public static UBoardMarkerPoseEstimationData UEstimateBoardMarkerPose(IntPtr markerCorners, int width, int height, ArucoBoardParameters boardParameters, IntPtr markerIds, IntPtr cameraMatrix, IntPtr distCoeffs)
{
float markerLength = 0.04f;
float markerSeparation = 0.01f;
int markersX = 4;
int markersY = 3;
Vec3dMarshaller tvecMarshaller = new Vec3dMarshaller();
Vec3dMarshaller rvecMarshaller = new Vec3dMarshaller();
EstimateArucoBoardPose(
boardParameters.markerLength,
boardParameters.markerSeperation,
boardParameters.squaresW,
boardParameters.squaresH,
markerCorners,
markerIds,
cameraMatrix,
distCoeffs,
rvecMarshaller.NativeDataPointer,
tvecMarshaller.NativeDataPointer
);
rvecMarshaller.MarshalNativeToManaged();
tvecMarshaller.MarshalNativeToManaged();
UBoardMarkerPoseEstimationData PoseEstimateData = new UBoardMarkerPoseEstimationData(
(Vec3d)rvecMarshaller.GetMangedObject(),
(Vec3d)tvecMarshaller.GetMangedObject(),
rvecMarshaller.NativeDataPointer,
tvecMarshaller.NativeDataPointer
);
return(PoseEstimateData);
}
unsafe public static bool UFindChessboardCorners(Color32[] texture, int width, int height, ArucoBoardParameters boardParameters, IntPtr imagePoints, IntPtr objectPoints)
{
var watch = System.Diagnostics.Stopwatch.StartNew();
int cornersH = 9;
int cornersW = 6;
float cornerLength = 0.024f;
float cornerSeparation = 0.024f;
bool foundBoard = false;
IntPtr foundBoardMarkers = CreateBooleanPointer();
fixed(Color32 *texP = texture)
{
FindChessboardCorners(
texP,
width,
height,
boardParameters.squaresW,
boardParameters.squaresH,
boardParameters.markerLength,
boardParameters.markerSeperation,
foundBoardMarkers,
imagePoints,
objectPoints
);
}
watch.Stop();
var elapsedMs = watch.ElapsedMilliseconds;
if (Marshal.ReadByte(foundBoardMarkers, 0) > 0)
{
foundBoard = true;
}
DeleteBooleanPointer(foundBoardMarkers);
return(foundBoard);
}
public unsafe static UBoardMarkerPoseEstimationDataEuler UEstimateArucoBoardPose(Color32[] texture, int width, int height, ArucoBoardParameters boardParameters, IntPtr cameraMatrix, IntPtr distCoeffs)
{
float markerLength = 0.04f;
float markerSeparation = 0.01f;
int markersX = 4;
int markersY = 3;
Vec3dMarshaller tvecMarshaller = new Vec3dMarshaller();
Vec3dMarshaller rvecMarshaller = new Vec3dMarshaller();
MatDoubleMarshaller eulerAngles = new MatDoubleMarshaller();
fixed(Color32 *texP = texture)
{
EstimateArucoBoardPoseV2(
texP,
width,
height,
boardParameters.markerLength,
boardParameters.markerSeperation,
boardParameters.squaresW,
boardParameters.squaresH,
cameraMatrix,
distCoeffs,
rvecMarshaller.NativeDataPointer,
tvecMarshaller.NativeDataPointer,
eulerAngles.NativeDataPointer
);
}
UBoardMarkerPoseEstimationDataEuler PoseEstimateData = new UBoardMarkerPoseEstimationDataEuler(
(Vec3d)rvecMarshaller.GetMangedObject(),
(Vec3d)tvecMarshaller.GetMangedObject(),
(double[][])eulerAngles.GetMangedObject()
);
return(PoseEstimateData);
}
