int TrackerMultiMarker::calc(const unsigned char* nImage) {
numDetected = 0;
int tmpNumDetected;
ARMarkerInfo *tmp_markers;
if (useDetectLite) {
if (arDetectMarkerLite(const_cast<unsigned char*> (nImage), this->thresh, &tmp_markers, &tmpNumDetected) < 0)
return 0;
} else {
if (arDetectMarker(const_cast<unsigned char*> (nImage), this->thresh, &tmp_markers, &tmpNumDetected) < 0)
return 0;
}
for (int i = 0; i < tmpNumDetected; i++)
if (tmp_markers[i].id != -1) {
detectedMarkers[numDetected] = tmp_markers[i];
detectedMarkerIDs[numDetected++] = tmp_markers[i].id;
if (numDetected >= MAX_IMAGE_PATTERNS) // increase this value if more markers should be possible to be detected in one image...
break;
}
if (executeMultiMarkerPoseEstimator(tmp_markers, tmpNumDetected, config) < 0)
return 0;
convertTransformationMatrixToOpenGLStyle(config->trans, this->gl_para);
return numDetected;
}
void TrackerSingleMarker::selectDetectedMarker(const int id) {
for (int i = 0; i < marker_num; i++) {
if (marker_info[i].id == id) {
executeSingleMarkerPoseEstimator(&marker_info[i], patt_center, patt_width, patt_trans);
convertTransformationMatrixToOpenGLStyle(patt_trans, this->gl_para);
confidence = marker_info[i].cf;
}
}
}
