added tracker 'Track' with basic logic

marker.cpp

@@ -37,6 +37,14 @@ Marker::Marker(Point2fVec &pts) {
 	init();
 }
 
+Marker::Marker(const Marker &other) {
+    setPoints(other.getPoints());
+    init();
+
+    id = other.getId();
+    updatePoseMat(other.getRVec(), other.getTVec());
+}
+
 void Marker::rotatePoints(int rot) {
 	rotate(points.begin(), points.begin() + 4 - rot, points.end());
 }

marker.h

@@ -46,6 +46,11 @@ class Marker {
      */
     Marker(Point2fVec &pts);
 
+    /**
+     * Copy constructor
+     */
+    Marker(const Marker &other);
+
     /**
      * Set the marker ID to <newId>.
      */
@@ -61,6 +66,11 @@ class Marker {
      */
     Point2fVec getPoints() const { return points; }
 
+    /**
+     * Set the points in <pVec>.
+     */
+    void setPoints(const Point2fVec &pVec) { points.assign(pVec.begin(), pVec.end()); }
+
     /**
      * Add a point <p> to the corner points.
      */
@@ -101,6 +111,8 @@ class Marker {
      */
     void updatePoseMat(const cv::Mat &r, const cv::Mat &t);
 
+//    void updateFromOtherMarker(const Marker *otherMrk);
+
     /**
      * Return the 4x4 OpenGL 3D pose model-view matrix as pointer to
      * the internal float[16].

ocv_ar.h

@@ -19,5 +19,6 @@
 #include "conf.h"
 #include "types.h"
 #include "detect.h"
+#include "track.h"
 
 #endif

track.cpp

@@ -0,0 +1,91 @@
+/**
+ * ocv_ar - OpenCV based Augmented Reality library
+ *
+ * Tracker class -- implementation file.
+ *
+ * Author: Markus Konrad <konrad@htw-berlin.de>, June 2014.
+ * INKA Research Group, HTW Berlin - http://inka.htw-berlin.de/
+ *
+ * See LICENSE for license.
+ */
+
+#include "track.h"
+
+using namespace ocv_ar;
+
+void Track::detect(const cv::Mat *frame) {
+    assert(detector && frame);
+    detector->setInputFrame(frame, frame->channels() == 1);
+
+    detector->processFrame();
+}
+
+void Track::lockMarkers() {
+    while (markersLocked) {};
+    markersLocked = true;
+}
+
+void Track::unlockMarkers() {
+    markersLocked = false;
+}
+
+void Track::update() {
+    // get the vector of detected markers
+    vector<Marker *> newMarkers = detector->getMarkers();
+
+    // update already existing markers
+    lockMarkers();
+    for (MarkerMap::iterator it = markers.begin();
+         it != markers.end();
+         )
+    {
+        int existingMrkId = it->first;
+        Marker *existingMrk = &it->second;
+
+        bool markerUpdated = false;
+
+        // try to find a matching marker in the "new markers" vector
+        for (vector<Marker *>::const_iterator newMrkIt = newMarkers.begin();
+             newMrkIt != newMarkers.end();
+             )
+        {
+            const Marker *newMrk = *newMrkIt;
+            if (existingMrkId == newMrk->getId()) { // we found a matching marker
+//                printf("ocv_ar::Track - updating marker %d\n", existingMrkId);
+
+                // update the existing marker with the information of the "new" marker
+                existingMrk->updatePoseMat(newMrk->getRVec(), newMrk->getTVec());
+
+                // delete this marker from the vector
+                newMrkIt = newMarkers.erase(newMrkIt);
+
+                // set status
+                markerUpdated = true;
+                break;
+            } else {
+                ++newMrkIt; // advance
+            }
+        }
+
+        if (!markerUpdated) {   // we could not find this marker in the "new markes" vector ...
+            // ... remove it!
+            printf("ocv_ar::Track - lost marker %d\n", existingMrkId);
+            markers.erase(it++);    // safe map item delete
+        } else {
+            ++it;
+        }
+    }
+
+    // add new markers
+    for (vector<Marker *>::const_iterator newMrkIt = newMarkers.begin();
+         newMrkIt != newMarkers.end();
+         ++newMrkIt)
+    {
+        const Marker *newMrk = *newMrkIt;
+        MarkerMapPair newMrkPair(newMrk->getId(), Marker(*newMrk));
+        markers.insert(newMrkPair);
+        printf("ocv_ar::Track - added new marker %d\n", newMrk->getId());
+    }
+
+    unlockMarkers();
+}

track.h

@@ -0,0 +1,60 @@
+/**
+ * ocv_ar - OpenCV based Augmented Reality library
+ *
+ * Tracker class -- header file.
+ *
+ * Author: Markus Konrad <konrad@htw-berlin.de>, June 2014.
+ * INKA Research Group, HTW Berlin - http://inka.htw-berlin.de/
+ *
+ * See LICENSE for license.
+ */
+
+#ifndef OCV_AR_TRACK_H
+#define OCV_AR_TRACK_H
+
+#include <opencv2/core/core.hpp>
+
+#include "types.h"
+#include "detect.h"
+
+namespace ocv_ar {
+
+/**
+ * Marker map. Holds one marker mapped to a marker id.
+ * Note that this means that only unique markers in a
+ * scene can be tracked for now!
+ */
+typedef std::map<int, Marker> MarkerMap;
+typedef std::pair<int, Marker> MarkerMapPair;
+
+/**
+ * Marker tracker.
+ *
+ * Note that that only unique markers in a scene can be tracked for now!
+ * This means that there should not be two or more markers with the same id
+ * in the scene.
+ */
+class Track {
+public:
+    Track(Detect *detectorPtr) : detector(detectorPtr), markersLocked(false)
+    {};
+
+    void detect(const cv::Mat *frame);
+
+    void update();
+
+    void lockMarkers();
+    void unlockMarkers();
+
+    const MarkerMap *getMarkers() const { return &markers; }
+
+private:
+    MarkerMap markers;
+    bool markersLocked;
+
+    Detect *detector;   // weak ref to Detect object
+};
+
+}
+
+#endif

types.h

@@ -16,8 +16,6 @@
 #include <map>
 
 #include <opencv2/core/core.hpp>
-#include <opencv2/imgproc/imgproc.hpp>
-#include <opencv2/calib3d/calib3d.hpp>
 
 namespace ocv_ar {
     /**