drawDetectedCornersCharuco.cpp

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#include "mexopencv.hpp"
#include "mexopencv_aruco.hpp"
#include "opencv2/aruco.hpp"
using namespace std;
using namespace cv;
using namespace cv::aruco;

void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
{
    // Check the number of arguments
    nargchk(nrhs>=2 && (nrhs%2)==0 && nlhs<=1);

    // Argument vector
    vector<MxArray> rhs(prhs, prhs+nrhs);

    // Option processing
    vector<int> charucoIds;
    Scalar cornerColor(255, 0, 0);
    for (int i=2; i<nrhs; i+=2) {
        string key(rhs[i].toString());
        if (key == "IDs")
            charucoIds = rhs[i+1].toVector<int>();
        else if (key == "CornerColor")
            cornerColor = (rhs[i+1].isChar()) ?
                ColorType[rhs[i+1].toString()] : rhs[i+1].toScalar();
        else
            mexErrMsgIdAndTxt("mexopencv:error",
                "Unrecognized option %s", key.c_str());
    }

    // Process
    Mat image(rhs[0].toMat());
    vector<Point2f> charucoCorners(rhs[1].toVector<Point2f>());
    drawDetectedCornersCharuco(image, charucoCorners,
        (!charucoIds.empty()) ? charucoIds : noArray(), cornerColor);
    plhs[0] = MxArray(image);
}