uml.puml

@startuml

class AR{
    -Tracking *trackingInstance
    -Recognition *recognitionInstance
    +std::vector<QueryItem> process(cv::Mat frame)
    +void startTracking(const cv::Mat &frame, const ObjectPosition &pose)
    +bool keepTracking(const cv::Mat &frame)
    +Tracking *getTrackingInstance()
    +int addAndCreate(std::vector<cv::Mat> imgs)
    +int add(cv::Mat img)
    +int create()
}
class FeatureDB{
    -cv::Ptr<cv::DescriptorMatcher> descriptorMatcher
    -float RADIUS
    -const int KNN_SIZE
    +void addFeatures(const cv::Mat &feature)
    +void create(int amountCluster)
    +void clear()
    +cv::Mat search(const cv::Mat &feature)
    +int size() const
}
class Recognition{
    -cv::Ptr<cv::FeatureDetector> featureDetector
    -FeatureDB *vw
    -int imageAmount
    -int featureAmount
    -int MIN_MATCH
    -float MIN_PROBABILITY
    -float DISTANTION_TOLERANCE
    -std::multimap<int, FeatureInfo> featureStore
    -std::map<int, cv::KeyPoint> keyPointStore
    -std::map<int, ImageInfo> imageInfoStore
    -std::map<int, std::vector<FeatureVote> *> voteStorage
    +void addAndCreateBagOfVisualWords(const std::vector<cv::Mat> &imgs, int numClusters)
    +void addVisualWord(const cv::Mat &img)
    +void createBagOfVisualWords(int numClusters)
    +int addTrackImage(const cv::Mat &img)
    +std::vector<QueryItem> queryImage(const cv::Mat &img, int amountRes)
    +float probDistribution(int numFeatures, int numMatch, float pp)
    -void extractFeatures(const cv::Mat &img, std::vector<cv::KeyPoint> &keyPoints,
     cv::Mat &descriptor)
    -int getFeatureIds(const cv::Mat &descriptor, std::vector<int> &ids)
    -int storeImageFeatures(int id, const cv::Size &size, std::vector<cv::KeyPoint> keyPoints,
     std::vector<int> ids)
    -int getCandidateKpId()
    -std::vector<QueryItem> searchImageId(std::vector<cv::KeyPoint> keyPoints,
     std::vector<int> ids, cv::Size size, int amountWords, int amountRes)
    -void voteQueryFeatures(std::vector<cv::KeyPoint> keyPoints, std::vector<int> ids)
    -void clearVote()
    -std::vector<QueryItem> getMatchResults(std::vector<cv::KeyPoint> keyPoints,
     int amountWords)
    -std::vector<QueryItem>filterGeomResults(std::vector<cv::KeyPoint> keyPoints,
     std::vector<QueryItem> pre, cv::Size size, int amountRes)
    -void findPointPair(std::vector<cv::KeyPoint> keyPoints,
     std::vector<FeatureVote> voteTable, std::vector<cv::Point2f> &q, std::vector<cv::Point2f> &r)

}
class Tracking{
    +ObjectPosition objectPosition
    +std::vector<cv::Point2f> corners
    -cv::Mat prevFrame
    -cv::Mat homography
    -int MIN_FEATURE_POINTS
    -int maxAmountCorners
    -double minQualityCorners
    -double minDistanceCorners
    -std::vector<uchar> opticalFlowStatus
    +{static}Tracking *create()
    +void start(const cv::Mat &frame, const ObjectPosition &pos)
    +bool keepTracking(const cv::Mat &frame)
    +cv::Mat getHomography()
}
class CvUtils{
    +{static}cv::Mat createMask(cv::Size size, const ObjectPosition &pose)
    +{static}cv::Mat pointsToMat(const ObjectPosition &v)
    +{static}template <typename T, typename F> static std::vector<T> convertVecType(const std::vector<F> &v)
    +{static}bool ptsInsideFrame(const cv::Size &size, const std::vector<cv::Point2f> &pts)
    +{static}bool _ptsInsideFrame(const cv::Size &size, const std::vector<cv::Point2f> &pts)
    +{static}bool proveRect(std::vector<cv::Point2f> &pts)
    +{static}bool _proveRect(std::vector<cv::Point2f> &pts)
    +{static}bool isInsideRect(const std::vector<cv::Point2f> &rect, const cv::Point2f &pt)
    +{static}int _amountGoodPtInsideRect(std::vector<cv::Point2f> &points, std::vector<cv::Point2f> &corner_pts,
                                                    std::vector<unsigned char> &status)
    +{static}std::vector<cv::Point2f> calcObjPos(const ObjectPosition &pos, cv::Mat &homo)
    +{static}std::vector<cv::Point2f> transformMarkerCoordToObjectCoord(cv::Size size, cv::Mat mat)
    +{static}std::vector<cv::Point2f> scalePoints(std::vector<cv::Point2f> &point_vec, double scale)
}

AR "1" --> "1" Recognition
AR "1" --> "1" Tracking
Recognition "1" --> "1" FeatureDB
Recognition "<use>" ..> CvUtils
Tracking "<use>" ..> CvUtils

@enduml