WVR_GetArucoMarkers

WVR_EXPORT WVR_Result WVR_GetArucoMarkers(uint32_t markerCapacityInput, uint32_t * markerCountOutput, WVR_PoseOriginModel originModel, WVR_ArucoMarker * markers)

Function is used to retrieve aruco markers.

This is two calls API. Developers should call this API with the value of markerCapacityInput equals to 0 to retrieve the size of aruco markers from markerCountOutput. Then developers allocate the array of WVR_ArucoMarker data and assign the markerCapacityInput and call the API in the second time. Then runtime will fill the WVR_ArucoMarker array.

Note: that only WVR_PoseOriginModel_OriginOnHead and WVR_PoseOriginModel_OriginOnGround cases are supported in originModel. Note: Since there is a time gap between the first and the second calls, developers should verify the markerCountOutput when retrieving the data that filled by runtime during the second time.

Version

API Level 13

Parameters

• markerCapacityInput: the capacity of the aruco markers array, or 0 to indicate a request to retrieve the required capacity.
• markerCountOutput: a pointer to the count of aruco markers written, or a pointer to the required capacity in the case that markerCapacityInput is insufficient.
• originModel: Only WVR_PoseOriginModel_OriginOnHead and WVR_PoseOriginModel_OriginOnGround are supported, refer to WVR_PoseOriginModel.
• markers: An array of WVR_ArucoMarker will be filled by the runtime.

Return Value

• WVR_Success: Get aruco markers successfully.
• others: WVR_Result mean failure.

How to use

Sample function:

#include <wvr/wvr_marker.h>

if (WVR_StartMarker() == WVR_Success) {
    //
    // start marker observer
    if (WVR_StartMarkerObserver(WVR_MarkerObserverTarget_Aruco) == WVR_Success) {
        // Start Aruco marker observer related resources success

        if (WVR_StartMarkerDetection(WVR_MarkerObserverTarget_Aruco) == WVR_Success)) {
            // Start detecting the Aruco marker, and the Aruco marker detection will be WVR_MarkerObserverState_Detecting

            uint32_t count = 0;
            int result = WVR_GetArucoMarkers(0, &count, WVR_PoseOriginModel_OriginOnGround, nullptr);

            if (result==0 & count!=0) {
                uint32_t input = count;
                std::vector<WVR_ArucoMarker> markers(input);
                int ret = WVR_GetArucoMarkers(input, &count, WVR_PoseOriginModel_OriginOnGround, markers.data());
                if (ret != WVR_Success) {
                    LOGE("%s(%d) WVR_GetArucoMarkers failed ret=(%d)", __FUNCTION__, __LINE__, ret);
                    return;
                }
                // get the valid Aruco markers
                uint32_t size = input<=count? input : count;
                for (int i = 0 ; i < size ; i ++) {
                    // get aruco markers data
                }

            }

            // Stop detecting Aruco marker
            if (WVR_StopMarkerDetection(WVR_MarkerObserverTarget_Aruco) == WVR_Success)) {
                // The Aruco marker detection will be WVR_MarkerObserverState_Idle
            }
        }

        // release Aruco marker observer related resources success
        if (WVR_StopMarkerObserver(WVR_MarkerObserverTarget_Aruco) == WVR_Success) {

        }
    }

    WVR_StopMarker();
} else {
    // start marker failed!
}