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QR Code Fusion Tracker

Related documentations
Tracker Coordinate System

By recognizing / tracking QR Code, you can augment various contents. You can augment the information of QR Code used in real life, the URL link button using this information, the 3D model, or image. QR Code Model 2 or higher is supported.

After target recognition and initial poses are acquired through the MAXST SDK, use ARKit for tracking.
※To use the AR Core / AR Kit, you must enter the actual size. (See Start / Stop Tracker)

The biggest difference from the existing QR Code Tracker is that the existing QR Code 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. QR Code 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.

Create Instants
Start / Stop Tracker
Use Tracking Information
Change Tracking Mode

Create Instants


    var trackingManager:MasTrackerManager = MasTrackerManager()

Start / Stop Tracker

trackingManager.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.

trackingManager.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.

To start / stop the tracker, refer to the following code.


    func startEngine() {        
            trackingManager.addTrackerData("{\"qr_fusion\":\"set_scale\",\"content\":\"wikipedia\", \"scale\":0.14}");

    @objc func resumeAR() {
        trackingManager.start(. TRACKER_TYPE_QR_FUSION)

    @objc func pauseAR() {

You need to pass the exact actual size as a parameter of scale via addTrackerData. (Unit: m)
Content is a phrase included in the information of the QR code. SetScale is the actual size of the QR code. The shape of the QR code is square.
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 ().

Use Tracking Information

The QR Code information is setted function 'getName' in 'MasTrackable'.


    func draw(in view: MTKView) {
        let trackingState:MasTrackingState = trackingManager.updateTrackingState()
        let result:MasTrackingResult = trackingState.getTrackingResult()
        let backgroundImage:MasTrackedImage = trackingState.getImage()
        var backgroundProjectionMatrix:matrix_float4x4 = cameraDevice.getBackgroundPlaneProjectionMatrix()
        let projectionMatrix:matrix_float4x4 = cameraDevice.getProjectionMatrix()
        if let cameraQuad = backgroundCameraQuad {
            cameraQuad.setProjectionMatrix(projectionMatrix: backgroundProjectionMatrix)
            cameraQuad.draw(commandEncoder: commandEncoder, image: backgroundImage)
        let trackingCount:Int32 = result.getCount()
        var recogQRCode:String = "Recognized QRCode : "
        if trackingCount > 0 {
            for i in stride(from: 0, to: trackingCount, by: 1) {
                let trackable:MasTrackable = result.getTrackable(i)
                let poseMatrix:matrix_float4x4 = trackable.getPose()
                recogQRCode = recogQRCode + trackable.getName() + ", "
                textureCube!.setProjectionMatrix(projectionMatrix: projectionMatrix)
                textureCube!.setPoseMatrix(poseMatrix: poseMatrix)
                textureCube!.setTranslation(x: 0.0, y: 0.0, z: -0.05)
                textureCube!.setScale(x: 1.0, y: 1.0, z: 0.1)
                textureCube!.draw(commandEncoder: commandEncoder)

Change Tracking Mode

2 Tracking Modes of QR Code Fusion Tracker:


  • JITTER_REDUCTION_ACTIVATION: Default Setting. Jitter reduction.
  • JITTER_REDUCTION_DEACTIVATION: Disable the jitter reduction option.