public static (KxTransform Transform, List <Marker> Markers) Calibrate(CvColor cvColor, CvCameraSpace cs)
{
//Define Board
var cube = CoordinateDefinition.Microcube();
//Look for Board
var markers = Vision.FindAruco(cvColor);
if (!markers.Any())
{
throw new Exception("No calibration pattern could be found in the image!");
}
//Calculate Camera Pose
return(Vision.GetPoseFromImage(cube, cs, markers), markers);
}
public static KxTransform GetPoseFromXef(string xefPath)
{
//Create a defined registration pattern - in this case a cube
var cube = CoordinateDefinition.Microcube();
//Find registration
var xef = new Xef(xefPath);
var colorCv = xef.LoadCvColorFrame(0);
//Find and draw (make sure it can be found)
var markers = Vision.FindAruco(colorCv);
//Vision.DrawAruco(colorCv).Show();
//Calculate pose
var _3dImage = xef.LoadCVCameraSpace(5);
var kxTransform = Vision.GetPoseFromImage(cube, _3dImage, markers);
return(kxTransform);
}