// MonoBehaviour methods
/// <summary>
/// Initializes the trackers list.
/// </summary>
protected override void Awake()
{
base.Awake();
// Initialize the trackers
MarkerTracker = new ArucoMarkerTracker();
additionalTrackers = new Dictionary <System.Type, ArucoObjectTracker>()
{
{ typeof(ArucoGridBoard), new ArucoGridBoardTracker() },
{ typeof(ArucoCharucoBoard), new ArucoCharucoBoardTracker() },
{ typeof(ArucoDiamond), new ArucoDiamondTracker() }
};
// Initialize the tracking thread
trackingMutex = new Mutex();
trackingThread = new Thread(() =>
{
try
{
while (true)
{
Track();
}
}
catch (System.Exception e)
{
trackingMutex.WaitOne();
trackingException = e;
trackingMutex.ReleaseMutex();
}
});
}
public override void Detect(int cameraId, Aruco.Dictionary dictionary, Cv.Mat image)
{
ArucoMarkerTracker markerTracker = arucoTracker.MarkerTracker;
Std.VectorVectorPoint2f diamondCorners = null;
Std.VectorVec4i diamondIds = null;
if (markerTracker.DetectedMarkers[cameraId][dictionary] > 0)
{
if (cameraParameters == null)
{
Aruco.DetectCharucoDiamond(image, markerTracker.MarkerCorners[cameraId][dictionary], markerTracker.MarkerIds[cameraId][dictionary],
DetectSquareMarkerLengthRate, out diamondCorners, out diamondIds);
}
else
{
Aruco.DetectCharucoDiamond(image, markerTracker.MarkerCorners[cameraId][dictionary], markerTracker.MarkerIds[cameraId][dictionary],
DetectSquareMarkerLengthRate, out diamondCorners, out diamondIds, cameraParameters.CameraMatrices[cameraId],
cameraParameters.DistCoeffs[cameraId]);
}
}
DiamondCorners[cameraId][dictionary] = diamondCorners;
DiamondIds[cameraId][dictionary] = diamondIds;
DetectedDiamonds[cameraId][dictionary] = (diamondIds != null) ? (int)diamondIds.Size() : 0;
}
// ArucoObjectTracker methods
public override void Detect(int cameraId, Aruco.Dictionary dictionary, Cv.Mat image)
{
ArucoMarkerTracker markerTracker = arucoTracker.MarkerTracker;
if (arucoTracker.RefineDetectedMarkers && arucoTracker.MarkerTracker.DetectedMarkers[cameraId][dictionary] > 0)
{
foreach (var arucoBoard in arucoTracker.GetArucoObjects <ArucoGridBoard>(dictionary))
{
Aruco.RefineDetectedMarkers(image, arucoBoard.Board, markerTracker.MarkerCorners[cameraId][dictionary],
markerTracker.MarkerIds[cameraId][dictionary], markerTracker.RejectedCandidateCorners[cameraId][dictionary]);
markerTracker.DetectedMarkers[cameraId][dictionary] = (int)markerTracker.MarkerIds[cameraId][dictionary].Size();
}
}
}
// ArucoObjectTracker methods
public override void Detect(int cameraId, Aruco.Dictionary dictionary, Cv.Mat image)
{
ArucoMarkerTracker markerTracker = arucoTracker.MarkerTracker;
foreach (var arucoCharucoBoard in arucoTracker.GetArucoObjects <ArucoCharucoBoard>(dictionary))
{
if (arucoTracker.RefineDetectedMarkers)
{
Aruco.RefineDetectedMarkers(image, arucoCharucoBoard.Board, markerTracker.MarkerCorners[cameraId][dictionary],
markerTracker.MarkerIds[cameraId][dictionary], markerTracker.RejectedCandidateCorners[cameraId][dictionary]);
markerTracker.DetectedMarkers[cameraId][dictionary] = (int)markerTracker.MarkerIds[cameraId][dictionary].Size();
}
Std.VectorPoint2f charucoCorners = null;
Std.VectorInt charucoIds = null;
if (markerTracker.DetectedMarkers[cameraId][dictionary] > 0)
{
if (cameraParameters == null)
{
Aruco.InterpolateCornersCharuco(markerTracker.MarkerCorners[cameraId][dictionary],
markerTracker.MarkerIds[cameraId][dictionary], arucoTracker.ArucoCamera.Images[cameraId],
(Aruco.CharucoBoard)arucoCharucoBoard.Board, out charucoCorners, out charucoIds);
}
else
{
Aruco.InterpolateCornersCharuco(markerTracker.MarkerCorners[cameraId][dictionary],
markerTracker.MarkerIds[cameraId][dictionary], arucoTracker.ArucoCamera.Images[cameraId],
(Aruco.CharucoBoard)arucoCharucoBoard.Board, out charucoCorners, out charucoIds, cameraParameters.CameraMatrices[cameraId],
cameraParameters.DistCoeffs[cameraId]);
}
}
arucoCharucoBoard.DetectedCorners = charucoCorners;
arucoCharucoBoard.DetectedIds = charucoIds;
}
}
// MonoBehaviour methods
/// <summary>
/// Initializes the trackers list and the tracking thread and susbcribe to events from ArucoObjectController for every ArUco object added or removed.
/// </summary>
protected override void Awake()
{
base.Awake();
// Initialize the trackers
MarkerTracker = new ArucoMarkerTracker();
additionalTrackers = new Dictionary <System.Type, ArucoObjectTracker>()
{
{ typeof(ArucoGridBoard), new ArucoGridBoardTracker() },
{ typeof(ArucoCharucoBoard), new ArucoCharucoBoardTracker() },
{ typeof(ArucoDiamond), new ArucoDiamondTracker() }
};
// Initialize the tracking thread
trackingMutex = new Mutex();
trackingThread = new Thread(() =>
{
try
{
while (IsConfigured && IsStarted)
{
trackingMutex.WaitOne();
Track();
trackingMutex.ReleaseMutex();
}
}
catch (System.Exception e)
{
trackingException = e;
trackingMutex.ReleaseMutex();
}
});
// Susbcribe to events from ArucoObjectController
ArucoObjectAdded += ArucoObjectsController_ArucoObjectAdded;
ArucoObjectRemoved += ArucoObjectsController_ArucoObjectRemoved;
}
