PlanarTracker Class Reference

#include <PlanarTracker.h>

Classes
class	PlanarTrackerImpl

Public Types
enum class	FeatureDetectorType {   Akaze , ORB , Brisk , Kaze ,   SIFT }
	Defaults to defaultDetectorType. More...

Public Member Functions
	PlanarTracker ()
	~PlanarTracker ()
	PlanarTracker (PlanarTracker &&)
PlanarTracker &	operator= (PlanarTracker &&)
void	Initialise (ARParam cParam)
	Initialise the tracker with the supplied camera parameters.
void	ProcessFrameData (unsigned char *frame)
	Perform tracking on a single frame of video.
void	RemoveAllMarkers ()
void	AddMarker (std::shared_ptr< unsigned char > buff, std::string fileName, int width, int height, int uid, float scale)
void	AddMarker (std::string imageName, int uid, float scale)
bool	GetTrackablePose (int trackableId, float transMat[3][4])
	If trackable is not visible, returns false, otherwise retrieves pose of trackable into transMat and returns true.
bool	IsTrackableVisible (int trackableId)
bool	LoadTrackableDatabase (std::string fileName)
bool	SaveTrackableDatabase (std::string fileName)
bool	ChangeImageId (int prevId, int newId)
std::vector< int >	GetImageIds ()
TrackedImageInfo	GetTrackableImageInfo (int trackableId)
void	SetFeatureDetector (FeatureDetectorType detectorType)
FeatureDetectorType	GetFeatureDetector (void)
void	SetMinRequiredDetectedFeatures (int num)
int	GetMinRequiredDetectedFeatures (void)
void	SetHomographyEstimationRANSACThreshold (double thresh)
double	GetHomographyEstimationRANSACThreshold (void)
void	SetMaximumNumberOfMarkersToTrack (int maximumNumberOfMarkersToTrack)
int	GetMaximumNumberOfMarkersToTrack (void)
void	SetTrackerVisualizationActive (bool active)
void *	GetTrackerVisualization (void)

Member Enumeration Documentation

FeatureDetectorType

enum class PlanarTracker::FeatureDetectorType

strong

Defaults to defaultDetectorType.

Enumerator
Akaze
ORB
Brisk
Kaze
SIFT

Constructor & Destructor Documentation

PlanarTracker() [1/2]

PlanarTracker::PlanarTracker

(

)

~PlanarTracker()

PlanarTracker::~PlanarTracker ( )

default

PlanarTracker() [2/2]

PlanarTracker::PlanarTracker ( PlanarTracker && )

default

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Member Function Documentation

AddMarker() [1/2]

void PlanarTracker::AddMarker	(	std::shared_ptr< unsigned char >	buff,
		std::string	fileName,
		int	width,
		int	height,
		int	uid,
		float	scale )

AddMarker() [2/2]

void PlanarTracker::AddMarker	(	std::string	imageName,
		int	uid,
		float	scale )

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ChangeImageId()

bool PlanarTracker::ChangeImageId	(	int	prevId,
		int	newId )

GetFeatureDetector()

PlanarTracker::FeatureDetectorType PlanarTracker::GetFeatureDetector

(

void

)

GetHomographyEstimationRANSACThreshold()

double PlanarTracker::GetHomographyEstimationRANSACThreshold

(

void

)

GetImageIds()

std::vector< int > PlanarTracker::GetImageIds

(

)

GetMaximumNumberOfMarkersToTrack()

int PlanarTracker::GetMaximumNumberOfMarkersToTrack

(

void

)

GetMinRequiredDetectedFeatures()

int PlanarTracker::GetMinRequiredDetectedFeatures

(

void

)

GetTrackableImageInfo()

TrackedImageInfo PlanarTracker::GetTrackableImageInfo

(

int

trackableId

)

GetTrackablePose()

bool PlanarTracker::GetTrackablePose	(	int	trackableId,
		float	transMat[3][4] )

If trackable is not visible, returns false, otherwise retrieves pose of trackable into transMat and returns true.

GetTrackerVisualization()

void * PlanarTracker::GetTrackerVisualization

(

void

)

Initialise()

void PlanarTracker::Initialise

(

ARParam

cParam

)

Initialise the tracker with the supplied camera parameters.

The supplied camera parameters will be used as the source for the size of video frames submitted to ProcessFrameData, and also the source for the camera lens intrinsics and distortion parameters. These values are copied from the supplied ARParam.

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IsTrackableVisible()

bool PlanarTracker::IsTrackableVisible

(

int

trackableId

)

LoadTrackableDatabase()

bool PlanarTracker::LoadTrackableDatabase

(

std::string

fileName

)

operator=()

PlanarTracker & PlanarTracker::operator= ( PlanarTracker && )

default

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ProcessFrameData()

void PlanarTracker::ProcessFrameData

(

unsigned char *

frame

)

Perform tracking on a single frame of video.

The frame is passed as a single buffer of 8-bit greyscale pixels, starting with the top-left-most pixel of the frame and proceeding first by row, then by column. The size of the buffer must exactly match that passed in xFrameSize and yFrameSize parameters to Initialise() (i.e. xFrameSize * yFrameSize bytes). The frame data must remain valid for the entire duration of the call.

RemoveAllMarkers()

void PlanarTracker::RemoveAllMarkers

(

)

SaveTrackableDatabase()

bool PlanarTracker::SaveTrackableDatabase

(

std::string

fileName

)

SetFeatureDetector()

void PlanarTracker::SetFeatureDetector

(

FeatureDetectorType

detectorType

)

SetHomographyEstimationRANSACThreshold()

void PlanarTracker::SetHomographyEstimationRANSACThreshold

(

double

thresh

)

SetMaximumNumberOfMarkersToTrack()

void PlanarTracker::SetMaximumNumberOfMarkersToTrack

(

int

maximumNumberOfMarkersToTrack

)

SetMinRequiredDetectedFeatures()

void PlanarTracker::SetMinRequiredDetectedFeatures

(

int

num

)

SetTrackerVisualizationActive()

void PlanarTracker::SetTrackerVisualizationActive

(

bool

active

)

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

• Source/ARX/OCVT/include/ARX/OCVT/PlanarTracker.h
• Source/ARX/OCVT/PlanarTracker.cpp