kpmMatching.cpp File Reference

#include <stdio.h>
#include <ARX/AR/ar.h>
#include <string>
#include <sstream>
#include <algorithm>
#include <ARX/KPM/kpm.h>
#include "kpmPrivate.h"
#include "HomographyEst.h"
#include "AnnMatch.h"
#include "AnnMatch2.h"

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Functions
int	kpmUtilGetPose_binary (ARParamLT *cparamLT, const vision::matches_t &matchData, const std::vector< vision::Point3d< float > > &refDataSet, const std::vector< vision::FeaturePoint > &inputDataSet, float camPose[3][4], float *error)
template<typename T >
std::string	arrayToString (T *v, size_t size)
std::string	arrayToString2 (float pose[3][4])
int	kpmLoadImageDb (KpmHandle *kpmHandle, const char *filename)
int	kpmSetRefDataSet (KpmHandle *kpmHandle, KpmRefDataSet *refDataSet)
	Load a reference data set into the key point matcher for tracking. More...
int	kpmSetRefDataSetFile (KpmHandle *kpmHandle, const char *filename, const char *ext)
	Loads a reference data set from a file into the KPM tracker. More...
int	kpmSetRefDataSetFileOld (KpmHandle *kpmHandle, const char *filename, const char *ext)
int	kpmSetMatchingSkipPage (KpmHandle *kpmHandle, int skipPages[], int num)
int	kpmSetMatchingSkipRegion (KpmHandle *kpmHandle, SurfSubRect *skipRegion, int regionNum)
int	kpmMatching (KpmHandle *kpmHandle, ARUint8 *inImageLuma)
	Perform key-point matching on an image. More...

Function Documentation

arrayToString()

template<typename T >

std::string arrayToString	(	T *	v,
		size_t	size
	)

arrayToString2()

std::string arrayToString2

(

float

pose[3][4]

)

kpmLoadImageDb()

int kpmLoadImageDb	(	KpmHandle *	kpmHandle,
		const char *	filename
	)

kpmMatching()

int kpmMatching	(	KpmHandle *	kpmHandle,
		ARUint8 *	inImageLuma
	)

Perform key-point matching on an image.

Parameters

kpmHandle
inImageLuma	Source 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

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kpmSetMatchingSkipPage()

int kpmSetMatchingSkipPage	(	KpmHandle *	kpmHandle,
		int	skipPages[],
		int	num
	)

kpmSetMatchingSkipRegion()

int kpmSetMatchingSkipRegion	(	KpmHandle *	kpmHandle,
		SurfSubRect *	skipRegion,
		int	regionNum
	)

kpmSetRefDataSet()

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

kpmHandle	Handle to the current KPM tracker instance, as generated by kpmCreateHandle or kpmCreateHandleHomography.
refDataSet	The 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()

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

kpmHandle	Handle to the current KPM tracker instance, as generated by kpmCreateHandle or kpmCreateHandleHomography.
filename	Path to the dataset. Either full path, or a relative path if supported by the operating system.
ext	If 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

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kpmSetRefDataSetFileOld()

int kpmSetRefDataSetFileOld	(	KpmHandle *	kpmHandle,
		const char *	filename,
		const char *	ext
	)

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kpmUtilGetPose_binary()

int kpmUtilGetPose_binary	(	ARParamLT *	cparamLT,
		const vision::matches_t &	matchData,
		const std::vector< vision::Point3d< float > > &	refDataSet,
		const std::vector< vision::FeaturePoint > &	inputDataSet,
		float	camPose[3][4],
		float *	error
	)

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