FiducialTracker Class Reference

#include <FiducialTracker.h>

Inheritance diagram for FiducialTracker:

Public Slots
void	notifyNewFrame ()
void	lockOrigin (int state)
void	enableKalman (int enable)

Signals
void	newNumDetectedMarkers (int num)
Signals inherited from Tracker
void	newOrigin (QMatrix4x4 origin)
void	newFps (int fps)

Public Member Functions
	FiducialTracker (Camera *cam, ARToolKitConfig artkc, FilterConfig filterConfig, QString originMarkerSet, bool objectTracker)
	~FiducialTracker (void)
void	setCamera (Camera *cam)
void	addMarkerToSet (QString setName, int markerId, QMatrix4x4 offset)
void	addSubscription (int trackableId, QString markerSetName)
bool	isObjectTracker ()
Similarity	getOrigin ()
Camera *	getCamera ()
bool	isTracked (int trackableId)
Similarity	getPose (int trackableId)
QString	getMarkerSetName (int trackableId)
Public Member Functions inherited from Tracker
	Tracker (FilterConfig filterConfig, int maxUpdateRate=60)
virtual	~Tracker (void)
void	stop ()
void	stopAndDelete ()

Protected Member Functions
void	update ()
Protected Member Functions inherited from Tracker
void	run ()
void	updateFPS (int timeElapsed)
void	initKalmanFilter (cv::KalmanFilter &KF)
void	fillMeasurements (cv::Mat &measurements, Similarity pose)
void	updateKalmanFilter (cv::KalmanFilter &KF, cv::Mat &measurement, Similarity &pose)

Protected Attributes
TrackerSingleMarker *	tracker
Camera *	cam
volatile bool	newFrame
QMap< int, Marker >	markers
QMap< QString, MarkerSet >	markerSets
QMap< int, QString >	subscriptions
const QString	originMarkerSet
bool	originLocked
bool	objectTracker
Protected Attributes inherited from Tracker
int	maxUpdateRate
QTime	t
int	executionTime
QQueue< int >	fpsQueue
int	avgFPS
QMutex	stopMutex
volatile bool	doStop
FilterConfig	filterConfig
int	nStates
int	nMeasurements
int	nInputs
Mat	measurements

Additional Inherited Members
Static Protected Attributes inherited from Tracker
static const int	fpsQueueLength = 32

Detailed Description

based on the ARToolKitPlus, this tracker estimates the poses of sets of 2-dimensional markers detected in camera frames.

Constructor & Destructor Documentation

FiducialTracker::FiducialTracker	(	Camera *	cam,
		ARToolKitConfig	artkc,
		FilterConfig	filterConfig,
		QString	originMarkerSet,
		bool	objectTracker
	)

Parameters

cam	the camera from which we get the frames
artkc	global parameters for the ARToolKitPlus, see ARToolKitConfig
filterConfig	settings for filtering, see FilterConfig
originMarkerSet	the name of the marker set that defines the global origin (for calibration)
objectTracker	is this tracker used for tracking objects or merely for calibration?

FiducialTracker::~FiducialTracker

(

void

)

Member Function Documentation

void FiducialTracker::addMarkerToSet	(	QString	setName,
		int	markerId,
		QMatrix4x4	offset
	)

add a marker to a set

Parameters

setName	set to which it should be added
markerId	id of the added marker
offset	transformation beween marker and set origin

void FiducialTracker::addSubscription	(	int	trackableId,
		QString	markerSetName
	)

specify which marker set is attached to which trackable object

void FiducialTracker::enableKalman ( int  enable)

slot

use the kalman filter or my own

Camera* FiducialTracker::getCamera ( )

inline

get the used camera

QString FiducialTracker::getMarkerSetName

(

int

trackableId)

returns the name of the marker set belonging to the given trackable object

Similarity FiducialTracker::getOrigin ( )

inlinevirtual

returns the pose of the global origin

Implements Tracker.

Similarity FiducialTracker::getPose ( int  trackableId)

virtual

returns the pose of the marker set of the given trackable object

Implements Tracker.

bool FiducialTracker::isObjectTracker ( )

inline

does this tracker actually track objects?

bool FiducialTracker::isTracked ( int  trackableId)

virtual

is the object with the given id currently tracked?

Implements Tracker.

void FiducialTracker::lockOrigin ( int  state)

slot

sets originLocked to true or false

void FiducialTracker::newNumDetectedMarkers ( int  num)

signal

number of detected markers in current frame. for GUI.

void FiducialTracker::notifyNewFrame ( )

slot

called by camera if it has a new frame

void FiducialTracker::setCamera

(

Camera *

cam)

sets the used camera and connects the notification signals

void FiducialTracker::update ( )

protectedvirtual

 called in every execution of the thread's main loop.

detects markers of a frame and estimates new marker set poses.

*for (int i = 0; i < 16; i++){

Implements Tracker.

Member Data Documentation

Camera* FiducialTracker::cam

protected

the camera in use

QMap<int, Marker> FiducialTracker::markers

protected

set of all markers in use. key=markerId

QMap<QString, MarkerSet> FiducialTracker::markerSets

protected

set of all markers sets in use. key=marker set name

volatile bool FiducialTracker::newFrame

protected

 is set to true by the public slot notifyNewFrame() 

when the camera has one

bool FiducialTracker::objectTracker

protected

is this tracker used for actual tracking or just for calibration?

bool FiducialTracker::originLocked

protected

 the pose of the origin can be locked once it is detected.

when locked it is not updated anymore

const QString FiducialTracker::originMarkerSet

protected

 the name of the marker set representing the global origin. 

used for calibration

QMap<int, QString> FiducialTracker::subscriptions

protected

assignments between marker sets and trackable objects. key=trackableId, value=name of a marker set

TrackerSingleMarker* FiducialTracker::tracker

protected

an ARToolKitPlus clas that racks individual markers

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

• ShaderLamps/src/FiducialTracker.h
• ShaderLamps/src/FiducialTracker.cpp