TrackableInfo.h

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/*
 *  TrackableInfo.h
 *  artoolkitX
 *
 *  This file is part of artoolkitX.
 *
 *  artoolkitX is free software: you can redistribute it and/or modify
 *  it under the terms of the GNU Lesser General Public License as published by
 *  the Free Software Foundation, either version 3 of the License, or
 *  (at your option) any later version.
 *
 *  artoolkitX is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU Lesser General Public License for more details.
 *
 *  You should have received a copy of the GNU Lesser General Public License
 *  along with artoolkitX.  If not, see <http://www.gnu.org/licenses/>.
 *
 *  As a special exception, the copyright holders of this library give you
 *  permission to link this library with independent modules to produce an
 *  executable, regardless of the license terms of these independent modules, and to
 *  copy and distribute the resulting executable under terms of your choice,
 *  provided that you also meet, for each linked independent module, the terms and
 *  conditions of the license of that module. An independent module is a module
 *  which is neither derived from nor based on this library. If you modify this
 *  library, you may extend this exception to your version of the library, but you
 *  are not obligated to do so. If you do not wish to do so, delete this exception
 *  statement from your version.
 *
 *  Copyright 2018 Realmax, Inc.
 *  Copyright 2015 Daqri, LLC.
 *  Copyright 2010-2015 ARToolworks, Inc.
 *
 *  Author(s): Philip Lamb, Daniel Bell.
 *
 */
 
#ifndef TRACKABLE_INFO_H
#define TRACKABLE_INFO_H
#include "TrackingPointSelector.h"
class TrackableInfo
{
public:
    int _id;
    float _scale;
    std::shared_ptr<unsigned char> _imageBuff;
    //cv::Mat _image;
    cv::Mat _image[k_OCVTTemplateMatchingMaxPyrLevel + 1];
    std::vector<cv::Point2f> _points;
    int _width;
    int _height;
    std::string _fileName;
    
    cv::Mat _homography;
    cv::Mat _pose;
    std::vector<cv::KeyPoint> _featurePoints;
    cv::Mat _descriptors;

    std::vector<cv::Point2f> _bBox;
    std::vector<cv::Point2f> _bBoxTransformed;
    bool _isTracking, _isDetected, _resetTracks;
     
    std::vector<cv::Point2f> _cornerPoints[k_OCVTTemplateMatchingMaxPyrLevel + 1]; // These are only read during the construction of the TrackingPointSelector.
    int _templatePyrLevel;
    TrackingPointSelector _trackSelection[k_OCVTTemplateMatchingMaxPyrLevel + 1];
    
    void CleanUp()
    {
        _descriptors.release();
        _pose.release();
        _homography.release();
        _featurePoints.clear();
        for (int i = 0; i <= k_OCVTTemplateMatchingMaxPyrLevel; i++) {
            _trackSelection[i].CleanUp();
            _cornerPoints[i].clear();
            _image[i].release();
        }
        _imageBuff.reset();
    }
};
 
#endif //TRACKABLE_INFO