/// <summary>
/// Calls <see cref="InitializeRectification"/> and <see cref="InitializeUndistortionMaps"/> and susbcribes to
/// <see cref="ArucoCamera.UndistortRectifyImages"/>.
/// </summary>
protected override void Starting()
{
base.Starting();
InitializeRectification();
InitializeUndistortionMaps();
ArucoCamera.UndistortRectifyImages += ArucoCamera_UndistortRectifyImages;
remapThread = new ArucoCameraSeparateThread(ArucoCamera, UndistortRectifyImages)
{
CopyBackImages = true
};
remapThread.Start();
}
/// <summary>
/// Calls <see cref="InitializeRectification"/> and <see cref="InitializeUndistortionMaps"/> and susbcribes to
/// <see cref="ArucoCamera.UndistortRectifyImages"/>.
/// </summary>
protected override void Starting()
{
base.Starting();
InitializeRectification();
InitializeUndistortionMaps();
ArucoCamera.UndistortRectifyImages += ArucoCamera_UndistortRectifyImages;
remapThread = new ArucoCameraSeparateThread(ArucoCamera, UndistortRectifyImages)
{
CopyBackImages = true
};
//HACK: turn off openCV undistort thread since we do it in shader
// remapThread.Start();
}
/// <summary>
/// Initializes the tracking, activates the trackers, susbcribes to the <see cref="ArucoObjectsController{T}.ArucoObjectAdded"/> and
/// <see cref="ArucoObjectsController{T}.ArucoObjectRemoved"/> events and starts the tracking thread.
/// </summary>
public override void StartController()
{
base.StartController();
MarkerTracker.Activate(this);
foreach (var arucoObjectDictionary in ArucoObjects)
{
foreach (var arucoObject in arucoObjectDictionary.Value)
{
ArucoObjectsController_ArucoObjectAdded(arucoObject.Value);
}
}
ArucoObjectAdded += ArucoObjectsController_ArucoObjectAdded;
ArucoObjectRemoved += ArucoObjectsController_ArucoObjectRemoved;
trackingThread = new ArucoCameraSeparateThread(ArucoCamera, UpdateArucoObjects, TrackArucoObjects,
() => { StopController(); });
trackingThread.Start();
OnStarted();
}
/// <summary>
/// Initializes the tracking, activates the trackers, susbcribes to the <see cref="ArucoObjectsController{T}.ArucoObjectAdded"/> and
/// <see cref="ArucoObjectsController{T}.ArucoObjectRemoved"/> events and starts the tracking thread.
/// </summary>
protected override void Starting()
{
base.Starting();
MarkerTracker.Activate(this);
foreach (var arucoObjectDictionary in ArucoObjects)
{
foreach (var arucoObject in arucoObjectDictionary.Value)
{
ArucoObjectsController_ArucoObjectAdded(arucoObject.Value);
}
}
ArucoObjectAdded += ArucoObjectsController_ArucoObjectAdded;
ArucoObjectRemoved += ArucoObjectsController_ArucoObjectRemoved;
ArucoCamera.ImagesUpdated += ArucoCamera_ImagesUpdated;
trackingThread = new ArucoCameraSeparateThread(ArucoCamera, TrackArucoObjects)
{
CopyBackImages = DrawDetectedMarkers || DrawRejectedCandidates || DrawAxes || DrawDetectedCharucoMarkers || DrawDetectedDiamonds
};
trackingThread.Start();
}
