bool ofxArtool5::initNFT(ARParamLT * cparamLT, AR_PIXEL_FORMAT pixFormat){
kpmHandle = kpmCreateHandle(cparamLT, pixFormat);
if (!kpmHandle) {
ofLogError("ofxArtool5::initNFT","kpmCreateHandle");
return false;
}
if((ar2Handle = ar2CreateHandle(cparamLT, pixFormat, AR2_TRACKING_DEFAULT_THREAD_NUM))==NULL){
ofLogError("ofxArtool5::initNFT","ar2CreateHandle");
kpmDeleteHandle(&kpmHandle);
return false;
}
if(threadGetCPU()<=1){
ofLogWarning("ofxArtool5::initNFT","Using NFT settings for a single CPU");
ar2SetTrackingThresh(ar2Handle, 5.0);
ar2SetSimThresh(ar2Handle, 0.50);
ar2SetSearchFeatureNum(ar2Handle, 16);
ar2SetSearchSize(ar2Handle, 6);
ar2SetTemplateSize1(ar2Handle, 6);
ar2SetTemplateSize2(ar2Handle, 6);
}else{
cout<<"ofxArtool5::initNFT: Using NFT settings for multi CPU"<<endl;
ar2SetTrackingThresh(ar2Handle, 5.0);
ar2SetSimThresh(ar2Handle, 0.50);
ar2SetSearchFeatureNum(ar2Handle, 16);
ar2SetSearchSize(ar2Handle, 12);
ar2SetTemplateSize1(ar2Handle, 6);
ar2SetTemplateSize2(ar2Handle, 6);
}
return true;
}
// Modifies globals: kpmHandle, ar2Handle.
static int initNFT(ARParamLT *cparamLT, AR_PIXEL_FORMAT pixFormat)
{
#ifdef DEBUG
LOGE("Initialising NFT.\n");
#endif
//
// NFT init.
//
// KPM init.
kpmHandle = kpmCreateHandle(cparamLT, pixFormat);
if (!kpmHandle) {
LOGE("Error: kpmCreatHandle.\n");
return (false);
}
//kpmSetProcMode( kpmHandle, KpmProcHalfSize );
// AR2 init.
if( (ar2Handle = ar2CreateHandle(cparamLT, pixFormat, AR2_TRACKING_DEFAULT_THREAD_NUM)) == NULL ) {
LOGE("Error: ar2CreateHandle.\n");
kpmDeleteHandle(&kpmHandle);
return (false);
}
if (threadGetCPU() <= 1) {
#ifdef DEBUG
LOGE("Using NFT tracking settings for a single CPU.\n");
#endif
ar2SetTrackingThresh( ar2Handle, 5.0 );
ar2SetSimThresh( ar2Handle, 0.50 );
ar2SetSearchFeatureNum(ar2Handle, 16);
ar2SetSearchSize(ar2Handle, 6);
ar2SetTemplateSize1(ar2Handle, 6);
ar2SetTemplateSize2(ar2Handle, 6);
} else {
#ifdef DEBUG
LOGE("Using NFT tracking settings for more than one CPU.\n");
#endif
ar2SetTrackingThresh( ar2Handle, 5.0 );
ar2SetSimThresh( ar2Handle, 0.50 );
ar2SetSearchFeatureNum(ar2Handle, 16);
ar2SetSearchSize(ar2Handle, 12);
ar2SetTemplateSize1(ar2Handle, 6);
ar2SetTemplateSize2(ar2Handle, 6);
}
// NFT dataset loading will happen later.
#ifdef DEBUG
LOGE("NFT initialised OK.\n");
#endif
return (true);
}
bool
ARToolKit4NFTTracker::init(int xsize,int ysize,
const std::string& pattlist_name,const std::string& camera_name)
{
ARParam wparam;
// Set the initial camera parameters.
if(arParamLoad((char*)camera_name.c_str(), 1, &wparam) < 0) {
std::cerr << "ERROR: Camera parameter load error." << std::endl;
return false;
}
arParamChangeSize(&wparam, xsize, ysize, &cparam);
std::cout << "*** Camera Parameter ***" << std::endl;
arParamDisp( &cparam );
if( (arHandle = arCreateHandle(&cparam)) == NULL )
{
std::cerr << "ERROR: arCreateHandle." << std::endl;
return false;
}
int pixFormat = AR_PIXEL_FORMAT_BGRA;
if( arSetPixelFormat(arHandle, pixFormat) < 0 )
{
std::cerr << "Error: arSetPixelFormat." << std::endl;
return false;
}
if( arSetDebugMode(arHandle, AR_DEBUG_DISABLE) < 0 )
{
std::cerr << "Error: arSetDebugMode." << std::endl;
return false;
}
if( arSetLabelingThresh(arHandle,threshold) < 0 )
{
std::cerr << "Error: arSetLabelingThresh." << std::endl;
return false;
}
arSetMarkerExtractionMode( arHandle, AR_NOUSE_TRACKING_HISTORY );
if( (ar3DHandle=ar3DCreateHandle(&cparam)) == NULL )
{
std::cerr << "Error: ar3DCreateHandle." << std::endl;
return false;
}
if( (arPattHandle=arPattCreateHandle()) == NULL )
{
std::cerr << "Error: arPattCreateHandle." << std::endl;
return false;
}
setProjection(10.0f, 10000.0f);
//INIT NFT
int matchingImageMode = AR2_MATCHING_FRAME_IMAGE;
int matchingMethod = AR2_MATCHING_FINE;
int debugMode = 0;
ar2Handle = ar2CreateHandle( &cparam, pixFormat );
ar2ChangeMacthingImageMode( ar2Handle, matchingImageMode );
ar2ChangeMacthingMethod( ar2Handle, matchingMethod );
ar2ChangeDebugMode( ar2Handle, debugMode );
//arFittingMode = AR_FITTING_TO_IDEAL;
//arImageProcMode = AR_IMAGE_PROC_IN_FULL;
if (!setupMarkers(pattlist_name)) {
std::cerr << "ERROR: Marker setup failed." << std::endl;
return false;
}
return true;
}
