ARToolKitPlus::Tracker Class Reference

#include <Tracker.h>

Inheritance diagram for ARToolKitPlus::Tracker:

Classes
struct	AutoThreshold
Public Member Functions
virtual void	activateAutoThreshold (bool nEnable)
	Turns automatic threshold calculation on/off.
virtual void	activateBinaryMarker (int nThreshold)
virtual void	activateVignettingCompensation (bool nEnable, int nCorners=0, int nLeftRight=0, int nTopBottom=0)
virtual int	arDetectMarker (uint8_t dataPtr, int thresh, ARMarkerInfo marker_info, int marker_num)
	marker detection using tracking history
virtual int	arDetectMarkerLite (uint8_t dataPtr, int thresh, ARMarkerInfo marker_info, int marker_num)
	marker detection without using tracking history
virtual int	arFreePatt (int patno)
	frees a pattern from memory
virtual ARFloat	arGetTransMat (ARMarkerInfo *marker_info, ARFloat center[2], ARFloat width, ARFloat conv[3][4])
	calculates the transformation matrix between camera and the given marker
virtual ARFloat	arGetTransMatCont (ARMarkerInfo *marker_info, ARFloat prev_conv[3][4], ARFloat center[2], ARFloat width, ARFloat conv[3][4])
virtual int	arLoadPatt (char *filename)
	loads a pattern from a file
virtual int	arMultiFreeConfig (ARMultiMarkerInfoT *config)
virtual ARFloat	arMultiGetTransMat (ARMarkerInfo marker_info, int marker_num, ARMultiMarkerInfoT config)
	calculates the transformation matrix between camera and the given multi-marker config
virtual ARFloat	arMultiGetTransMatHull (ARMarkerInfo marker_info, int marker_num, ARMultiMarkerInfoT config)
virtual ARMultiMarkerInfoT *	arMultiReadConfigFile (const char *filename)
virtual ARFloat	calcOpenGLMatrixFromMarker (ARMarkerInfo nMarkerInfo, ARFloat nPatternCenter[2], ARFloat nPatternSize, ARFloat nOpenGLMatrix)
	Calculates the OpenGL transformation matrix for a specific marker info.
virtual void	changeCameraSize (int nWidth, int nHeight)
	Changes the resolution of the camera after the camerafile was already loaded.
virtual ARFloat	executeMultiMarkerPoseEstimator (ARMarkerInfo marker_info, int marker_num, ARMultiMarkerInfoT config)
	Calls the pose estimator set with setPoseEstimator() for multi marker tracking.
virtual ARFloat	executeSingleMarkerPoseEstimator (ARMarkerInfo *marker_info, ARFloat center[2], ARFloat width, ARFloat conv[3][4])
	Calls the pose estimator set with setPoseEstimator() for single marker tracking.
virtual int	getBitsPerPixel () const
	Returns the numbber of bits per pixel for the compiled-in pixel format.
virtual Camera *	getCamera ()
	Returns the current camera.
virtual const ARFloat *	getModelViewMatrix () const
	Returns an opengl-style modelview transformation matrix.
virtual int	getNumLoadablePatterns () const
virtual PIXEL_FORMAT	getPixelFormat () const
	Returns the compiled-in pixel format.
virtual const ARFloat *	getProjectionMatrix () const
	Returns an opengl-style projection transformation matrix.
virtual int	getThreshold () const
	Returns the current threshold value.
virtual const CornerPoints &	getTrackedCorners () const
virtual bool	isAutoThresholdActivated () const
	Returns true if automatic threshold detection is enabled.
virtual bool	loadCameraFile (const char *nCamParamFile, ARFloat nNearClip, ARFloat nFarClip)
virtual ARFloat	rppGetTransMat (ARMarkerInfo *marker_info, ARFloat center[2], ARFloat width, ARFloat conv[3][4])
virtual ARFloat	rppMultiGetTransMat (ARMarkerInfo marker_info, int marker_num, ARMultiMarkerInfoT config)
virtual void	setBorderWidth (ARFloat nFraction)
virtual void	setCamera (Camera *nCamera, ARFloat nNearClip, ARFloat nFarClip)
	Sets a new camera including specifying new near and far clip values.
virtual void	setCamera (Camera *nCamera)
	Sets a new camera without specifying new near and far clip values.
virtual void	setHullMode (HULL_TRACKING_MODE nMode)
virtual void	setImageProcessingMode (IMAGE_PROC_MODE nMode)
virtual void	setLoadUndistLUT (bool nSet)
virtual void	setMarkerMode (MARKER_MODE nMarkerMode)
virtual void	setNumAutoThresholdRetries (int nNumRetries)
virtual bool	setPixelFormat (PIXEL_FORMAT nFormat)
virtual bool	setPoseEstimator (POSE_ESTIMATOR nMethod)
virtual void	setThreshold (int nValue)
	Sets the threshold value that is used for black/white conversion.
virtual void	setUndistortionMode (UNDIST_MODE nMode)
	Tracker (int imWidth, int imHeight, int maxImagePatterns=8, int pattWidth=6, int pattHeight=6, int pattSamples=6, int maxLoadPatterns=0)
virtual	~Tracker ()
Static Public Member Functions
static bool	calcCameraMatrix (const char nCamParamFile, ARFloat nNear, ARFloat nFar, ARFloat nMatrix)
Protected Types
typedef int(Tracker::*	ARPARAM_UNDIST_FUNC )(Camera pCam, ARFloat ox, ARFloat oy, ARFloat ix, ARFloat *iy)
typedef ARFloat(Tracker::*	MULTI_POSE_ESTIMATOR_FUNC )(ARMarkerInfo marker_info, int marker_num, ARMultiMarkerInfoT config)
typedef ARFloat(Tracker::*	POSE_ESTIMATOR_FUNC )(ARMarkerInfo *marker_info, ARFloat center[2], ARFloat width, ARFloat conv[3][4])
Protected Member Functions
int	arActivatePatt (int patno)
int	arCameraIdeal2Observ_std (Camera pCam, ARFloat ix, ARFloat iy, ARFloat ox, ARFloat *oy)
int	arCameraObserv2Ideal_LUT (Camera pCam, ARFloat ox, ARFloat oy, ARFloat ix, ARFloat *iy)
int	arCameraObserv2Ideal_none (Camera pCam, ARFloat ox, ARFloat oy, ARFloat ix, ARFloat *iy)
int	arCameraObserv2Ideal_std (Camera pCam, ARFloat ox, ARFloat oy, ARFloat ix, ARFloat *iy)
int	arDeactivatePatt (int patno)
ARMarkerInfo2 *	arDetectMarker2 (int16_t limage, int label_num, int label_ref, int warea, ARFloat wpos, int wclip, int area_max, int area_min, ARFloat factor, int marker_num)
int	arGetAngle (ARFloat rot[3][3], ARFloat wa, ARFloat wb, ARFloat *wc)
int	arGetCode (uint8_t image, int x_coord, int y_coord, int vertex, int code, int dir, ARFloat *cf, int thresh)
int	arGetContour (int16_t limage, int label_ref, int label, int clip[4], ARMarkerInfo2 *marker_infoTWO)
int	arGetInitRot (ARMarkerInfo *marker_info, ARFloat cpara[3][4], ARFloat rot[3][3])
int	arGetInitRot2 (ARMarkerInfo *marker_info, ARFloat rot[3][3], ARFloat center[2], ARFloat width)
int	arGetLine (int x_coord[], int y_coord[], int vertex[], ARFloat line[4][3], ARFloat v[4][2])
ARMarkerInfo *	arGetMarkerInfo (uint8_t image, ARMarkerInfo2 marker_info2, int *marker_num, int thresh)
int	arGetNewMatrix (ARFloat a, ARFloat b, ARFloat c, ARFloat trans[3], ARFloat trans2[3][4], ARFloat cpara[3][4], ARFloat ret[3][4])
int	arGetPatt (uint8_t image, int x_coord, int y_coord, int vertex, uint8_t *ext_pat)
int	arGetRot (ARFloat a, ARFloat b, ARFloat c, ARFloat rot[3][3])
ARFloat	arGetTransMat3 (ARFloat rot[3][3], ARFloat ppos2d[][2], ARFloat ppos3d[][2], int num, ARFloat conv[3][4], Camera *pCam)
ARFloat	arGetTransMat5 (ARFloat rot[3][3], ARFloat ppos2d[][2], ARFloat ppos3d[][3], int num, ARFloat conv[3][4], Camera *pCam)
ARFloat	arGetTransMatContSub (ARMarkerInfo *marker_info, ARFloat prev_conv[3][4], ARFloat center[2], ARFloat width, ARFloat conv[3][4])
ARFloat	arGetTransMatSub (ARFloat rot[3][3], ARFloat ppos2d[][2], ARFloat pos3d[][3], int num, ARFloat conv[3][4], Camera *pCam)
int	arInitCparam (Camera *pCam)
int16_t *	arLabeling (uint8_t image, int thresh, int label_num, int area, ARFloat pos, int clip, int label_ref)
int16_t *	arLabeling_ABGR (uint8_t image, int thresh, int label_num, int area, ARFloat pos, int clip, int label_ref)
int16_t *	arLabeling_BGR (uint8_t image, int thresh, int label_num, int area, ARFloat pos, int clip, int label_ref)
int16_t *	arLabeling_LUM (uint8_t image, int thresh, int label_num, int area, ARFloat pos, int clip, int label_ref)
int16_t *	arLabeling_RGB (uint8_t image, int thresh, int label_num, int area, ARFloat pos, int clip, int label_ref)
int16_t *	arLabeling_RGB565 (uint8_t image, int thresh, int label_num, int area, ARFloat pos, int clip, int label_ref)
ARFloat	arModifyMatrix (ARFloat rot[3][3], ARFloat trans[3], ARFloat cpara[3][4], ARFloat vertex[][3], ARFloat pos2d[][2], int num)
ARFloat	arModifyMatrix2 (ARFloat rot[3][3], ARFloat trans[3], ARFloat cpara[3][4], ARFloat vertex[][3], ARFloat pos2d[][2], int num)
int	arMultiActivate (ARMultiMarkerInfoT *config)
int	arMultiDeactivate (ARMultiMarkerInfoT *config)
int	bitfield_check_BCH (uint8_t data, int code, int dir, ARFloat cf, int thresh)
int	bitfield_check_simple (uint8_t data, int code, int dir, ARFloat cf, int thresh)
void	buildUndistO2ITable (Camera *pCam)
int	check_square (int area, ARMarkerInfo2 *marker_infoTWO, ARFloat factor)
void	checkImageBuffer ()
bool	checkPixelFormat ()
void	checkRGB565LUT ()
void	convertTransformationMatrixToOpenGLStyle (ARFloat para[3][4], ARFloat gl_para[16])
int	downsamplePattern (uint8_t data, unsigned char imgPtr)
void	gen_evec (void)
int	pattern_match (uint8_t data, int code, int dir, ARFloat cf)
void	setFittingMode (int nWhich)
int	verify_markers (ARMarkerInfo marker_info, int marker_num, ARMultiMarkerInfoT config)
Static Protected Member Functions
static int	arCameraDecomp (Camera source, Camera icpara, ARFloat trans[3][4])
static int	arCameraDecompMat (ARFloat source[3][4], ARFloat cpara[3][4], ARFloat trans[3][4])
static int	arCameraIdeal2Observ (Camera pCam, ARFloat ix, ARFloat iy, ARFloat ox, ARFloat *oy)
static int	arCameraObserv2Ideal (Camera pCam, ARFloat ox, ARFloat oy, ARFloat ix, ARFloat *iy)
static int	arMatrixPCA (ARMat input, ARMat evec, ARVec ev, ARVec mean)
static int	arMatrixPCA2 (ARMat input, ARMat evec, ARVec *ev)
static int	arUtilMatInv (ARFloat s[3][4], ARFloat d[3][4])
static int	arUtilMatMul (ARFloat s1[3][4], ARFloat s2[3][4], ARFloat d[3][4])
static bool	convertProjectionMatrixToOpenGLStyle (Camera *param, ARFloat gnear, ARFloat gfar, ARFloat m[16])
static bool	convertProjectionMatrixToOpenGLStyle2 (ARFloat cparam[3][4], int width, int height, ARFloat gnear, ARFloat gfar, ARFloat m[16])
Protected Attributes
Camera *	arCamera
ARPARAM_UNDIST_FUNC	arCameraObserv2Ideal_func
int	arFittingMode
int	arGetContour_wx [AR_CHAIN_MAX]
int	arGetContour_wy [AR_CHAIN_MAX]
uint8_t *	arImageL
int	arImageProcMode
int	arImXsize
int	arImYsize
int	arMatchingPCAMode
int	arTemplateMatchingMode
struct ARToolKitPlus::Tracker::AutoThreshold	autoThreshold
BCH *	bchProcessor
int	binaryMarkerThreshold
char *	descriptionString
unsigned short *	DIV_TABLE
ARFloat(*	epat )[4][EVEC_MAX]
ARFloat(*	epatBW )[4][EVEC_MAX]
std::vector< std::vector < ARFloat > >	evec
int	evec_dim
int	evec_dimBW
std::vector< std::vector < ARFloat > >	evecBW
int	evecBWf
int	evecf
ARFloat	gl_cpara [16]
ARFloat	gl_para [16]
MarkerPoint	hullInPoints [MAX_HULL_POINTS]
MarkerPoint	hullOutPoints [MAX_HULL_POINTS]
HULL_TRACKING_MODE	hullTrackingMode
int16_t *	l_imageL
int	l_imageL_size
int16_t *	l_imageR
bool	loadCachedUndist
ARMarkerInfo2 *	marker_info2
ARMarkerInfo *	marker_infoL
ARMarkerInfo2 *	marker_infoTWO
MARKER_MODE	markerMode
const int	MAX_IMAGE_PATTERNS
const int	MAX_LOAD_PATTERNS
std::vector< std::vector < std::vector< int > > >	pat
std::vector< std::vector < std::vector< int > > >	patBW
int *	patf
ARFloat(*	patpow )[4]
ARFloat(*	patpowBW )[4]
const int	PATTERN_HEIGHT
int	pattern_num
const int	PATTERN_SAMPLE_NUM
const int	PATTERN_WIDTH
PIXEL_FORMAT	pixelFormat
int	pixelSize
ARFloat	pos2d [P_MAX][2]
ARFloat	pos3d [P_MAX][3]
POSE_ESTIMATOR	poseEstimator
arPrevInfo *	prev_info
int	prev_num
ARFloat	relBorderWidth
unsigned char *	RGB565_to_LUM8_LUT
std::vector< std::vector < arPrevInfo > >	sprev_info
int	sprev_num [2]
int	thresh
CornerPoints	trackedCorners
UNDIST_MODE	undistMode
unsigned int *	undistO2ITable
struct {
int bottomtop
int corners
bool enabled
int leftright
}	vignetting
int *	wareaL
int *	wareaR
int *	wclipL
int *	wclipR
int	wlabel_numL
int	wlabel_numR
ARMarkerInfo *	wmarker_info
int	wmarker_num
int *	work2L
int *	work2R
const int	WORK_SIZE
int *	workL
int *	workR
ARFloat *	wposL
ARFloat *	wposR
Static Protected Attributes
static const int	LUM_TABLE_SIZE = 0xffff + 1
static int	screenHeight
static int	screenWidth

Detailed Description

Tracker is the vision core of ARToolKit. Almost all original ARToolKit methods are included here. Exceptions: matrix & vector.

Tracker includes all methods that are needed to create a basic ARToolKit application (e.g. the simple example from the original ARToolKit package)

Application developers should usually prefer using the more high level classes:

Definition at line 48 of file Tracker.h.

Member Typedef Documentation

typedef int(Tracker::* ARToolKitPlus::Tracker::ARPARAM_UNDIST_FUNC)(Camera *pCam, ARFloat ox, ARFloat oy, ARFloat *ix, ARFloat *iy) [protected]

Definition at line 407 of file Tracker.h.

typedef ARFloat(Tracker::* ARToolKitPlus::Tracker::MULTI_POSE_ESTIMATOR_FUNC)(ARMarkerInfo *marker_info, int marker_num, ARMultiMarkerInfoT *config) [protected]

Definition at line 411 of file Tracker.h.

typedef ARFloat(Tracker::* ARToolKitPlus::Tracker::POSE_ESTIMATOR_FUNC)(ARMarkerInfo *marker_info, ARFloat center[2], ARFloat width, ARFloat conv[3][4]) [protected]

Definition at line 409 of file Tracker.h.

Constructor & Destructor Documentation

ARToolKitPlus::Tracker::Tracker	(	int	imWidth,
		int	imHeight,
		int	maxImagePatterns = `8`,
		int	pattWidth = `6`,
		int	pattHeight = `6`,
		int	pattSamples = `6`,
		int	maxLoadPatterns = `0`
	)

virtual ARToolKitPlus::Tracker::~Tracker ( ) [virtual]

Member Function Documentation

virtual void ARToolKitPlus::Tracker::activateAutoThreshold ( bool nEnable ) [inline, virtual]

Turns automatic threshold calculation on/off.

Definition at line 192 of file Tracker.h.

virtual void ARToolKitPlus::Tracker::activateBinaryMarker ( int nThreshold ) [inline, virtual]

activates binary markers markers are converted to pure black/white during loading

Definition at line 100 of file Tracker.h.

virtual void ARToolKitPlus::Tracker::activateVignettingCompensation	(	bool	nEnable,
		int	nCorners = `0`,
		int	nLeftRight = `0`,
		int	nTopBottom = `0`
	)			`[virtual]`

activates the complensation of brightness falloff in the corners of the camera image some cameras have a falloff in brightness at the border of the image, which creates problems with thresholding the image. use this function to set a (linear) adapted threshold value. the threshold value will stay exactly the same at the center but will deviate near to the border. all values specify a difference, not absolute values! nCorners define the falloff a all four corners. nLeftRight defines the falloff at the half y-position at the left and right side of the image. nTopBottom defines the falloff at the half x-position at the top and bottom side of the image. all values between these 9 points (center, 4 corners, left, right, top, bottom) will be interpolated.

int ARToolKitPlus::Tracker::arActivatePatt ( int patno ) [protected]

static int ARToolKitPlus::Tracker::arCameraDecomp	(	Camera *	source,
		Camera *	icpara,
		ARFloat	trans[3][4]
	)			`[static, protected]`

static int ARToolKitPlus::Tracker::arCameraDecompMat	(	ARFloat	source[3][4],
		ARFloat	cpara[3][4],
		ARFloat	trans[3][4]
	)			`[static, protected]`

static int ARToolKitPlus::Tracker::arCameraIdeal2Observ	(	Camera *	pCam,
		ARFloat	ix,
		ARFloat	iy,
		ARFloat *	ox,
		ARFloat *	oy
	)			`[static, protected]`

int ARToolKitPlus::Tracker::arCameraIdeal2Observ_std	(	Camera *	pCam,
		ARFloat	ix,
		ARFloat	iy,
		ARFloat *	ox,
		ARFloat *	oy
	)			`[protected]`

static int ARToolKitPlus::Tracker::arCameraObserv2Ideal	(	Camera *	pCam,
		ARFloat	ox,
		ARFloat	oy,
		ARFloat *	ix,
		ARFloat *	iy
	)			`[static, protected]`

int ARToolKitPlus::Tracker::arCameraObserv2Ideal_LUT	(	Camera *	pCam,
		ARFloat	ox,
		ARFloat	oy,
		ARFloat *	ix,
		ARFloat *	iy
	)			`[protected]`

int ARToolKitPlus::Tracker::arCameraObserv2Ideal_none	(	Camera *	pCam,
		ARFloat	ox,
		ARFloat	oy,
		ARFloat *	ix,
		ARFloat *	iy
	)			`[protected]`

int ARToolKitPlus::Tracker::arCameraObserv2Ideal_std	(	Camera *	pCam,
		ARFloat	ox,
		ARFloat	oy,
		ARFloat *	ix,
		ARFloat *	iy
	)			`[protected]`

int ARToolKitPlus::Tracker::arDeactivatePatt ( int patno ) [protected]

virtual int ARToolKitPlus::Tracker::arDetectMarker	(	uint8_t *	dataPtr,
		int	thresh,
		ARMarkerInfo **	marker_info,
		int *	marker_num
	)			`[virtual]`

marker detection using tracking history

ARMarkerInfo2* ARToolKitPlus::Tracker::arDetectMarker2	(	int16_t *	limage,
		int	label_num,
		int *	label_ref,
		int *	warea,
		ARFloat *	wpos,
		int *	wclip,
		int	area_max,
		int	area_min,
		ARFloat	factor,
		int *	marker_num
	)			`[protected]`

virtual int ARToolKitPlus::Tracker::arDetectMarkerLite	(	uint8_t *	dataPtr,
		int	thresh,
		ARMarkerInfo **	marker_info,
		int *	marker_num
	)			`[virtual]`

marker detection without using tracking history

virtual int ARToolKitPlus::Tracker::arFreePatt ( int patno ) [virtual]

frees a pattern from memory

int ARToolKitPlus::Tracker::arGetAngle	(	ARFloat	rot[3][3],
		ARFloat *	wa,
		ARFloat *	wb,
		ARFloat *	wc
	)			`[protected]`

int ARToolKitPlus::Tracker::arGetCode	(	uint8_t *	image,
		int *	x_coord,
		int *	y_coord,
		int *	vertex,
		int *	code,
		int *	dir,
		ARFloat *	cf,
		int	thresh
	)			`[protected]`

int ARToolKitPlus::Tracker::arGetContour	(	int16_t *	limage,
		int *	label_ref,
		int	label,
		int	clip[4],
		ARMarkerInfo2 *	marker_infoTWO
	)			`[protected]`

int ARToolKitPlus::Tracker::arGetInitRot	(	ARMarkerInfo *	marker_info,
		ARFloat	cpara[3][4],
		ARFloat	rot[3][3]
	)			`[protected]`

int ARToolKitPlus::Tracker::arGetInitRot2	(	ARMarkerInfo *	marker_info,
		ARFloat	rot[3][3],
		ARFloat	center[2],
		ARFloat	width
	)			`[protected]`

int ARToolKitPlus::Tracker::arGetLine	(	int	x_coord[],
		int	y_coord[],
		int	vertex[],
		ARFloat	line[4][3],
		ARFloat	v[4][2]
	)			`[protected]`

ARMarkerInfo* ARToolKitPlus::Tracker::arGetMarkerInfo	(	uint8_t *	image,
		ARMarkerInfo2 *	marker_info2,
		int *	marker_num,
		int	thresh
	)			`[protected]`

int ARToolKitPlus::Tracker::arGetNewMatrix	(	ARFloat	a,
		ARFloat	b,
		ARFloat	c,
		ARFloat	trans[3],
		ARFloat	trans2[3][4],
		ARFloat	cpara[3][4],
		ARFloat	ret[3][4]
	)			`[protected]`

int ARToolKitPlus::Tracker::arGetPatt	(	uint8_t *	image,
		int *	x_coord,
		int *	y_coord,
		int *	vertex,
		uint8_t *	ext_pat
	)			`[protected]`

int ARToolKitPlus::Tracker::arGetRot	(	ARFloat	a,
		ARFloat	b,
		ARFloat	c,
		ARFloat	rot[3][3]
	)			`[protected]`

virtual ARFloat ARToolKitPlus::Tracker::arGetTransMat	(	ARMarkerInfo *	marker_info,
		ARFloat	center[2],
		ARFloat	width,
		ARFloat	conv[3][4]
	)			`[virtual]`

calculates the transformation matrix between camera and the given marker

ARFloat ARToolKitPlus::Tracker::arGetTransMat3	(	ARFloat	rot[3][3],
		ARFloat	ppos2d[][2],
		ARFloat	ppos3d[][2],
		int	num,
		ARFloat	conv[3][4],
		Camera *	pCam
	)			`[protected]`

ARFloat ARToolKitPlus::Tracker::arGetTransMat5	(	ARFloat	rot[3][3],
		ARFloat	ppos2d[][2],
		ARFloat	ppos3d[][3],
		int	num,
		ARFloat	conv[3][4],
		Camera *	pCam
	)			`[protected]`

virtual ARFloat ARToolKitPlus::Tracker::arGetTransMatCont	(	ARMarkerInfo *	marker_info,
		ARFloat	prev_conv[3][4],
		ARFloat	center[2],
		ARFloat	width,
		ARFloat	conv[3][4]
	)			`[virtual]`

ARFloat ARToolKitPlus::Tracker::arGetTransMatContSub	(	ARMarkerInfo *	marker_info,
		ARFloat	prev_conv[3][4],
		ARFloat	center[2],
		ARFloat	width,
		ARFloat	conv[3][4]
	)			`[protected]`

ARFloat ARToolKitPlus::Tracker::arGetTransMatSub	(	ARFloat	rot[3][3],
		ARFloat	ppos2d[][2],
		ARFloat	pos3d[][3],
		int	num,
		ARFloat	conv[3][4],
		Camera *	pCam
	)			`[protected]`

int ARToolKitPlus::Tracker::arInitCparam ( Camera * pCam ) [protected]

int16_t* ARToolKitPlus::Tracker::arLabeling	(	uint8_t *	image,
		int	thresh,
		int *	label_num,
		int **	area,
		ARFloat **	pos,
		int **	clip,
		int **	label_ref
	)			`[protected]`

int16_t* ARToolKitPlus::Tracker::arLabeling_ABGR	(	uint8_t *	image,
		int	thresh,
		int *	label_num,
		int **	area,
		ARFloat **	pos,
		int **	clip,
		int **	label_ref
	)			`[protected]`

int16_t* ARToolKitPlus::Tracker::arLabeling_BGR	(	uint8_t *	image,
		int	thresh,
		int *	label_num,
		int **	area,
		ARFloat **	pos,
		int **	clip,
		int **	label_ref
	)			`[protected]`

int16_t* ARToolKitPlus::Tracker::arLabeling_LUM	(	uint8_t *	image,
		int	thresh,
		int *	label_num,
		int **	area,
		ARFloat **	pos,
		int **	clip,
		int **	label_ref
	)			`[protected]`

int16_t* ARToolKitPlus::Tracker::arLabeling_RGB	(	uint8_t *	image,
		int	thresh,
		int *	label_num,
		int **	area,
		ARFloat **	pos,
		int **	clip,
		int **	label_ref
	)			`[protected]`

int16_t* ARToolKitPlus::Tracker::arLabeling_RGB565	(	uint8_t *	image,
		int	thresh,
		int *	label_num,
		int **	area,
		ARFloat **	pos,
		int **	clip,
		int **	label_ref
	)			`[protected]`

virtual int ARToolKitPlus::Tracker::arLoadPatt ( char * filename ) [virtual]

loads a pattern from a file

static int ARToolKitPlus::Tracker::arMatrixPCA	(	ARMat *	input,
		ARMat *	evec,
		ARVec *	ev,
		ARVec *	mean
	)			`[static, protected]`

static int ARToolKitPlus::Tracker::arMatrixPCA2	(	ARMat *	input,
		ARMat *	evec,
		ARVec *	ev
	)			`[static, protected]`

ARFloat ARToolKitPlus::Tracker::arModifyMatrix	(	ARFloat	rot[3][3],
		ARFloat	trans[3],
		ARFloat	cpara[3][4],
		ARFloat	vertex[][3],
		ARFloat	pos2d[][2],
		int	num
	)			`[protected]`

ARFloat ARToolKitPlus::Tracker::arModifyMatrix2	(	ARFloat	rot[3][3],
		ARFloat	trans[3],
		ARFloat	cpara[3][4],
		ARFloat	vertex[][3],
		ARFloat	pos2d[][2],
		int	num
	)			`[protected]`

int ARToolKitPlus::Tracker::arMultiActivate ( ARMultiMarkerInfoT * config ) [protected]

int ARToolKitPlus::Tracker::arMultiDeactivate ( ARMultiMarkerInfoT * config ) [protected]

virtual int ARToolKitPlus::Tracker::arMultiFreeConfig ( ARMultiMarkerInfoT * config ) [virtual]

virtual ARFloat ARToolKitPlus::Tracker::arMultiGetTransMat	(	ARMarkerInfo *	marker_info,
		int	marker_num,
		ARMultiMarkerInfoT *	config
	)			`[virtual]`

calculates the transformation matrix between camera and the given multi-marker config

virtual ARFloat ARToolKitPlus::Tracker::arMultiGetTransMatHull	(	ARMarkerInfo *	marker_info,
		int	marker_num,
		ARMultiMarkerInfoT *	config
	)			`[virtual]`

virtual ARMultiMarkerInfoT* ARToolKitPlus::Tracker::arMultiReadConfigFile ( const char * filename ) [virtual]

static int ARToolKitPlus::Tracker::arUtilMatInv	(	ARFloat	s[3][4],
		ARFloat	d[3][4]
	)			`[static, protected]`

static int ARToolKitPlus::Tracker::arUtilMatMul	(	ARFloat	s1[3][4],
		ARFloat	s2[3][4],
		ARFloat	d[3][4]
	)			`[static, protected]`

int ARToolKitPlus::Tracker::bitfield_check_BCH	(	uint8_t *	data,
		int *	code,
		int *	dir,
		ARFloat *	cf,
		int	thresh
	)			`[protected]`

int ARToolKitPlus::Tracker::bitfield_check_simple	(	uint8_t *	data,
		int *	code,
		int *	dir,
		ARFloat *	cf,
		int	thresh
	)			`[protected]`

void ARToolKitPlus::Tracker::buildUndistO2ITable ( Camera * pCam ) [protected]

static bool ARToolKitPlus::Tracker::calcCameraMatrix	(	const char *	nCamParamFile,
		ARFloat	nNear,
		ARFloat	nFar,
		ARFloat *	nMatrix
	)			`[static]`

Calculates the camera matrix from an ARToolKit camera file. This method retrieves the OpenGL projection matrix that is stored in an ARToolKit camera calibration file. Returns true if loading of the camera file succeeded.

virtual ARFloat ARToolKitPlus::Tracker::calcOpenGLMatrixFromMarker	(	ARMarkerInfo *	nMarkerInfo,
		ARFloat	nPatternCenter[2],
		ARFloat	nPatternSize,
		ARFloat *	nOpenGLMatrix
	)			`[virtual]`

Calculates the OpenGL transformation matrix for a specific marker info.

virtual void ARToolKitPlus::Tracker::changeCameraSize	(	int	nWidth,
		int	nHeight
	)			`[virtual]`

Changes the resolution of the camera after the camerafile was already loaded.

int ARToolKitPlus::Tracker::check_square	(	int	area,
		ARMarkerInfo2 *	marker_infoTWO,
		ARFloat	factor
	)			`[protected]`

void ARToolKitPlus::Tracker::checkImageBuffer ( ) [protected]

bool ARToolKitPlus::Tracker::checkPixelFormat ( ) [protected]

void ARToolKitPlus::Tracker::checkRGB565LUT ( ) [protected]

static bool ARToolKitPlus::Tracker::convertProjectionMatrixToOpenGLStyle	(	Camera *	param,
		ARFloat	gnear,
		ARFloat	gfar,
		ARFloat	m[16]
	)			`[static, protected]`

static bool ARToolKitPlus::Tracker::convertProjectionMatrixToOpenGLStyle2	(	ARFloat	cparam[3][4],
		int	width,
		int	height,
		ARFloat	gnear,
		ARFloat	gfar,
		ARFloat	m[16]
	)			`[static, protected]`

void ARToolKitPlus::Tracker::convertTransformationMatrixToOpenGLStyle	(	ARFloat	para[3][4],
		ARFloat	gl_para[16]
	)			`[protected]`

int ARToolKitPlus::Tracker::downsamplePattern	(	uint8_t *	data,
		unsigned char *	imgPtr
	)			`[protected]`

virtual ARFloat ARToolKitPlus::Tracker::executeMultiMarkerPoseEstimator	(	ARMarkerInfo *	marker_info,
		int	marker_num,
		ARMultiMarkerInfoT *	config
	)			`[virtual]`

Calls the pose estimator set with setPoseEstimator() for multi marker tracking.

virtual ARFloat ARToolKitPlus::Tracker::executeSingleMarkerPoseEstimator	(	ARMarkerInfo *	marker_info,
		ARFloat	center[2],
		ARFloat	width,
		ARFloat	conv[3][4]
	)			`[virtual]`

Calls the pose estimator set with setPoseEstimator() for single marker tracking.

void ARToolKitPlus::Tracker::gen_evec ( void ) [protected]

virtual int ARToolKitPlus::Tracker::getBitsPerPixel ( ) const [inline, virtual]

Returns the numbber of bits per pixel for the compiled-in pixel format.

Definition at line 241 of file Tracker.h.

virtual Camera* ARToolKitPlus::Tracker::getCamera ( ) [inline, virtual]

Returns the current camera.

Definition at line 255 of file Tracker.h.

virtual const ARFloat* ARToolKitPlus::Tracker::getModelViewMatrix ( ) const [inline, virtual]

Returns an opengl-style modelview transformation matrix.

Definition at line 226 of file Tracker.h.

virtual int ARToolKitPlus::Tracker::getNumLoadablePatterns ( ) const [inline, virtual]

Returns the maximum number of patterns that can be loaded This maximum number of loadable patterns can be set via the maxLoadPatterns parameter

Definition at line 250 of file Tracker.h.

virtual PIXEL_FORMAT ARToolKitPlus::Tracker::getPixelFormat ( ) const [inline, virtual]

Returns the compiled-in pixel format.

Definition at line 236 of file Tracker.h.

virtual const ARFloat* ARToolKitPlus::Tracker::getProjectionMatrix ( ) const [inline, virtual]

Returns an opengl-style projection transformation matrix.

Definition at line 231 of file Tracker.h.

virtual int ARToolKitPlus::Tracker::getThreshold ( ) const [inline, virtual]

Returns the current threshold value.

Definition at line 187 of file Tracker.h.

virtual const CornerPoints& ARToolKitPlus::Tracker::getTrackedCorners ( ) const [inline, virtual]

Definition at line 281 of file Tracker.h.

virtual bool ARToolKitPlus::Tracker::isAutoThresholdActivated ( ) const [inline, virtual]

Returns true if automatic threshold detection is enabled.

Definition at line 197 of file Tracker.h.

virtual bool ARToolKitPlus::Tracker::loadCameraFile	(	const char *	nCamParamFile,
		ARFloat	nNearClip,
		ARFloat	nFarClip
	)			`[virtual]`

Loads a camera calibration file and stores data internally To prevent memory leaks, this method internally deletes an existing camera. If you want to use more than one camera, retrieve the existing camera using getCamera() and call setCamera(NULL); before loading another camera file. On destruction, ARToolKitPlus will only destroy the currently set camera. All other cameras have to be destroyed manually.

int ARToolKitPlus::Tracker::pattern_match	(	uint8_t *	data,
		int *	code,
		int *	dir,
		ARFloat *	cf
	)			`[protected]`

virtual ARFloat ARToolKitPlus::Tracker::rppGetTransMat	(	ARMarkerInfo *	marker_info,
		ARFloat	center[2],
		ARFloat	width,
		ARFloat	conv[3][4]
	)			`[virtual]`

virtual ARFloat ARToolKitPlus::Tracker::rppMultiGetTransMat	(	ARMarkerInfo *	marker_info,
		int	marker_num,
		ARMultiMarkerInfoT *	config
	)			`[virtual]`

virtual void ARToolKitPlus::Tracker::setBorderWidth ( ARFloat nFraction ) [inline, virtual]

Sets a new relative border width. ARToolKit's default value is 0.25 Take caution that the markers need of course really have thiner borders. Values other than 0.25 have not been tested for regular pattern-based matching, but only for id-encoded markers. It might be that the pattern creation process needs to be updated too.

Definition at line 177 of file Tracker.h.

virtual void ARToolKitPlus::Tracker::setCamera	(	Camera *	nCamera,
		ARFloat	nNearClip,
		ARFloat	nFarClip
	)			`[virtual]`

Sets a new camera including specifying new near and far clip values.

virtual void ARToolKitPlus::Tracker::setCamera ( Camera * nCamera ) [virtual]

Sets a new camera without specifying new near and far clip values.

void ARToolKitPlus::Tracker::setFittingMode ( int nWhich ) [inline, protected]

Definition at line 419 of file Tracker.h.

virtual void ARToolKitPlus::Tracker::setHullMode ( HULL_TRACKING_MODE nMode ) [inline, virtual]

If true the alternative hull-algorithm will be used for multi-marker tracking Starting with version 2.2 ARToolKitPlus has a new mode for tracking multi-markers: Instead of using all points (as done by RPP multi-marker tracking) or tracking all markers independently and combine lateron (as done in ARToolKit's standard multi-marker pose estimator), ARToolKitPlus can now use only 4 'good' points of the convex hull to do the pose estimation. If the pose estimator is set to RPP then RPP will be used to track those 4 points. Otherwise, ARToolKit's standard single-marker pose estimator will be used to track the pose of these 4 points.

Definition at line 166 of file Tracker.h.

virtual void ARToolKitPlus::Tracker::setImageProcessingMode ( IMAGE_PROC_MODE nMode ) [inline, virtual]

Sets an image processing mode (half or full resolution) Half resolution is faster but less accurate. When using full resolution smaller markers will be detected at a higher accuracy (or even detected at all).

Definition at line 221 of file Tracker.h.

virtual void ARToolKitPlus::Tracker::setLoadUndistLUT ( bool nSet ) [inline, virtual]

Set to true to try loading camera undistortion table from a cache file On slow platforms (e.g. Smartphone) creation of the undistortion lookup-table can take quite a while. Consequently caching will speedup the start phase. If set to true and no cache file could be found a new one will be created. The cache file will get the same name as the camera file with the added extension '.LUT'

Definition at line 61 of file Tracker.h.

virtual void ARToolKitPlus::Tracker::setMarkerMode ( MARKER_MODE nMarkerMode ) [virtual]

activate the usage of id-based markers rather than template based markers Template markers are the classic marker type used in ARToolKit. Id-based markers directly encode the marker id in the image. Simple markers use 3-times redundancy to increase robustness, while BCH markers use an advanced CRC algorithm to detect and repair marker damages. See arBitFieldPattern.h for more information. In order to use id-based markers, the marker size has to be 6x6, 12x12 or 18x18.

virtual void ARToolKitPlus::Tracker::setNumAutoThresholdRetries ( int nNumRetries ) [inline, virtual]

Sets the number of times the threshold is randomized in case no marker was visible (Minimum: 1, Default: 2) Autothreshold requires a visible marker to estime the optimal thresholding value. If no marker is visible ARToolKitPlus randomizes the thresholding value until a marker is found. This function sets the number of times ARToolKitPlus will randomize the threshold value and research for a marker per calc() invokation until it gives up. A value of 2 means that ARToolKitPlus will analyze the image a second time with an other treshold value if it does not find a marker the first time. Each unsuccessful try uses less processing power than a single full successful position estimation.

Definition at line 211 of file Tracker.h.

virtual bool ARToolKitPlus::Tracker::setPixelFormat ( PIXEL_FORMAT nFormat ) [virtual]

Sets the pixel format of the camera image Default format is RGB888 (PIXEL_FORMAT_RGB)

virtual bool ARToolKitPlus::Tracker::setPoseEstimator ( POSE_ESTIMATOR nMethod ) [virtual]

Changes the Pose Estimation Algorithm POSE_ESTIMATOR_ORIGINAL (default): arGetTransMat() POSE_ESTIMATOR_CONT: original pose estimator with "Cont" POSE_ESTIMATOR_RPP: "Robust Pose Estimation from a Planar Target"

virtual void ARToolKitPlus::Tracker::setThreshold ( int nValue ) [inline, virtual]

Sets the threshold value that is used for black/white conversion.

Definition at line 182 of file Tracker.h.

virtual void ARToolKitPlus::Tracker::setUndistortionMode ( UNDIST_MODE nMode ) [virtual]

Changes the undistortion mode Default value is UNDIST_STD which means that artoolkit's standard undistortion method is used.