The image tracker, for detecting and tracking KudanImageTrackables in an image stram. More...

#include <KudanCV.h>

Public Member Functions
	KudanImageTracker ()

	~KudanImageTracker ()

bool	processFrame (const unsigned char *image, int width, int height, int channels, int padding, bool requireFlip)

int	getNumberOfTrackables ()

std::vector< std::shared_ptr< KudanImageTrackable > >	getTrackables ()

int	getNumberOfDetectedTrackables ()

std::vector< std::shared_ptr< KudanImageTrackable > >	getDetectedTrackables ()

bool	addTrackable (const std::string path, std::string name="")

int	addTrackableSet (const std::string path)

int	addTrackableSet (const unsigned char *data, size_t length)

bool	addTrackable (std::shared_ptr< KudanImageTrackable > kudanTrackable)

bool	removeTrackable (std::shared_ptr< KudanImageTrackable > kudanTrackable)

std::shared_ptr< KudanImageTrackable >	getTrackable (std::string name)

void	setApiKey (std::string apiKey)

bool	hasCameraCalibration ()

void	setCameraParameters (KudanCameraParameters &cameraParameters)

KudanCameraParameters &	getCameraParameters ()

KudanMatrix3	getCameraMatrix ()

KudanMatrix4	getProjectionMatrix (float nearPlane, float farPlane)

void	setDetectionSensitivity (float sensitivity)

void	resetDetectionSensitiviy ()

void	setMaximumSimultaneousTracking (int maxTrack)

void	toggleParallelDetection (bool doParallel)

bool	isDetectorParallel ()

void	setRecoveryMode (bool recovery)

void	prohibitRecoveryMode ()

bool	queryRecoveryMode ()

bool	queryRecoveryMode (std::shared_ptr< KudanImageTrackable > trackable)

Detailed Description

The image tracker, for detecting and tracking KudanImageTrackables in an image stram.

Constructor & Destructor Documentation

KudanImageTracker ( )

Default constructor. This automatically initialises the tracker.

~KudanImageTracker ( )

This deinitialises the tracker automatically

Member Function Documentation

bool addTrackable	(	const std::string	path,
		std::string	name = `""`
	)

Create and add a single Trackable from an image.

Parameters

path	The location of the image
name	A name for the Trackable. If empty (default) the name is derived from the image path.

Returns: boolean indicating if the Trackable was created and added successfully

bool addTrackable ( std::shared_ptr< KudanImageTrackable > kudanTrackable )

Add a Trackable to the tracker. The Trackable should be valid and created already.

Returns: Boolean indicating whether it was successfully added to the underlying tracker

int addTrackableSet ( const std::string path )

Load a Trackable set from an file (created with the Toolkit)

Parameters

path	The location of the .KARMarker file

Returns: The number of Trackables successfully loaded from this set

int addTrackableSet	(	const unsigned char *	data,
		size_t	length
	)

Load a Trackable set from data (created with the Toolkit)

Parameters

data	Raw Trackable file data
length	The length of the data

Returns: The number of Trackables successfully loaded

KudanMatrix3 getCameraMatrix ( )

Get the calibration matrix for this camera, derived from the intrinsic parameters. This is a 3x3 matrix represented as the float array within a KudanMatrix3

Returns: A KudanMatrix3 representing the intrinsic parameters

Exceptions

KudanException is thrown if the parameters have not been set

KudanCameraParameters& getCameraParameters ( )

Get a (reference to) the camera parameters set on the tracker.

Returns: A reference to a KudanCameraParameters object. Altering this will change the one stored in the tracker

std::vector<std::shared_ptr<KudanImageTrackable> > getDetectedTrackables ( )

Get a list of pointers to all Trackables successfuly tracked in the last frame

Returns: A list of (pointers to) KudanImageTrackable objects, representing all of the Trackables currently tracked.

int getNumberOfDetectedTrackables ( )

Get the number of Trackables successfully tracked in this frame

Returns: The number of currently tracked Trackables.

int getNumberOfTrackables ( )

Get the number of Trackables loaded successfully into the tracker

KudanMatrix4 getProjectionMatrix	(	float	nearPlane,
		float	farPlane
	)

Get the projection matrix for this camera, derived from the intrinsic parameters and the given clipping planes This is a 4x4 matrix represented as the float array within a KudanMatrix.

Parameters

nearPlane,farPlane The clipping planes to be used for rendering (not part of the camera parameters).

Returns: A KudanMatrix representing the intrinsic parameters plus clipping planes.

Exceptions

KudanException is thrown if the parameters have not been set

std::shared_ptr<KudanImageTrackable> getTrackable ( std::string name )

Get a pointer to a KudanImageTrackable by its name. This is so that settigns can be set on it

std::vector<std::shared_ptr<KudanImageTrackable> > getTrackables ( )

Get a list of pointers to all existing Trackables

Returns: A list of (pointers to) KudanImageTrackable objects, representing all of the Trackables currently loaded.

bool hasCameraCalibration ( )

Queries if a calibration has been set (with setCameraParameters).

Returns: A boolean which is true if the calibration has been set

bool isDetectorParallel ( )

Query whether the detector is allowed to look for multiple Trackables in parallel or not

Returns: Boolean indicating whether parallel detection is enabled.

bool processFrame	(	const unsigned char *	image,
		int	width,
		int	height,
		int	channels,
		int	padding,
		bool	requireFlip
	)

Process a new frame for detection and tracking. Any non-tracked Trackables will be searched for (depending on settings), and any Trackables visible in the previous frame will be tracked into this frame. This will fail (return false) if a valid license is not set.

Parameters

image	8bpp greyscale image data.
width,height	size of the image
channels	number of channels in the image (mono, colour, colour+alpha)
padding	the number of bytes to ignore at the end of each line
requireFlip	some devices provide the image upside down (rotation of 180 degrees). This flips the image (in both axes) before processing

Returns: A boolean indicating whether tracking happened (true) or not (false)

Exceptions

KudanException is thrown if there is no calibration data or an empty image.

void prohibitRecoveryMode ( )

Completely switch off recovery mode. Recovery mode cannot be used on ANY Trackable, despite individual settings.

bool queryRecoveryMode ( )

Query whether recovery mode is being used (for Trackables which are not set individually)

Returns: A boolean indicating if recovery mode is globally on or off

bool queryRecoveryMode ( std::shared_ptr< KudanImageTrackable > trackable )

Query whether recovery mode is being used for the specific Trackable. This needs to look at the global state to find out.

Parameters

trackable Pointer to a Trackable object. Returns false if Trackable is nullptr.

Returns: A boolean indicating if recovery mode is on or off for the specified Trackable.

bool removeTrackable ( std::shared_ptr< KudanImageTrackable > kudanTrackable )

Caution: not implemented yet

void resetDetectionSensitiviy ( )

Resets the detector sensitivity to default values

void setApiKey ( std::string apiKey )

A valid API key needs to be set before calling processFrame.

Parameters

apiKey A valid key can only be acquired from Kudan.

void setCameraParameters ( KudanCameraParameters & cameraParameters )

Sets the camera parameters using given camera parameters.

Parameters

cameraParameters Object of KudanCameraParameters which defines the camera intrinsics and image size.

Exceptions

KudanException is thrown if the parameters are invalid

void setDetectionSensitivity ( float sensitivity )

Set the detector sensitivity. High sensitivity values mean the detector will more readily make detections (at the expense of accuracy). Lower values indicate more caution / robustness at the expense of missing detections

Parameters

sensitivity Sensitivity value in range [0,1]

void setMaximumSimultaneousTracking ( int maxTrack )

Set the maximum number of Trackables that can be tracked at any one time. This does not limit the number which are searched for, until all possible Trackables are being tracked (at which point detection stops) Setting to 0 means there is no limit

Parameters

maxTrack The maximum number of Trackables which can be tracked at a time.

void setRecoveryMode ( bool recovery )

Toggle recover mode. This turns recovery mode on/off for all Trackables, unless set otherwise on individual Trackables

Parameters

recovery Set whether recovery mode is on or off

void toggleParallelDetection ( bool doParallel )

Set whether the detector is allowed to look for multiple Trackables in parallel or not. The number of threads used (if on) is set automatcally and is platform-specific.

Parameters

doParallel Set if parallel detection is on or off

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

KudanCV.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation