org.bytedeco.artoolkitplus

Class Tracker

java.lang.Object

org.bytedeco.javacpp.Pointer

org.bytedeco.artoolkitplus.Tracker

All Implemented Interfaces:

AutoCloseable

Direct Known Subclasses:

TrackerMultiMarker, TrackerSingleMarker

@Namespace(value="ARToolKitPlus")
 @NoOffset
 @Properties(inherit=ARToolKitPlus.class)
public class Tracker
extends Pointer

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: - TrackerSingleMarker - TrackerMultiMarker

Nested Class Summary

Nested classes/interfaces inherited from class org.bytedeco.javacpp.Pointer

Pointer.CustomDeallocator, Pointer.Deallocator, Pointer.NativeDeallocator, Pointer.ReferenceCounter

Field Summary

Fields inherited from class org.bytedeco.javacpp.Pointer

address, capacity, limit, position

Constructor Summary

Constructors

Constructor and Description
Tracker(int imWidth, int imHeight)
Tracker(int imWidth, int imHeight, int maxImagePatterns, int pattWidth, int pattHeight, int pattSamples, int maxLoadPatterns)
Tracker(Pointer p) Pointer cast constructor.

Method Summary

Modifier and Type	Method and Description
void	activateAutoThreshold(boolean nEnable) Turns automatic threshold calculation on/off
void	activateBinaryMarker(int nThreshold) activates binary markers markers are converted to pure black/white during loading
void	activateVignettingCompensation(boolean nEnable)
void	activateVignettingCompensation(boolean nEnable, int nCorners, int nLeftRight, int nTopBottom) 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.
int	arDetectMarker(byte[] dataPtr, int thresh, ARMarkerInfo marker_info, int[] marker_num)
int	arDetectMarker(ByteBuffer dataPtr, int thresh, ARMarkerInfo marker_info, IntBuffer marker_num)
int	arDetectMarker(BytePointer dataPtr, int thresh, ARMarkerInfo marker_info, IntPointer marker_num)
int	arDetectMarker(BytePointer dataPtr, int thresh, PointerPointer marker_info, IntPointer marker_num) marker detection using tracking history
int	arDetectMarkerLite(byte[] dataPtr, int thresh, ARMarkerInfo marker_info, int[] marker_num)
int	arDetectMarkerLite(ByteBuffer dataPtr, int thresh, ARMarkerInfo marker_info, IntBuffer marker_num)
int	arDetectMarkerLite(BytePointer dataPtr, int thresh, ARMarkerInfo marker_info, IntPointer marker_num)
int	arDetectMarkerLite(BytePointer dataPtr, int thresh, PointerPointer marker_info, IntPointer marker_num) marker detection without using tracking history
int	arFreePatt(int patno) frees a pattern from memory
float	arGetTransMat(ARMarkerInfo marker_info, float[] center, float width, float[] conv)
float	arGetTransMat(ARMarkerInfo marker_info, FloatBuffer center, float width, FloatBuffer conv)
float	arGetTransMat(ARMarkerInfo marker_info, FloatPointer center, float width, FloatPointer conv) calculates the transformation matrix between camera and the given marker
float	arGetTransMatCont(ARMarkerInfo marker_info, float[] prev_conv, float[] center, float width, float[] conv)
float	arGetTransMatCont(ARMarkerInfo marker_info, FloatBuffer prev_conv, FloatBuffer center, float width, FloatBuffer conv)
float	arGetTransMatCont(ARMarkerInfo marker_info, FloatPointer prev_conv, FloatPointer center, float width, FloatPointer conv)
int	arLoadPatt(byte[] filename)
int	arLoadPatt(ByteBuffer filename)
int	arLoadPatt(BytePointer filename) loads a pattern from a file
int	arMultiFreeConfig(ARMultiMarkerInfoT config)
float	arMultiGetTransMat(ARMarkerInfo marker_info, int marker_num, ARMultiMarkerInfoT config) calculates the transformation matrix between camera and the given multi-marker config
float	arMultiGetTransMatHull(ARMarkerInfo marker_info, int marker_num, ARMultiMarkerInfoT config)
ARMultiMarkerInfoT	arMultiReadConfigFile(BytePointer filename)
ARMultiMarkerInfoT	arMultiReadConfigFile(String filename)
static boolean	calcCameraMatrix(BytePointer nCamParamFile, float nNear, float nFar, float[] nMatrix)
static boolean	calcCameraMatrix(BytePointer nCamParamFile, float nNear, float nFar, FloatBuffer nMatrix)
static boolean	calcCameraMatrix(BytePointer nCamParamFile, float nNear, float nFar, FloatPointer nMatrix) Calculates the camera matrix from an ARToolKit camera file.
static boolean	calcCameraMatrix(String nCamParamFile, float nNear, float nFar, float[] nMatrix)
static boolean	calcCameraMatrix(String nCamParamFile, float nNear, float nFar, FloatBuffer nMatrix)
static boolean	calcCameraMatrix(String nCamParamFile, float nNear, float nFar, FloatPointer nMatrix)
float	calcOpenGLMatrixFromMarker(ARMarkerInfo nMarkerInfo, float[] nPatternCenter, float nPatternSize, float[] nOpenGLMatrix)
float	calcOpenGLMatrixFromMarker(ARMarkerInfo nMarkerInfo, FloatBuffer nPatternCenter, float nPatternSize, FloatBuffer nOpenGLMatrix)
float	calcOpenGLMatrixFromMarker(ARMarkerInfo nMarkerInfo, FloatPointer nPatternCenter, float nPatternSize, FloatPointer nOpenGLMatrix) Calculates the OpenGL transformation matrix for a specific marker info
void	changeCameraSize(int nWidth, int nHeight) Changes the resolution of the camera after the camerafile was already loaded
float	executeMultiMarkerPoseEstimator(ARMarkerInfo marker_info, int marker_num, ARMultiMarkerInfoT config) Calls the pose estimator set with setPoseEstimator() for multi marker tracking
float	executeSingleMarkerPoseEstimator(ARMarkerInfo marker_info, float[] center, float width, float[] conv)
float	executeSingleMarkerPoseEstimator(ARMarkerInfo marker_info, FloatBuffer center, float width, FloatBuffer conv)
float	executeSingleMarkerPoseEstimator(ARMarkerInfo marker_info, FloatPointer center, float width, FloatPointer conv) Calls the pose estimator set with setPoseEstimator() for single marker tracking
int	getBitsPerPixel() Returns the numbber of bits per pixel for the compiled-in pixel format
Camera	getCamera() Returns the current camera
FloatPointer	getModelViewMatrix() Returns an opengl-style modelview transformation matrix
int	getNumLoadablePatterns() Returns the maximum number of patterns that can be loaded This maximum number of loadable patterns can be set via the maxLoadPatterns parameter
int	getPixelFormat() Returns the compiled-in pixel format
FloatPointer	getProjectionMatrix() Returns an opengl-style projection transformation matrix
int	getThreshold() Returns the current threshold value.
CornerPoint	getTrackedCorners()
boolean	isAutoThresholdActivated() Returns true if automatic threshold detection is enabled
boolean	loadCameraFile(BytePointer nCamParamFile, float nNearClip, float nFarClip) Loads a camera calibration file and stores data internally To prevent memory leaks, this method internally deletes an existing camera.
boolean	loadCameraFile(String nCamParamFile, float nNearClip, float nFarClip)
float	rppGetTransMat(ARMarkerInfo marker_info, float[] center, float width, float[] conv)
float	rppGetTransMat(ARMarkerInfo marker_info, FloatBuffer center, float width, FloatBuffer conv)
float	rppGetTransMat(ARMarkerInfo marker_info, FloatPointer center, float width, FloatPointer conv)
float	rppMultiGetTransMat(ARMarkerInfo marker_info, int marker_num, ARMultiMarkerInfoT config)
void	setBorderWidth(float nFraction) Sets a new relative border width.
void	setCamera(Camera nCamera) Sets a new camera without specifying new near and far clip values
void	setCamera(Camera nCamera, float nNearClip, float nFarClip) Sets a new camera including specifying new near and far clip values
void	setHullMode(int nMode) 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.
void	setImageProcessingMode(int nMode) Sets an image processing mode (half or full resolution) Half resolution is faster but less accurate.
void	setLoadUndistLUT(boolean nSet) Set to true to try loading camera undistortion table from a cache file On slow platforms (e.g.
void	setMarkerMode(int nMarkerMode) activate the usage of id-based markers rather than template based markers Template markers are the classic marker type used in ARToolKit.
void	setNumAutoThresholdRetries(int nNumRetries) 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.
boolean	setPixelFormat(int nFormat) Sets the pixel format of the camera image Default format is RGB888 (PIXEL_FORMAT_RGB)
boolean	setPoseEstimator(int nMethod) 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"
void	setThreshold(int nValue) Sets the threshold value that is used for black/white conversion
void	setUndistortionMode(int nMode) Changes the undistortion mode Default value is UNDIST_STD which means that artoolkit's standard undistortion method is used.

Methods inherited from class org.bytedeco.javacpp.Pointer

address, asBuffer, asByteBuffer, availablePhysicalBytes, calloc, capacity, capacity, close, deallocate, deallocate, deallocateReferences, deallocator, deallocator, equals, fill, formatBytes, free, hashCode, isNull, limit, limit, malloc, maxBytes, maxPhysicalBytes, memchr, memcmp, memcpy, memmove, memset, offsetof, parseBytes, physicalBytes, position, position, put, realloc, referenceCount, releaseReference, retainReference, setNull, sizeof, toString, totalBytes, totalPhysicalBytes, withDeallocator, zero

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Constructor Detail

Tracker

public Tracker(Pointer p)

Pointer cast constructor. Invokes Pointer.Pointer(Pointer).

Tracker

public Tracker(int imWidth,
               int imHeight,
               int maxImagePatterns,
               int pattWidth,
               int pattHeight,
               int pattSamples,
               int maxLoadPatterns)

Tracker

public Tracker(int imWidth,
               int imHeight)

Method Detail

setPixelFormat

@Cast(value="bool")
public boolean setPixelFormat(@Cast(value="ARToolKitPlus::PIXEL_FORMAT")
                                                   int nFormat)

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

loadCameraFile

@Cast(value="bool")
public boolean loadCameraFile(@Cast(value="const char*")
                                                   BytePointer nCamParamFile,
                                                   @Cast(value="ARFloat")
                                                   float nNearClip,
                                                   @Cast(value="ARFloat")
                                                   float nFarClip)

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.

loadCameraFile

@Cast(value="bool")
public boolean loadCameraFile(String nCamParamFile,
                                                   @Cast(value="ARFloat")
                                                   float nNearClip,
                                                   @Cast(value="ARFloat")
                                                   float nFarClip)

setLoadUndistLUT

public void setLoadUndistLUT(@Cast(value="bool")
                             boolean nSet)

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'

arDetectMarker

public int arDetectMarker(@Cast(value="const uint8_t*")
                          BytePointer dataPtr,
                          int thresh,
                          @Cast(value="ARToolKitPlus::ARMarkerInfo**")
                          PointerPointer marker_info,
                          IntPointer marker_num)

marker detection using tracking history

arDetectMarker

public int arDetectMarker(@Cast(value="const uint8_t*")
                          BytePointer dataPtr,
                          int thresh,
                          @ByPtrPtr
                          ARMarkerInfo marker_info,
                          IntPointer marker_num)

arDetectMarker

public int arDetectMarker(@Cast(value="const uint8_t*")
                          ByteBuffer dataPtr,
                          int thresh,
                          @ByPtrPtr
                          ARMarkerInfo marker_info,
                          IntBuffer marker_num)

arDetectMarker

public int arDetectMarker(@Cast(value="const uint8_t*")
                          byte[] dataPtr,
                          int thresh,
                          @ByPtrPtr
                          ARMarkerInfo marker_info,
                          int[] marker_num)

arDetectMarkerLite

public int arDetectMarkerLite(@Cast(value="const uint8_t*")
                              BytePointer dataPtr,
                              int thresh,
                              @Cast(value="ARToolKitPlus::ARMarkerInfo**")
                              PointerPointer marker_info,
                              IntPointer marker_num)

marker detection without using tracking history

arDetectMarkerLite

public int arDetectMarkerLite(@Cast(value="const uint8_t*")
                              BytePointer dataPtr,
                              int thresh,
                              @ByPtrPtr
                              ARMarkerInfo marker_info,
                              IntPointer marker_num)

arDetectMarkerLite

public int arDetectMarkerLite(@Cast(value="const uint8_t*")
                              ByteBuffer dataPtr,
                              int thresh,
                              @ByPtrPtr
                              ARMarkerInfo marker_info,
                              IntBuffer marker_num)

arDetectMarkerLite

public int arDetectMarkerLite(@Cast(value="const uint8_t*")
                              byte[] dataPtr,
                              int thresh,
                              @ByPtrPtr
                              ARMarkerInfo marker_info,
                              int[] marker_num)

arMultiGetTransMat

@Cast(value="ARFloat")
public float arMultiGetTransMat(ARMarkerInfo marker_info,
                                                        int marker_num,
                                                        ARMultiMarkerInfoT config)

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

arMultiGetTransMatHull

@Cast(value="ARFloat")
public float arMultiGetTransMatHull(ARMarkerInfo marker_info,
                                                            int marker_num,
                                                            ARMultiMarkerInfoT config)

arGetTransMat

@Cast(value="ARFloat")
public float arGetTransMat(ARMarkerInfo marker_info,
                                                   @Cast(value="ARFloat*")
                                                   FloatPointer center,
                                                   @Cast(value="ARFloat")
                                                   float width,
                                                   @Cast(value="ARFloat(* /*[3]*/ )[4]")
                                                   FloatPointer conv)

calculates the transformation matrix between camera and the given marker

arGetTransMat

@Cast(value="ARFloat")
public float arGetTransMat(ARMarkerInfo marker_info,
                                                   @Cast(value="ARFloat*")
                                                   FloatBuffer center,
                                                   @Cast(value="ARFloat")
                                                   float width,
                                                   @Cast(value="ARFloat(* /*[3]*/ )[4]")
                                                   FloatBuffer conv)

arGetTransMat

@Cast(value="ARFloat")
public float arGetTransMat(ARMarkerInfo marker_info,
                                                   @Cast(value="ARFloat*")
                                                   float[] center,
                                                   @Cast(value="ARFloat")
                                                   float width,
                                                   @Cast(value="ARFloat(* /*[3]*/ )[4]")
                                                   float[] conv)

arGetTransMatCont

@Cast(value="ARFloat")
public float arGetTransMatCont(ARMarkerInfo marker_info,
                                                       @Cast(value="ARFloat(* /*[3]*/ )[4]")
                                                       FloatPointer prev_conv,
                                                       @Cast(value="ARFloat*")
                                                       FloatPointer center,
                                                       @Cast(value="ARFloat")
                                                       float width,
                                                       @Cast(value="ARFloat(* /*[3]*/ )[4]")
                                                       FloatPointer conv)

arGetTransMatCont

@Cast(value="ARFloat")
public float arGetTransMatCont(ARMarkerInfo marker_info,
                                                       @Cast(value="ARFloat(* /*[3]*/ )[4]")
                                                       FloatBuffer prev_conv,
                                                       @Cast(value="ARFloat*")
                                                       FloatBuffer center,
                                                       @Cast(value="ARFloat")
                                                       float width,
                                                       @Cast(value="ARFloat(* /*[3]*/ )[4]")
                                                       FloatBuffer conv)

arGetTransMatCont

@Cast(value="ARFloat")
public float arGetTransMatCont(ARMarkerInfo marker_info,
                                                       @Cast(value="ARFloat(* /*[3]*/ )[4]")
                                                       float[] prev_conv,
                                                       @Cast(value="ARFloat*")
                                                       float[] center,
                                                       @Cast(value="ARFloat")
                                                       float width,
                                                       @Cast(value="ARFloat(* /*[3]*/ )[4]")
                                                       float[] conv)

rppMultiGetTransMat

@Cast(value="ARFloat")
public float rppMultiGetTransMat(ARMarkerInfo marker_info,
                                                         int marker_num,
                                                         ARMultiMarkerInfoT config)

rppGetTransMat

@Cast(value="ARFloat")
public float rppGetTransMat(ARMarkerInfo marker_info,
                                                    @Cast(value="ARFloat*")
                                                    FloatPointer center,
                                                    @Cast(value="ARFloat")
                                                    float width,
                                                    @Cast(value="ARFloat(* /*[3]*/ )[4]")
                                                    FloatPointer conv)

rppGetTransMat

@Cast(value="ARFloat")
public float rppGetTransMat(ARMarkerInfo marker_info,
                                                    @Cast(value="ARFloat*")
                                                    FloatBuffer center,
                                                    @Cast(value="ARFloat")
                                                    float width,
                                                    @Cast(value="ARFloat(* /*[3]*/ )[4]")
                                                    FloatBuffer conv)

rppGetTransMat

@Cast(value="ARFloat")
public float rppGetTransMat(ARMarkerInfo marker_info,
                                                    @Cast(value="ARFloat*")
                                                    float[] center,
                                                    @Cast(value="ARFloat")
                                                    float width,
                                                    @Cast(value="ARFloat(* /*[3]*/ )[4]")
                                                    float[] conv)

arLoadPatt

public int arLoadPatt(@Cast(value="char*")
                      BytePointer filename)

loads a pattern from a file

arLoadPatt

public int arLoadPatt(@Cast(value="char*")
                      ByteBuffer filename)

arLoadPatt

public int arLoadPatt(@Cast(value="char*")
                      byte[] filename)

arFreePatt

public int arFreePatt(int patno)

frees a pattern from memory

arMultiFreeConfig

public int arMultiFreeConfig(ARMultiMarkerInfoT config)

arMultiReadConfigFile

public ARMultiMarkerInfoT arMultiReadConfigFile(@Cast(value="const char*")
                                                BytePointer filename)

arMultiReadConfigFile

public ARMultiMarkerInfoT arMultiReadConfigFile(String filename)

activateBinaryMarker

public void activateBinaryMarker(int nThreshold)

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

setMarkerMode

public void setMarkerMode(@Cast(value="ARToolKitPlus::MARKER_MODE")
                          int nMarkerMode)

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.

activateVignettingCompensation

public void activateVignettingCompensation(@Cast(value="bool")
                                           boolean nEnable,
                                           int nCorners,
                                           int nLeftRight,
                                           int nTopBottom)

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.

activateVignettingCompensation

public void activateVignettingCompensation(@Cast(value="bool")
                                           boolean nEnable)

calcCameraMatrix

@Cast(value="bool")
public static boolean calcCameraMatrix(@Cast(value="const char*")
                                                            BytePointer nCamParamFile,
                                                            @Cast(value="ARFloat")
                                                            float nNear,
                                                            @Cast(value="ARFloat")
                                                            float nFar,
                                                            @Cast(value="ARFloat*")
                                                            FloatPointer nMatrix)

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.

calcCameraMatrix

@Cast(value="bool")
public static boolean calcCameraMatrix(String nCamParamFile,
                                                            @Cast(value="ARFloat")
                                                            float nNear,
                                                            @Cast(value="ARFloat")
                                                            float nFar,
                                                            @Cast(value="ARFloat*")
                                                            FloatBuffer nMatrix)

calcCameraMatrix

@Cast(value="bool")
public static boolean calcCameraMatrix(@Cast(value="const char*")
                                                            BytePointer nCamParamFile,
                                                            @Cast(value="ARFloat")
                                                            float nNear,
                                                            @Cast(value="ARFloat")
                                                            float nFar,
                                                            @Cast(value="ARFloat*")
                                                            float[] nMatrix)

calcCameraMatrix

@Cast(value="bool")
public static boolean calcCameraMatrix(String nCamParamFile,
                                                            @Cast(value="ARFloat")
                                                            float nNear,
                                                            @Cast(value="ARFloat")
                                                            float nFar,
                                                            @Cast(value="ARFloat*")
                                                            FloatPointer nMatrix)

calcCameraMatrix

@Cast(value="bool")
public static boolean calcCameraMatrix(@Cast(value="const char*")
                                                            BytePointer nCamParamFile,
                                                            @Cast(value="ARFloat")
                                                            float nNear,
                                                            @Cast(value="ARFloat")
                                                            float nFar,
                                                            @Cast(value="ARFloat*")
                                                            FloatBuffer nMatrix)

calcCameraMatrix

@Cast(value="bool")
public static boolean calcCameraMatrix(String nCamParamFile,
                                                            @Cast(value="ARFloat")
                                                            float nNear,
                                                            @Cast(value="ARFloat")
                                                            float nFar,
                                                            @Cast(value="ARFloat*")
                                                            float[] nMatrix)

changeCameraSize

public void changeCameraSize(int nWidth,
                             int nHeight)

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

setUndistortionMode

public void setUndistortionMode(@Cast(value="ARToolKitPlus::UNDIST_MODE")
                                int nMode)

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

setPoseEstimator

@Cast(value="bool")
public boolean setPoseEstimator(@Cast(value="ARToolKitPlus::POSE_ESTIMATOR")
                                                     int nMethod)

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"

setHullMode

public void setHullMode(@Cast(value="ARToolKitPlus::HULL_TRACKING_MODE")
                        int nMode)

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.

setBorderWidth

public void setBorderWidth(@Cast(value="ARFloat")
                           float nFraction)

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.

setThreshold

public void setThreshold(int nValue)

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

getThreshold

public int getThreshold()

Returns the current threshold value.

activateAutoThreshold

public void activateAutoThreshold(@Cast(value="bool")
                                  boolean nEnable)

Turns automatic threshold calculation on/off

isAutoThresholdActivated

@Cast(value="bool")
public boolean isAutoThresholdActivated()

Returns true if automatic threshold detection is enabled

setNumAutoThresholdRetries

public void setNumAutoThresholdRetries(int nNumRetries)

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.

setImageProcessingMode

public void setImageProcessingMode(@Cast(value="ARToolKitPlus::IMAGE_PROC_MODE")
                                   int nMode)

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).

getModelViewMatrix

@Cast(value="const ARFloat*")
public FloatPointer getModelViewMatrix()

Returns an opengl-style modelview transformation matrix

getProjectionMatrix

@Cast(value="const ARFloat*")
public FloatPointer getProjectionMatrix()

Returns an opengl-style projection transformation matrix

getPixelFormat

@Cast(value="ARToolKitPlus::PIXEL_FORMAT")
public int getPixelFormat()

Returns the compiled-in pixel format

getBitsPerPixel

public int getBitsPerPixel()

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

getNumLoadablePatterns

public int getNumLoadablePatterns()

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

getCamera

public Camera getCamera()

Returns the current camera

setCamera

public void setCamera(Camera nCamera)

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

setCamera

public void setCamera(Camera nCamera,
                      @Cast(value="ARFloat")
                      float nNearClip,
                      @Cast(value="ARFloat")
                      float nFarClip)

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

calcOpenGLMatrixFromMarker

@Cast(value="ARFloat")
public float calcOpenGLMatrixFromMarker(ARMarkerInfo nMarkerInfo,
                                                                @Cast(value="ARFloat*")
                                                                FloatPointer nPatternCenter,
                                                                @Cast(value="ARFloat")
                                                                float nPatternSize,
                                                                @Cast(value="ARFloat*")
                                                                FloatPointer nOpenGLMatrix)

Calculates the OpenGL transformation matrix for a specific marker info

calcOpenGLMatrixFromMarker

@Cast(value="ARFloat")
public float calcOpenGLMatrixFromMarker(ARMarkerInfo nMarkerInfo,
                                                                @Cast(value="ARFloat*")
                                                                FloatBuffer nPatternCenter,
                                                                @Cast(value="ARFloat")
                                                                float nPatternSize,
                                                                @Cast(value="ARFloat*")
                                                                FloatBuffer nOpenGLMatrix)

calcOpenGLMatrixFromMarker

@Cast(value="ARFloat")
public float calcOpenGLMatrixFromMarker(ARMarkerInfo nMarkerInfo,
                                                                @Cast(value="ARFloat*")
                                                                float[] nPatternCenter,
                                                                @Cast(value="ARFloat")
                                                                float nPatternSize,
                                                                @Cast(value="ARFloat*")
                                                                float[] nOpenGLMatrix)

executeSingleMarkerPoseEstimator

@Cast(value="ARFloat")
public float executeSingleMarkerPoseEstimator(ARMarkerInfo marker_info,
                                                                      @Cast(value="ARFloat*")
                                                                      FloatPointer center,
                                                                      @Cast(value="ARFloat")
                                                                      float width,
                                                                      @Cast(value="ARFloat(* /*[3]*/ )[4]")
                                                                      FloatPointer conv)

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

executeSingleMarkerPoseEstimator

@Cast(value="ARFloat")
public float executeSingleMarkerPoseEstimator(ARMarkerInfo marker_info,
                                                                      @Cast(value="ARFloat*")
                                                                      FloatBuffer center,
                                                                      @Cast(value="ARFloat")
                                                                      float width,
                                                                      @Cast(value="ARFloat(* /*[3]*/ )[4]")
                                                                      FloatBuffer conv)

executeSingleMarkerPoseEstimator

@Cast(value="ARFloat")
public float executeSingleMarkerPoseEstimator(ARMarkerInfo marker_info,
                                                                      @Cast(value="ARFloat*")
                                                                      float[] center,
                                                                      @Cast(value="ARFloat")
                                                                      float width,
                                                                      @Cast(value="ARFloat(* /*[3]*/ )[4]")
                                                                      float[] conv)

executeMultiMarkerPoseEstimator

@Cast(value="ARFloat")
public float executeMultiMarkerPoseEstimator(ARMarkerInfo marker_info,
                                                                     int marker_num,
                                                                     ARMultiMarkerInfoT config)

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

getTrackedCorners

@StdVector
public CornerPoint getTrackedCorners()