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Version: 20 Mar 2024

MLMarkerTrackerSettings

Module: Fiducial Marker Tracking

Marker Tracker Settings. More...

#include <ml_marker_tracking.h>

Public Attributes

TypeName
uint32_tversion
boolenable_marker_tracking
If true, Marker Tracker will detect and track the enabled marker types.
uint32_tenabled_detector_types
The detector types that are enabled.
MLMarkerTrackerArucoDictionaryNamedictionary
Aruco Dictionary or April Tag name from which markers shall be tracked.
floataruco_marker_length
The length of the Aruco markers that shall be tracked.
floatqr_code_length
The length of the QR code that shall be tracked.
MLMarkerTrackerProfiletracker_profile
Tracker profile to be used.
MLMarkerTrackerCustomProfilecustom_tracker_profile
Custom tracker profile to be used.

Detailed Description

struct MLMarkerTrackerSettings;

Marker Tracker Settings.

When creating a Marker Tracker, this list of settings needs to be passed to configure the tracker properly. The tracker will only output detections of markers that belong to the defined dictionary and the estimated poses will only be correct if the marker length has been set correctly.

Deprecated

Deprecated since 1.6.0. Scheduled for removal.

API Level:

  • 21

Public Attributes Documentation

version

uint32_t version;

Version of this structure.


enable_marker_tracking

bool enable_marker_tracking;

If true, Marker Tracker will detect and track the enabled marker types.

Marker Tracker should be disabled when app is paused and enabled when app resumes. When enabled, Marker Tracker will gain access to the camera and start analysing camera frames. When disabled Marker Tracker will release the camera and stop tracking markers. Internal state of the tracker will be maintained.


enabled_detector_types

uint32_t enabled_detector_types;

The detector types that are enabled.

Enable detector types by combining any number of MLMarkerTrackerDetectorType flags using '|' (bitwise 'or').


dictionary

MLMarkerTrackerArucoDictionaryName dictionary;

Aruco Dictionary or April Tag name from which markers shall be tracked.

TypeDescription
MLMarkerTrackerArucoDictionaryNameSupported pre-defined Aruco dictionary and AprilTags.

Unused if Aruco detector is not enabled.


aruco_marker_length

float aruco_marker_length;

The length of the Aruco markers that shall be tracked.

The marker length is important to know, because once a marker is detected we can only determine its 3D position if we know how large it is in real life. The length of a marker is given in meters and represents the length of a single side of the marker square.

Unused if Aruco detector is not enabled.


qr_code_length

float qr_code_length;

The length of the QR code that shall be tracked.

The marker length is important to know, because once a QR code is detected we can only determine its 3D position if we know how large it is in real life. The length of a QR code is given in meters and represents the length of a single side of the QR code square.

Unused if QR detector is not enabled.


tracker_profile

MLMarkerTrackerProfile tracker_profile;

Tracker profile to be used.

TypeDescription
MLMarkerTrackerProfileRepresents the different tracker profiles.

See MLMarkerTrackerProfile for details.


custom_tracker_profile

MLMarkerTrackerCustomProfile custom_tracker_profile;

Custom tracker profile to be used.

TypeDescription
MLMarkerTrackerCustomProfileMarker Tracker Custom Profile.

See MLMarkerTrackerCustomProfile for details. This custom profile will only be used when MLMarkerTrackerProfile is set to MLMarkerTrackerProfile_Custom and ignored for all other cases.