PlanarTracker::PlanarTrackerImpl Class Reference

Collaboration diagram for PlanarTracker::PlanarTrackerImpl:

Public Member Functions
	PlanarTrackerImpl ()
void	Initialise (ARParam cParam)
cv::Vec2f	CalcPyrDownScaleFactor (int pyrLevel, int x, int y)
	Calculate the exact scale factor using the same calculation pyrDown uses.
cv::Mat	CreateFeatureMask (cv::Mat frame)
	Creates a mask image where the areas occupied by all currently tracked markers are 0, and all areas outside the markers are 1.
void	UpdateTrackableBBox (const int index, const cv::Mat &homography)
void	MatchFeatures (const std::vector< cv::KeyPoint > &newFrameFeatures, cv::Mat newFrameDescriptors)
void	ResetAllTrackingPointSelectorsForTrackable (int trackableIndex)
bool	RunOpticalFlow (int trackableId, const std::vector< cv::Point2f > &trackablePoints, const std::vector< cv::Point2f > &trackablePointsWarped)
bool	UpdateTrackableHomography (int trackableId, const std::vector< cv::Point2f > &matchedPoints1, const std::vector< cv::Point2f > &matchedPoints2)
std::vector< cv::Point2f >	GetVerticesFromPoint (cv::Point ptOrig, int width, int height)
	Calculates vertices of a rect centered on ptOrig.
std::vector< cv::Point2f >	GetVerticesFromTopCorner (int x, int y, int width, int height)
	Calculates vertices of a rect with its top corner located at (x, y).
cv::Rect	GetTemplateRoi (cv::Point2f pt)
bool	IsRoiValidForFrame (cv::Rect frameRoi, cv::Rect roi)
cv::Rect	InflateRoi (const cv::Rect &roi, int inflationFactor)
	Inflate the region of interest bounds by inflationFactor on each side.
std::vector< cv::Point2f >	FloorVertexPoints (const std::vector< cv::Point2f > &vertexPoints)
	Transform all vertices by the same amount such that the point with the lowest x value moves to x=0 and the point with the lowest y value moves to y=0.
cv::Mat	MatchTemplateToImage (cv::Mat searchImage, cv::Mat warpedTemplate)
bool	RunTemplateMatching (cv::Mat frame, int trackableId)
void	ProcessFrameData (unsigned char *frame)
	Wrap raw frame data in frame with a cv::Mat structure, then process it for tracking.
void	ProcessFrame (cv::Mat frame)
void	RemoveAllMarkers ()
bool	SaveTrackableDatabase (std::string fileName)
bool	LoadTrackableDatabase (std::string fileName)
void	AddMarker (std::shared_ptr< unsigned char > buff, std::string fileName, int width, int height, int uid, float scale)
bool	GetTrackablePose (int trackableId, float transMat[3][4])
bool	IsTrackableVisible (int trackableId)
void	CameraPoseFromPoints (cv::Mat &pose, const std::vector< cv::Point3f > &objPts, const std::vector< cv::Point2f > &imgPts)
bool	HasTrackables ()
bool	ChangeImageId (int prevId, int newId)
std::vector< int >	GetImageIds ()
TrackedImageInfo	GetTrackableImageInfo (int trackableId) const
void	SetFeatureDetector (FeatureDetectorType detectorType)
FeatureDetectorType	GetFeatureDetector (void) const
void	SetMaximumNumberOfMarkersToTrack (int maximumNumberOfMarkersToTrack)
int	GetMaximumNumberOfMarkersToTrack (void) const

Public Attributes
bool	_trackVizActive
TrackerVisualization	_trackViz

Constructor & Destructor Documentation

PlanarTrackerImpl()

PlanarTracker::PlanarTrackerImpl::PlanarTrackerImpl ( )

inline

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Member Function Documentation

AddMarker()

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

inline

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CalcPyrDownScaleFactor()

cv::Vec2f PlanarTracker::PlanarTrackerImpl::CalcPyrDownScaleFactor ( int pyrLevel, int x, int y )

inline

Calculate the exact scale factor using the same calculation pyrDown uses.

CameraPoseFromPoints()

void PlanarTracker::PlanarTrackerImpl::CameraPoseFromPoints ( cv::Mat & pose, const std::vector< cv::Point3f > & objPts, const std::vector< cv::Point2f > & imgPts )

inline

ChangeImageId()

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

inline

CreateFeatureMask()

cv::Mat PlanarTracker::PlanarTrackerImpl::CreateFeatureMask ( cv::Mat frame )

inline

Creates a mask image where the areas occupied by all currently tracked markers are 0, and all areas outside the markers are 1.

FloorVertexPoints()

std::vector< cv::Point2f > PlanarTracker::PlanarTrackerImpl::FloorVertexPoints ( const std::vector< cv::Point2f > & vertexPoints )

inline

Transform all vertices by the same amount such that the point with the lowest x value moves to x=0 and the point with the lowest y value moves to y=0.

Returns

The transformed points.

GetFeatureDetector()

FeatureDetectorType PlanarTracker::PlanarTrackerImpl::GetFeatureDetector ( void ) const

inline

GetImageIds()

std::vector< int > PlanarTracker::PlanarTrackerImpl::GetImageIds ( )

inline

GetMaximumNumberOfMarkersToTrack()

int PlanarTracker::PlanarTrackerImpl::GetMaximumNumberOfMarkersToTrack ( void ) const

inline

GetTemplateRoi()

cv::Rect PlanarTracker::PlanarTrackerImpl::GetTemplateRoi ( cv::Point2f pt )

inline

GetTrackableImageInfo()

TrackedImageInfo PlanarTracker::PlanarTrackerImpl::GetTrackableImageInfo ( int trackableId ) const

inline

GetTrackablePose()

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

inline

GetVerticesFromPoint()

std::vector< cv::Point2f > PlanarTracker::PlanarTrackerImpl::GetVerticesFromPoint ( cv::Point ptOrig, int width, int height )

inline

Calculates vertices of a rect centered on ptOrig.

GetVerticesFromTopCorner()

std::vector< cv::Point2f > PlanarTracker::PlanarTrackerImpl::GetVerticesFromTopCorner ( int x, int y, int width, int height )

inline

Calculates vertices of a rect with its top corner located at (x, y).

HasTrackables()

bool PlanarTracker::PlanarTrackerImpl::HasTrackables ( )

inline

InflateRoi()

cv::Rect PlanarTracker::PlanarTrackerImpl::InflateRoi ( const cv::Rect & roi, int inflationFactor )

inline

Inflate the region of interest bounds by inflationFactor on each side.

Returns

The inflated bounds.

Initialise()

void PlanarTracker::PlanarTrackerImpl::Initialise ( ARParam cParam )

inline

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IsRoiValidForFrame()

bool PlanarTracker::PlanarTrackerImpl::IsRoiValidForFrame ( cv::Rect frameRoi, cv::Rect roi )

inline

IsTrackableVisible()

bool PlanarTracker::PlanarTrackerImpl::IsTrackableVisible ( int trackableId )

inline

LoadTrackableDatabase()

bool PlanarTracker::PlanarTrackerImpl::LoadTrackableDatabase ( std::string fileName )

inline

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MatchFeatures()

void PlanarTracker::PlanarTrackerImpl::MatchFeatures ( const std::vector< cv::KeyPoint > & newFrameFeatures, cv::Mat newFrameDescriptors )

inline

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MatchTemplateToImage()

cv::Mat PlanarTracker::PlanarTrackerImpl::MatchTemplateToImage ( cv::Mat searchImage, cv::Mat warpedTemplate )

inline

Do the Matching and Normalize

ProcessFrame()

void PlanarTracker::PlanarTrackerImpl::ProcessFrame ( cv::Mat frame )

inline

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ProcessFrameData()

void PlanarTracker::PlanarTrackerImpl::ProcessFrameData ( unsigned char * frame )

inline

Wrap raw frame data in frame with a cv::Mat structure, then process it for tracking.

As the data is not copied,frame must remain valid for the duration of the call.

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RemoveAllMarkers()

void PlanarTracker::PlanarTrackerImpl::RemoveAllMarkers ( )

inline

ResetAllTrackingPointSelectorsForTrackable()

void PlanarTracker::PlanarTrackerImpl::ResetAllTrackingPointSelectorsForTrackable ( int trackableIndex )

inline

RunOpticalFlow()

bool PlanarTracker::PlanarTrackerImpl::RunOpticalFlow ( int trackableId, const std::vector< cv::Point2f > & trackablePoints, const std::vector< cv::Point2f > & trackablePointsWarped )

inline

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RunTemplateMatching()

bool PlanarTracker::PlanarTrackerImpl::RunTemplateMatching ( cv::Mat frame, int trackableId )

inline

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SaveTrackableDatabase()

bool PlanarTracker::PlanarTrackerImpl::SaveTrackableDatabase ( std::string fileName )

inline

SetFeatureDetector()

void PlanarTracker::PlanarTrackerImpl::SetFeatureDetector ( FeatureDetectorType detectorType )

inline

SetMaximumNumberOfMarkersToTrack()

void PlanarTracker::PlanarTrackerImpl::SetMaximumNumberOfMarkersToTrack ( int maximumNumberOfMarkersToTrack )

inline

UpdateTrackableBBox()

void PlanarTracker::PlanarTrackerImpl::UpdateTrackableBBox ( const int index, const cv::Mat & homography )

inline

UpdateTrackableHomography()

bool PlanarTracker::PlanarTrackerImpl::UpdateTrackableHomography ( int trackableId, const std::vector< cv::Point2f > & matchedPoints1, const std::vector< cv::Point2f > & matchedPoints2 )

inline

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Member Data Documentation

_trackViz

TrackerVisualization PlanarTracker::PlanarTrackerImpl::_trackViz

_trackVizActive

bool PlanarTracker::PlanarTrackerImpl::_trackVizActive

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

• Source/ARX/OCVT/PlanarTracker.cpp