void Update()
{
var output = new ArucoOutput();
while (_currentOutput.Dequeue(out output))
{
// TODO: processor only processes markers on left image at the moment!
foreach (var marker in output.markers_left)
{
var markerPose = ProcessOutput(marker);
OnNewPoseDetected(markerPose);
}
}
// TODO: refactor
bool hasPropertyChanged =
(_prevUseTracker != UseTracker) ||
(_prevTrackerErrorRatio != TrackerErrorRatio);
if (hasPropertyChanged)
{
_arProcessor.UseTracker = UseTracker;
_arProcessor.TrackerErrorRatio = TrackerErrorRatio;
UpdateProcessorProperties();
}
}
void Update()
{
var output = new ArucoOutput();
while (_currentOutput.Dequeue(out output))
{
// TODO: processor only processes markers on left image at the moment!
foreach (var marker in output.markers_left)
{
var markerPose = ProcessOutput(marker);
if (DetectedPoses.ContainsKey(marker.id))
{
DetectedPoses[marker.id] = markerPose;
}
else
{
DetectedPoses.Add(marker.id, markerPose);
}
if (NewPoseDetected != null)
{
NewPoseDetected(markerPose);
}
}
}
// TODO: refactor
bool hasPropertyChanged =
(_prevMarkerSize != MarkerSizeInMeter) ||
(_prevTrackerErrorRatio != TrackerErrorRatio);
if (hasPropertyChanged)
{
_arProcessor.MarkerSizeInMeter = MarkerSizeInMeter;
_arProcessor.TrackerErrorRatio = TrackerErrorRatio;
_arProcessor.UpdateProperties();
_prevMarkerSize = MarkerSizeInMeter;
_prevTrackerErrorRatio = TrackerErrorRatio;
}
}