org.bytedeco.artoolkitplus

Class TrackerMultiMarker

java.lang.Object

org.bytedeco.javacpp.Pointer

org.bytedeco.artoolkitplus.Tracker

org.bytedeco.artoolkitplus.TrackerMultiMarker

All Implemented Interfaces:

AutoCloseable

Direct Known Subclasses:

MultiTracker

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

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.

Nested Class Summary

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

Pointer.CustomDeallocator, Pointer.Deallocator, Pointer.NativeDeallocator

Field Summary

Fields inherited from class org.bytedeco.javacpp.Pointer

address, capacity, limit, position

Constructor Summary

Constructors

Constructor and Description
TrackerMultiMarker(int imWidth, int imHeight)
TrackerMultiMarker(int imWidth, int imHeight, int maxImagePatterns, int pattWidth, int pattHeight, int pattSamples, int maxLoadPatterns) These parameters control the way the toolkit warps a found marker to a perfect square.
TrackerMultiMarker(Pointer p) Pointer cast constructor.

Method Summary

Modifier and Type	Method and Description
int	calc(byte[] nImage)
int	calc(ByteBuffer nImage)
int	calc(BytePointer nImage) calculates the transformation matrix pass the image as RGBX (32-bits)
void	getARMatrix(float[] nMatrix)
void	getARMatrix(FloatBuffer nMatrix)
void	getARMatrix(FloatPointer nMatrix) Provides access to ARToolKit' internal version of the transformation matrix This method is primarily for compatibility issues with code previously using ARToolKit rather than ARToolKitPlus.
ARMarkerInfo	getDetectedMarker(int nWhich)
void	getDetectedMarkers(int[] nMarkerIDs)
void	getDetectedMarkers(IntBuffer nMarkerIDs)
void	getDetectedMarkers(IntPointer nMarkerIDs) Returns array of detected marker IDs Only access the first getNumDetectedMarkers() markers
ARMultiMarkerInfoT	getMultiMarkerConfig() Returns the loaded ARMultiMarkerInfoT object If loading the multi-marker config file failed then this method returns NULL.
int	getNumDetectedMarkers()
boolean	init(BytePointer nCamParamFile, BytePointer nMultiFile, float nNearClip, float nFarClip) initializes ARToolKit nCamParamFile is the name of the camera parameter file nNearClip & nFarClip are near and far clipping values for the OpenGL projection matrix nLogger is an instance which implements the ARToolKit::Logger interface
boolean	init(String nCamParamFile, String nMultiFile, float nNearClip, float nFarClip)
void	setUseDetectLite(boolean nEnable) Enables usage of arDetectMarkerLite.

Methods inherited from class org.bytedeco.artoolkitplus.Tracker

activateAutoThreshold, activateBinaryMarker, activateVignettingCompensation, activateVignettingCompensation, arDetectMarker, arDetectMarker, arDetectMarker, arDetectMarker, arDetectMarkerLite, arDetectMarkerLite, arDetectMarkerLite, arDetectMarkerLite, arFreePatt, arGetTransMat, arGetTransMat, arGetTransMat, arGetTransMatCont, arGetTransMatCont, arGetTransMatCont, arLoadPatt, arLoadPatt, arLoadPatt, arMultiFreeConfig, arMultiGetTransMat, arMultiGetTransMatHull, arMultiReadConfigFile, arMultiReadConfigFile, calcCameraMatrix, calcCameraMatrix, calcCameraMatrix, calcCameraMatrix, calcCameraMatrix, calcCameraMatrix, calcOpenGLMatrixFromMarker, calcOpenGLMatrixFromMarker, calcOpenGLMatrixFromMarker, changeCameraSize, executeMultiMarkerPoseEstimator, executeSingleMarkerPoseEstimator, executeSingleMarkerPoseEstimator, executeSingleMarkerPoseEstimator, getBitsPerPixel, getCamera, getModelViewMatrix, getNumLoadablePatterns, getPixelFormat, getProjectionMatrix, getThreshold, getTrackedCorners, isAutoThresholdActivated, loadCameraFile, loadCameraFile, rppGetTransMat, rppGetTransMat, rppGetTransMat, rppMultiGetTransMat, setBorderWidth, setCamera, setCamera, setHullMode, setImageProcessingMode, setLoadUndistLUT, setMarkerMode, setNumAutoThresholdRetries, setPixelFormat, setPoseEstimator, setThreshold, setUndistortionMode

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, setNull, sizeof, toString, totalBytes, totalPhysicalBytes, withDeallocator, zero

Methods inherited from class java.lang.Object

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

Constructor Detail

TrackerMultiMarker

public TrackerMultiMarker(Pointer p)

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

TrackerMultiMarker

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

These parameters control the way the toolkit warps a found marker to a perfect square. The square has size pattWidth * pattHeight, the projected square in the image is subsampled at a min of pattWidth/pattHeight and a max of pattSamples steps in both x and y direction

Parameters:

imWidth - width of the source image in px

imHeight - height of the source image in px

maxImagePatterns - describes the maximum number of patterns that can be analyzed in a camera image.

pattWidth - describes the pattern image width (must be 6 for binary markers)

pattHeight - describes the pattern image height (must be 6 for binary markers)

pattSamples - describes the maximum resolution at which a pattern is sampled from the camera image (6 by default, must a a multiple of pattWidth and pattHeight).

maxLoadPatterns - describes the maximum number of pattern files that can be loaded. Reduce maxLoadPatterns and maxImagePatterns to reduce memory footprint.

TrackerMultiMarker

public TrackerMultiMarker(int imWidth,
                          int imHeight)

Method Detail

init

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

initializes ARToolKit nCamParamFile is the name of the camera parameter file nNearClip & nFarClip are near and far clipping values for the OpenGL projection matrix nLogger is an instance which implements the ARToolKit::Logger interface

init

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

calc

public int calc(@Cast(value="const uint8_t*")
                BytePointer nImage)

calculates the transformation matrix pass the image as RGBX (32-bits)

calc

public int calc(@Cast(value="const uint8_t*")
                ByteBuffer nImage)

calc

public int calc(@Cast(value="const uint8_t*")
                byte[] nImage)

getNumDetectedMarkers

public int getNumDetectedMarkers()

setUseDetectLite

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

Enables usage of arDetectMarkerLite. Otherwise arDetectMarker is used /** Enables usage of arDetectMarkerLite. Otherwise arDetectMarker is used In general arDetectMarker is more powerful since it keeps history about markers. In some cases such as very low camera refresh rates it is advantegous to change this. Using the non-lite version treats each image independent.

getDetectedMarkers

public void getDetectedMarkers(@ByPtrRef
                               IntPointer nMarkerIDs)

Returns array of detected marker IDs Only access the first getNumDetectedMarkers() markers

getDetectedMarkers

public void getDetectedMarkers(@ByPtrRef
                               IntBuffer nMarkerIDs)

getDetectedMarkers

public void getDetectedMarkers(@ByPtrRef
                               int[] nMarkerIDs)

getDetectedMarker

@Const
 @ByRef
public ARMarkerInfo getDetectedMarker(int nWhich)

getMultiMarkerConfig

@Const
public ARMultiMarkerInfoT getMultiMarkerConfig()

Returns the loaded ARMultiMarkerInfoT object If loading the multi-marker config file failed then this method returns NULL.

getARMatrix

public void getARMatrix(@Cast(value="ARFloat(* /*[3]*/ )[4]")
                        FloatPointer nMatrix)

Provides access to ARToolKit' internal version of the transformation matrix This method is primarily for compatibility issues with code previously using ARToolKit rather than ARToolKitPlus. This is the original transformation matrix ARToolKit calculates rather than the OpenGL style version of this matrix that can be retrieved via getModelViewMatrix().

getARMatrix

public void getARMatrix(@Cast(value="ARFloat(* /*[3]*/ )[4]")
                        FloatBuffer nMatrix)

getARMatrix

public void getARMatrix(@Cast(value="ARFloat(* /*[3]*/ )[4]")
                        float[] nMatrix)