tracking.h

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/*
 *  AR2/tracking.h
 *  artoolkitX
 *
 *  This file is part of artoolkitX.
 *
 *  artoolkitX is free software: you can redistribute it and/or modify
 *  it under the terms of the GNU Lesser General Public License as published by
 *  the Free Software Foundation, either version 3 of the License, or
 *  (at your option) any later version.
 *
 *  artoolkitX is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU Lesser General Public License for more details.
 *
 *  You should have received a copy of the GNU Lesser General Public License
 *  along with artoolkitX.  If not, see <http://www.gnu.org/licenses/>.
 *
 *  As a special exception, the copyright holders of this library give you
 *  permission to link this library with independent modules to produce an
 *  executable, regardless of the license terms of these independent modules, and to
 *  copy and distribute the resulting executable under terms of your choice,
 *  provided that you also meet, for each linked independent module, the terms and
 *  conditions of the license of that module. An independent module is a module
 *  which is neither derived from nor based on this library. If you modify this
 *  library, you may extend this exception to your version of the library, but you
 *  are not obligated to do so. If you do not wish to do so, delete this exception
 *  statement from your version.
 *
 *  Copyright 2018 Realmax, Inc.
 *  Copyright 2015 Daqri, LLC.
 *  Copyright 2006-2015 ARToolworks, Inc.
 *
 *  Author(s): Hirokazu Kato, Philip Lamb
 *
 */
#ifndef AR2_TRACKING_H
#define AR2_TRACKING_H
#include <ARX/ARUtil/thread_sub.h>
#include <ARX/AR/ar.h>
#include <ARX/AR/icp.h>
#include <ARX/AR2/config.h>
#include <ARX/AR2/featureSet.h>
#include <ARX/AR2/template.h>
#include <ARX/AR2/marker.h>
 
#define    AR2_TRACKING_6DOF                   1
#define    AR2_TRACKING_HOMOGRAPHY             2
 
#define    AR2_TRACKING_DEFAULT_THREAD_NUM    -1
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef struct {
    AR2ImageSetT         *imageSet;
    AR2FeatureSetT       *featureSet;
    AR2MarkerSetT        *markerSet;
    float                 trans[3][4];
    float                 itrans[3][4];
    char                 *jpegName;
} AR2SurfaceT;
 
typedef struct {
    AR2SurfaceT          *surface;
    int                   num;
    float                 trans1[3][4];
    float                 trans2[3][4];
    float                 trans3[3][4];
    int                   contNum;
    AR2TemplateCandidateT     prevFeature[AR2_SEARCH_FEATURE_MAX+1];
} AR2SurfaceSetT;
 
typedef struct {
    float             sim;
    float             pos2d[2];
    float             pos3d[3];
#if AR2_CAPABLE_ADAPTIVE_TEMPLATE
    int               blurLevel;
#endif
} AR2Tracking2DResultT;
 
 
typedef struct _AR2HandleT           AR2HandleT;
typedef struct _AR2Tracking2DParamT  AR2Tracking2DParamT;
 
// Structure to pass parameters to threads spawned to run ar2Tracking2d().
struct _AR2Tracking2DParamT {
    struct _AR2HandleT      *ar2Handle;  // Reference to parent AR2HandleT.
    AR2SurfaceSetT          *surfaceSet;
    AR2TemplateCandidateT   *candidate;
    ARUint8                 *dataPtr;    // Input image.
    ARUint8                 *mfImage;    // (Internally allocated buffer same size as input image).
    AR2TemplateT            *templ;
#if AR2_CAPABLE_ADAPTIVE_TEMPLATE
    AR2Template2T           *templ2;
#endif
    AR2Tracking2DResultT     result;
    int                      ret;
};
 
struct _AR2HandleT {
    int               trackingMode;
    int               xsize;
    int               ysize;
    ARParamLT        *cparamLT;
    ICPHandleT       *icpHandle;
    AR_PIXEL_FORMAT   pixFormat;
#if AR2_CAPABLE_ADAPTIVE_TEMPLATE
    int               blurMethod;
    int               blurLevel;
#endif
    int               searchSize;
    int               templateSize1;
    int               templateSize2;
    int               searchFeatureNum;
    float             simThresh;
    float             trackingThresh;
    /*--------------------------------*/
    float                     wtrans1[AR2_TRACKING_SURFACE_MAX][3][4];
    float                     wtrans2[AR2_TRACKING_SURFACE_MAX][3][4];
    float                     wtrans3[AR2_TRACKING_SURFACE_MAX][3][4];
    float                     pos[AR2_SEARCH_FEATURE_MAX+AR2_THREAD_MAX][2];
    float                     pos2d[AR2_SEARCH_FEATURE_MAX][2];
    float                     pos3d[AR2_SEARCH_FEATURE_MAX][3];
    AR2TemplateCandidateT     candidate[AR2_TRACKING_CANDIDATE_MAX+1];
    AR2TemplateCandidateT     candidate2[AR2_TRACKING_CANDIDATE_MAX+1];
    AR2TemplateCandidateT     usedFeature[AR2_SEARCH_FEATURE_MAX];
    int                       threadNum;
    struct _AR2Tracking2DParamT       arg[AR2_THREAD_MAX];
    THREAD_HANDLE_T          *threadHandle[AR2_THREAD_MAX];
};
 
 
int             ar2Tracking              ( AR2HandleT *ar2Handle, AR2SurfaceSetT *surfaceSet,
                                           ARUint8 *dataPtr, float  trans[3][4], float  *err );
void           *ar2Tracking2d            ( THREAD_HANDLE_T *threadHandle );
/*
int             ar2Tracking2d            ( AR2HandleT *ar2Handle, AR2SurfaceSetT *surfaceSet,
                                           AR2TemplateCandidateT *candidate,
                                           ARUint8 *dataPtr, AR2Tracking2DResultT *result    );
*/
 
AR2SurfaceSetT *ar2ReadSurfaceSet        ( const char *filename, const char *ext, ARPattHandle *pattHandle          );
 
int             ar2FreeSurfaceSet        ( AR2SurfaceSetT **surfaceSet                       );
 
int             ar2SetInitTrans          ( AR2SurfaceSetT *surfaceSet, float  trans[3][4]    );
 
AR2HandleT     *ar2CreateHandle          ( ARParamLT *cparamLT, AR_PIXEL_FORMAT pixFormat, int threadNum );
 
AR2HandleT     *ar2CreateHandleHomography      ( int xsize, int ysize, AR_PIXEL_FORMAT pixFormat, int threadNum );
 
int             ar2DeleteHandle          ( AR2HandleT **ar2Handle );
 
#if AR2_CAPABLE_ADAPTIVE_TEMPLATE
int             ar2SetBlurMethod         ( AR2HandleT *ar2Handle, int  blurMethod        );
int             ar2GetBlurMethod         ( AR2HandleT *ar2Handle, int *blurMethod        );
int             ar2SetBlurLevel          ( AR2HandleT *ar2Handle, int  blurLevel         );
int             ar2GetBlurLevel          ( AR2HandleT *ar2Handle, int *blurLevel         );
#endif
 
int             ar2SetSearchSize         ( AR2HandleT *ar2Handle, int  searchSize        );
 
int             ar2GetSearchSize         ( AR2HandleT *ar2Handle, int *searchSize        );
 
int             ar2SetTemplateSize1      ( AR2HandleT *ar2Handle, int  templateSize1     );
 
int             ar2GetTemplateSize1      ( AR2HandleT *ar2Handle, int *templateSize1     );
 
int             ar2SetTemplateSize2      ( AR2HandleT *ar2Handle, int  templateSize2     );
 
int             ar2GetTemplateSize2      ( AR2HandleT *ar2Handle, int *templateSize2     );
 
int             ar2SetSearchFeatureNum   ( AR2HandleT *ar2Handle, int  searchTemplateMax );
 
int             ar2GetSearchFeatureNum   ( AR2HandleT *ar2Handle, int *searchTemplateMax );
 
int             ar2SetSimThresh          ( AR2HandleT *ar2Handle, float   simThresh      );
 
int             ar2GetSimThresh          ( AR2HandleT *ar2Handle, float  *simThresh      );
 
int             ar2SetTrackingThresh     ( AR2HandleT *ar2Handle, float   trackingThresh );
 
int             ar2GetTrackingThresh     ( AR2HandleT *ar2Handle, float  *trackingThresh );
 
int             ar2SetTrackingMode       ( AR2HandleT *ar2Handle, int  trackingMode      );
 
int             ar2GetTrackingMode       ( AR2HandleT *ar2Handle, int *trackingMode      );
 
#ifdef __cplusplus
}
#endif
#endif