new MCvPoint3D32f[] { new MCvPoint3D32f((float)rvec.GetValue(0, 0), (float)rvec.GetValue(1, 0), (float)rvec.GetValue(2, 0)) });
tvecs.Push(new MCvPoint3D32f[] { new MCvPoint3D32f((float)tvec.GetValue(0, 0), (float)tvec.GetValue(1, 0), (float)tvec.GetValue(2, 0)) });
processedImagePoints.Push(currentImgPoints);
processedObjectPoints.Push(currentObjPoints);
}
}
return(Validate(processedObjectPoints, processedImagePoints, cameraMatrix, distCoeffs, rvecs, tvecs, fisheye));
}
/// <summary>
/// Обрабатывает один поступивший кадр.
/// </summary>
/// <param name="frame">Кадр для анализа.</param>
/// <returns>Сведения об объектах в кадре.</returns>
public FrameResult ProcessFrame(Image <Bgr, byte> frame)
{
if (bwframe == null)
{
bwframe = new Image <Gray, byte>(frame.Size);
}
if (grayframe == null)
{
grayframe = new Image <Gray, byte>(frame.Size);
}
//if (vid == null) vid = new VideoWriter("video.avi", 24, frame.Size, true);
vid?.Write(frame.Mat);
grayframe.ConvertFrom(frame);
int blocksize = 51;
CvInvoke.AdaptiveThreshold(grayframe, bwframe, 255, Emgu.CV.CvEnum.AdaptiveThresholdType.MeanC, Emgu.CV.CvEnum.ThresholdType.Binary, blocksize, 5);
FrameResult fr = new FrameResult(frame);
ArucoInvoke.DetectMarkers(bwframe, ArucoDictionary, corners, ids, _detectorParameters, rejected);
if (ids.Size > 0)
{
fr.ArucoLocation = corners[0].ToArray();
}
// Ищем коды на изображении
List <ZBar.Symbol> symbols = Scanner.Scan(bwframe.ToBitmap());
if (symbols.Count == 0)
{
return(fr);
}
ZBar.Symbol s = symbols[0];
fr.QRLocation = s.Location.ToArray();
fr.QRCenter = PointOperations.Middle(fr.QRLocation);
Point RightMiddle = PointOperations.Middle(fr.QRLocation[3], fr.QRLocation[2]);
fr.TiltAngle = Math.Atan2(RightMiddle.Y - fr.QRCenter.Y, RightMiddle.X - fr.QRCenter.X);
fr.Commentary = s.Data;
Visualize(fr);
return(fr);
}
public static (VectorOfInt markerIds, VectorOfVectorOfPointF markerCorners, VectorOfInt charucoIds, VectorOfPointF charucoCorners) Detect(Mat image, int squaresX, int squaresY, float squareLength, float markerLength, PredefinedDictionaryName dictionary)
{
VectorOfInt markerIds = new VectorOfInt();
VectorOfVectorOfPointF markerCorners = new VectorOfVectorOfPointF();
VectorOfInt charucoIds = new VectorOfInt();
VectorOfPointF charucoCorners = new VectorOfPointF();
VectorOfVectorOfPointF rejectedMarkerCorners = new VectorOfVectorOfPointF();
DetectorParameters decParameters = DetectorParameters.GetDefault();
ArucoInvoke.DetectMarkers(image, new Dictionary(dictionary), markerCorners, markerIds, decParameters, rejectedMarkerCorners);
ArucoInvoke.RefineDetectedMarkers(image, CreateBoard(squaresX, squaresY, squareLength, markerLength, new Dictionary(dictionary)), markerCorners, markerIds, rejectedMarkerCorners, null, null, 10, 3, true, null, decParameters);
if (markerIds.Size > 0)
{
ArucoInvoke.InterpolateCornersCharuco(markerCorners, markerIds, image, CreateBoard(squaresX, squaresY, squareLength, markerLength, new Dictionary(dictionary)), charucoCorners, charucoIds, null, null, 2);
}
return(markerIds, markerCorners, charucoIds, charucoCorners);
}
private void ProcessFrame(object sender, EventArgs arg)
{
if (_capture != null && _capture.Ptr != IntPtr.Zero)
{
_capture.Retrieve(_frame, 0);
_frame.CopyTo(_frameCopy);
//cameraImageBox.Image = _frame;
using (VectorOfInt ids = new VectorOfInt())
using (VectorOfVectorOfPointF corners = new VectorOfVectorOfPointF())
using (VectorOfVectorOfPointF rejected = new VectorOfVectorOfPointF())
{
//DetectorParameters p = DetectorParameters.GetDefault();
ArucoInvoke.DetectMarkers(_frameCopy, ArucoDictionary, corners, ids, _detectorParameters, rejected);
if (ids.Size > 0)
{
ArucoInvoke.RefineDetectedMarkers(_frameCopy, ArucoBoard, corners, ids, rejected, null, null, 10, 3, true, null, _detectorParameters);
//cameraButton.Text = "Calibrate camera";
this.Invoke((Action) delegate
{
useThisFrameButton.Enabled = true;
});
ArucoInvoke.DrawDetectedMarkers(_frameCopy, corners, ids, new MCvScalar(0, 255, 0));
if (!_cameraMatrix.IsEmpty && !_distCoeffs.IsEmpty)
{
ArucoInvoke.EstimatePoseSingleMarkers(corners, markersLength, _cameraMatrix, _distCoeffs, rvecs, tvecs);
for (int i = 0; i < ids.Size; i++)
{
using (Mat rvecMat = rvecs.Row(i))
using (Mat tvecMat = tvecs.Row(i))
using (VectorOfDouble rvec = new VectorOfDouble())
using (VectorOfDouble tvec = new VectorOfDouble())
{
double[] values = new double[3];
rvecMat.CopyTo(values);
rvec.Push(values);
tvecMat.CopyTo(values);
tvec.Push(values);
ArucoInvoke.DrawAxis(_frameCopy, _cameraMatrix, _distCoeffs, rvec, tvec,
markersLength * 0.5f);
}
}
}
if (_useThisFrame)
{
_allCorners.Push(corners);
_allIds.Push(ids);
_markerCounterPerFrame.Push(new int[] { corners.Size });
_imageSize = _frame.Size;
UpdateMessage(String.Format("Using {0} points", _markerCounterPerFrame.ToArray().Sum()));
_useThisFrame = false;
}
}
else
{
this.Invoke((Action) delegate
{
useThisFrameButton.Enabled = false;
});
//cameraButton.Text = "Stop Capture";
}
cameraImageBox.Image = _frameCopy.Clone();
}
}
else
{
UpdateMessage("VideoCapture was not created");
}
}
private void HandleWebcam(object sender, EventArgs e)
{
Image <Bgr, byte> origin = new Image <Bgr, byte>(webcam.Width, webcam.Height);
if (webcam.IsOpened)
{
webcam.Retrieve(origin);
}
Image <Bgr, byte> markers = origin.Clone();
Image <Bgr, byte> output = origin.Clone();
Image <Bgr, byte> transformed = new Image <Bgr, byte>(512, 512);
// Gather marker
VectorOfInt ids = new VectorOfInt();
VectorOfVectorOfPointF corners = new VectorOfVectorOfPointF();
ArucoInvoke.DetectMarkers(origin, markerDict, corners, ids, arucoParameters);
PointF[] wrapCorners = new PointF[4];
wrapCorners[0] = new PointF(0, 0);
wrapCorners[1] = new PointF(512, 0);
wrapCorners[2] = new PointF(512, 512);
wrapCorners[3] = new PointF(0, 512);
Mat perspectiveMatrix = CvInvoke.GetPerspectiveTransform(boardCorners, wrapCorners);
CvInvoke.WarpPerspective(origin, transformed, perspectiveMatrix, new Size(512, 512));
for (int i = 0; i < ids.Size; i++)
{
switch (ids[i])
{
case 0:
case 1:
case 2:
case 3:
boardCorners[ids[i]] = getCentroid(corners[i]);
break;
case 4:
case 5:
case 6:
case 7:
markerPositions[ids[i] - 4] = getCentroid(corners[i]);
break;
}
}
markerWrapPositions = CvInvoke.PerspectiveTransform(markerPositions, perspectiveMatrix);
CvInvoke.Line(output, new Point((int)boardCorners[0].X, (int)boardCorners[0].Y), new Point((int)boardCorners[1].X, (int)boardCorners[1].Y), new MCvScalar(0, 0, 255), 2);
CvInvoke.Line(output, new Point((int)boardCorners[1].X, (int)boardCorners[1].Y), new Point((int)boardCorners[2].X, (int)boardCorners[2].Y), new MCvScalar(0, 0, 255), 2);
CvInvoke.Line(output, new Point((int)boardCorners[2].X, (int)boardCorners[2].Y), new Point((int)boardCorners[3].X, (int)boardCorners[3].Y), new MCvScalar(0, 0, 255), 2);
CvInvoke.Line(output, new Point((int)boardCorners[3].X, (int)boardCorners[3].Y), new Point((int)boardCorners[0].X, (int)boardCorners[0].Y), new MCvScalar(0, 0, 255), 2);
CvInvoke.Line(output, new Point((int)boardCorners[0].X, (int)boardCorners[0].Y), new Point((int)boardCorners[2].X, (int)boardCorners[2].Y), new MCvScalar(0, 0, 255), 2);
CvInvoke.Line(output, new Point((int)boardCorners[1].X, (int)boardCorners[1].Y), new Point((int)boardCorners[3].X, (int)boardCorners[3].Y), new MCvScalar(0, 0, 255), 2);
// For graphic debug purpose
ArucoInvoke.DetectMarkers(transformed, markerDict, corners, ids, arucoParameters);
if (ids.Size > 0)
{
ArucoInvoke.DrawDetectedMarkers(transformed, corners, ids, new MCvScalar(0, 0, 255));
}
// CvInvoke.Imshow("Markers view", markers);
CvInvoke.Imshow("Output view", output);
CvInvoke.Imshow("Wrap view", transformed);
// CvInvoke.Imshow("Shape detection view", shapeDetection);
}
private void ProcessFrame()
{
while (_capture != null && _capture.Ptr != IntPtr.Zero)
{
_capture.Retrieve(_frame, 0);
_frame.CopyTo(_frameCopy);
using (VectorOfInt ids = new VectorOfInt())
using (VectorOfVectorOfPointF corners = new VectorOfVectorOfPointF())
using (VectorOfVectorOfPointF rejected = new VectorOfVectorOfPointF())
{
//DetectorParameters p = DetectorParameters.GetDefault();
ArucoInvoke.DetectMarkers(_frameCopy, ArucoDictionary, corners, ids, _detectorParameters, rejected);
if (ids.Size > 0)
{
//ArucoInvoke.RefineDetectedMarkers(_frameCopy, ArucoBoard, corners, ids, rejected, null, null, 10, 3, true, null, _detectorParameters);
//cameraButton.Text = "Calibrate camera";
ArucoInvoke.DrawDetectedMarkers(_frameCopy, corners, ids, new MCvScalar(0, 255, 0));
if (!_cameraMatrix.IsEmpty && !_distCoeffs.IsEmpty)
{
ArucoInvoke.EstimatePoseSingleMarkers(corners, markersLength, _cameraMatrix, _distCoeffs, rvecs, tvecs);
for (int i = 0; i < ids.Size; i++)
{
using (Mat rvecMat = rvecs.Row(i))
using (Mat tvecMat = tvecs.Row(i))
using (VectorOfDouble rvec = new VectorOfDouble())
using (VectorOfDouble tvec = new VectorOfDouble())
{
double[] values = new double[3];
rvecMat.CopyTo(values);
rvec.Push(values);
tvecMat.CopyTo(values);
tvec.Push(values);
ArucoInvoke.DrawAxis(_frameCopy, _cameraMatrix, _distCoeffs, rvec, tvec,
markersLength * 0.5f);
}
}
}
float counterX = 0, counterY = 0;
int count = corners.Size;
for (int i = 0; i < count; ++i)
{
using (VectorOfPointF corner = corners[i])
{
PointF[] cor = corner.ToArray();
for (int j = 0; j < cor.Length; j++)
{
//Console.WriteLine(cor[j].X);
counterX += cor[j].X;
counterY += cor[j].Y;
}
markersX = counterX / 4;
markersY = counterY / 4;
}
}
}
}
CvInvoke.Undistort(_frameCopy, _output, _cameraMatrix, _distCoeffs);
CvInvoke.Imshow("out", _output);
CvInvoke.WaitKey(10);
//Console.WriteLine("markersX is " + markersX);
// Console.WriteLine("markersY is " + markersY);
}
//else
//{
Console.WriteLine("VideoCapture was not created");
//}
}
void rgbReader_FrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
using (var frame = e.FrameReference.AcquireFrame())
{
if (frame != null)
{
var width = frame.FrameDescription.Width;
var height = frame.FrameDescription.Height;
var bitmap = frame.ToBitmap();
var image = bitmap.ToOpenCVImage <Bgr, byte>().Mat;
//do something here with the IImage
int frameSkip = 1;
//every 10 frames
if (++frameCount == frameSkip)
{
frameCount = 0;
using (VectorOfInt ids = new VectorOfInt())
using (VectorOfVectorOfPointF corners = new VectorOfVectorOfPointF())
using (VectorOfVectorOfPointF rejected = new VectorOfVectorOfPointF())
{
ArucoInvoke.DetectMarkers(image, ArucoDictionary, corners, ids, _detectorParameters, rejected);
if (ids.Size > 0)
{
ArucoInvoke.RefineDetectedMarkers(image, ArucoBoard, corners, ids, rejected, null, null, 10, 3, true, null, _detectorParameters);
ArucoInvoke.DrawDetectedMarkers(image, corners, ids, new MCvScalar(0, 255, 0));
if (!_cameraMatrix.IsEmpty && !_distCoeffs.IsEmpty)
{
ArucoInvoke.EstimatePoseSingleMarkers(corners, markersLength, _cameraMatrix, _distCoeffs, rvecs, tvecs);
for (int i = 0; i < ids.Size; i++)
{
using (Mat rvecmat = rvecs.Row(i))
using (Mat tvecmat = tvecs.Row(i))
using (VectorOfDouble rvec = new VectorOfDouble())
using (VectorOfDouble tvec = new VectorOfDouble())
{
double[] values = new double[3];
rvecmat.CopyTo(values);
rvec.Push(values);
tvecmat.CopyTo(values);
tvec.Push(values);
ArucoInvoke.DrawAxis(image, _cameraMatrix, _distCoeffs, rvec, tvec,
markersLength * 0.5f);
}
}
}
if (calibrate)
{
_allCorners.Push(corners);
_allIds.Push(ids);
_markerCounterPerFrame.Push(new int[] { corners.Size });
_imageSize = image.Size;
calibrated += 1;
if (calibrated >= calibrationFreq)
{
calibrate = false;
}
}
int totalPoints = _markerCounterPerFrame.ToArray().Sum();
if (calibrated >= calibrationFreq && totalPoints > 0)
{
ArucoInvoke.CalibrateCameraAruco(_allCorners, _allIds, _markerCounterPerFrame, ArucoBoard, _imageSize,
_cameraMatrix, _distCoeffs, null, null, CalibType.Default, new MCvTermCriteria(30, double.Epsilon));
_allCorners.Clear();
_allIds.Clear();
_markerCounterPerFrame.Clear();
_imageSize = System.Drawing.Size.Empty;
calibrated = 0;
Console.WriteLine("Calibrated");
}
}
}
}
//end doing something
this.background = image.Bitmap.XNATextureFromBitmap(background);
bitmap.Dispose();
image.Dispose();
}
}
}
private void VideoSource_NewFrame(object sender, AForge.Video.NewFrameEventArgs eventArgs)
{
if (pictureBoxVideo.Image != null)
{
pictureBoxVideo.Image.Dispose();
}
if (eventArgs.Frame != null)
{
Image <Bgr, Byte> frameimage = eventArgs.Frame.ToImage <Bgr, Byte>().Clone();
_frameCopy = frameimage.Mat;
using (VectorOfInt ids = new VectorOfInt())
using (VectorOfVectorOfPointF corners = new VectorOfVectorOfPointF())
using (VectorOfVectorOfPointF rejected = new VectorOfVectorOfPointF())
{
//DetectorParameters p = DetectorParameters.GetDefault();
ArucoInvoke.DetectMarkers(_frameCopy, ArucoDictionary, corners, ids, _detectorParameters, rejected);
if (ids.Size > 0)
{
ArucoInvoke.RefineDetectedMarkers(_frameCopy, ArucoBoard, corners, ids, rejected, null, null, 10, 3, true, null, _detectorParameters);
//cameraButton.Text = "Calibrate camera";
this.Invoke((Action) delegate
{
useThisFrameButton.Enabled = true;
});
ArucoInvoke.DrawDetectedMarkers(_frameCopy, corners, ids, new MCvScalar(0, 255, 0));
if (!_cameraMatrix.IsEmpty && !_distCoeffs.IsEmpty)
{
ArucoInvoke.EstimatePoseSingleMarkers(corners, markersLength, _cameraMatrix, _distCoeffs, rvecs, tvecs);
for (int i = 0; i < ids.Size; i++)
{
using (Mat rvecMat = rvecs.Row(i))
using (Mat tvecMat = tvecs.Row(i))
using (VectorOfDouble rvec = new VectorOfDouble())
using (VectorOfDouble tvec = new VectorOfDouble())
{
double[] values = new double[3];
rvecMat.CopyTo(values);
rvec.Push(values);
tvecMat.CopyTo(values);
tvec.Push(values);
if (ids.Size == 1)
{
UpdatePosition(tvec, rvec);
}
ArucoInvoke.DrawAxis(_frameCopy, _cameraMatrix, _distCoeffs, rvec, tvec,
markersLength * 0.5f);
}
}
}
if (_useThisFrame)
{
_allCorners.Push(corners);
_allIds.Push(ids);
_markerCounterPerFrame.Push(new int[] { corners.Size });
_imageSize = _frameCopy.Size;
UpdateMessage(String.Format("Using {0} points", _markerCounterPerFrame.ToArray().Sum()));
_useThisFrame = false;
CalibrateCamera();
}
}
else
{
this.Invoke((Action) delegate
{
useThisFrameButton.Enabled = false;
});
//cameraButton.Text = "Stop Capture";
}
pictureBoxVideo.Image = _frameCopy.ToBitmap();
}
}
}