ObjectTracker Class

Description

ObjectTracker implements 3D object target detection and tracking.

ObjectTracker occupies (1 + SimultaneousNum) buffers of camera. Use setBufferCapacity of camera to set an amount of buffers that is not less than the sum of amount of buffers occupied by all components. Refer to Overview .

After creation, you can call start/stop to enable/disable the track process. start and stop are very lightweight calls.

When the component is not needed anymore, call close function to close it. It shall not be used after calling close.

ObjectTracker inputs FeedbackFrame from feedbackFrameSink. FeedbackFrameSource shall be connected to feedbackFrameSink for use. Refer to Overview .

Before a Target can be tracked by ObjectTracker, you have to load it using loadTarget/unloadTarget. You can get load/unload results from callbacks passed into the interfaces.

isAvailable

Returns true.

C

bool easyar_ObjectTracker_isAvailable(void)

C++

static bool isAvailable()

Java

public static boolean isAvailable()

Kotlin

companion object fun isAvailable(): Boolean

Objective-C

+ (bool)isAvailable

Swift

public static func isAvailable() -> Bool

C#

public static bool isAvailable()

feedbackFrameSink

FeedbackFrame input port. The InputFrame member of FeedbackFrame must have raw image, timestamp, and camera parameters. Both pinhole and fisheye camera are supported.

C

void easyar_ObjectTracker_feedbackFrameSink(easyar_ObjectTracker * This, easyar_FeedbackFrameSink * * Return)

C++

std::shared_ptr<FeedbackFrameSink> feedbackFrameSink()

Java

public @Nonnull FeedbackFrameSink feedbackFrameSink()

Kotlin

fun feedbackFrameSink(): FeedbackFrameSink

Objective-C

- (easyar_FeedbackFrameSink *)feedbackFrameSink

Swift

public func feedbackFrameSink() -> FeedbackFrameSink

C#

public virtual FeedbackFrameSink feedbackFrameSink()

bufferRequirement

Camera buffers occupied in this component.

C

int easyar_ObjectTracker_bufferRequirement(easyar_ObjectTracker * This)

C++

int bufferRequirement()

Java

public int bufferRequirement()

Kotlin

fun bufferRequirement(): Int

Objective-C

- (int)bufferRequirement

Swift

public func bufferRequirement() -> Int32

C#

public virtual int bufferRequirement()

outputFrameSource

OutputFrame output port.

C

void easyar_ObjectTracker_outputFrameSource(easyar_ObjectTracker * This, easyar_OutputFrameSource * * Return)

C++

std::shared_ptr<OutputFrameSource> outputFrameSource()

Java

public @Nonnull OutputFrameSource outputFrameSource()

Kotlin

fun outputFrameSource(): OutputFrameSource

Objective-C

- (easyar_OutputFrameSource *)outputFrameSource

Swift

public func outputFrameSource() -> OutputFrameSource

C#

public virtual OutputFrameSource outputFrameSource()

create

Creates an instance.

C

void easyar_ObjectTracker_create(easyar_ObjectTracker * * Return)

C++

static std::shared_ptr<ObjectTracker> create()

Java

public static @Nonnull ObjectTracker create()

Kotlin

companion object fun create(): ObjectTracker

Objective-C

+ (easyar_ObjectTracker *)create

Swift

public static func create() -> ObjectTracker

C#

public static ObjectTracker create()

setResultPostProcessing

Sets result post-processing.

enablePersistentTargetInstance defaults to false. When it is enabled and InputFrame contains spatial information, targetInstances in ImageTrackerResult will contain all recognized instances (with not tracking target instances).

enableMotionFusion defaults to false. When it is enabled and InputFrame contains temporal information and spatial information, pose of targetInstances in ImageTrackerResult will utilize RealTimeCoordinateTransform .

C

void easyar_ObjectTracker_setResultPostProcessing(easyar_ObjectTracker * This, bool enablePersistentTargetInstance, bool enableMotionFusion)

C++

void setResultPostProcessing(bool enablePersistentTargetInstance, bool enableMotionFusion)

Java

public void setResultPostProcessing(boolean enablePersistentTargetInstance, boolean enableMotionFusion)

Kotlin

fun setResultPostProcessing(enablePersistentTargetInstance: Boolean, enableMotionFusion: Boolean): Unit

Objective-C

- (void)setResultPostProcessing:(bool)enablePersistentTargetInstance enableMotionFusion:(bool)enableMotionFusion

Swift

public func setResultPostProcessing(_ enablePersistentTargetInstance: Bool, _ enableMotionFusion: Bool) -> Void

C#

public virtual void setResultPostProcessing(bool enablePersistentTargetInstance, bool enableMotionFusion)

setResultAsyncMode

Sets result async mode. Set true If results are to be outputted via outputFrameSource, false if results are to be fetched via getSyncResult. enableAsync defaults to true. Sync mode is only available with input frames including spatial information and with a XR license.

C

bool easyar_ObjectTracker_setResultAsyncMode(easyar_ObjectTracker * This, bool enableAsync)

C++

bool setResultAsyncMode(bool enableAsync)

Java

public boolean setResultAsyncMode(boolean enableAsync)

Kotlin

fun setResultAsyncMode(enableAsync: Boolean): Boolean

Objective-C

- (bool)setResultAsyncMode:(bool)enableAsync

Swift

public func setResultAsyncMode(_ enableAsync: Bool) -> Bool

C#

public virtual bool setResultAsyncMode(bool enableAsync)

start

Starts the track algorithm.

C

bool easyar_ObjectTracker_start(easyar_ObjectTracker * This)

C++

bool start()

Java

public boolean start()

Kotlin

fun start(): Boolean

Objective-C

- (bool)start

Swift

public func start() -> Bool

C#

public virtual bool start()

stop

Stops the track algorithm. Call start to start the track again.

C

void easyar_ObjectTracker_stop(easyar_ObjectTracker * This)

C++

void stop()

Java

public void stop()

Kotlin

fun stop(): Unit

Objective-C

- (void)stop

Swift

public func stop() -> Void

C#

public virtual void stop()

close

Close. The component shall not be used after calling close.

C

void easyar_ObjectTracker_close(easyar_ObjectTracker * This)

C++

void close()

Java

public void close()

Kotlin

fun close(): Unit

Objective-C

- (void)close

Swift

public func close() -> Void

C#

public virtual void close()

loadTarget

Load a Target into the tracker. A Target can only be tracked by tracker after a successful load.

This method is an asynchronous method. A load operation may take some time to finish and detection of a new/lost target may take more time during the load. The track time after detection will not be affected. If you want to know the load result, you have to handle the callback data. The callback will be called from the thread specified by CallbackScheduler . It will not block the track thread or any other operations except other load/unload.

C

void easyar_ObjectTracker_loadTarget(easyar_ObjectTracker * This, easyar_Target * target, easyar_CallbackScheduler * callbackScheduler, easyar_FunctorOfVoidFromTargetAndBool callback)

C++

void loadTarget(std::shared_ptr<Target> target, std::shared_ptr<CallbackScheduler> callbackScheduler, std::function<void(std::shared_ptr<Target>, bool)> callback)

Java

public void loadTarget(@Nonnull Target target, @Nonnull CallbackScheduler callbackScheduler, @Nonnull FunctorOfVoidFromTargetAndBool callback)

Kotlin

fun loadTarget(target: Target, callbackScheduler: CallbackScheduler, callback: FunctorOfVoidFromTargetAndBool): Unit

Objective-C

- (void)loadTarget:(easyar_Target *)target callbackScheduler:(easyar_CallbackScheduler *)callbackScheduler callback:(void (^)(easyar_Target * target, bool status))callback

Swift

public func loadTarget(_ target: Target, _ callbackScheduler: CallbackScheduler, _ callback: @escaping (Target, Bool) -> Void) -> Void

C#

public virtual void loadTarget(Target target, CallbackScheduler callbackScheduler, Action<Target, bool> callback)

unloadTarget

Unload a Target from the tracker.

This method is an asynchronous method. An unload operation may take some time to finish and detection of a new/lost target may take more time during the unload. If you want to know the unload result, you have to handle the callback data. The callback will be called from the thread specified by CallbackScheduler . It will not block the track thread or any other operations except other load/unload.

C

void easyar_ObjectTracker_unloadTarget(easyar_ObjectTracker * This, easyar_Target * target, easyar_CallbackScheduler * callbackScheduler, easyar_FunctorOfVoidFromTargetAndBool callback)

C++

void unloadTarget(std::shared_ptr<Target> target, std::shared_ptr<CallbackScheduler> callbackScheduler, std::function<void(std::shared_ptr<Target>, bool)> callback)

Java

public void unloadTarget(@Nonnull Target target, @Nonnull CallbackScheduler callbackScheduler, @Nonnull FunctorOfVoidFromTargetAndBool callback)

Kotlin

fun unloadTarget(target: Target, callbackScheduler: CallbackScheduler, callback: FunctorOfVoidFromTargetAndBool): Unit

Objective-C

- (void)unloadTarget:(easyar_Target *)target callbackScheduler:(easyar_CallbackScheduler *)callbackScheduler callback:(void (^)(easyar_Target * target, bool status))callback

Swift

public func unloadTarget(_ target: Target, _ callbackScheduler: CallbackScheduler, _ callback: @escaping (Target, Bool) -> Void) -> Void

C#

public virtual void unloadTarget(Target target, CallbackScheduler callbackScheduler, Action<Target, bool> callback)

targets

Returns current loaded targets in the tracker. If an asynchronous load/unload is in progress, the returned value will not reflect the result until all load/unload finish.

C

void easyar_ObjectTracker_targets(const easyar_ObjectTracker * This, easyar_ListOfTarget * * Return)

C++

std::vector<std::shared_ptr<Target>> targets()

Java

public java.util.@Nonnull ArrayList<@Nonnull Target> targets()

Kotlin

fun targets(): ArrayList<Target>

Objective-C

- (NSArray<easyar_Target *> *)targets

Swift

public func targets() -> [Target]

C#

public virtual List<Target> targets()

setSimultaneousNum

Sets the max number of targets which will be the simultaneously tracked by the tracker. The default value is 1.

C

bool easyar_ObjectTracker_setSimultaneousNum(easyar_ObjectTracker * This, int num)

C++

bool setSimultaneousNum(int num)

Java

public boolean setSimultaneousNum(int num)

Kotlin

fun setSimultaneousNum(num: Int): Boolean

Objective-C

- (bool)setSimultaneousNum:(int)num

Swift

public func setSimultaneousNum(_ num: Int32) -> Bool

C#

public virtual bool setSimultaneousNum(int num)

simultaneousNum

Gets the max number of targets which will be the simultaneously tracked by the tracker. The default value is 1.

C

int easyar_ObjectTracker_simultaneousNum(const easyar_ObjectTracker * This)

C++

int simultaneousNum()

Java

public int simultaneousNum()

Kotlin

fun simultaneousNum(): Int

Objective-C

- (int)simultaneousNum

Swift

public func simultaneousNum() -> Int32

C#

public virtual int simultaneousNum()

getSyncResult

Get synchronized result. If ObjectTracker is paused, or the result async mode is not set to false through setResultAsyncMode, the return value is empty.

C

void easyar_ObjectTracker_getSyncResult(easyar_ObjectTracker * This, double timestamp, easyar_Matrix44F cameraTransform, easyar_MotionTrackingStatus trackingStatus, easyar_OptionalOfObjectTrackerResult * Return)

C++

std::optional<std::shared_ptr<ObjectTrackerResult>> getSyncResult(double timestamp, Matrix44F cameraTransform, MotionTrackingStatus trackingStatus)

Java

public @Nullable ObjectTrackerResult getSyncResult(double timestamp, @Nonnull Matrix44F cameraTransform, int trackingStatus)

Kotlin

fun getSyncResult(timestamp: Double, cameraTransform: Matrix44F, trackingStatus: Int): ObjectTrackerResult?

Objective-C

- (easyar_ObjectTrackerResult *)getSyncResult:(double)timestamp cameraTransform:(easyar_Matrix44F *)cameraTransform trackingStatus:(easyar_MotionTrackingStatus)trackingStatus

Swift

public func getSyncResult(_ timestamp: Double, _ cameraTransform: Matrix44F, _ trackingStatus: MotionTrackingStatus) -> ObjectTrackerResult?

C#

public virtual Optional<ObjectTrackerResult> getSyncResult(double timestamp, Matrix44F cameraTransform, MotionTrackingStatus trackingStatus)