ARTrackableMultiSquareAuto Class Reference

An ARTrackable that auto-builds a map of matrix (2D barcode) markers. More...

#include <ARTrackableMultiSquareAuto.h>

Inheritance diagram for ARTrackableMultiSquareAuto:

Collaboration diagram for ARTrackableMultiSquareAuto:

Public Member Functions
	ARTrackableMultiSquareAuto ()
	~ARTrackableMultiSquareAuto ()
bool	initWithOriginMarkerUID (int originMarkerUID, ARdouble markerWidth)
bool	updateWithDetectedMarkers (ARMarkerInfo *markerInfo, int markerNum, int videoWidth, int videoHeight, AR3DHandle *ar3DHandle)
	Updates the marker with new tracking info.
bool	updateWithDetectedMarkersStereo (ARMarkerInfo *markerInfoL, int markerNumL, int videoWidthL, int videoHeightL, ARMarkerInfo *markerInfoR, int markerNumR, int videoWidthR, int videoHeightR, AR3DStereoHandle *handle, ARdouble transL2R[3][4])
ARMultiMarkerInfoT *	copyMultiConfig ()
	Make a copy of the multi config.
int	getPatternCount () override
std::pair< float, float >	getPatternSize (int patternIndex) override
std::pair< int, int >	getPatternImageSize (int patternIndex, AR_MATRIX_CODE_TYPE matrixCodeType) override
bool	getPatternTransform (int patternIndex, ARdouble T[16]) override
	Get the transform, relative to this trackable's origin, of this pattern.
bool	getPatternImage (int patternIndex, uint32_t *pattImageBuffer, AR_MATRIX_CODE_TYPE matrixCodeType) override
Public Member Functions inherited from ARTrackable
	ARTrackable (TrackableType type)
	Constructor takes the type of this trackable.
	ARTrackable (const ARTrackable &)=delete
	Copy construction is undefined.
ARTrackable &	operator= (const ARTrackable &)=delete
	Copy assignment is undefined.
virtual	~ARTrackable ()
void	setPositionScalefactor (ARdouble scale)
ARdouble	positionScalefactor ()
virtual bool	update (const ARdouble transL2R[3][4]=NULL)
	Completes an update begun in the parent class, performing filtering, generating OpenGL view matrix and notifying listeners (just a log message at the moment).
virtual int	getPatternCount ()=0
virtual std::pair< float, float >	getPatternSize (int patternIndex)=0
virtual std::pair< int, int >	getPatternImageSize (int patternIndex, AR_MATRIX_CODE_TYPE matrixCodeType)=0
virtual bool	getPatternTransform (int patternIndex, ARdouble T[16])=0
	Get the transform, relative to this trackable's origin, of this pattern.
virtual bool	getPatternImage (int patternIndex, uint32_t *pattImageBuffer, AR_MATRIX_CODE_TYPE matrixCodeType)=0
void	setFiltered (bool flag)
bool	isFiltered ()
ARdouble	filterSampleRate ()
void	setFilterSampleRate (ARdouble rate)
ARdouble	filterCutoffFrequency ()
void	setFilterCutoffFrequency (ARdouble freq)

Public Attributes
ARdouble	m_ImageBorderZone = 0.2f
	The proportion of the image width/height to consider as an "border" zone in which markers are not to be detected. Set to 0.0f to allow markers to appear anywhere in the image.
bool	m_robustFlag = true
	Flag specifying which pose estimation approach to use.
ARdouble	m_maxErr = 4.0f
	The maximum allowable pose estimate error.
Public Attributes inherited from ARTrackable
int	UID
	Internal unique ID (note: not the same as artoolkitX pattern ID)
TrackableType	type
	Type of trackable: single, multi, ...
bool	visiblePrev
	Whether or not the trackable was visible prior to last update.
bool	visible
	Whether or not the trackable is visible at current time.
ARdouble	transformationMatrix [16]
	Transformation suitable for use in OpenGL.
ARdouble	transformationMatrixR [16]
	Transformation suitable for use in OpenGL.

Additional Inherited Members
Public Types inherited from ARTrackable
enum	TrackableType {   SINGLE , MULTI , NFT , TwoD ,   MULTI_AUTO }
Static Public Attributes inherited from ARTrackable
static const int	NO_ID = -1
	Value of UID that indicates no ID.
Protected Attributes inherited from ARTrackable
ARdouble	trans [3][4]
	Transformation from camera to this trackable. If stereo, transform from left camera to this trackable.
ARdouble	m_positionScaleFactor
Static Protected Attributes inherited from ARTrackable
static std::atomic< int >	nextUID {0}

Detailed Description

An ARTrackable that auto-builds a map of matrix (2D barcode) markers.

Constructor & Destructor Documentation

ARTrackableMultiSquareAuto()

ARTrackableMultiSquareAuto::ARTrackableMultiSquareAuto

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~ARTrackableMultiSquareAuto()

ARTrackableMultiSquareAuto::~ARTrackableMultiSquareAuto

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Member Function Documentation

copyMultiConfig()

ARMultiMarkerInfoT * ARTrackableMultiSquareAuto::copyMultiConfig

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Make a copy of the multi config.

Caller must call arMultiFreeConfig() on the returned value when done.

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getPatternCount()

int ARTrackableMultiSquareAuto::getPatternCount ( )

overridevirtual

Implements ARTrackable.

getPatternImage()

bool ARTrackableMultiSquareAuto::getPatternImage ( int  patternIndex, uint32_t *  pattImageBuffer, AR_MATRIX_CODE_TYPE  matrixCodeType  )

overridevirtual

Implements ARTrackable.

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getPatternImageSize()

std::pair< int, int > ARTrackableMultiSquareAuto::getPatternImageSize ( int  patternIndex, AR_MATRIX_CODE_TYPE  matrixCodeType  )

overridevirtual

Implements ARTrackable.

getPatternSize()

std::pair< float, float > ARTrackableMultiSquareAuto::getPatternSize ( int  patternIndex )

overridevirtual

Implements ARTrackable.

getPatternTransform()

bool ARTrackableMultiSquareAuto::getPatternTransform ( int  patternIndex, ARdouble  T[16]  )

overridevirtual

Get the transform, relative to this trackable's origin, of this pattern.

Fills T with the transform in column-major (OpenGL) order.

Implements ARTrackable.

initWithOriginMarkerUID()

bool ARTrackableMultiSquareAuto::initWithOriginMarkerUID	(	int	originMarkerUID,
		ARdouble	markerWidth
	)

updateWithDetectedMarkers()

bool ARTrackableMultiSquareAuto::updateWithDetectedMarkers	(	ARMarkerInfo *	markerInfo,
		int	markerNum,
		int	videoWidth,
		int	videoHeight,
		AR3DHandle *	ar3DHandle
	)

Updates the marker with new tracking info.

Then calls ARTrackable::update()

Parameters

markerInfo	Array containing detected marker information
markerNum	Number of items in the array
ar3DHandle	AR3DHandle used to extract marker pose.

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updateWithDetectedMarkersStereo()

bool ARTrackableMultiSquareAuto::updateWithDetectedMarkersStereo	(	ARMarkerInfo *	markerInfoL,
		int	markerNumL,
		int	videoWidthL,
		int	videoHeightL,
		ARMarkerInfo *	markerInfoR,
		int	markerNumR,
		int	videoWidthR,
		int	videoHeightR,
		AR3DStereoHandle *	handle,
		ARdouble	transL2R[3][4]
	)

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Member Data Documentation

m_ImageBorderZone

ARdouble ARTrackableMultiSquareAuto::m_ImageBorderZone = 0.2f

The proportion of the image width/height to consider as an "border" zone in which markers are not to be detected. Set to 0.0f to allow markers to appear anywhere in the image.

m_maxErr

ARdouble ARTrackableMultiSquareAuto::m_maxErr = 4.0f

The maximum allowable pose estimate error.

m_robustFlag

bool ARTrackableMultiSquareAuto::m_robustFlag = true

Flag specifying which pose estimation approach to use.

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The documentation for this class was generated from the following files:

• Source/ARX/include/ARX/ARTrackableMultiSquareAuto.h
• Source/ARX/ARTrackableMultiSquareAuto.cpp