// 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;
}
// Constructor
public ArucoCameraSeparateThread(IArucoCamera arucoCamera, Action imagesUpdated, Action threadWork, Action threadException)
{
this.arucoCamera = arucoCamera;
this.imagesUpdated = imagesUpdated;
this.threadWork = threadWork;
this.threadException = threadException;
Images = new Cv.Mat[arucoCamera.CameraNumber];
ImagesData = new byte[arucoCamera.CameraNumber][];
arucoCameraImageCopyData = new byte[arucoCamera.CameraNumber][];
for (int cameraId = 0; cameraId < arucoCamera.CameraNumber; cameraId++)
{
ImagesData[cameraId] = new byte[arucoCamera.ImageDataSizes[cameraId]];
arucoCameraImageCopyData[cameraId] = new byte[arucoCamera.ImageDataSizes[cameraId]];
Images[cameraId] = new Cv.Mat(arucoCamera.ImageTextures[cameraId].height, arucoCamera.ImageTextures[cameraId].width,
CvMatExtensions.ImageType(arucoCamera.ImageTextures[cameraId].format));
Images[cameraId].DataByte = ImagesData[cameraId];
}
}
// Constructor
public ArucoCameraSeparateThread(IArucoCamera arucoCamera, Action <Cv.Mat[]> threadWork)
{
this.arucoCamera = arucoCamera;
this.threadWork = threadWork;
CopyBackImages = false;
for (int bufferId = 0; bufferId < buffersCount; bufferId++)
{
imageBuffers[bufferId] = new Cv.Mat[arucoCamera.CameraNumber];
imageDataBuffers[bufferId] = new byte[arucoCamera.CameraNumber][];
for (int cameraId = 0; cameraId < arucoCamera.CameraNumber; cameraId++)
{
imageBuffers[bufferId][cameraId] = new Cv.Mat(arucoCamera.Textures[cameraId].height, arucoCamera.Textures[cameraId].width,
CvMatExtensions.ImageType(arucoCamera.Textures[cameraId].format));
imageDataBuffers[bufferId][cameraId] = new byte[arucoCamera.ImageDataSizes[cameraId]];
imageBuffers[bufferId][cameraId].DataByte = imageDataBuffers[bufferId][cameraId];
}
}
}
