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| TrackerMultiMarker (int imWidth, int imHeight, int maxImagePatterns=8, int pattWidth=6, int pattHeight=6, int pattSamples=6, int maxLoadPatterns=0) |
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virtual bool | init (const char *const nCamParamFile, const char *const nMultiFile, ARFloat nNearClip, ARFloat nFarClip) |
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virtual int | calc (const uint8_t *nImage) |
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virtual void | setUseDetectLite (bool nEnable) |
| Enables usage of arDetectMarkerLite. Otherwise arDetectMarker is used.
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virtual void | getDetectedMarkers (int *&nMarkerIDs) |
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virtual const ARMultiMarkerInfoT * | getMultiMarkerConfig () const |
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virtual void | getARMatrix (ARFloat nMatrix[3][4]) const |
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virtual bool | setPixelFormat (PIXEL_FORMAT nFormat) |
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virtual bool | loadCameraFile (const char *nCamParamFile, ARFloat nNearClip, ARFloat nFarClip) |
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virtual void | setLoadUndistLUT (bool nSet) |
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virtual int | arDetectMarker (const uint8_t *dataPtr, int thresh, ARMarkerInfo **marker_info, int *marker_num) |
| marker detection using tracking history
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virtual int | arDetectMarkerLite (const uint8_t *dataPtr, int thresh, ARMarkerInfo **marker_info, int *marker_num) |
| marker detection without using tracking history
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virtual ARFloat | arMultiGetTransMat (ARMarkerInfo *marker_info, int marker_num, ARMultiMarkerInfoT *config) |
| calculates the transformation matrix between camera and the given multi-marker config
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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
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virtual int | arLoadPatt (char *filename) |
| loads a pattern from a file
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virtual int | arFreePatt (int patno) |
| frees a pattern from memory
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virtual void | activateBinaryMarker (int nThreshold) |
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virtual void | setMarkerMode (MARKER_MODE nMarkerMode) |
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virtual void | activateVignettingCompensation (bool nEnable, int nCorners=0, int nLeftRight=0, int nTopBottom=0) |
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virtual void | changeCameraSize (int nWidth, int nHeight) |
| Changes the resolution of the camera after the camerafile was already loaded.
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virtual void | setUndistortionMode (UNDIST_MODE nMode) |
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virtual bool | setPoseEstimator (POSE_ESTIMATOR nMethod) |
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virtual void | setHullMode (HULL_TRACKING_MODE nMode) |
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virtual void | setBorderWidth (ARFloat nFraction) |
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virtual void | setThreshold (int nValue) |
| Sets the threshold value that is used for black/white conversion.
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virtual int | getThreshold () const |
| Returns the current threshold value.
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virtual void | activateAutoThreshold (bool nEnable) |
| Turns automatic threshold calculation on/off.
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virtual bool | isAutoThresholdActivated () const |
| Returns true if automatic threshold detection is enabled.
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virtual void | setNumAutoThresholdRetries (int nNumRetries) |
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virtual void | setImageProcessingMode (IMAGE_PROC_MODE nMode) |
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virtual const ARFloat * | getModelViewMatrix () const |
| Returns an opengl-style modelview transformation matrix.
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virtual const ARFloat * | getProjectionMatrix () const |
| Returns an opengl-style projection transformation matrix.
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virtual PIXEL_FORMAT | getPixelFormat () const |
| Returns the compiled-in pixel format.
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virtual int | getBitsPerPixel () const |
| Returns the numbber of bits per pixel for the compiled-in pixel format.
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virtual int | getNumLoadablePatterns () const |
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virtual Camera * | getCamera () |
| Returns the current camera.
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virtual void | setCamera (Camera *nCamera) |
| Sets a new camera without specifying new near and far clip values.
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virtual void | setCamera (Camera *nCamera, ARFloat nNearClip, ARFloat nFarClip) |
| Sets a new camera including specifying new near and far clip values.
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virtual ARFloat | calcOpenGLMatrixFromMarker (ARMarkerInfo *nMarkerInfo, ARFloat nPatternCenter[2], ARFloat nPatternSize, ARFloat *nOpenGLMatrix) |
| Calculates the OpenGL transformation matrix for a specific marker info.
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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.
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virtual ARFloat | executeMultiMarkerPoseEstimator (ARMarkerInfo *marker_info, int marker_num, ARMultiMarkerInfoT *config) |
| Calls the pose estimator set with setPoseEstimator() for multi marker tracking.
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Defines a simple interface for multi-marker tracking with ARToolKitPlus ARToolKit::TrackerMultiMarker provides all methods to access ARToolKit for multi marker tracking without needing to mess around with it directly.
Per default the tracker searches for Id-based markers with normal border and uses the RPP algorithm for pose estimation. Furthermore it uses only 4 'good' points of the convex hull to do the pose estimation. You can override this using the according methods.