Qualcomm AR之目标识别、跟踪

Qualcomm AR的Unity3D代码中，在QCARManagerImpl类获得图像，并进行识别、跟踪物体，得到目标物体的姿态(位置和旋转量)。所有的更新操作，在QCARManagerImpl.Update()中实现。

主要使用到的相关的数据结构

ImageHeaderData图像头结构体

public struct ImageHeaderData

 {

     public int width;

     public int height;

     public int stride;

     public int bufferWidth;

     public int bufferHeight;

     public int format;

     public int reallocate;

     public int updated;

     public IntPtr data;

 }

FrameState结构体包含了识别跟踪到的数据

private struct FrameState

 {

     public int numTrackableResults;

     public int numVirtualButtonResults;

     public int frameIndex;

     public IntPtr trackableDataArray;

     public IntPtr vbDataArray;

     public int numWordResults;

     public IntPtr wordResultArray;

     public int numNewWords;

     public IntPtr newWordDataArray;

     public IntPtr videoModeData;

 }

numTrackableResults：找到的跟踪目标个数

numVirtualButtonResults：虚拟按键的个数

frameIndex：帧的索引号

trackableDataArray：跟踪结果数据(指向TrackableResultData结构体)

vbDataArray：虚拟按键跟踪结果

numWordResults：识别文字个数

wordResultArray：识别跟踪的文字结果数据

TrackableResultData结构体包含了图像识别跟踪的数据

public struct TrackableResultData

 {

     public PoseData pose;

     public TrackableBehaviour.Status status;

     public int id;

 }

pose：pose数据

status：跟踪状态，为如下枚举中的一个值

public enum Status

 {

     NOT_FOUND = -1,

     UNKNOWN = 0, ///< The state of the TrackableResult is unknown

     UNDEFINED = 1,///< The state of the TrackableResult is not defined

     DETECTED = 2,///< The TrackableResult was detected

     TRACKED = 3   ///< The TrackableResult was tracked

 }

id：目标的id号

PoseData结构体包含了姿态

public struct PoseData

 {

     public Vector3 position;

     public Quaternion orientation;

 }

position：位置

orientation：旋转量