Table of Contents

Class ObjectTracker

Namespace
easyar

ObjectTracker implements the detection and tracking of 3D object targets. ObjectTracker occupies (1 + SimultaneousNum) camera buffers. The camera's setBufferCapacity should be set to no less than the number of camera buffers occupied by all components. After creation, you can call start/stop to begin and stop operation; start/stop are very lightweight calls. When the component is no longer needed, you can call close to shut it down. It should not be used after close. ObjectTracker inputs through feedbackFrameSink FeedbackFrame, and FeedbackFrameSource should be connected to feedbackFrameSink for use. Before a Target can be tracked by ObjectTracker, you need to load it via loadTarget/unloadTarget. You can obtain the load/unload results by passing in a callback interface.

ObjectTracker

Methods

isAvailable

Returns true.

bool easyar_ObjectTracker_isAvailable(void)
static bool isAvailable()
public static boolean isAvailable()
companion object fun isAvailable(): Boolean
+ (bool)isAvailable
public static func isAvailable() -> Bool
public static bool isAvailable()

Returns

Boolean

feedbackFrameSink

FeedbackFrame input port. The InputFrame member in FeedbackFrame must have an image, timestamp, and camera parameters; the camera supports pinhole and fisheye cameras.

void easyar_ObjectTracker_feedbackFrameSink(easyar_ObjectTracker * This, easyar_FeedbackFrameSink * * Return)
std::shared_ptr<FeedbackFrameSink> feedbackFrameSink()
public @Nonnull FeedbackFrameSink feedbackFrameSink()
fun feedbackFrameSink(): FeedbackFrameSink
- (easyar_FeedbackFrameSink *)feedbackFrameSink
public func feedbackFrameSink() -> FeedbackFrameSink
public virtual FeedbackFrameSink feedbackFrameSink()

Returns

FeedbackFrameSink

bufferRequirement

The number of camera buffers occupied by the current component.

int easyar_ObjectTracker_bufferRequirement(easyar_ObjectTracker * This)
int bufferRequirement()
public int bufferRequirement()
fun bufferRequirement(): Int
- (int)bufferRequirement
public func bufferRequirement() -> Int32
public virtual int bufferRequirement()

Returns

Int32

outputFrameSource

OutputFrame output port.

void easyar_ObjectTracker_outputFrameSource(easyar_ObjectTracker * This, easyar_OutputFrameSource * * Return)
std::shared_ptr<OutputFrameSource> outputFrameSource()
public @Nonnull OutputFrameSource outputFrameSource()
fun outputFrameSource(): OutputFrameSource
- (easyar_OutputFrameSource *)outputFrameSource
public func outputFrameSource() -> OutputFrameSource
public virtual OutputFrameSource outputFrameSource()

Returns

OutputFrameSource

create

Create.

void easyar_ObjectTracker_create(easyar_ObjectTracker * * Return)
static std::shared_ptr<ObjectTracker> create()
public static @Nonnull ObjectTracker create()
companion object fun create(): ObjectTracker
+ (easyar_ObjectTracker *)create
public static func create() -> ObjectTracker
public static ObjectTracker create()

Returns

ObjectTracker

setResultPostProcessing

Set result post-processing. enablePersistentTargetInstance defaults to false; when enabled, if the InputFrame data contains spatial information, the targetInstances in ImageTrackerResult will include all recognized instances (including those not currently tracked). enableMotionFusion defaults to false; when enabled, if the InputFrame data contains temporal and spatial information, the pose of targetInstances in ImageTrackerResult will be smoothed using RealTimeCoordinateTransform.

void easyar_ObjectTracker_setResultPostProcessing(easyar_ObjectTracker * This, bool enablePersistentTargetInstance, bool enableMotionFusion)
void setResultPostProcessing(bool enablePersistentTargetInstance, bool enableMotionFusion)
public void setResultPostProcessing(boolean enablePersistentTargetInstance, boolean enableMotionFusion)
fun setResultPostProcessing(enablePersistentTargetInstance: Boolean, enableMotionFusion: Boolean): Unit
- (void)setResultPostProcessing:(bool)enablePersistentTargetInstance enableMotionFusion:(bool)enableMotionFusion
public func setResultPostProcessing(_ enablePersistentTargetInstance: Bool, _ enableMotionFusion: Bool) -> Void
public virtual void setResultPostProcessing(bool enablePersistentTargetInstance, bool enableMotionFusion)

Parameters

enablePersistentTargetInstance Boolean
enableMotionFusion Boolean

Returns

Void

setResultAsyncMode

Set result asynchronous mode. If the results are output via outputFrameSource, it should be set to true; if the results are obtained via getSyncResult, it should be set to false. The default enableAsync is true. Synchronous mode is only effective when the input frame contains spatial information and an XR License is used.

bool easyar_ObjectTracker_setResultAsyncMode(easyar_ObjectTracker * This, bool enableAsync)
bool setResultAsyncMode(bool enableAsync)
public boolean setResultAsyncMode(boolean enableAsync)
fun setResultAsyncMode(enableAsync: Boolean): Boolean
- (bool)setResultAsyncMode:(bool)enableAsync
public func setResultAsyncMode(_ enableAsync: Bool) -> Bool
public virtual bool setResultAsyncMode(bool enableAsync)

Parameters

enableAsync Boolean

Returns

Boolean

start

Start the tracking algorithm.

bool easyar_ObjectTracker_start(easyar_ObjectTracker * This)
bool start()
public boolean start()
fun start(): Boolean
- (bool)start
public func start() -> Bool
public virtual bool start()

Returns

Boolean

stop

Pause the tracking algorithm. Call start to restart tracking.

void easyar_ObjectTracker_stop(easyar_ObjectTracker * This)
void stop()
public void stop()
fun stop(): Unit
- (void)stop
public func stop() -> Void
public virtual void stop()

Returns

Void

close

Close. It should not be used after close.

void easyar_ObjectTracker_close(easyar_ObjectTracker * This)
void close()
public void close()
fun close(): Unit
- (void)close
public func close() -> Void
public virtual void close()

Returns

Void

loadTarget

Load a Target into the tracker. A Target can only be recognized and tracked after it is successfully loaded into the tracker. This method is asynchronous. The loading process may take some time to complete; during this time, the detection of new and lost targets may take longer than usual, but tracking after detection is unaffected. If you wish to know the result of the load, you need to handle the callback data. The callback will be called on the thread specified by CallbackScheduler. The tracking thread and operations other than other load/unload operations will not be blocked.

void easyar_ObjectTracker_loadTarget(easyar_ObjectTracker * This, easyar_Target * target, easyar_CallbackScheduler * callbackScheduler, easyar_FunctorOfVoidFromTargetAndBool callback)
void loadTarget(std::shared_ptr<Target> target, std::shared_ptr<CallbackScheduler> callbackScheduler, std::function<void(std::shared_ptr<Target>, bool)> callback)
public void loadTarget(@Nonnull Target target, @Nonnull CallbackScheduler callbackScheduler, @Nonnull FunctorOfVoidFromTargetAndBool callback)
fun loadTarget(target: Target, callbackScheduler: CallbackScheduler, callback: FunctorOfVoidFromTargetAndBool): Unit
- (void)loadTarget:(easyar_Target *)target callbackScheduler:(easyar_CallbackScheduler *)callbackScheduler callback:(void (^)(easyar_Target * target, bool status))callback
public func loadTarget(_ target: Target, _ callbackScheduler: CallbackScheduler, _ callback: @escaping (Target, Bool) -> Void) -> Void
public virtual void loadTarget(Target target, CallbackScheduler callbackScheduler, Action<Target, bool> callback)

Parameters

target Target
callbackScheduler CallbackScheduler
callback Action<,>

Returns

Void

unloadTarget

Unload a Target from the tracker. This method is asynchronous. The unloading process may take some time to complete; during this time, the detection of new and lost targets may take longer than usual, but tracking after detection is unaffected. If you wish to know the result of the unload, you need to handle the callback data. The callback will be called on the thread specified by CallbackScheduler. The tracking thread and operations other than other load/unload operations will not be blocked.

void easyar_ObjectTracker_unloadTarget(easyar_ObjectTracker * This, easyar_Target * target, easyar_CallbackScheduler * callbackScheduler, easyar_FunctorOfVoidFromTargetAndBool callback)
void unloadTarget(std::shared_ptr<Target> target, std::shared_ptr<CallbackScheduler> callbackScheduler, std::function<void(std::shared_ptr<Target>, bool)> callback)
public void unloadTarget(@Nonnull Target target, @Nonnull CallbackScheduler callbackScheduler, @Nonnull FunctorOfVoidFromTargetAndBool callback)
fun unloadTarget(target: Target, callbackScheduler: CallbackScheduler, callback: FunctorOfVoidFromTargetAndBool): Unit
- (void)unloadTarget:(easyar_Target *)target callbackScheduler:(easyar_CallbackScheduler *)callbackScheduler callback:(void (^)(easyar_Target * target, bool status))callback
public func unloadTarget(_ target: Target, _ callbackScheduler: CallbackScheduler, _ callback: @escaping (Target, Bool) -> Void) -> Void
public virtual void unloadTarget(Target target, CallbackScheduler callbackScheduler, Action<Target, bool> callback)

Parameters

target Target
callbackScheduler CallbackScheduler
callback Action<,>

Returns

Void

targets

Returns the targets currently loaded into the tracker. If asynchronous loading/unloading is in progress, the return value before the load/unload completes will not reflect the results of these load/unload operations.

void easyar_ObjectTracker_targets(const easyar_ObjectTracker * This, easyar_ListOfTarget * * Return)
std::vector<std::shared_ptr<Target>> targets()
public java.util.@Nonnull ArrayList<@Nonnull Target> targets()
fun targets(): ArrayList<Target>
- (NSArray<easyar_Target *> *)targets
public func targets() -> [Target]
public virtual List<Target> targets()

Returns

List<>

setSimultaneousNum

Set the maximum number of targets that can be tracked by the tracker. The default value is 1.

bool easyar_ObjectTracker_setSimultaneousNum(easyar_ObjectTracker * This, int num)
bool setSimultaneousNum(int num)
public boolean setSimultaneousNum(int num)
fun setSimultaneousNum(num: Int): Boolean
- (bool)setSimultaneousNum:(int)num
public func setSimultaneousNum(_ num: Int32) -> Bool
public virtual bool setSimultaneousNum(int num)

Parameters

num Int32

Returns

Boolean

simultaneousNum

Get the maximum number of targets that can be tracked by the tracker. The default value is 1.

int easyar_ObjectTracker_simultaneousNum(const easyar_ObjectTracker * This)
int simultaneousNum()
public int simultaneousNum()
fun simultaneousNum(): Int
- (int)simultaneousNum
public func simultaneousNum() -> Int32
public virtual int simultaneousNum()

Returns

Int32

getSyncResult

Get synchronous output results. If ObjectTracker is paused, or if the result asynchronous mode is not set to false via setResultAsyncMode, the return value is empty.

void easyar_ObjectTracker_getSyncResult(easyar_ObjectTracker * This, easyar_MotionInputData * motionInputData, easyar_OptionalOfObjectTrackerResult * Return)
std::optional<std::shared_ptr<ObjectTrackerResult>> getSyncResult(std::shared_ptr<MotionInputData> motionInputData)
public @Nullable ObjectTrackerResult getSyncResult(@Nonnull MotionInputData motionInputData)
fun getSyncResult(motionInputData: MotionInputData): ObjectTrackerResult?
- (easyar_ObjectTrackerResult *)getSyncResult:(easyar_MotionInputData *)motionInputData
public func getSyncResult(_ motionInputData: MotionInputData) -> ObjectTrackerResult?
public virtual Optional<ObjectTrackerResult> getSyncResult(MotionInputData motionInputData)

Parameters

motionInputData MotionInputData

Returns

Optional<ObjectTrackerResult>