// ArucoObjectTracker methods
public override void Activate(IArucoObjectsTracker arucoTracker)
{
base.Activate(arucoTracker);
// Initialize the properties and the ArUco objects
MarkerCorners = new Dictionary <Aruco.Dictionary, Std.VectorVectorPoint2f> [arucoCamera.CameraNumber];
MarkerIds = new Dictionary <Aruco.Dictionary, Std.VectorInt> [arucoCamera.CameraNumber];
RejectedCandidateCorners = new Dictionary <Aruco.Dictionary, Std.VectorVectorPoint2f> [arucoCamera.CameraNumber];
MarkerRvecs = new Dictionary <Aruco.Dictionary, Std.VectorVec3d> [arucoCamera.CameraNumber];
MarkerTvecs = new Dictionary <Aruco.Dictionary, Std.VectorVec3d> [arucoCamera.CameraNumber];
DetectedMarkers = new Dictionary <Aruco.Dictionary, int> [arucoCamera.CameraNumber];
for (int cameraId = 0; cameraId < arucoCamera.CameraNumber; cameraId++)
{
MarkerCorners[cameraId] = new Dictionary <Aruco.Dictionary, Std.VectorVectorPoint2f>();
MarkerIds[cameraId] = new Dictionary <Aruco.Dictionary, Std.VectorInt>();
RejectedCandidateCorners[cameraId] = new Dictionary <Aruco.Dictionary, Std.VectorVectorPoint2f>();
MarkerRvecs[cameraId] = new Dictionary <Aruco.Dictionary, Std.VectorVec3d>();
MarkerTvecs[cameraId] = new Dictionary <Aruco.Dictionary, Std.VectorVec3d>();
DetectedMarkers[cameraId] = new Dictionary <Aruco.Dictionary, int>();
foreach (var arucoObjectDictionary in arucoTracker.ArucoObjects)
{
Aruco.Dictionary dictionary = arucoObjectDictionary.Key;
MarkerCorners[cameraId].Add(dictionary, new Std.VectorVectorPoint2f());
MarkerIds[cameraId].Add(dictionary, new Std.VectorInt());
RejectedCandidateCorners[cameraId].Add(dictionary, new Std.VectorVectorPoint2f());
MarkerRvecs[cameraId].Add(dictionary, new Std.VectorVec3d());
MarkerTvecs[cameraId].Add(dictionary, new Std.VectorVec3d());
DetectedMarkers[cameraId].Add(dictionary, 0);
}
}
}
// ArucoObjectTracker methods
public override void Activate(IArucoObjectsTracker arucoTracker)
{
base.Activate(arucoTracker);
DiamondCorners = new Dictionary <Aruco.Dictionary, Std.VectorVectorPoint2f> [arucoCamera.CameraNumber];
DiamondIds = new Dictionary <Aruco.Dictionary, Std.VectorVec4i> [arucoCamera.CameraNumber];
DetectedDiamonds = new Dictionary <Aruco.Dictionary, int> [arucoCamera.CameraNumber];
DiamondRvecs = new Dictionary <Aruco.Dictionary, Std.VectorVec3d> [arucoCamera.CameraNumber];
DiamondTvecs = new Dictionary <Aruco.Dictionary, Std.VectorVec3d> [arucoCamera.CameraNumber];
for (int cameraId = 0; cameraId < arucoCamera.CameraNumber; cameraId++)
{
DiamondCorners[cameraId] = new Dictionary <Aruco.Dictionary, Std.VectorVectorPoint2f>();
DiamondIds[cameraId] = new Dictionary <Aruco.Dictionary, Std.VectorVec4i>();
DetectedDiamonds[cameraId] = new Dictionary <Aruco.Dictionary, int>();
DiamondRvecs[cameraId] = new Dictionary <Aruco.Dictionary, Std.VectorVec3d>();
DiamondTvecs[cameraId] = new Dictionary <Aruco.Dictionary, Std.VectorVec3d>();
foreach (var arucoObjectDictionary in arucoTracker.ArucoObjects)
{
Aruco.Dictionary dictionary = arucoObjectDictionary.Key;
DiamondCorners[cameraId].Add(dictionary, new Std.VectorVectorPoint2f());
DiamondIds[cameraId].Add(dictionary, new Std.VectorVec4i());
DetectedDiamonds[cameraId].Add(dictionary, 0);
DiamondRvecs[cameraId].Add(dictionary, new Std.VectorVec3d());
DiamondTvecs[cameraId].Add(dictionary, new Std.VectorVec3d());
}
}
}
// Methods
/// <summary>
/// Configure and activate the tracker.
/// </summary>
public virtual void Activate(IArucoObjectsTracker arucoTracker)
{
this.arucoTracker = arucoTracker;
arucoCamera = arucoTracker.ArucoCamera;
arucoCameraUndistortion = arucoTracker.ArucoCameraUndistortion;
arucoCameraDisplay = arucoTracker.ArucoCameraDisplay;
IsActivated = true;
arucoTracker.DictionaryAdded += ArucoObjectsController_DictionaryAdded;
arucoTracker.DictionaryRemoved += ArucoObjectsController_DictionaryRemoved;
}
