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Diffstat (limited to 'ARToolKitPlus/include/ARToolKitPlus/Tracker.h')
| -rw-r--r-- | ARToolKitPlus/include/ARToolKitPlus/Tracker.h | 303 |
1 files changed, 0 insertions, 303 deletions
diff --git a/ARToolKitPlus/include/ARToolKitPlus/Tracker.h b/ARToolKitPlus/include/ARToolKitPlus/Tracker.h deleted file mode 100644 index 656299f..0000000 --- a/ARToolKitPlus/include/ARToolKitPlus/Tracker.h +++ /dev/null @@ -1,303 +0,0 @@ -/* ========================================================================
-* PROJECT: ARToolKitPlus
-* ========================================================================
-* This work is based on the original ARToolKit developed by
-* Hirokazu Kato
-* Mark Billinghurst
-* HITLab, University of Washington, Seattle
-* http://www.hitl.washington.edu/artoolkit/
-*
-* Copyright of the derived and new portions of this work
-* (C) 2006 Graz University of Technology
-*
-* This framework is free software; you can redistribute it and/or modify
-* it under the terms of the GNU General Public License as published by
-* the Free Software Foundation; either version 2 of the License, or
-* (at your option) any later version.
-*
-* This framework is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this framework; if not, write to the Free Software
-* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
-*
-* For further information please contact
-* Dieter Schmalstieg
-* <schmalstieg@icg.tu-graz.ac.at>
-* Graz University of Technology,
-* Institut for Computer Graphics and Vision,
-* Inffeldgasse 16a, 8010 Graz, Austria.
-* ========================================================================
-** @author Daniel Wagner
-*
-* $Id: Tracker.h 172 2006-07-25 14:05:47Z daniel $
-* @file
-* ======================================================================== */
-
-
-#ifndef __ARTOOLKIT_TRACKER_HEADERFILE__
-#define __ARTOOLKIT_TRACKER_HEADERFILE__
-
-
-#include <ARToolKitPlus/ARToolKitPlus.h>
-#include <ARToolKitPlus/ar.h>
-#include <ARToolKitPlus/arMulti.h>
-#include <ARToolKitPlus/Logger.h>
-#include <ARToolKitPlus/extra/Profiler.h>
-#include <ARToolKitPlus/Camera.h>
-
-
-namespace ARToolKitPlus {
-
-
-/// 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
- */
-class Tracker
-{
-public:
- virtual ~Tracker()
- {}
-
- /// does final clean up (memory deallocation)
- virtual void cleanup() = 0;
-
-
- /// Sets the pixel format of the camera image
- /**
- * Default format is RGB888 (PIXEL_FORMAT_RGB)
- */
- virtual bool setPixelFormat(PIXEL_FORMAT nFormat) = 0;
-
-
- /// 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.
- */
- virtual bool loadCameraFile(const char* nCamParamFile, ARFloat nNearClip, ARFloat nFarClip) = 0;
-
-
- /// 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'
- */
- virtual void setLoadUndistLUT(bool nSet) = 0;
-
-
- /// sets an instance which implements the ARToolKit::Logger interface
- virtual void setLogger(ARToolKitPlus::Logger* nLogger) = 0;
-
-
- /// marker detection using tracking history
- virtual int arDetectMarker(ARUint8 *dataPtr, int thresh, ARMarkerInfo **marker_info, int *marker_num) = 0;
-
-
- /// marker detection without using tracking history
- virtual int arDetectMarkerLite(ARUint8 *dataPtr, int thresh, ARMarkerInfo **marker_info, int *marker_num) = 0;
-
-
- /// calculates the transformation matrix between camera and the given multi-marker config
- virtual ARFloat arMultiGetTransMat(ARMarkerInfo *marker_info, int marker_num, ARMultiMarkerInfoT *config) = 0;
- /// calculates the transformation matrix between camera and the given marker
- virtual ARFloat arGetTransMat(ARMarkerInfo *marker_info, ARFloat center[2], ARFloat width, ARFloat conv[3][4]) = 0;
-
- virtual ARFloat arGetTransMatCont(ARMarkerInfo *marker_info, ARFloat prev_conv[3][4], ARFloat center[2], ARFloat width, ARFloat conv[3][4]) = 0;
-
- // RPP integration -- [t.pintaric]
- virtual ARFloat rppMultiGetTransMat(ARMarkerInfo *marker_info, int marker_num, ARMultiMarkerInfoT *config) = 0;
- virtual ARFloat rppGetTransMat(ARMarkerInfo *marker_info, ARFloat center[2], ARFloat width, ARFloat conv[3][4]) = 0;
-
-
- /// loads a pattern from a file
- virtual int arLoadPatt(char *filename) = 0;
-
-
- /// frees a pattern from memory
- virtual int arFreePatt(int patno) = 0;
-
- /// frees a multimarker config from memory
- virtual int arMultiFreeConfig( ARMultiMarkerInfoT *config ) = 0;
-
- /// reads a standard artoolkit multimarker config file
- virtual ARMultiMarkerInfoT *arMultiReadConfigFile(const char *filename) = 0;
-
- /// activates binary markers
- /**
- * markers are converted to pure black/white during loading
- */
- virtual void activateBinaryMarker(int nThreshold) = 0;
-
- /// 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.
- */
- virtual void setMarkerMode(MARKER_MODE nMarkerMode) = 0;
-
-
- /// 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.
- */
- virtual void activateVignettingCompensation(bool nEnable, int nCorners=0, int nLeftRight=0, int nTopBottom=0) = 0;
-
-
- /// changes the resolution of the camera after the camerafile was already loaded
- virtual void changeCameraSize(int nWidth, int nHeight) = 0;
-
-
- /// Changes the undistortion mode
- /**
- * Default value is UNDIST_STD which means that
- * artoolkit's standard undistortion method is used.
- */
- virtual void setUndistortionMode(UNDIST_MODE nMode) = 0;
-
- /// Changes the Pose Estimation Algorithm
- /**
- * POSE_ESTIMATOR_ORIGINAL (default): arGetTransMat()
- * POSE_ESTIMATOR_RPP: "Robust Pose Estimation from a Planar Target"
- */
- virtual bool setPoseEstimator(POSE_ESTIMATOR nMethod) = 0;
-
- /// 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.
- */
- virtual void setBorderWidth(ARFloat nFraction) = 0;
-
-
- /// Sets the threshold value that is used for black/white conversion
- virtual void setThreshold(int nValue) = 0;
-
-
- /// Returns the current threshold value.
- virtual int getThreshold() const = 0;
-
-
- /// Enables or disables automatic threshold calculation
- virtual void activateAutoThreshold(bool nEnable) = 0;
-
-
- /// Returns true if automatic threshold calculation is activated
- virtual bool isAutoThresholdActivated() const = 0;
-
-
- /// Sets the number of times the threshold is randomized in case no marker was visible (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.
- */
- virtual void setNumAutoThresholdRetries(int nNumRetries) = 0;
-
-
- /// 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).
- */
- virtual void setImageProcessingMode(IMAGE_PROC_MODE nMode) = 0;
-
-
- /// Returns an opengl-style modelview transformation matrix
- virtual const ARFloat* getModelViewMatrix() const = 0;
-
-
- /// Returns an opengl-style projection transformation matrix
- virtual const ARFloat* getProjectionMatrix() const = 0;
-
-
- /// Returns a short description with compiled-in settings
- virtual const char* getDescription() = 0;
-
-
- /// Returns the compiled-in pixel format
- virtual PIXEL_FORMAT getPixelFormat() const = 0;
-
-
- /// Returns the number of bits required to store a single pixel
- virtual int getBitsPerPixel() const = 0;
-
-
- /// Returns the maximum number of patterns that can be loaded
- /**
- * This maximum number of loadable patterns can be set via the
- * __MAX_LOAD_PATTERNS template parameter
- */
- virtual int getNumLoadablePatterns() const = 0;
-
-
- /// Returns the current camera
- virtual Camera* getCamera() = 0;
-
-
- /// Sets a new camera without specifying new near and far clip values
- virtual void setCamera(Camera* nCamera) = 0;
-
-
- /// Sets a new camera including specifying new near and far clip values
- virtual void setCamera(Camera* nCamera, ARFloat nNearClip, ARFloat nFarClip) = 0;
-
-
- /// Calculates the OpenGL transformation matrix for a specific marker info
- virtual ARFloat calcOpenGLMatrixFromMarker(ARMarkerInfo* nMarkerInfo, ARFloat nPatternCenter[2], ARFloat nPatternSize, ARFloat *nOpenGLMatrix) = 0;
-
-
- /// Returns the internal profiler object
- virtual Profiler& getProfiler() = 0;
-
-
- /// Calls the pose estimator set with setPoseEstimator() for single marker tracking
- virtual ARFloat executeSingleMarkerPoseEstimator(ARMarkerInfo *marker_info, ARFloat center[2], ARFloat width, ARFloat conv[3][4]) = 0;
-
- /// Calls the pose estimator set with setPoseEstimator() for multi marker tracking
- virtual ARFloat executeMultiMarkerPoseEstimator(ARMarkerInfo *marker_info, int marker_num, ARMultiMarkerInfoT *config) = 0;
-};
-
-
-} // namespace ARToolKitPlus
-
-
-#endif //__ARTOOLKIT_TRACKER_HEADERFILE__
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