/// <summary>
/// Initializes the <see cref="Images"/>, <see cref="ImageDataSizes"/>, <see cref="ImageDatas"/>,
/// <see cref="NextImages"/>, <see cref="NextImageTextures"/> and <see cref="NextImageDatas"/> properties from the
/// <see cref="Textures"/> property.
/// </summary>
protected override void OnStarted()
{
for (int cameraId = 0; cameraId < CameraNumber; cameraId++)
{
for (int bufferId = 0; bufferId < buffersCount; bufferId++)
{
imageBuffers[bufferId][cameraId] = new Cv.Mat(Textures[cameraId].height, Textures[cameraId].width,
CvMatExtensions.ImageType(Textures[cameraId].format));
}
ImageDataSizes[cameraId] = (int)(Images[cameraId].ElemSize() * Images[cameraId].Total());
ImageRatios[cameraId] = Textures[cameraId].width / (float)Textures[cameraId].height;
for (int bufferId = 0; bufferId < buffersCount; bufferId++)
{
imageDataBuffers[bufferId][cameraId] = new byte[ImageDataSizes[cameraId]];
imageBuffers[bufferId][cameraId].DataByte = imageDataBuffers[bufferId][cameraId];
}
imagesToTextures[cameraId] = new Cv.Mat(Textures[cameraId].height, Textures[cameraId].width,
CvMatExtensions.ImageType(Textures[cameraId].format));
imagesToTextureDatas[cameraId] = new byte[ImageDataSizes[cameraId]];
imagesToTextures[cameraId].DataByte = imagesToTextureDatas[cameraId];
}
base.OnStarted();
}
/// <summary>
/// Initializes the <see cref="Images"/>, <see cref="ImageDataSizes"/>, <see cref="ImageDatas"/>, <see cref="NextImages"/>,
/// <see cref="NextImageTextures"/> and <see cref="NextImageDatas"/> properties from the <see cref="ImageTextures"/> property.
/// </summary>
protected virtual void InitializeImages()
{
for (int cameraId = 0; cameraId < CameraNumber; cameraId++)
{
for (int bufferId = 0; bufferId < buffersCount; bufferId++)
{
imageBuffers[bufferId][cameraId] = new Cv.Mat(ImageTextures[cameraId].height, ImageTextures[cameraId].width,
CvMatExtensions.ImageType(ImageTextures[cameraId].format));
}
ImageDataSizes[cameraId] = (int)(Images[cameraId].ElemSize() * Images[cameraId].Total());
ImageRatios[cameraId] = ImageTextures[cameraId].width / (float)ImageTextures[cameraId].height;
for (int bufferId = 0; bufferId < buffersCount; bufferId++)
{
imageDataBuffers[bufferId][cameraId] = new byte[ImageDataSizes[cameraId]];
imageBuffers[bufferId][cameraId].DataByte = imageDataBuffers[bufferId][cameraId];
}
}
}
/// <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();
// Initialize the tracking
trackingImages = new Cv.Mat[ArucoCamera.CameraNumber];
trackingImagesData = new byte[ArucoCamera.CameraNumber][];
arucoCameraImageCopyData = new byte[ArucoCamera.CameraNumber][];
for (int cameraId = 0; cameraId < ArucoCamera.CameraNumber; cameraId++)
{
arucoCameraImageCopyData[cameraId] = new byte[ArucoCamera.ImageDataSizes[cameraId]];
trackingImagesData[cameraId] = new byte[ArucoCamera.ImageDataSizes[cameraId]];
Texture2D imageTexture = ArucoCamera.ImageTextures[cameraId];
trackingImages[cameraId] = new Cv.Mat(imageTexture.height, imageTexture.width, CvMatExtensions.ImageType(imageTexture.format));
trackingImages[cameraId].DataByte = trackingImagesData[cameraId];
}
// Activate the trackers
MarkerTracker.Activate(this);
foreach (var arucoObjectDictionary in ArucoObjects)
{
foreach (var arucoObject in arucoObjectDictionary.Value)
{
ArucoObjectsController_ArucoObjectAdded(arucoObject.Value);
}
}
// Subscribes to ArucoObjectsController and ArucoCamera events
ArucoObjectAdded += ArucoObjectsController_ArucoObjectAdded;
ArucoObjectRemoved += ArucoObjectsController_ArucoObjectRemoved;
arucoCameraImagesUpdated = false;
ArucoCamera.ImagesUpdated += ArucoCamera_ImagesUpdated;
// Start the tracking thread
trackingThread = new Thread(() =>
{
try
{
while (IsConfigured && IsStarted)
{
trackingMutex.WaitOne();
Track();
trackingMutex.ReleaseMutex();
}
}
catch (Exception e)
{
trackingException = e;
trackingMutex.ReleaseMutex();
}
});
trackingThread.Start();
OnStarted();
}
