PlanarTracker Class Reference

Public Types
enum	VerifierChoiceMethod { VERIFY_FIRST, VERIFY_BEST, VERIFY_ALL }

Public Member Functions
CameraImage::CameraResolution	getResolution (PatchMatcher &patchMatcher, std::shared_ptr< Homography > homography, std::shared_ptr< Homography > previousHomography, std::shared_ptr< Marker > marker, float *maxDistance)
bool	trackMarker (std::shared_ptr< TrackedMarker > trackedMarker)
void	processFrame (cv::Mat image)
void	updateCamera (cv::Mat image)
bool	trackAllMarkers ()
bool	processSharedOpticalFlow ()
void	detectMarkersNow ()
void	detectMarkersInBackground ()
void	detectMarkers (std::vector< std::shared_ptr< Marker > > markersToDetect, std::vector< std::vector< cv::Point2f > > maskRegions)
void	verifyDetections (std::shared_ptr< CameraImage > cameraImage)
std::shared_ptr< TrackedMarker >	setupNewTrackedMarker (std::shared_ptr< Marker > marker, std::shared_ptr< CameraImage > cameraImage, std::shared_ptr< Homography > homography)
bool	setupNewTrackedMarker (TrackedMarker &trackedMarker, cv::Ptr< CameraImage > cameraImage, cv::Ptr< Homography > homography)
std::vector< std::shared_ptr< Marker > >	getMarkersToDetect ()
bool	addMarker (std::shared_ptr< Marker > marker)
void	removeMarker (std::shared_ptr< Marker > marker)
	Removes this marker from the detector. Does not return anything, because it can't know about state, because it's in general queued.
void	processMarkerQueues ()
int	getNumberOfMarkersDetected ()
const MarkerDetectorResult &	getDetectedMarker (int position)
bool	hasCameraCalibration ()
CameraCalibration	getCameraCalibration ()
int	getNumberOfTrackedMarkers ()
int	getNumberOfMarkers ()
std::shared_ptr< TrackedMarker >	getTrackedMarker (int position)
std::vector< std::vector< cv::Point2f > >	getTrackedBoundaries ()
cv::Mat	getCameraImage ()
std::vector< cv::KeyPoint >	getKeypoints ()
bool	isUsingFlowRecovery ()
void	setUseFlowRecovery (bool f)
int	numMarkersFlowRecoverable ()
void	prohibitFlowRecovery ()
void	setThreading (bool t)
void	setNumDetectionThreads (int t)
void	setNumThreads (int t)
void	toggleParallelDetection (bool isParallel)
bool	isDetectorParallel ()
void	setMarkerChoiceMethod (MarkerDetector::MarkerChoiceMethod m)
void	setMaximumSimultaneousTracking (int t)
void	clearTracking ()
void	setIntrinsics (float focalX, float focalY, float prinX, float prinY)
void	setHammingThreshold (int ham)
void	setOrientationFilterThreshold (float angle)
void	setNumMatchesRequired (int numMatches)
bool	trackedMarkersUseExtensions ()
bool	anyMarkersUseExtensions ()
int	extendMarkers (cv::Mat image)
bool	createExtension (cv::Mat image, std::shared_ptr< Marker > marker, std::shared_ptr< TrackedMarker > trackedMarker)
bool	checkNewMarker (std::shared_ptr< Marker > marker)
void	switchTrackedExtensions (cv::Mat image)

Public Attributes
int	numDetectionsAttempted
int	numDetectionsMade
int	numDetectionsKept
int	numTracksAttempted
std::shared_ptr< DebugState >	debugState

Static Public Attributes
static const int	maxImageWidth = 640

Member Function Documentation

anyMarkersUseExtensions()

bool PlanarTracker::anyMarkersUseExtensions

(

)

Of ALL the markers in the detector, are any of them involved in extended marker in any way? i.e. could they be extended or switched? Probably obselete!

checkNewMarker()

bool PlanarTracker::checkNewMarker

(

std::shared_ptr< Marker >

marker

)

Once a new extended marker is created, it might not necessarily be good enough (could be on a featureless region of the image for example). This makes sure the new marker fulfills various criteria

createExtension()

bool PlanarTracker::createExtension	(	cv::Mat	image,
		std::shared_ptr< Marker >	marker,
		std::shared_ptr< TrackedMarker >	trackedMarker
	)

Attempt to create a new exteded marker, from an existing marker, at its current tracked state

Parameters

image	The current camera image (for extracting the new marker image)
marker	The marker which is to be extended
trackedMarker	Representing the current tracked state of the marker in the image

Returns

True iff a new marker was created and added to the tracker

extendMarkers()

int PlanarTracker::extendMarkers

(

cv::Mat

image

)

The main function for initialising extended markers (should only be called if any of the markers currently tracked support this) This will look at tracked markers, and for those which are not extended (but could be) will try to create new extensions

Parameters

image

The current camera image

Returns

The number of new extensions created

isUsingFlowRecovery()

bool PlanarTracker::isUsingFlowRecovery ( )

inline

OPTICAL FLOW RECOVERY

setHammingThreshold()

void PlanarTracker::setHammingThreshold ( int  ham )

inline

Set threshold used in hamming filter, which cuts any potential match with a higher distance than this Set to a value of 0 to skip this filter Default value: 70

setNumMatchesRequired()

void PlanarTracker::setNumMatchesRequired ( int  numMatches )

inline

Set the minimum number of (post homography inlier) matches required for a marker to be considered a match Default value: 30

setOrientationFilterThreshold()

void PlanarTracker::setOrientationFilterThreshold ( float  angle )

inline

Set the angle threshold used in the orientation filter, which cuts matches which do differ from the dominant orientation change in the image by more than this value. Set to a value of 0 to skip this filter Angle is in degrees Default value: 8

switchTrackedExtensions()

void PlanarTracker::switchTrackedExtensions

(

cv::Mat

image

)

This is called during tracking when any of the markershave extensions, in order to see if for any marker, any of its other extensions (i.e. markers with the same root) would be better candidates for tracking right now. If so, it will switch to tracking these, and create new TrackedMarker objects as needed

trackedMarkersUseExtensions()

bool PlanarTracker::trackedMarkersUseExtensions

(

)

Of all the markers currently being tracked, are any of them involved in extended marker in any way? i.e. could they be extended or switched?

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

• PlanarTracker.h
• PlanarTracker.cpp