public unsafe static (UDetectMarkersData, UBoardMarkerPoseEstimationDataEuler) UEstimateCharucoBoardPose(Color32[] texture, int width, int height, CharucoBoardParameters boardParameters, IntPtr cameraMatrix, IntPtr distCoeffs) { int cornersH = 3; int cornersW = 4; float markerLength = 0.045f; float squareLength = 0.06f; // marshallers Vec3dMarshaller tvecMarshaller = new Vec3dMarshaller(); Vec3dMarshaller rvecMarshaller = new Vec3dMarshaller(); MatDoubleMarshaller eulerAngles = new MatDoubleMarshaller(); // marker pointers VectorIntMarshaller markerIds = new VectorIntMarshaller(); DoubleVectorPoint2FMarshaller markerCornerMarshaller = new DoubleVectorPoint2FMarshaller(); DoubleVectorPoint2FMarshaller rejectedCandidateMarshaller = new DoubleVectorPoint2FMarshaller(); estimateCharucoBoardPosePerfMarker.Begin(); fixed(Color32 *texP = texture) { EstimateCharucoBoardPose( texP, width, height, // markerLength, // squareLength, // cornersW, // cornersH, boardParameters.markerLength, boardParameters.squareLength, boardParameters.squaresW, boardParameters.squaresH, markerIds.NativeDataPointer, markerCornerMarshaller.NativeDataPointer, rejectedCandidateMarshaller.NativeDataPointer, cameraMatrix, distCoeffs, rvecMarshaller.NativeDataPointer, tvecMarshaller.NativeDataPointer, eulerAngles.NativeDataPointer ); } estimateCharucoBoardPosePerfMarker.End(); UDetectMarkersData markerData = new UDetectMarkersData( (int[])markerIds.GetMangedObject(), (List <List <Vector2> >)markerCornerMarshaller.GetMangedObject(), (List <List <Vector2> >)rejectedCandidateMarshaller.GetMangedObject(), markerIds.NativeDataPointer, markerCornerMarshaller.NativeDataPointer, rejectedCandidateMarshaller.NativeDataPointer ); UBoardMarkerPoseEstimationDataEuler PoseEstimateData = new UBoardMarkerPoseEstimationDataEuler( (Vec3d)rvecMarshaller.GetMangedObject(), (Vec3d)tvecMarshaller.GetMangedObject(), (double[][])eulerAngles.GetMangedObject() ); return(markerData : markerData, PoseEstimateData : PoseEstimateData); }
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); }