/// <summary>
/// Detects the Aruco markers on the current images of the cameras and store the results in the <see cref="MarkerCornersCurrentImage"/> and
/// <see cref="MarkerIdsCurrentImage"/> properties.
/// </summary>
public virtual void DetectMarkers()
{
if (!IsConfigured)
{
throw new Exception("Configure the calibration controller before detect markers.");
}
for (int cameraId = 0; cameraId < ArucoCamera.CameraNumber; cameraId++)
{
Std.VectorInt markerIds;
Std.VectorVectorPoint2f markerCorners, rejectedCandidateCorners;
Cv.Mat image = ArucoCamera.Images[cameraId];
Aruco.DetectMarkers(image, CalibrationBoard.Dictionary, out markerCorners, out markerIds, DetectorParameters, out rejectedCandidateCorners);
MarkerCornersCurrentImage[cameraId] = markerCorners;
MarkerIdsCurrentImage[cameraId] = markerIds;
if (RefineMarkersDetection)
{
Aruco.RefineDetectedMarkers(image, CalibrationBoard.Board, MarkerCornersCurrentImage[cameraId], MarkerIdsCurrentImage[cameraId],
rejectedCandidateCorners);
}
}
}
public void Detect()
{
if (!IsConfigured)
{
return;
}
for (int cameraId = 0; cameraId < ArucoCamera.CamerasNumber; cameraId++)
{
Std.VectorInt markerIds;
Std.VectorVectorPoint2f markerCorners, rejectedCandidateCorners;
Cv.Core.Mat image = ArucoCamera.Images[cameraId];
Aruco.DetectMarkers(image, CalibrationBoard.Dictionary, out markerCorners, out markerIds, DetectorParameters, out rejectedCandidateCorners);
MarkerCornersCurrentImage[cameraId] = markerCorners;
MarkerIdsCurrentImage[cameraId] = markerIds;
if (RefineMarkersDetection)
{
Aruco.RefineDetectedMarkers(image, CalibrationBoard.Board, MarkerCornersCurrentImage[cameraId], MarkerIdsCurrentImage[cameraId], rejectedCandidateCorners);
}
}
}
// ArucoObjectTracker methods
public override void Detect(int cameraId, Aruco.Dictionary dictionary, Cv.Mat 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();
}
}
}
// ArucoObjectTracker methods
/// <summary>
/// <see cref="ArucoObjectTracker.Detect(int, Dictionary, HashSet{ArucoObject})"/>
/// </summary>
public override void Detect(int cameraId, Aruco.Dictionary dictionary)
{
if (!IsActivated)
{
return;
}
if (arucoTracker.RefineDetectedMarkers)
{
foreach (var arucoBoard in arucoTracker.GetArucoObjects <ArucoGridBoard>(dictionary))
{
Aruco.RefineDetectedMarkers(arucoTracker.ArucoCamera.Images[cameraId], arucoBoard.Board, arucoTracker.MarkerTracker.MarkerCorners[cameraId][dictionary],
arucoTracker.MarkerTracker.MarkerIds[cameraId][dictionary], arucoTracker.MarkerTracker.RejectedCandidateCorners[cameraId][dictionary]);
arucoTracker.MarkerTracker.DetectedMarkers[cameraId][dictionary] = (int)arucoTracker.MarkerTracker.MarkerIds[cameraId][dictionary].Size();
}
}
}
// ArucoObjectTracker methods
/// <summary>
/// <see cref="ArucoObjectTracker.Detect(int, Aruco.Dictionary, HashSet{ArucoObject})"/>
/// </summary>
public override void Detect(int cameraId, Aruco.Dictionary dictionary)
{
if (!IsActivated)
{
return;
}
CameraParameters cameraParameters = arucoTracker.ArucoCamera.CameraParameters;
foreach (var arucoCharucoBoard in arucoTracker.GetArucoObjects <ArucoCharucoBoard>(dictionary))
{
if (arucoTracker.RefineDetectedMarkers)
{
Aruco.RefineDetectedMarkers(arucoTracker.ArucoCamera.Images[cameraId], arucoCharucoBoard.Board, arucoTracker.MarkerTracker.MarkerCorners[cameraId][dictionary],
arucoTracker.MarkerTracker.MarkerIds[cameraId][dictionary], arucoTracker.MarkerTracker.RejectedCandidateCorners[cameraId][dictionary]);
arucoTracker.MarkerTracker.DetectedMarkers[cameraId][dictionary] = (int)arucoTracker.MarkerTracker.MarkerIds[cameraId][dictionary].Size();
}
Std.VectorPoint2f charucoCorners = null;
Std.VectorInt charucoIds = null;
if (arucoTracker.MarkerTracker.DetectedMarkers[cameraId][dictionary] > 0)
{
if (cameraParameters == null)
{
arucoCharucoBoard.InterpolatedCorners = Aruco.InterpolateCornersCharuco(arucoTracker.MarkerTracker.MarkerCorners[cameraId][dictionary],
arucoTracker.MarkerTracker.MarkerIds[cameraId][dictionary], arucoTracker.ArucoCamera.Images[cameraId], (Aruco.CharucoBoard)arucoCharucoBoard.Board, out charucoCorners,
out charucoIds);
}
else
{
arucoCharucoBoard.InterpolatedCorners = Aruco.InterpolateCornersCharuco(arucoTracker.MarkerTracker.MarkerCorners[cameraId][dictionary],
arucoTracker.MarkerTracker.MarkerIds[cameraId][dictionary], arucoTracker.ArucoCamera.Images[cameraId], (Aruco.CharucoBoard)arucoCharucoBoard.Board, out charucoCorners,
out charucoIds, cameraParameters.CamerasMatrix[cameraId], cameraParameters.DistCoeffs[cameraId]);
}
}
else
{
arucoCharucoBoard.InterpolatedCorners = 0;
}
arucoCharucoBoard.DetectedCorners = charucoCorners;
arucoCharucoBoard.DetectedIds = charucoIds;
}
}
// 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;
}
}
