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Marker Fusion Tracker

Related documentations
Marker
Tracker Coordinate System

By recognizing and tracking the provided markers, you can augment images, 3D objects or videos especially when there are plenty of targets. 8,192 markers will be provided which were developed by MAXST itself. After target recognition and initial poses are acquired through the MAXST SDK, use AR Core for tracking.
※To use the AR Core, you must enter the actual size. (See Start / Stop Tracker)

The biggest difference from the existing Marker Tracker is that the existing Marker Tracker tracks through the frame input from the RGB camera. Due to the nature of RGB cameras, tracking will be lost if the target deviates from the camera frame or if there are few feature points. Marker Fusion Tracker, on the other hand, tracks through the AR Core, which allows the target to deviate from the camera frame or keep the feature point at least without tracking, due to the nature of learning the environment in which the current target lies.

Start / Stop Tracker

TrackerManager.getInstance().IsFusionSupported ()
This function checks whether or not your device supports Fusion.
Return value is bool type. If true, it supports the device in use. If it is false, it does not support the device.

TrackerManager.getInstance().GetFusionTrackingState ()
Pass the tracking status of the current Fusion.
The return value is an int of -1, which means that tracking isn't working properly, and 1 means that it's working properly.

After setting the markers, refer to the following code to start / stop the tracker.

>MarkerFusionTrackerActivity.java


@Override
protected void onCreate() {
    ...

TrackerManager.getInstance().startTracker(TrackerManager.TRACKER_TYPE_MARKER_FUSION);
TrackerManager.getInstance().addTrackerData("{"marker":"set_scale","id":"0", "scale":0.042}",false);
TrackerManager.getInstance().loadTrackerData();

    ...
}

@Override
protected void onResume() {
    ...
    TrackerManager.getInstance().startTracker(TrackerManager.TRACKER_TYPE_MARKER_FUSION);
    ...
}

@Override
protected void onPause() {
    ...
    TrackerManager.getInstance().stopTracker();
    ...
}

id is the unique number of the marker.
scale is the actual size of the marker.
You must enter the actual size of the target. If you do not enter the correct actual size, the content will not be augmented properly.
It must be run in the following order: startTracker (), addTrackerData (), loadTrackerData ().

>MarkerFusionTrackerRenderer.java

@Override
Public void onSurfaceCreated(…){
   …
   …
   CameraDevice.getInstance().setARCoreTexture();
}

The setARCoreTexture () function call must be made from glThread.
setARCoreTexture () must be executed. If the function is not executed, no screen is displayed.

Use Tracking Information

Refer to the following code to use the tracking information. You can choose the marker and augment the content by creating the conditional statement with trackable.getID ().

>MarkerFusionTrackerRenderer.java

@Override
public void onDrawFrame(GL10 unused) {
    ...
    TrackingState state = TrackerManager.getInstance().updateTrackingState();
    TrackingResult trackingResult = state.getTrackingResult();
    ...
    for (int i = 0; i < trackingResult.getCount(); i++) {
        Trackable trackable = trackingResult.getTrackable(i);
        texturedCube.setProjectionMatrix(projectionMatrix);
        texturedCube.setTransform(trackable.getPoseMatrix());
        texturedCube.setTranslate(0, 0, -0.05f);
        texturedCube.setScale(1.0f, 1.0f, 0.1f);
        texturedCube.draw();
    }
}

Set Target Marker

Once you enter the target marker size (m) and call the addTrackerData, you can track the marker in real scale. Refer to the following code to set a target marker.

>MarkerFusionTrackerActivity.java

@Override
protected void onCreate(Bundle savedInstanceState) {
    TrackerManager.getInstance().addTrackerData("{\"marker\":\"scale\",\"all\":1.3, \"id0\" : 0.5, \"id1\" : 0.5, \"id3\" : 0.4, \"id10\" : 1.5}", true);
    TrackerManager.getInstance().loadTrackerData();
}