ARX  1.0
The next-generation open source augmented reality toolkit.
Loading...
Searching...
No Matches
Classes | Macros | Typedefs | Enumerations | Functions
kpm.h File Reference
#include <ARX/AR/ar.h>
#include <ARX/KPM/kpmType.h>
Include dependency graph for kpm.h:
This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes

struct  KpmCoord2D
 
struct  KpmImageInfo
 
struct  KpmPageInfo
 
struct  _KpmRefData
 
struct  KpmRefDataSet
 
struct  KpmInputDataSet
 
struct  KpmResult
 

Macros

#define BINARY_FEATURE   1
 libKPM NFT image recognition and tracking initialisation routines. More...
 
#define KPM_EXTERN
 
#define KpmPose6DOF   1
 
#define KpmPoseHomography   2
 
#define KpmDefaultProcMode   KpmProcFullSize
 
#define KpmCompNull   0
 
#define KpmCompX   1
 
#define KpmCompY   2
 
#define KpmDefaultComp   KpmCompNull
 
#define KpmChangePageNoAllPages   (-1)
 
#define kpmCreatHandle   kpmCreateHandle
 
#define kpmCreatHandle2   kpmCreateHandle2
 
#define kpmCreatHandleHomography   kpmCreateHandleHomography
 
#define kpmMargeRefDataSet   kpmMergeRefDataSet
 

Typedefs

typedef struct _KpmRefData KpmRefData
 
typedef struct _KpmHandle KpmHandle
 

Enumerations

enum  KPM_PROC_MODE {
  KpmProcFullSize = 1 , KpmProcHalfSize = 2 , KpmProcQuatSize = 3 , KpmProcOneThirdSize = 4 ,
  KpmProcTwoThirdSize = 5
}
 

Functions

KPM_EXTERN KpmHandle * kpmCreateHandle (ARParamLT *cparamLT)
 Allocate and initialise essential structures for KPM tracking, using full six degree-of-freedom tracking. More...
 
KPM_EXTERN KpmHandle * kpmCreateHandle2 (int xsize, int ysize)
 
KPM_EXTERN KpmHandle * kpmCreateHandleHomography (int xsize, int ysize)
 Allocate and initialise essential structures for KPM tracking, using homography-only tracking. More...
 
KPM_EXTERN int kpmDeleteHandle (KpmHandle **kpmHandle)
 Finalise and dispose of structures for KPM tracking. More...
 
KPM_EXTERN int kpmHandleGetXSize (const KpmHandle *kpmHandle)
 
KPM_EXTERN int kpmHandleGetYSize (const KpmHandle *kpmHandle)
 
KPM_EXTERN int kpmSetProcMode (KpmHandle *kpmHandle, KPM_PROC_MODE procMode)
 
KPM_EXTERN int kpmGetProcMode (KpmHandle *kpmHandle, KPM_PROC_MODE *procMode)
 
KPM_EXTERN int kpmSetDetectedFeatureMax (KpmHandle *kpmHandle, int detectedMaxFeature)
 
KPM_EXTERN int kpmGetDetectedFeatureMax (KpmHandle *kpmHandle, int *detectedMaxFeature)
 
KPM_EXTERN int kpmSetSurfThreadNum (KpmHandle *kpmHandle, int surfThreadNum)
 
KPM_EXTERN int kpmSetRefDataSet (KpmHandle *kpmHandle, KpmRefDataSet *refDataSet)
 Load a reference data set into the key point matcher for tracking. More...
 
KPM_EXTERN int kpmSetRefDataSetFile (KpmHandle *kpmHandle, const char *filename, const char *ext)
 Loads a reference data set from a file into the KPM tracker. More...
 
KPM_EXTERN int kpmSetRefDataSetFileOld (KpmHandle *kpmHandle, const char *filename, const char *ext)
 
KPM_EXTERN int kpmMatching (KpmHandle *kpmHandle, ARUint8 *inImageLuma)
 Perform key-point matching on an image. More...
 
KPM_EXTERN int kpmSetMatchingSkipPage (KpmHandle *kpmHandle, int *skipPages, int num)
 
KPM_EXTERN int kpmGetRefDataSet (KpmHandle *kpmHandle, KpmRefDataSet **refDataSet)
 
KPM_EXTERN int kpmGetInDataSet (KpmHandle *kpmHandle, KpmInputDataSet **inDataSet)
 
KPM_EXTERN int kpmGetPose (KpmHandle *kpmHandle, float pose[3][4], int *pageNo, float *error)
 
KPM_EXTERN int kpmGetResult (KpmHandle *kpmHandle, KpmResult **result, int *resultNum)
 
KPM_EXTERN int kpmGenRefDataSet (ARUint8 *refImage, int xsize, int ysize, float dpi, int procMode, int compMode, int maxFeatureNum, int pageNo, int imageNo, KpmRefDataSet **refDataSet)
 
KPM_EXTERN int kpmAddRefDataSet (ARUint8 *refImage, int xsize, int ysize, float dpi, int procMode, int compMode, int maxFeatureNum, int pageNo, int imageNo, KpmRefDataSet **refDataSet)
 
KPM_EXTERN int kpmMergeRefDataSet (KpmRefDataSet **refDataSetPtr1, KpmRefDataSet **refDataSetPtr2)
 Merge a second KPM dataset into the first, and dispose of second. More...
 
KPM_EXTERN int kpmDeleteRefDataSet (KpmRefDataSet **refDataSetPtr)
 Dispose of a reference data set and its allocated memory. More...
 
KPM_EXTERN int kpmSaveRefDataSet (const char *filename, const char *ext, KpmRefDataSet *refDataSet)
 
KPM_EXTERN int kpmLoadRefDataSet (const char *filename, const char *ext, KpmRefDataSet **refDataSetPtr)
 Load a reference data set from the filesystem into memory. More...
 
KPM_EXTERN int kpmLoadRefDataSetOld (const char *filename, const char *ext, KpmRefDataSet **refDataSetPtr)
 
KPM_EXTERN int kpmChangePageNoOfRefDataSet (KpmRefDataSet *refDataSet, int oldPageNo, int newPageNo)
 
KPM_EXTERN ARUint8 * kpmUtilResizeImage (ARUint8 *imageLuma, int xsize, int ysize, int procMode, int *newXsize, int *newYsize)
 
KPM_EXTERN int kpmUtilGetCorner (ARUint8 *inImagePtr, int xsize, int ysize, int procMode, int maxPointNum, CornerPoints *cornerPoints)
 
double wallclock (void)
 
KPM_EXTERN int kpmLoadImageDb (const char *filename)
 

Macro Definition Documentation

◆ BINARY_FEATURE

#define BINARY_FEATURE   1

libKPM NFT image recognition and tracking initialisation routines.

@header kpm

This header declares types and API for an NFT tracker, in particular those routines involved in recognising a texture page and initialising the tracking for use by the texture tracker.

Copyright
2006-2015 ARToolworks, Inc.

◆ KPM_EXTERN

#define KPM_EXTERN

◆ KpmChangePageNoAllPages

#define KpmChangePageNoAllPages   (-1)

◆ KpmCompNull

#define KpmCompNull   0

◆ KpmCompX

#define KpmCompX   1

◆ KpmCompY

#define KpmCompY   2

◆ kpmCreatHandle

#define kpmCreatHandle   kpmCreateHandle

◆ kpmCreatHandle2

#define kpmCreatHandle2   kpmCreateHandle2

◆ kpmCreatHandleHomography

#define kpmCreatHandleHomography   kpmCreateHandleHomography

◆ KpmDefaultComp

#define KpmDefaultComp   KpmCompNull

◆ KpmDefaultProcMode

#define KpmDefaultProcMode   KpmProcFullSize

◆ kpmMargeRefDataSet

#define kpmMargeRefDataSet   kpmMergeRefDataSet

◆ KpmPose6DOF

#define KpmPose6DOF   1

◆ KpmPoseHomography

#define KpmPoseHomography   2

Typedef Documentation

◆ KpmHandle

typedef struct _KpmHandle KpmHandle

◆ KpmRefData

typedef struct _KpmRefData KpmRefData

Enumeration Type Documentation

◆ KPM_PROC_MODE

enum KPM_PROC_MODE
Enumerator
KpmProcFullSize 
KpmProcHalfSize 
KpmProcQuatSize 
KpmProcOneThirdSize 
KpmProcTwoThirdSize 

Function Documentation

◆ kpmAddRefDataSet()

KPM_EXTERN int kpmAddRefDataSet ( ARUint8 *  refImage,
int  xsize,
int  ysize,
float  dpi,
int  procMode,
int  compMode,
int  maxFeatureNum,
int  pageNo,
int  imageNo,
KpmRefDataSet **  refDataSet 
)
Here is the call graph for this function:

◆ kpmChangePageNoOfRefDataSet()

KPM_EXTERN int kpmChangePageNoOfRefDataSet ( KpmRefDataSet *  refDataSet,
int  oldPageNo,
int  newPageNo 
)
Parameters
refDataSet
oldPageNo
newPageNo
Returns

◆ kpmCreateHandle()

KPM_EXTERN KpmHandle * kpmCreateHandle ( ARParamLT *  cparamLT)

Allocate and initialise essential structures for KPM tracking, using full six degree-of-freedom tracking.

Parameters
cparamLTPointer to an ARParamLT structure holding camera parameters in lookup-table form. The pointer only is copied, and the ARParamLT structure itself is NOT copied, and must remain valid for the lifetime of the KpmHandle. This structure also specifies the size of video frames which will be later supplied to the kpmMatching() function as cparamLT->param.xsize and cparamLT->param.ysize.
Returns
Pointer to a newly-allocated KpmHandle structure. This structure must be deallocated via a call to kpmDeleteHandle() when no longer needed.
See also
kpmCreateHandleHomography kpmCreateHandleHomography
kpmDeleteHandle kpmDeleteHandle

◆ kpmCreateHandle2()

KPM_EXTERN KpmHandle * kpmCreateHandle2 ( int  xsize,
int  ysize 
)

◆ kpmCreateHandleHomography()

KPM_EXTERN KpmHandle * kpmCreateHandleHomography ( int  xsize,
int  ysize 
)

Allocate and initialise essential structures for KPM tracking, using homography-only tracking.

Homography tracking assumes that the camera has zero lens-distortion, and this does not depend on camera parameters. It is therefore unable to provide correctly calibrated position measurements, but the resulting pose is suitable for visual overlay purposes.

Parameters
xsizeWidth of video frames which will be later supplied to the kpmMatching() function.
ysizeHeight of video frames which will be later supplied to the kpmMatching() function.
Returns
Pointer to a newly-allocated KpmHandle structure. This structure must be deallocated via a call to kpmDeleteHandle() when no longer needed.
See also
kpmCreateHandle kpmCreateHandle
kpmDeleteHandle kpmDeleteHandle

◆ kpmDeleteHandle()

KPM_EXTERN int kpmDeleteHandle ( KpmHandle **  kpmHandle)

Finalise and dispose of structures for KPM tracking.

Once KPM processing has completed, this routine should be called to dispose of memory allocated.

Parameters
kpmHandlePointer to a location which holds a pointer to a KpmHandle structure. On return, the location pointed to will be set to NULL.
Returns
0 if successful, or value <0 in case of error.
See also
kpmCreateHandle kpmCreateHandle
kpmCreateHandleHomography kpmCreateHandleHomography

◆ kpmDeleteRefDataSet()

KPM_EXTERN int kpmDeleteRefDataSet ( KpmRefDataSet **  refDataSetPtr)

Dispose of a reference data set and its allocated memory.

Once a data set has been loaded into a KPM handle, or is otherwise no longer required to be held in memory, it should be deleted (i.e. disposed) from memory by calling this function.

Parameters
refDataSetPtrPointer to memory location which points to the dataset. On success, this location will be set to NULL.
Returns
0 if the delete succeeded, or a value < 0 in case of error.
See also
kpmLoadRefDataSet kpmLoadRefDataSet

◆ kpmGenRefDataSet()

KPM_EXTERN int kpmGenRefDataSet ( ARUint8 *  refImage,
int  xsize,
int  ysize,
float  dpi,
int  procMode,
int  compMode,
int  maxFeatureNum,
int  pageNo,
int  imageNo,
KpmRefDataSet **  refDataSet 
)
Here is the call graph for this function:

◆ kpmGetDetectedFeatureMax()

KPM_EXTERN int kpmGetDetectedFeatureMax ( KpmHandle *  kpmHandle,
int *  detectedMaxFeature 
)

◆ kpmGetInDataSet()

KPM_EXTERN int kpmGetInDataSet ( KpmHandle *  kpmHandle,
KpmInputDataSet **  inDataSet 
)

◆ kpmGetPose()

KPM_EXTERN int kpmGetPose ( KpmHandle *  kpmHandle,
float  pose[3][4],
int *  pageNo,
float *  error 
)

◆ kpmGetProcMode()

KPM_EXTERN int kpmGetProcMode ( KpmHandle *  kpmHandle,
KPM_PROC_MODE *  procMode 
)

◆ kpmGetRefDataSet()

KPM_EXTERN int kpmGetRefDataSet ( KpmHandle *  kpmHandle,
KpmRefDataSet **  refDataSet 
)

◆ kpmGetResult()

KPM_EXTERN int kpmGetResult ( KpmHandle *  kpmHandle,
KpmResult **  result,
int *  resultNum 
)

◆ kpmHandleGetXSize()

KPM_EXTERN int kpmHandleGetXSize ( const KpmHandle *  kpmHandle)

◆ kpmHandleGetYSize()

KPM_EXTERN int kpmHandleGetYSize ( const KpmHandle *  kpmHandle)

◆ kpmLoadImageDb()

KPM_EXTERN int kpmLoadImageDb ( const char *  filename)

◆ kpmLoadRefDataSet()

KPM_EXTERN int kpmLoadRefDataSet ( const char *  filename,
const char *  ext,
KpmRefDataSet **  refDataSetPtr 
)

Load a reference data set from the filesystem into memory.

This does not set the reference data as the current tracking set. To do that, call kpmSetRefDataSet after this load completes. Alternately, the loaded set can be merged with another loaded set by calling kpmMergeRefDataSet. To dispose of the loaded dataset, call kpmDeleteRefDataSet.

Parameters
filenamePath to the dataset. Either full path, or a relative path if supported by the operating system.
extIf non-NULL, a '.' charater and this string will be appended to 'filename'. Often, this parameter is a pointer to the string "fset3".
Returns
Returns 0 if successful, or value <0 in case of error.
Parameters
refDataSetPtrPointer to a location which after loading will point to the loaded reference data set.
Returns
0 if the load succeeded, or a value < 0 in case of error.
See also
kpmSetRefDataSet kpmSetRefDataSet
kpmMergeRefDataSet kpmMergeRefDataSet
kpmDeleteRefDataSet kpmDeleteRefDataSet
Here is the call graph for this function:

◆ kpmLoadRefDataSetOld()

KPM_EXTERN int kpmLoadRefDataSetOld ( const char *  filename,
const char *  ext,
KpmRefDataSet **  refDataSetPtr 
)
Here is the call graph for this function:

◆ kpmMatching()

KPM_EXTERN int kpmMatching ( KpmHandle *  kpmHandle,
ARUint8 *  inImageLuma 
)

Perform key-point matching on an image.

Parameters
kpmHandle
inImageLumaSource image containing the pixels which will be searched for features. Typically, this is one frame from a video stream. The dimensions of this image must match the values specified at the time of creation of the KPM handle. Luma only.
Returns
0 if successful, or value <0 in case of error.
See also
kpmCreateHandle kpmCreateHandle
kpmCreateHandleHomography kpmCreateHandleHomography
Here is the call graph for this function:

◆ kpmMergeRefDataSet()

KPM_EXTERN int kpmMergeRefDataSet ( KpmRefDataSet **  refDataSetPtr1,
KpmRefDataSet **  refDataSetPtr2 
)

Merge a second KPM dataset into the first, and dispose of second.

This function merges two KPM datasets by adding the reference points in the second into the first (allocating a new set if the location pointed to by refDataSetPtr1 is NULL) and then deleting the second set.

Parameters
refDataSetPtr1Pointer to a location which points to the first data set, or pointer to NULL if a new dataset is to be created. This will hold the results of the merge.
refDataSetPtr2Pointer to a location which points to the second data set. After the merge, the dataset pointed to will be deleted and the location pointed to set to NULL.
Returns
0 if the merge succeeded, or a value < 0 in case of error.
Here is the call graph for this function:

◆ kpmSaveRefDataSet()

KPM_EXTERN int kpmSaveRefDataSet ( const char *  filename,
const char *  ext,
KpmRefDataSet *  refDataSet 
)
Parameters
filename
ext
refDataSet
Returns
Here is the call graph for this function:

◆ kpmSetDetectedFeatureMax()

KPM_EXTERN int kpmSetDetectedFeatureMax ( KpmHandle *  kpmHandle,
int  detectedMaxFeature 
)

◆ kpmSetMatchingSkipPage()

KPM_EXTERN int kpmSetMatchingSkipPage ( KpmHandle *  kpmHandle,
int *  skipPages,
int  num 
)

◆ kpmSetProcMode()

KPM_EXTERN int kpmSetProcMode ( KpmHandle *  kpmHandle,
KPM_PROC_MODE  procMode 
)

◆ kpmSetRefDataSet()

KPM_EXTERN int kpmSetRefDataSet ( KpmHandle *  kpmHandle,
KpmRefDataSet *  refDataSet 
)

Load a reference data set into the key point matcher for tracking.

This function takes a reference data set already in memory and makes it the current dataset for key point matching.

Parameters
kpmHandleHandle to the current KPM tracker instance, as generated by kpmCreateHandle or kpmCreateHandleHomography.
refDataSetThe reference data set to load into the KPM handle. The operation takes a copy of the data required from this dataset, thus unless the need for a further load at a later time is required, the dataset can be disposed of by calling kpmDeleteRefDataSet after this operation succeeds.
Returns
0 if successful, or value <0 in case of error.
See also
kpmCreateHandle kpmCreateHandle
kpmCreateHandleHomography kpmCreateHandleHomography
kpmDeleteRefDataSet kpmDeleteRefDataSet

◆ kpmSetRefDataSetFile()

KPM_EXTERN int kpmSetRefDataSetFile ( KpmHandle *  kpmHandle,
const char *  filename,
const char *  ext 
)

Loads a reference data set from a file into the KPM tracker.

This is a convenience method which performs a sequence of kpmLoadRefDataSet, followed by kpmSetRefDataSet and finally kpmDeleteRefDataSet. When tracking from a single reference dataset file, this is the simplest means to start.

Parameters
kpmHandleHandle to the current KPM tracker instance, as generated by kpmCreateHandle or kpmCreateHandleHomography.
filenamePath to the dataset. Either full path, or a relative path if supported by the operating system.
extIf non-NULL, a '.' charater and this string will be appended to 'filename'. Often, this parameter is a pointer to the string "fset3".
Returns
Returns 0 if successful, or value <0 in case of error.
See also
kpmLoadRefDataSet kpmLoadRefDataSet
kpmSetRefDataSet kpmSetRefDataSet
kpmDeleteRefDataSet kpmDeleteRefDataSet
Here is the call graph for this function:

◆ kpmSetRefDataSetFileOld()

KPM_EXTERN int kpmSetRefDataSetFileOld ( KpmHandle *  kpmHandle,
const char *  filename,
const char *  ext 
)
Here is the call graph for this function:

◆ kpmSetSurfThreadNum()

KPM_EXTERN int kpmSetSurfThreadNum ( KpmHandle *  kpmHandle,
int  surfThreadNum 
)

◆ kpmUtilGetCorner()

KPM_EXTERN int kpmUtilGetCorner ( ARUint8 *  inImagePtr,
int  xsize,
int  ysize,
int  procMode,
int  maxPointNum,
CornerPoints *  cornerPoints 
)
Here is the call graph for this function:

◆ kpmUtilResizeImage()

KPM_EXTERN ARUint8 * kpmUtilResizeImage ( ARUint8 *  imageLuma,
int  xsize,
int  ysize,
int  procMode,
int *  newXsize,
int *  newYsize 
)
Parameters
imageLumaSource luminance image, as an unpadded pixel buffer beginning with the leftmost pixel of the top row.
xsizeWidth of pixel data in 'imageLuma'.
ysizeheight of pixel data in 'imageLuma'.
procMode
Returns

◆ wallclock()

double wallclock ( void  )
Generated on Wed Feb 22 2023 19:23:12 for ARX by   doxygen 1.9.5