tracking.c File Reference

#include <ARX/AR/ar.h>
#include <stdio.h>
#include <stdlib.h>
#include <strings.h>
#include <math.h>
#include <ARX/AR/icp.h>
#include <ARX/AR2/coord.h>
#include <ARX/AR2/imageSet.h>
#include <ARX/AR2/featureSet.h>
#include <ARX/AR2/template.h>
#include <ARX/AR2/tracking.h>

Include dependency graph for tracking.c:

Macros
#define	K2_FACTOR   4.0F

Functions
int	ar2Tracking (AR2HandleT *ar2Handle, AR2SurfaceSetT *surfaceSet, ARUint8 *dataPtr, float trans[3][4], float *err)

Macro Definition Documentation

K2_FACTOR

#define K2_FACTOR   4.0F

Function Documentation

ar2Tracking()

int ar2Tracking	(	AR2HandleT *	ar2Handle,
		AR2SurfaceSetT *	surfaceSet,
		ARUint8 *	dataPtr,
		float	trans[3][4],
		float *	err
	)

Perform NFT texture tracking on an image frame. Before the first call to this function, ar2SetInitTrans() must be called to set the initial tracking transform. The initial transform may be obtained from NFT KPM tracking, or via a fiducial marker embedded in the NFT image. The initial transform must also be set after each loss of tracking (i.e. after each instance when this function does not return 0.

Parameters

ar2Handle	Tracking settings structure, as returned via ar2CreateHandle.
surfaceSet	Tracking surface set, as returned via ar2ReadSurfaceSet.
dataPtr	Pointer to image data on which tracking will be performed.
trans	Pointer to a float[3][4] array which will be filled out with the pose.
err	On successful return, will be filled out with pose error value.

Returns

0 in case of successful tracking, or < 0 in case of error. Error codes:
-1: Bad parameter
-2: Tracking not initialised
-3: Insufficient texture features
-4: Pose error exceeds value set with ar2SetTrackingThresh()

See also

ar2SetInitTrans ar2SetInitTrans

ar2SetTrackingThresh ar2SetTrackingThresh

ar2CreateHandle ar2CreateHandle

ar2ReadSurfaceSet ar2ReadSurfaceSet

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