using OpenCVForUnity.CoreModule;
using OpenCVForUnity.UtilsModule;
using System;
using System.Collections.Generic;
using System.Runtime.InteropServices;
namespace OpenCVForUnity.ObjdetectModule
{
// C++: class CharucoDetector
public class CharucoDetector : Algorithm
{
protected override void Dispose(bool disposing)
{
try
{
if (disposing)
{
}
if (IsEnabledDispose)
{
if (nativeObj != IntPtr.Zero)
objdetect_CharucoDetector_delete(nativeObj);
nativeObj = IntPtr.Zero;
}
}
finally
{
base.Dispose(disposing);
}
}
protected internal CharucoDetector(IntPtr addr) : base(addr) { }
// internal usage only
public static new CharucoDetector __fromPtr__(IntPtr addr) { return new CharucoDetector(addr); }
//
// C++: cv::aruco::CharucoDetector::CharucoDetector(CharucoBoard board, CharucoParameters charucoParams = CharucoParameters(), DetectorParameters detectorParams = DetectorParameters(), RefineParameters refineParams = RefineParameters())
//
/**
* Basic CharucoDetector constructor
*
* param board ChAruco board
* param charucoParams charuco detection parameters
* param detectorParams marker detection parameters
* param refineParams marker refine detection parameters
*/
public CharucoDetector(CharucoBoard board, CharucoParameters charucoParams, DetectorParameters detectorParams, RefineParameters refineParams) :
base(DisposableObject.ThrowIfNullIntPtr(objdetect_CharucoDetector_CharucoDetector_10(board.nativeObj, charucoParams.nativeObj, detectorParams.nativeObj, refineParams.nativeObj)))
{
}
/**
* Basic CharucoDetector constructor
*
* param board ChAruco board
* param charucoParams charuco detection parameters
* param detectorParams marker detection parameters
*/
public CharucoDetector(CharucoBoard board, CharucoParameters charucoParams, DetectorParameters detectorParams) :
base(DisposableObject.ThrowIfNullIntPtr(objdetect_CharucoDetector_CharucoDetector_11(board.nativeObj, charucoParams.nativeObj, detectorParams.nativeObj)))
{
}
/**
* Basic CharucoDetector constructor
*
* param board ChAruco board
* param charucoParams charuco detection parameters
*/
public CharucoDetector(CharucoBoard board, CharucoParameters charucoParams) :
base(DisposableObject.ThrowIfNullIntPtr(objdetect_CharucoDetector_CharucoDetector_12(board.nativeObj, charucoParams.nativeObj)))
{
}
/**
* Basic CharucoDetector constructor
*
* param board ChAruco board
*/
public CharucoDetector(CharucoBoard board) :
base(DisposableObject.ThrowIfNullIntPtr(objdetect_CharucoDetector_CharucoDetector_13(board.nativeObj)))
{
}
//
// C++: CharucoBoard cv::aruco::CharucoDetector::getBoard()
//
public CharucoBoard getBoard()
{
ThrowIfDisposed();
return new CharucoBoard(DisposableObject.ThrowIfNullIntPtr(objdetect_CharucoDetector_getBoard_10(nativeObj)));
}
//
// C++: void cv::aruco::CharucoDetector::setBoard(CharucoBoard board)
//
public void setBoard(CharucoBoard board)
{
ThrowIfDisposed();
if (board != null) board.ThrowIfDisposed();
objdetect_CharucoDetector_setBoard_10(nativeObj, board.nativeObj);
}
//
// C++: CharucoParameters cv::aruco::CharucoDetector::getCharucoParameters()
//
public CharucoParameters getCharucoParameters()
{
ThrowIfDisposed();
return new CharucoParameters(DisposableObject.ThrowIfNullIntPtr(objdetect_CharucoDetector_getCharucoParameters_10(nativeObj)));
}
//
// C++: void cv::aruco::CharucoDetector::setCharucoParameters(CharucoParameters charucoParameters)
//
public void setCharucoParameters(CharucoParameters charucoParameters)
{
ThrowIfDisposed();
if (charucoParameters != null) charucoParameters.ThrowIfDisposed();
objdetect_CharucoDetector_setCharucoParameters_10(nativeObj, charucoParameters.nativeObj);
}
//
// C++: DetectorParameters cv::aruco::CharucoDetector::getDetectorParameters()
//
public DetectorParameters getDetectorParameters()
{
ThrowIfDisposed();
return new DetectorParameters(DisposableObject.ThrowIfNullIntPtr(objdetect_CharucoDetector_getDetectorParameters_10(nativeObj)));
}
//
// C++: void cv::aruco::CharucoDetector::setDetectorParameters(DetectorParameters detectorParameters)
//
public void setDetectorParameters(DetectorParameters detectorParameters)
{
ThrowIfDisposed();
if (detectorParameters != null) detectorParameters.ThrowIfDisposed();
objdetect_CharucoDetector_setDetectorParameters_10(nativeObj, detectorParameters.nativeObj);
}
//
// C++: RefineParameters cv::aruco::CharucoDetector::getRefineParameters()
//
public RefineParameters getRefineParameters()
{
ThrowIfDisposed();
return new RefineParameters(DisposableObject.ThrowIfNullIntPtr(objdetect_CharucoDetector_getRefineParameters_10(nativeObj)));
}
//
// C++: void cv::aruco::CharucoDetector::setRefineParameters(RefineParameters refineParameters)
//
public void setRefineParameters(RefineParameters refineParameters)
{
ThrowIfDisposed();
if (refineParameters != null) refineParameters.ThrowIfDisposed();
objdetect_CharucoDetector_setRefineParameters_10(nativeObj, refineParameters.nativeObj);
}
//
// C++: void cv::aruco::CharucoDetector::detectBoard(Mat image, Mat& charucoCorners, Mat& charucoIds, vector_Mat& markerCorners = vector_Mat(), Mat& markerIds = Mat())
//
/**
* detect aruco markers and interpolate position of ChArUco board corners
* param image input image necesary for corner refinement. Note that markers are not detected and
* should be sent in corners and ids parameters.
* param charucoCorners interpolated chessboard corners.
* param charucoIds interpolated chessboard corners identifiers.
* param markerCorners vector of already detected markers corners. For each marker, its four
* corners are provided, (e.g std::vector<std::vector<cv::Point2f> > ). For N detected markers, the
* dimensions of this array should be Nx4. The order of the corners should be clockwise.
* If markerCorners and markerCorners are empty, the function detect aruco markers and ids.
* param markerIds list of identifiers for each marker in corners.
* If markerCorners and markerCorners are empty, the function detect aruco markers and ids.
*
* This function receives the detected markers and returns the 2D position of the chessboard corners
* from a ChArUco board using the detected Aruco markers.
*
* If markerCorners and markerCorners are empty, the detectMarkers() will run and detect aruco markers and ids.
*
* If camera parameters are provided, the process is based in an approximated pose estimation, else it is based on local homography.
* Only visible corners are returned. For each corner, its corresponding identifier is also returned in charucoIds.
* SEE: findChessboardCorners
*/
public void detectBoard(Mat image, Mat charucoCorners, Mat charucoIds, List<Mat> markerCorners, Mat markerIds)
{
ThrowIfDisposed();
if (image != null) image.ThrowIfDisposed();
if (charucoCorners != null) charucoCorners.ThrowIfDisposed();
if (charucoIds != null) charucoIds.ThrowIfDisposed();
if (markerIds != null) markerIds.ThrowIfDisposed();
Mat markerCorners_mat = Converters.vector_Mat_to_Mat(markerCorners);
objdetect_CharucoDetector_detectBoard_10(nativeObj, image.nativeObj, charucoCorners.nativeObj, charucoIds.nativeObj, markerCorners_mat.nativeObj, markerIds.nativeObj);
Converters.Mat_to_vector_Mat(markerCorners_mat, markerCorners);
markerCorners_mat.release();
}
/**
* detect aruco markers and interpolate position of ChArUco board corners
* param image input image necesary for corner refinement. Note that markers are not detected and
* should be sent in corners and ids parameters.
* param charucoCorners interpolated chessboard corners.
* param charucoIds interpolated chessboard corners identifiers.
* param markerCorners vector of already detected markers corners. For each marker, its four
* corners are provided, (e.g std::vector<std::vector<cv::Point2f> > ). For N detected markers, the
* dimensions of this array should be Nx4. The order of the corners should be clockwise.
* If markerCorners and markerCorners are empty, the function detect aruco markers and ids.
* If markerCorners and markerCorners are empty, the function detect aruco markers and ids.
*
* This function receives the detected markers and returns the 2D position of the chessboard corners
* from a ChArUco board using the detected Aruco markers.
*
* If markerCorners and markerCorners are empty, the detectMarkers() will run and detect aruco markers and ids.
*
* If camera parameters are provided, the process is based in an approximated pose estimation, else it is based on local homography.
* Only visible corners are returned. For each corner, its corresponding identifier is also returned in charucoIds.
* SEE: findChessboardCorners
*/
public void detectBoard(Mat image, Mat charucoCorners, Mat charucoIds, List<Mat> markerCorners)
{
ThrowIfDisposed();
if (image != null) image.ThrowIfDisposed();
if (charucoCorners != null) charucoCorners.ThrowIfDisposed();
if (charucoIds != null) charucoIds.ThrowIfDisposed();
Mat markerCorners_mat = Converters.vector_Mat_to_Mat(markerCorners);
objdetect_CharucoDetector_detectBoard_11(nativeObj, image.nativeObj, charucoCorners.nativeObj, charucoIds.nativeObj, markerCorners_mat.nativeObj);
Converters.Mat_to_vector_Mat(markerCorners_mat, markerCorners);
markerCorners_mat.release();
}
/**
* detect aruco markers and interpolate position of ChArUco board corners
* param image input image necesary for corner refinement. Note that markers are not detected and
* should be sent in corners and ids parameters.
* param charucoCorners interpolated chessboard corners.
* param charucoIds interpolated chessboard corners identifiers.
* corners are provided, (e.g std::vector<std::vector<cv::Point2f> > ). For N detected markers, the
* dimensions of this array should be Nx4. The order of the corners should be clockwise.
* If markerCorners and markerCorners are empty, the function detect aruco markers and ids.
* If markerCorners and markerCorners are empty, the function detect aruco markers and ids.
*
* This function receives the detected markers and returns the 2D position of the chessboard corners
* from a ChArUco board using the detected Aruco markers.
*
* If markerCorners and markerCorners are empty, the detectMarkers() will run and detect aruco markers and ids.
*
* If camera parameters are provided, the process is based in an approximated pose estimation, else it is based on local homography.
* Only visible corners are returned. For each corner, its corresponding identifier is also returned in charucoIds.
* SEE: findChessboardCorners
*/
public void detectBoard(Mat image, Mat charucoCorners, Mat charucoIds)
{
ThrowIfDisposed();
if (image != null) image.ThrowIfDisposed();
if (charucoCorners != null) charucoCorners.ThrowIfDisposed();
if (charucoIds != null) charucoIds.ThrowIfDisposed();
objdetect_CharucoDetector_detectBoard_12(nativeObj, image.nativeObj, charucoCorners.nativeObj, charucoIds.nativeObj);
}
//
// C++: void cv::aruco::CharucoDetector::detectDiamonds(Mat image, vector_Mat& diamondCorners, Mat& diamondIds, vector_Mat& markerCorners = vector_Mat(), Mat& markerIds = Mat())
//
/**
* Detect ChArUco Diamond markers
*
* param image input image necessary for corner subpixel.
* param 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 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 markerCorners list of detected marker corners from detectMarkers function.
* If markerCorners and markerCorners are empty, the function detect aruco markers and ids.
* param markerIds list of marker ids in markerCorners.
* If markerCorners and markerCorners are empty, the function detect aruco markers and ids.
*
* This function detects Diamond markers from the previous detected ArUco markers. The diamonds
* are returned in the diamondCorners and diamondIds parameters. If camera calibration parameters
* are provided, the diamond search is based on reprojection. If not, diamond search is based on
* homography. Homography is faster than reprojection, but less accurate.
*/
public void detectDiamonds(Mat image, List<Mat> diamondCorners, Mat diamondIds, List<Mat> markerCorners, Mat markerIds)
{
ThrowIfDisposed();
if (image != null) image.ThrowIfDisposed();
if (diamondIds != null) diamondIds.ThrowIfDisposed();
if (markerIds != null) markerIds.ThrowIfDisposed();
Mat diamondCorners_mat = new Mat();
Mat markerCorners_mat = Converters.vector_Mat_to_Mat(markerCorners);
objdetect_CharucoDetector_detectDiamonds_10(nativeObj, image.nativeObj, diamondCorners_mat.nativeObj, diamondIds.nativeObj, markerCorners_mat.nativeObj, markerIds.nativeObj);
Converters.Mat_to_vector_Mat(diamondCorners_mat, diamondCorners);
diamondCorners_mat.release();
Converters.Mat_to_vector_Mat(markerCorners_mat, markerCorners);
markerCorners_mat.release();
}
/**
* Detect ChArUco Diamond markers
*
* param image input image necessary for corner subpixel.
* param 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 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 markerCorners list of detected marker corners from detectMarkers function.
* If markerCorners and markerCorners are empty, the function detect aruco markers and ids.
* If markerCorners and markerCorners are empty, the function detect aruco markers and ids.
*
* This function detects Diamond markers from the previous detected ArUco markers. The diamonds
* are returned in the diamondCorners and diamondIds parameters. If camera calibration parameters
* are provided, the diamond search is based on reprojection. If not, diamond search is based on
* homography. Homography is faster than reprojection, but less accurate.
*/
public void detectDiamonds(Mat image, List<Mat> diamondCorners, Mat diamondIds, List<Mat> markerCorners)
{
ThrowIfDisposed();
if (image != null) image.ThrowIfDisposed();
if (diamondIds != null) diamondIds.ThrowIfDisposed();
Mat diamondCorners_mat = new Mat();
Mat markerCorners_mat = Converters.vector_Mat_to_Mat(markerCorners);
objdetect_CharucoDetector_detectDiamonds_11(nativeObj, image.nativeObj, diamondCorners_mat.nativeObj, diamondIds.nativeObj, markerCorners_mat.nativeObj);
Converters.Mat_to_vector_Mat(diamondCorners_mat, diamondCorners);
diamondCorners_mat.release();
Converters.Mat_to_vector_Mat(markerCorners_mat, markerCorners);
markerCorners_mat.release();
}
/**
* Detect ChArUco Diamond markers
*
* param image input image necessary for corner subpixel.
* param 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 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.
* If markerCorners and markerCorners are empty, the function detect aruco markers and ids.
* If markerCorners and markerCorners are empty, the function detect aruco markers and ids.
*
* This function detects Diamond markers from the previous detected ArUco markers. The diamonds
* are returned in the diamondCorners and diamondIds parameters. If camera calibration parameters
* are provided, the diamond search is based on reprojection. If not, diamond search is based on
* homography. Homography is faster than reprojection, but less accurate.
*/
public void detectDiamonds(Mat image, List<Mat> diamondCorners, Mat diamondIds)
{
ThrowIfDisposed();
if (image != null) image.ThrowIfDisposed();
if (diamondIds != null) diamondIds.ThrowIfDisposed();
Mat diamondCorners_mat = new Mat();
objdetect_CharucoDetector_detectDiamonds_12(nativeObj, image.nativeObj, diamondCorners_mat.nativeObj, diamondIds.nativeObj);
Converters.Mat_to_vector_Mat(diamondCorners_mat, diamondCorners);
diamondCorners_mat.release();
}
#if (UNITY_IOS || UNITY_WEBGL) && !UNITY_EDITOR
const string LIBNAME = "__Internal";
#else
const string LIBNAME = "opencvforunity";
#endif
// C++: cv::aruco::CharucoDetector::CharucoDetector(CharucoBoard board, CharucoParameters charucoParams = CharucoParameters(), DetectorParameters detectorParams = DetectorParameters(), RefineParameters refineParams = RefineParameters())
[DllImport(LIBNAME)]
private static extern IntPtr objdetect_CharucoDetector_CharucoDetector_10(IntPtr board_nativeObj, IntPtr charucoParams_nativeObj, IntPtr detectorParams_nativeObj, IntPtr refineParams_nativeObj);
[DllImport(LIBNAME)]
private static extern IntPtr objdetect_CharucoDetector_CharucoDetector_11(IntPtr board_nativeObj, IntPtr charucoParams_nativeObj, IntPtr detectorParams_nativeObj);
[DllImport(LIBNAME)]
private static extern IntPtr objdetect_CharucoDetector_CharucoDetector_12(IntPtr board_nativeObj, IntPtr charucoParams_nativeObj);
[DllImport(LIBNAME)]
private static extern IntPtr objdetect_CharucoDetector_CharucoDetector_13(IntPtr board_nativeObj);
// C++: CharucoBoard cv::aruco::CharucoDetector::getBoard()
[DllImport(LIBNAME)]
private static extern IntPtr objdetect_CharucoDetector_getBoard_10(IntPtr nativeObj);
// C++: void cv::aruco::CharucoDetector::setBoard(CharucoBoard board)
[DllImport(LIBNAME)]
private static extern void objdetect_CharucoDetector_setBoard_10(IntPtr nativeObj, IntPtr board_nativeObj);
// C++: CharucoParameters cv::aruco::CharucoDetector::getCharucoParameters()
[DllImport(LIBNAME)]
private static extern IntPtr objdetect_CharucoDetector_getCharucoParameters_10(IntPtr nativeObj);
// C++: void cv::aruco::CharucoDetector::setCharucoParameters(CharucoParameters charucoParameters)
[DllImport(LIBNAME)]
private static extern void objdetect_CharucoDetector_setCharucoParameters_10(IntPtr nativeObj, IntPtr charucoParameters_nativeObj);
// C++: DetectorParameters cv::aruco::CharucoDetector::getDetectorParameters()
[DllImport(LIBNAME)]
private static extern IntPtr objdetect_CharucoDetector_getDetectorParameters_10(IntPtr nativeObj);
// C++: void cv::aruco::CharucoDetector::setDetectorParameters(DetectorParameters detectorParameters)
[DllImport(LIBNAME)]
private static extern void objdetect_CharucoDetector_setDetectorParameters_10(IntPtr nativeObj, IntPtr detectorParameters_nativeObj);
// C++: RefineParameters cv::aruco::CharucoDetector::getRefineParameters()
[DllImport(LIBNAME)]
private static extern IntPtr objdetect_CharucoDetector_getRefineParameters_10(IntPtr nativeObj);
// C++: void cv::aruco::CharucoDetector::setRefineParameters(RefineParameters refineParameters)
[DllImport(LIBNAME)]
private static extern void objdetect_CharucoDetector_setRefineParameters_10(IntPtr nativeObj, IntPtr refineParameters_nativeObj);
// C++: void cv::aruco::CharucoDetector::detectBoard(Mat image, Mat& charucoCorners, Mat& charucoIds, vector_Mat& markerCorners = vector_Mat(), Mat& markerIds = Mat())
[DllImport(LIBNAME)]
private static extern void objdetect_CharucoDetector_detectBoard_10(IntPtr nativeObj, IntPtr image_nativeObj, IntPtr charucoCorners_nativeObj, IntPtr charucoIds_nativeObj, IntPtr markerCorners_mat_nativeObj, IntPtr markerIds_nativeObj);
[DllImport(LIBNAME)]
private static extern void objdetect_CharucoDetector_detectBoard_11(IntPtr nativeObj, IntPtr image_nativeObj, IntPtr charucoCorners_nativeObj, IntPtr charucoIds_nativeObj, IntPtr markerCorners_mat_nativeObj);
[DllImport(LIBNAME)]
private static extern void objdetect_CharucoDetector_detectBoard_12(IntPtr nativeObj, IntPtr image_nativeObj, IntPtr charucoCorners_nativeObj, IntPtr charucoIds_nativeObj);
// C++: void cv::aruco::CharucoDetector::detectDiamonds(Mat image, vector_Mat& diamondCorners, Mat& diamondIds, vector_Mat& markerCorners = vector_Mat(), Mat& markerIds = Mat())
[DllImport(LIBNAME)]
private static extern void objdetect_CharucoDetector_detectDiamonds_10(IntPtr nativeObj, IntPtr image_nativeObj, IntPtr diamondCorners_mat_nativeObj, IntPtr diamondIds_nativeObj, IntPtr markerCorners_mat_nativeObj, IntPtr markerIds_nativeObj);
[DllImport(LIBNAME)]
private static extern void objdetect_CharucoDetector_detectDiamonds_11(IntPtr nativeObj, IntPtr image_nativeObj, IntPtr diamondCorners_mat_nativeObj, IntPtr diamondIds_nativeObj, IntPtr markerCorners_mat_nativeObj);
[DllImport(LIBNAME)]
private static extern void objdetect_CharucoDetector_detectDiamonds_12(IntPtr nativeObj, IntPtr image_nativeObj, IntPtr diamondCorners_mat_nativeObj, IntPtr diamondIds_nativeObj);
// native support for java finalize()
[DllImport(LIBNAME)]
private static extern void objdetect_CharucoDetector_delete(IntPtr nativeObj);
}
}