Class ArucoObjectsTracker

Detects ArucoObject, displays detections and applies the estimated transforms to gameObjects associated to the ArUco objects.

See the OpenCV documentation for more information about the marker detection: http://docs.opencv.org/3.2.0/d5/dae/tutorial_aruco_detection.html

Inheritance
Object
Controller
ArucoCameraController
ArucoObjectDetector
ArucoObjectsController
ArucoObjectsTracker
Inherited Members
Namespace: ArucoUnity.Objects.Trackers
Assembly: Assembly-CSharp.dll
Syntax
public class ArucoObjectsTracker : ArucoObjectsController, IArucoObjectsTracker, IArucoCameraController, IController, IArucoObjectsController, IHasDetectorParameter

Fields

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additionalTrackers

Declaration
protected Dictionary<Type, ArucoObjectTracker> additionalTrackers
Field Value
Type Description
Dictionary<Type, ArucoObjectTracker>
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trackingThread

Declaration
protected ArucoCameraSeparateThread trackingThread
Field Value
Type Description
ArucoCameraSeparateThread

Properties

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ArucoCameraDisplay

Declaration
public IArucoCameraDisplay ArucoCameraDisplay { get; set; }
Property Value
Type Description
IArucoCameraDisplay
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DrawAxes

Declaration
public bool DrawAxes { get; set; }
Property Value
Type Description
Boolean
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DrawDetectedCharucoMarkers

Declaration
public bool DrawDetectedCharucoMarkers { get; set; }
Property Value
Type Description
Boolean
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DrawDetectedDiamonds

Declaration
public bool DrawDetectedDiamonds { get; set; }
Property Value
Type Description
Boolean
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DrawDetectedMarkers

Declaration
public bool DrawDetectedMarkers { get; set; }
Property Value
Type Description
Boolean
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DrawRejectedCandidates

Declaration
public bool DrawRejectedCandidates { get; set; }
Property Value
Type Description
Boolean
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MarkerTracker

Declaration
public ArucoMarkerTracker MarkerTracker { get; protected set; }
Property Value
Type Description
ArucoMarkerTracker
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RefineDetectedMarkers

Declaration
public bool RefineDetectedMarkers { get; set; }
Property Value
Type Description
Boolean

Methods

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ArucoCamera_ImagesUpdated()

Updates the tracking thread with , calls DeactivateArucoObjects() and UpdateTransforms() and stops if there was an exception from this thread.

Declaration
protected void ArucoCamera_ImagesUpdated()
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ArucoObjectsController_ArucoObjectAdded(ArucoObject)

Activates the tracker associated with the arucoObject and configure its gameObject.

Declaration
protected virtual void ArucoObjectsController_ArucoObjectAdded(ArucoObject arucoObject)
Parameters
Type Name Description
ArucoObject arucoObject

The added ArUco object.
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ArucoObjectsController_ArucoObjectRemoved(ArucoObject)

Deactivates the tracker associated with the arucoObject if it was the last one of this type.

Declaration
protected virtual void ArucoObjectsController_ArucoObjectRemoved(ArucoObject arucoObject)
Parameters
Type Name Description
ArucoObject arucoObject

The removed
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Awake()

Initializes the trackers list and sets ArucoCameraDisplay from editor field if not null.

Declaration
protected override void Awake()
Overrides
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Configuring()

Add ArucoCameraDisplay as dependency.

Declaration
protected override void Configuring()
Overrides
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DeactivateArucoObjects()

Declaration
public void DeactivateArucoObjects()
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Detect()

Declaration
public void Detect()
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Detect(Cv.Mat[])

Declaration
public void Detect(Cv.Mat[] images)
Parameters
Type Name Description
Cv.Mat[] images
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Draw()

Declaration
public void Draw()
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Draw(Cv.Mat[])

Declaration
public void Draw(Cv.Mat[] images)
Parameters
Type Name Description
Cv.Mat[] images
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EstimateTransforms()

Declaration
public void EstimateTransforms()
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ExecuteOnActivatedTrackers(Action<ArucoObjectTracker, Int32, Aruco.Dictionary>)

Executes an actionOnTracker on all the activated ArucoObjectTracker.

Declaration
protected void ExecuteOnActivatedTrackers(Action<ArucoObjectTracker, int, Aruco.Dictionary> actionOnTracker)
Parameters
Type Name Description
Action<ArucoObjectTracker, Int32, Aruco.Dictionary> actionOnTracker
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Starting()

Initializes the tracking, activates the trackers, susbcribes to the and events and starts the tracking thread.

Declaration
protected override void Starting()
Overrides
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Stopping()

Unsuscribes from ArucoObjectController events, deactivates the trackers and abort the tracking thread and stops the tracking thread.

Declaration
protected override void Stopping()
Overrides
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TrackArucoObjects(Cv.Mat[])

Detects and estimates the transforms of the detected ArUco objects. Executed on a separated tracking thread.

Declaration
protected void TrackArucoObjects(Cv.Mat[] images)
Parameters
Type Name Description
Cv.Mat[] images
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UpdateTransforms()

Declaration
public void UpdateTransforms()

Implements