/// <summary>
/// Basic marker detection
/// </summary>
/// <param name="image">input image</param>
/// <param name="dictionary">indicates the type of markers that will be searched</param>
/// <param name="corners">vector of detected marker corners.
/// For each marker, its four corners are provided. For N detected markers,
/// the dimensions of this array is Nx4.The order of the corners is clockwise.</param>
/// <param name="ids">vector of identifiers of the detected markers. The identifier is of type int.
/// For N detected markers, the size of ids is also N. The identifiers have the same order than the markers in the imgPoints array.</param>
/// <param name="parameters">marker detection parameters</param>
/// <param name="rejectedImgPoints">contains the imgPoints of those squares whose inner code has not a
/// correct codification.Useful for debugging purposes.</param>
public static void DetectMarkers(InputArray image, Dictionary dictionary, out Point2f[][] corners, out int[] ids, DetectorParameters parameters, out Point2f[][] rejectedImgPoints)
{
if (image == null)
{
throw new ArgumentNullException(nameof(image));
}
if (dictionary.ObjectPtr == null)
{
throw new ArgumentException($"{nameof(dictionary)} is disposed", nameof(dictionary));
}
if (parameters.ObjectPtr == null)
{
throw new ArgumentException($"{nameof(parameters)} is disposed", nameof(parameters));
}
using (var cornersVec = new VectorOfVectorPoint2f())
using (var idsVec = new VectorOfInt32())
using (var rejectedImgPointsVec = new VectorOfVectorPoint2f())
{
NativeMethods.aruco_detectMarkers(
image.CvPtr, dictionary.ObjectPtr.CvPtr, cornersVec.CvPtr, idsVec.CvPtr, parameters.ObjectPtr.CvPtr, rejectedImgPointsVec.CvPtr);
corners = cornersVec.ToArray();
ids = idsVec.ToArray();
rejectedImgPoints = rejectedImgPointsVec.ToArray();
}
GC.KeepAlive(image);
GC.KeepAlive(dictionary);
GC.KeepAlive(parameters);
}
/// <summary>
/// Trains a Facemark algorithm using the given dataset.
/// </summary>
/// <param name="image">Input image.</param>
/// <param name="faces">Output of the function which represent region of interest of the detected faces. Each face is stored in cv::Rect container.</param>
/// <param name="landmarks">The detected landmark points for each faces.</param>
/// <returns></returns>
public virtual bool Fit(
InputArray image,
InputArray faces,
out Point2f[][] landmarks)
{
ThrowIfDisposed();
if (image == null)
{
throw new ArgumentNullException(nameof(image));
}
if (faces == null)
{
throw new ArgumentNullException(nameof(faces));
}
image.ThrowIfDisposed();
faces.ThrowIfDisposed();
int ret;
using (var landmarx = new VectorOfVectorPoint2f())
{
NativeMethods.HandleException(
NativeMethods.face_Facemark_fit(ptr, image.CvPtr, faces.CvPtr, landmarx.CvPtr, out ret));
landmarks = landmarx.ToArray();
}
GC.KeepAlive(this);
GC.KeepAlive(image);
return(ret != 0);
}
/// <summary>
/// Detect ChArUco Diamond markers.
/// </summary>
/// <param name="image">input image necessary for corner subpixel.</param>
/// <param name="markerCorners">list of detected marker corners from detectMarkers function.</param>
/// <param name="markerIds">list of marker ids in markerCorners.</param>
/// <param name="squareMarkerLengthRate">rate between square and marker length: squareMarkerLengthRate = squareLength/markerLength. The real units are not necessary.</param>
/// <param name="diamondCorners">output list of detected diamond corners (4 corners per diamond). The order is the same than in marker corners: top left, top right, bottom right and bottom left. Similar format than the corners returned by detectMarkers (e.g std::vector<std::vector<cv::Point2f>>).</param>
/// <param name="diamondIds">ids of the diamonds in diamondCorners. The id of each diamond is in fact of type Vec4i, so each diamond has 4 ids, which are the ids of the aruco markers composing the diamond.</param>
/// <param name="cameraMatrix">Optional camera calibration matrix.</param>
/// <param name="distCoeffs">Optional camera distortion coefficients.</param>
public static void DetectCharucoDiamond(InputArray image, Point2f[][] markerCorners, IEnumerable <int> markerIds,
float squareMarkerLengthRate, out Point2f[][] diamondCorners, out Vec4i[] diamondIds,
InputArray?cameraMatrix = null, InputArray?distCoeffs = null)
{
if (image == null)
{
throw new ArgumentNullException(nameof(image));
}
if (markerCorners == null)
{
throw new ArgumentNullException(nameof(markerCorners));
}
if (markerIds == null)
{
throw new ArgumentNullException(nameof(markerIds));
}
if (cameraMatrix == null && distCoeffs != null)
{
throw new ArgumentNullException(nameof(cameraMatrix));
}
if (cameraMatrix != null && distCoeffs == null)
{
throw new ArgumentNullException(nameof(distCoeffs));
}
image.ThrowIfDisposed();
cameraMatrix?.ThrowIfDisposed();
distCoeffs?.ThrowIfDisposed();
using var markerCornersAddress = new ArrayAddress2 <Point2f>(markerCorners);
using var markerIdsVec = new VectorOfInt32(markerIds);
using var diamondCornersVec = new VectorOfVectorPoint2f();
using var diamondIdsVec = new VectorOfVec4i();
NativeMethods.HandleException(
NativeMethods.aruco_detectCharucoDiamond(
image.CvPtr, markerCornersAddress.GetPointer(), markerCornersAddress.GetDim1Length(), markerCornersAddress.GetDim2Lengths(),
markerIdsVec.CvPtr, squareMarkerLengthRate,
diamondCornersVec.CvPtr, diamondIdsVec.CvPtr,
cameraMatrix?.CvPtr ?? IntPtr.Zero, distCoeffs?.CvPtr ?? IntPtr.Zero));
diamondCorners = diamondCornersVec.ToArray();
diamondIds = diamondIdsVec.ToArray();
GC.KeepAlive(image);
if (cameraMatrix != null)
{
GC.KeepAlive(cameraMatrix);
}
if (distCoeffs != null)
{
GC.KeepAlive(distCoeffs);
}
}
/// <summary>
///
/// </summary>
/// <param name="idx"></param>
/// <param name="facetList"></param>
/// <param name="facetCenters"></param>
public void GetVoronoiFacetList(IEnumerable<int> idx, out Point2f[][] facetList, out Point2f[] facetCenters)
{
if (disposed)
throw new ObjectDisposedException("Subdiv2D", "");
IntPtr facetListPtr, facetCentersPtr;
if (idx == null)
{
NativeMethods.imgproc_Subdiv2D_getVoronoiFacetList(ptr, IntPtr.Zero, 0, out facetListPtr, out facetCentersPtr);
}
else
{
int[] idxArray = EnumerableEx.ToArray(idx);
NativeMethods.imgproc_Subdiv2D_getVoronoiFacetList(ptr, idxArray, idxArray.Length, out facetListPtr, out facetCentersPtr);
}
using (VectorOfVectorPoint2f facetListVec = new VectorOfVectorPoint2f(facetListPtr))
{
facetList = facetListVec.ToArray();
}
using (VectorOfPoint2f facetCentersVec = new VectorOfPoint2f(facetCentersPtr))
{
facetCenters = facetCentersVec.ToArray();
}
}