| ARX 1.0 The next-generation open source augmented reality toolkit.

Loading...
Searching...
No Matches
ARTracker2d.h
Go to the documentation of this file.
1/*
2 * ARTracker2d.h
3 * artoolkitX
4 *
5 * A C++ class implementing the artoolkitX 2d fiducial marker tracker.
6 *
7 * This file is part of artoolkitX.
8 *
9 * artoolkitX is free software: you can redistribute it and/or modify
10 * it under the terms of the GNU Lesser General Public License as published by
11 * the Free Software Foundation, either version 3 of the License, or
12 * (at your option) any later version.
13 *
14 * artoolkitX is distributed in the hope that it will be useful,
15 * but WITHOUT ANY WARRANTY; without even the implied warranty of
16 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
17 * GNU Lesser General Public License for more details.
18 *
19 * You should have received a copy of the GNU Lesser General Public License
20 * along with artoolkitX. If not, see <http://www.gnu.org/licenses/>.
21 *
22 * As a special exception, the copyright holders of this library give you
23 * permission to link this library with independent modules to produce an
24 * executable, regardless of the license terms of these independent modules, and to
25 * copy and distribute the resulting executable under terms of your choice,
26 * provided that you also meet, for each linked independent module, the terms and
27 * conditions of the license of that module. An independent module is a module
28 * which is neither derived from nor based on this library. If you modify this
29 * library, you may extend this exception to your version of the library, but you
30 * are not obligated to do so. If you do not wish to do so, delete this exception
31 * statement from your version.
32 *
33 * Copyright 2018 Realmax, Inc.
34 * Copyright 2015 Daqri, LLC.
35 * Copyright 2010-2015 ARToolworks, Inc.
36 *
37 * Author(s): Philip Lamb, Julian Looser.
38 *
39 */
40
41
42#ifndef ARTRACKER2D_H
43#define ARTRACKER2D_H
44
45#include <ARX/AR/config.h>
46#if HAVE_2D
47
48#include <ARX/ARTrackable2d.h>
49#include <ARX/ARTrackerVideo.h>
50#include <ARX/AR2/tracking.h>
51#include <ARX/OCVT/PlanarTracker.h>
52
53 class ARTracker2d : public ARTrackerVideo {
54 public:
55 ARTracker2d();
56 ~ARTracker2d();
57
58 ARTrackerType type() const override {
59 return ARTrackerType::TEXTURE2D_FIDUCIAL;
60 }
61
62 std::vector<std::string> trackableConfigurations() const override {
63 std::vector<std::string> sv;
64 sv.push_back("2d");
65 return sv;
66 }
67
68 bool initialize() override;
69
70 void setMaxMarkersToTrack(int maximumNumberOfMarkersToTrack);
71 int getMaxMarkersToTrack() const;
72
73 bool start(ARParamLT *paramLT, AR_PIXEL_FORMAT pixelFormat) override;
74 bool start(ARParamLT *paramLT0, AR_PIXEL_FORMAT pixelFormat0, ARParamLT *paramLT1, AR_PIXEL_FORMAT pixelFormat1, const ARdouble transL2R[3][4]) override;
75 bool isRunning() override;
76 bool wantsUpdate() override;
77 bool update(AR2VideoBufferT *buff) override;
78 bool update(AR2VideoBufferT *buff0, AR2VideoBufferT *buff1) override;
79 bool stop() override;
80 void terminate() override;
81
82 int newTrackable(std::vector<std::string> config) override;
83 unsigned int countTrackables() override;
84 std::shared_ptr<ARTrackable> getTrackable(int UID) override;
85 std::vector<std::shared_ptr<ARTrackable>> getAllTrackables() override;
86 bool deleteTrackable(int UID) override;
87 void deleteAllTrackables() override;
88
89 bool loadImageDatabase(std::string filename);
90 bool saveImageDatabase(std::string filename);
91
92 void setDetectorType(int detectorType);
93 int getDetectorType(void);
94
95 bool threaded(void) const;
96 void setThreaded(bool threaded);
97
98 private:
99
100 AR_PIXEL_FORMAT m_pixelFormat;
101 int m_sizeX;
102 int m_sizeY;
103
104 std::vector<std::shared_ptr<ARTrackable>> m_trackables;
105 bool m_videoSourceIsStereo;
106 bool m_2DTrackerDataLoaded;
107 int m_2DTrackerDetectedImageCount;
108 std::shared_ptr<PlanarTracker> m_2DTracker;
109 // 2d data.
110 ARdouble m_transL2R[3][4];
111
112 bool m_running;
113 bool unloadTwoDData();
114 bool loadTwoDData();
115 void updateTrackablesFromTracker();
116 int m_pageCount;
117
118 bool m_threaded;
119 THREAD_HANDLE_T *m_trackingThread;
120 static void *trackingWorker(THREAD_HANDLE_T *threadHandle);
121 ARUint8 *m_trackingBuffcopy;
122};
123
124#endif // HAVE_2D
125#endif // !ARTRACKER2D_H
126
ARTrackable2d.h
ARTrackerType
ARTrackerType
Definition: ARTracker.h:51
ARTrackerVideo.h
PlanarTracker.h
ARUint8
unsigned char ARUint8
Definition: ar.h:92
ARdouble
double ARdouble
Definition: ar.h:99
ARTracker::wantsUpdate
virtual bool wantsUpdate()=0
ARTracker::newTrackable
virtual int newTrackable(std::vector< std::string > config)=0
ARTrackable factory method.
ARTracker::isRunning
virtual bool isRunning()=0
ARTracker::deleteAllTrackables
virtual void deleteAllTrackables()=0
ARTracker::trackableConfigurations
virtual std::vector< std::string > trackableConfigurations() const =0
ARTracker::getAllTrackables
virtual std::vector< std::shared_ptr< ARTrackable > > getAllTrackables()=0
ARTracker::stop
virtual bool stop()=0
ARTracker::deleteTrackable
virtual bool deleteTrackable(int UID)=0
Removes the trackable with UID uid, if held by this tracker.
ARTracker::getTrackable
virtual std::shared_ptr< ARTrackable > getTrackable(int UID)=0
ARTracker::terminate
virtual void terminate()=0
ARTracker::countTrackables
virtual unsigned int countTrackables()=0
ARTracker::type
virtual ARTrackerType type() const =0
ARTracker::initialize
virtual bool initialize()=0
ARTrackerVideo
Definition: ARTrackerVideo.h:49
_THREAD_HANDLE_T
Definition: thread_sub.c:78
AR2VideoBufferT
A structure which carries information about a video frame retrieved by the video library.
Definition: ar.h:148
ARParamLT
Structure holding camera parameters, in lookup table form.
Definition: param.h:151
tracking.h