Wrapper for artoolkitX functionality. More...

#include <ARController.h>

Public Member Functions
	ARController ()
	Constructor. More...

	~ARController ()
	Destructor. More...

const char *	getARToolKitVersion ()
	Returns a string containing the artoolkitX version, such as "10.0.0". More...

int	getError ()

bool	initialiseBase ()
	Start trackable management so trackables can be added and removed. More...

std::shared_ptr< ARTrackerSquare >	getSquareTracker ()

bool	isInited ()
	Report whether artoolkit was initialized and a trackable can be added. More...

bool	startRunning (const char vconf, const char cparaName, const char *cparaBuff, const long cparaBuffLen)
	Start video capture and tracking. More...

bool	startRunningStereo (const char vconfL, const char cparaNameL, const char cparaBuffL, const long cparaBuffLenL, const char vconfR, const char cparaNameR, const char cparaBuffR, const long cparaBuffLenR, const char transL2RName, const char transL2RBuff, const long transL2RBuffLen)
	Start stereo video capture and tracking. More...

bool	videoParameters (const int videoSourceIndex, int width, int height, AR_PIXEL_FORMAT *pixelFormat)
	Reports width, height and pixel format of a video source. More...

bool	isRunning ()
	Returns true if video capture and tracking is running. More...

bool	stopRunning ()
	Video capture and tracking stops, but trackables are still valid and can be configured. More...

bool	shutdown ()
	Stop, if running. More...

bool	projectionMatrix (const int videoSourceIndex, const ARdouble projectionNearPlane, const ARdouble projectionFarPlane, ARdouble proj[16])
	Populates the provided array with the ARToolKit projection matrix. More...

bool	drawVideoInit (const int videoSourceIndex)

bool	drawVideoSettings (const int videoSourceIndex, const int width, const int height, const bool rotate90, const bool flipH, const bool flipV, const ARVideoView::HorizontalAlignment hAlign, const ARVideoView::VerticalAlignment vAlign, const ARVideoView::ScalingMode scalingMode, int32_t viewport[4])

bool	drawVideo (const int videoSourceIndex)

bool	drawVideoFinal (const int videoSourceIndex)

int	addTrackable (const std::string &cfgs)
	Adds a trackable as specified in the given configuration string. More...

bool	removeTrackable (int UID)
	Removes the trackable with the given ID. More...

int	removeAllTrackables ()
	Clears the collection of trackables. More...

unsigned int	countTrackables () const
	Returns the number of currently loaded trackables. More...

unsigned int	countTrackables (ARTrackable::TrackableType trackableType) const
	Returns the number of currently loaded trackables of the specified type. More...

ARTrackable *	getTrackableAtIndex (unsigned int index)
	Returns the trackable at the specified index. More...

ARTrackable *	findTrackable (int UID)
	Searches the collection of trackables for the given ID. More...

bool	capture ()
	Requests the capture of a new frame from the video source(s). More...

bool	updateTextureRGBA32 (const int videoSourceIndex, uint32_t *buffer)
	Asks the video source to push the most recent frame into the passed-in buffer. More...

bool	update ()
	Performs tracking and updates all trackables. More...

bool	updateDebugTexture32 (const int videoSourceIndex, uint32_t *buffer)
	Populates the provided buffer with the current contents of the debug image. More...

bool	getPatternImage (int patternID, uint32_t *buffer)
	Populates the provided color buffer with the image for the specified pattern. More...

bool	loadOpticalParams (const char optical_param_name, const char optical_param_buff, const long optical_param_buffLen, const ARdouble projectionNearPlane, const ARdouble projectionFarPlane, ARdouble fovy_p, ARdouble aspect_p, ARdouble m[16], ARdouble p[16])
	Loads an optical parameters structure from file or from buffer. More...

Detailed Description

Wrapper for artoolkitX functionality.

This class handles artoolkitX initialisation, updates, and cleanup. It maintains a collection of trackables, providing methods to add and remove them.

Constructor & Destructor Documentation

◆ ARController()

ARController::ARController ( )

Constructor.

◆ ~ARController()

ARController::~ARController ( )

Destructor.

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Member Function Documentation

◆ addTrackable()

int ARController::addTrackable ( const std::string & cfgs )

Adds a trackable as specified in the given configuration string.

The format of the string can be one of:

Square marker from pattern file: "single;pattern_file;pattern_width", e.g. "single;data/hiro.patt;80"
Square marker from pattern passed in config: "single_buffer;pattern_width;buffer=[]", e.g. "single_buffer;80;buffer=234 221 237..."
Square barcode marker: "single_barcode;barcode_id;pattern_width", e.g. "single_barcode;0;80"
Multi-square marker: "multi;config_file", e.g. "multi;data/multi/marker.dat"
Multi-square auto marker: "multi;origin_barcode_id;pattern_width", e.g. "multi;0;80.0"
NFT marker: "nft;nft_dataset_pathname", e.g. "nft;gibraltar"

Parameters

cfgs	The configuration string

Returns: The UID of the trackable instantiated based on the configuration string, or -1 if an error occurred.

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◆ capture()

bool ARController::capture ( )

Requests the capture of a new frame from the video source(s).

In the case of stereo video sources, capture from both sources will be attempted.

Returns: The capture succeeded, or false if no frame was captured.

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◆ countTrackables() [1/2]

unsigned int ARController::countTrackables ( ) const

Returns the number of currently loaded trackables.

Returns: The number of currently loaded trackables.

◆ countTrackables() [2/2]

unsigned int ARController::countTrackables ( ARTrackable::TrackableType trackableType ) const

Returns the number of currently loaded trackables of the specified type.

Returns: The number of currently loaded trackables.

◆ drawVideo()

bool ARController::drawVideo ( const int videoSourceIndex )

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◆ drawVideoFinal()

bool ARController::drawVideoFinal ( const int videoSourceIndex )

◆ drawVideoInit()

bool ARController::drawVideoInit ( const int videoSourceIndex )

◆ drawVideoSettings()

bool ARController::drawVideoSettings	(	const int	videoSourceIndex,
		const int	width,
		const int	height,
		const bool	rotate90,
		const bool	flipH,
		const bool	flipV,
		const ARVideoView::HorizontalAlignment	hAlign,
		const ARVideoView::VerticalAlignment	vAlign,
		const ARVideoView::ScalingMode	scalingMode,
		int32_t	viewport[4]
	)

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◆ findTrackable()

ARTrackable * ARController::findTrackable ( int UID )

Searches the collection of trackables for the given ID.

Parameters

UID	The UID of the trackables to find

Returns: The found trackable, or NULL if no matching UID was found.

◆ getARToolKitVersion()

const char * ARController::getARToolKitVersion ( )

Returns a string containing the artoolkitX version, such as "10.0.0".

Returns: The artoolkitX version

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◆ getError()

int ARController::getError ( )

◆ getPatternImage()

bool ARController::getPatternImage	(	int	patternID,
		uint32_t *	buffer
	)

Populates the provided color buffer with the image for the specified pattern.

Parameters

patternID	The artoolkitX pattern ID to use
buffer	The color buffer to populate

Returns: true if successful, false if an error occurred

◆ getSquareTracker()

std::shared_ptr< ARTrackerSquare > ARController::getSquareTracker ( )

inline

◆ getTrackableAtIndex()

ARTrackable * ARController::getTrackableAtIndex ( unsigned int index )

Returns the trackable at the specified index.

Parameters

index 0-based index into the array of trackables.

Returns: The trackable, or NULL if no trackable exists at that index.

◆ initialiseBase()

bool ARController::initialiseBase ( )

Start trackable management so trackables can be added and removed.

Returns: true if initialisation was OK, false if an error occured.

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◆ isInited()

bool ARController::isInited ( )

Report whether artoolkit was initialized and a trackable can be added.

Trackables can be added once basic initialisation has occurred.

Returns: true if adding a trackable is currently possible

◆ isRunning()

bool ARController::isRunning ( )

Returns true if video capture and tracking is running.

Returns: true if the video source(s) is/are open and returning frames, otherwise false.

◆ loadOpticalParams()

bool ARController::loadOpticalParams	(	const char *	optical_param_name,
		const char *	optical_param_buff,
		const long	optical_param_buffLen,
		const ARdouble	projectionNearPlane,
		const ARdouble	projectionFarPlane,
		ARdouble *	fovy_p,
		ARdouble *	aspect_p,
		ARdouble	m[16],
		ARdouble	p[16]
	)

Loads an optical parameters structure from file or from buffer.

Parameters

optical_param_name	If supplied, points to a buffer specifying the path to the optical parameters file (as generated by the calib_optical utility.)
optical_param_buff	If optical_param_name is NULL, the contents of this buffer will be interpreted as containing the contents of an optical parameters file.
optical_param_buffLen	Length of the buffer specified in optical_param_buff. Ignored if optical_param_buff is NULL.
projectionNearPlane	If p is non-NULL, near plane distance for projection matrix calculation.
projectionFarPlane	If p is non-NULL, far plane distance for projection matrix calculation.
fovy_p	Pointer to an ARdouble, which will be filled with the field-of-view (Y axis) component of the optical parameters.
aspect_p	Pointer to an ARdouble, which will be filled with the aspect ratio (width / height) component of the optical parameters.
m	Pointer to an array of 16 ARdoubles, which will be filled with the transformation matrix component of the optical parameters.
p	(Optional) May be NULL, or a pointer to an array of 16 ARdoubles, which will be filled with the perspective matrix calculated from fovy and aspect combined with the near and far projection values supplied in projectionNearPlane and projectionFarPlane.

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◆ projectionMatrix()

bool ARController::projectionMatrix	(	const int	videoSourceIndex,
		const ARdouble	projectionNearPlane,
		const ARdouble	projectionFarPlane,
		ARdouble	proj[16]
	)

Populates the provided array with the ARToolKit projection matrix.

The projection matrix is computed once the video source has been opened, and camera parameters become available. If this method is called before this happens, then the passed array is untouched and the method will return false.

Parameters

videoSourceIndex	Index into an array of video sources, specifying which source should be queried.
projectionNearPlane	Near plane distance for projection matrix calculation.
projectionFarPlane	Far plane distance for projection matrix calculation.
proj	Array to populate with OpenGL compatible projection matrix

Returns: true if the projection matrix has been computed, otherwise false

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◆ removeAllTrackables()

int ARController::removeAllTrackables ( )

Clears the collection of trackables.

Returns: The number of trackables removed

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◆ removeTrackable()

bool ARController::removeTrackable ( int UID )

Removes the trackable with the given ID.

Parameters

UID	The UID of the trackable to remove

Returns: true if the trackable was removed, false if an error occurred.

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◆ shutdown()

bool ARController::shutdown ( )

Stop, if running.

Remove all trackables, clean up all memory. Starting again from this state requires initialiseBase() to be called again.

Returns: true if shutdown was successful, otherwise false

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◆ startRunning()

bool ARController::startRunning	(	const char *	vconf,
		const char *	cparaName,
		const char *	cparaBuff,
		const long	cparaBuffLen
	)

Start video capture and tracking.

(AR/NFT initialisation will begin on a subsequent call to update().)

Parameters

vconf	Video configuration string.
cparaName	Camera parameters filename, or NULL if camera parameters file not being used.
cparaBuff	A byte-buffer containing contents of a camera parameters file, or NULL if a camera parameters file is being used.
cparaBuffLen	Length (in bytes) of cparaBuffLen, or 0 if a camera parameters file is being used.

Returns: true if video capture and tracking was started, otherwise false.

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◆ startRunningStereo()

bool ARController::startRunningStereo	(	const char *	vconfL,
		const char *	cparaNameL,
		const char *	cparaBuffL,
		const long	cparaBuffLenL,
		const char *	vconfR,
		const char *	cparaNameR,
		const char *	cparaBuffR,
		const long	cparaBuffLenR,
		const char *	transL2RName,
		const char *	transL2RBuff,
		const long	transL2RBuffLen
	)

Start stereo video capture and tracking.

(AR/NFT initialisation will begin on a subsequent call to update().)

Parameters

vconfL	Video configuration string for the "left" video source.
cparaNameL	Camera parameters filename for the "left" video source, or NULL if camera parameters file not being used.
cparaBuffL	A byte-buffer containing contents of a camera parameters file for the "left" video source, or NULL if a camera parameters file is being used.
cparaBuffLenL	Length (in bytes) of cparaBuffLenL, or 0 if a camera parameters file is being used.
vconfR	Video configuration string for the "right" video source.
cparaNameR	Camera parameters filename for the "right" video source, or NULL if camera parameters file not being used.
cparaBuffR	A byte-buffer containing contents of a camera parameters file for the "right" video source, or NULL if a camera parameters file is being used.
cparaBuffLenR	Length (in bytes) of cparaBuffLenR, or 0 if a camera parameters file is being used.
transL2RName	Stereo calibration filename, or NULL if stereo calibration file not being used.
transL2RBuff	A byte-buffer containing contents of a stereo calibration file, or NULL if a stereo calibration file is being used.
transL2RBuffLen	Length (in bytes) of transL2RBuff, or 0 if a stereo calibration file is being used.

Returns: true if video capture and tracking was started, otherwise false.

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◆ stopRunning()

bool ARController::stopRunning ( )

Video capture and tracking stops, but trackables are still valid and can be configured.

Returns: true if video capture and tracking was stopped, otherwise false.

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◆ update()

bool ARController::update ( )

Performs tracking and updates all trackables.

The latest frame from the current video source is retrieved and analysed. Each trackable in the collection is updated with new tracking information. The trackable info array is iterated over, and detected trackables are matched up with those in the trackable collection. Each matched trackable is updated with visibility and transformation information. Any trackables not detected are considered not currently visible.

Returns: true if update completed successfully, false if an error occurred

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◆ updateDebugTexture32()

bool ARController::updateDebugTexture32	(	const int	videoSourceIndex,
		uint32_t *	buffer
	)

Populates the provided buffer with the current contents of the debug image.

Parameters

videoSourceIndex	Index into an array of video sources, specifying which source should be queried.
buffer	Pointer to a buffer of pixels (of type 'uint32_t') to be filled. It is the caller's responsibility to ensure that the buffer is of sufficient size. The pixels are RGBA in little-endian systems, or ABGR in big-endian systems.

◆ updateTextureRGBA32()

bool ARController::updateTextureRGBA32	(	const int	videoSourceIndex,
		uint32_t *	buffer
	)

Asks the video source to push the most recent frame into the passed-in buffer.

Parameters

videoSourceIndex	Index into an array of video sources, specifying which source should be queried.
buffer	Pointer to a buffer of pixels (of type 'uint32_t') to be filled. It is the caller's responsibility to ensure that the buffer is of sufficient size. The pixels are RGBA in little-endian systems, or ABGR in big-endian systems.

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◆ videoParameters()

bool ARController::videoParameters	(	const int	videoSourceIndex,
		int *	width,
		int *	height,
		AR_PIXEL_FORMAT *	pixelFormat
	)

Reports width, height and pixel format of a video source.

To retrieve the size (in bytes) of each pixel, use arUtilGetPixelSize(*pixelFormat); To get a C-string with the name of the pixel format, use arUtilGetPixelFormatName(*pixelFormat);

Parameters

videoSourceIndex	Index into an array of video sources, specifying which source should be queried.
width	Pointer to an int which will be filled with the width (in pixels) of the video frame, or NULL if this information is not required.
height	Pointer to an int which will be filled with the height (in pixels) of the video frame, or NULL if this information is not required.
pixelFormat	Pointer to an AR_PIXEL_FORMAT which will be filled with the pixel format of the video frame, or NULL if this information is not required.

Returns: true if the video source(s) is/are open and returning frames, otherwise false.

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The documentation for this class was generated from the following files:

Source/ARX/include/ARX/ARController.h
Source/ARX/ARController.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ARController()

◆ ~ARController()

Member Function Documentation

◆ addTrackable()

◆ capture()

◆ countTrackables() [1/2]

◆ countTrackables() [2/2]

◆ drawVideo()

◆ drawVideoFinal()

◆ drawVideoInit()

◆ drawVideoSettings()

◆ findTrackable()

◆ getARToolKitVersion()

◆ getError()

◆ getPatternImage()

◆ getSquareTracker()

◆ getTrackableAtIndex()

◆ initialiseBase()

◆ isInited()

◆ isRunning()

◆ loadOpticalParams()

◆ projectionMatrix()

◆ removeAllTrackables()

◆ removeTrackable()

◆ shutdown()

◆ startRunning()

◆ startRunningStereo()

◆ stopRunning()

◆ update()

◆ updateDebugTexture32()

◆ updateTextureRGBA32()

◆ videoParameters()