static void keyEvent( unsigned char key, int x, int y)
{
int value;
/* quit if the ESC key is pressed */
if( key == 0x1b ) {
cleanup();
exit(0);
}
if( key == '1' ) {
arGetLabelingThresh( arHandle, &value );
value -= 5;
if( value < 0 ) value = 0;
arSetLabelingThresh( arHandle, value );
ARLOG("thresh = %d\n", value);
}
if( key == '2' ) {
arGetLabelingThresh( arHandle, &value );
value += 5;
if( value > 255 ) value = 255;
arSetLabelingThresh( arHandle, value );
ARLOG("thresh = %d\n", value);
}
if( key == 'd' ) {
arGetDebugMode( arHandle, &value );
value = 1 - value;
arSetDebugMode( arHandle, value );
}
}
bool ofxArtool5::setupCamera(string pthCamParam, ofVec2f _camSize, ofVec2f _viewportSize, ofPixelFormat pf){
ARParam cParam;
AR_PIXEL_FORMAT pixFormat = toAR(pf);
const char * cPathCamParam = ofToDataPath(pthCamParam).c_str();
camSize=_camSize;
viewportSize=_viewportSize;
if(arParamLoad(cPathCamParam, 1, &cParam)){
ofLogError("ofxArtool5::setupCamera()", "error loading param file");
return false;
}
if(cParam.xsize!=camSize.x||cParam.ysize!=camSize.y){
ofLogWarning("ofxArtool5::setupCamera()","camera param needs resizing");
arParamChangeSize(&cParam, camSize.x, camSize.y, &cParam);
}
if((gCparamLT = arParamLTCreate(&cParam, AR_PARAM_LT_DEFAULT_OFFSET))==NULL){
ofLogError("ofxArtool5::setupCamera()","Error: arParamLTCreate");
return false;
}
if(artMode==ART_PATTERN){
if((gARHandle = arCreateHandle(gCparamLT))==NULL){
ofLogError("ofxArtool5::setupCamera()","Error: arCreateHandle");
return false;
}
if(arSetPixelFormat(gARHandle, pixFormat)<0){
ofLogError("ofxArtool5::setupCamera()","Error arSetPixelFormat");
return false;
}
if(arSetDebugMode(gARHandle, AR_DEBUG_DISABLE)<0){
ofLogError("ofxArtool5::setupCamera()","Error arSetDebugMode");
return false;
}
if((gAR3DHandle = ar3DCreateHandle(&cParam))==NULL){
ofLogError("ofxArtool5::setupCamera()","Error ar3DCreateHandle");
return false;
}
}else if(artMode==ART_NFT){
arglCameraFrustumRH(&(gCparamLT->param), getMinDistance(), getMaxDistance(), cameraLens);
}
cvColorFrame.allocate(camSize.x, camSize.y);
cvGrayFrame.allocate(camSize.x, camSize.y);
return true;
}
ARHandle *arCreateHandle( ARParamLT *paramLT )
{
ARHandle *handle;
arMalloc( handle, ARHandle, 1 );
handle->arDebug = AR_DEBUG_DISABLE;
#if !AR_DISABLE_LABELING_DEBUG_MODE
handle->labelInfo.bwImage = NULL;
#endif
handle->arImageProcInfo = NULL;
handle->arPixelFormat = AR_PIXEL_FORMAT_INVALID;
handle->arPixelSize = 0;
handle->arLabelingMode = AR_DEFAULT_LABELING_MODE;
handle->arLabelingThresh = AR_DEFAULT_LABELING_THRESH;
handle->arImageProcMode = AR_DEFAULT_IMAGE_PROC_MODE;
handle->arPatternDetectionMode = AR_DEFAULT_PATTERN_DETECTION_MODE;
handle->arMarkerExtractionMode = AR_DEFAULT_MARKER_EXTRACTION_MODE;
handle->pattRatio = AR_PATT_RATIO;
handle->matrixCodeType = AR_MATRIX_CODE_TYPE_DEFAULT;
handle->arParamLT = paramLT;
handle->xsize = paramLT->param.xsize;
handle->ysize = paramLT->param.ysize;
handle->marker_num = 0;
handle->marker2_num = 0;
handle->labelInfo.label_num = 0;
handle->history_num = 0;
arMalloc( handle->labelInfo.labelImage, AR_LABELING_LABEL_TYPE, handle->xsize*handle->ysize );
handle->pattHandle = NULL;
arSetDebugMode(handle, AR_DEFAULT_DEBUG_MODE);
handle->arLabelingThreshMode = -1;
arSetLabelingThreshMode(handle, AR_LABELING_THRESH_MODE_DEFAULT);
arSetLabelingThreshModeAutoInterval(handle, AR_LABELING_THRESH_AUTO_INTERVAL_DEFAULT);
return handle;
}
static void Keyboard(unsigned char key, int x, int y)
{
int mode, threshChange = 0;
AR_LABELING_THRESH_MODE modea;
switch (key) {
case 0x1B: // Quit.
case 'Q':
case 'q':
cleanup();
exit(0);
break;
case 'X':
case 'x':
arGetImageProcMode(gARHandle, &mode);
switch (mode) {
case AR_IMAGE_PROC_FRAME_IMAGE: mode = AR_IMAGE_PROC_FIELD_IMAGE; break;
case AR_IMAGE_PROC_FIELD_IMAGE:
default: mode = AR_IMAGE_PROC_FRAME_IMAGE; break;
}
arSetImageProcMode(gARHandle, mode);
break;
case 'C':
case 'c':
ARLOGe("*** Camera - %f (frame/sec)\n", (double)gCallCountMarkerDetect/arUtilTimer());
gCallCountMarkerDetect = 0;
arUtilTimerReset();
break;
case 'a':
case 'A':
arGetLabelingThreshMode(gARHandle, &modea);
switch (modea) {
case AR_LABELING_THRESH_MODE_MANUAL: modea = AR_LABELING_THRESH_MODE_AUTO_MEDIAN; break;
case AR_LABELING_THRESH_MODE_AUTO_MEDIAN: modea = AR_LABELING_THRESH_MODE_AUTO_OTSU; break;
case AR_LABELING_THRESH_MODE_AUTO_OTSU: modea = AR_LABELING_THRESH_MODE_AUTO_ADAPTIVE; break;
case AR_LABELING_THRESH_MODE_AUTO_ADAPTIVE: modea = AR_LABELING_THRESH_MODE_AUTO_BRACKETING; break;
case AR_LABELING_THRESH_MODE_AUTO_BRACKETING:
default: modea = AR_LABELING_THRESH_MODE_MANUAL; break;
}
arSetLabelingThreshMode(gARHandle, modea);
break;
case '-':
threshChange = -5;
break;
case '+':
case '=':
threshChange = +5;
break;
case 'D':
case 'd':
arGetDebugMode(gARHandle, &mode);
arSetDebugMode(gARHandle, !mode);
break;
case '?':
case '/':
gShowHelp++;
if (gShowHelp > 1) gShowHelp = 0;
break;
case 'm':
case 'M':
gShowMode = !gShowMode;
break;
default:
break;
}
if (threshChange) {
int threshhold;
arGetLabelingThresh(gARHandle, &threshhold);
threshhold += threshChange;
if (threshhold < 0) threshhold = 0;
if (threshhold > 255) threshhold = 255;
arSetLabelingThresh(gARHandle, threshhold);
}
}
static int setupCamera(const char *cparam_name, char *vconf, ARParamLT **cparamLT_p, ARHandle **arhandle, AR3DHandle **ar3dhandle)
{
ARParam cparam;
int xsize, ysize;
AR_PIXEL_FORMAT pixFormat;
// Open the video path.
if (arVideoOpen(vconf) < 0) {
ARLOGe("setupCamera(): Unable to open connection to camera.\n");
return (FALSE);
}
// Find the size of the window.
if (arVideoGetSize(&xsize, &ysize) < 0) {
ARLOGe("setupCamera(): Unable to determine camera frame size.\n");
arVideoClose();
return (FALSE);
}
ARLOGi("Camera image size (x,y) = (%d,%d)\n", xsize, ysize);
// Get the format in which the camera is returning pixels.
pixFormat = arVideoGetPixelFormat();
if (pixFormat == AR_PIXEL_FORMAT_INVALID) {
ARLOGe("setupCamera(): Camera is using unsupported pixel format.\n");
arVideoClose();
return (FALSE);
}
// Load the camera parameters, resize for the window and init.
if (arParamLoad(cparam_name, 1, &cparam) < 0) {
ARLOGe("setupCamera(): Error loading parameter file %s for camera.\n", cparam_name);
arVideoClose();
return (FALSE);
}
if (cparam.xsize != xsize || cparam.ysize != ysize) {
ARLOGw("*** Camera Parameter resized from %d, %d. ***\n", cparam.xsize, cparam.ysize);
arParamChangeSize(&cparam, xsize, ysize, &cparam);
}
#ifdef DEBUG
ARLOG("*** Camera Parameter ***\n");
arParamDisp(&cparam);
#endif
if ((*cparamLT_p = arParamLTCreate(&cparam, AR_PARAM_LT_DEFAULT_OFFSET)) == NULL) {
ARLOGe("setupCamera(): Error: arParamLTCreate.\n");
arVideoClose();
return (FALSE);
}
if ((*arhandle = arCreateHandle(*cparamLT_p)) == NULL) {
ARLOGe("setupCamera(): Error: arCreateHandle.\n");
return (FALSE);
}
if (arSetPixelFormat(*arhandle, pixFormat) < 0) {
ARLOGe("setupCamera(): Error: arSetPixelFormat.\n");
return (FALSE);
}
if (arSetDebugMode(*arhandle, AR_DEBUG_DISABLE) < 0) {
ARLOGe("setupCamera(): Error: arSetDebugMode.\n");
return (FALSE);
}
if ((*ar3dhandle = ar3DCreateHandle(&cparam)) == NULL) {
ARLOGe("setupCamera(): Error: ar3DCreateHandle.\n");
return (FALSE);
}
if (arVideoCapStart() != 0) {
ARLOGe("setupCamera(): Unable to begin camera data capture.\n");
return (FALSE);
}
return (TRUE);
}
static void Keyboard(unsigned char key, int x, int y)
{
int mode, threshChange = 0;
switch (key) {
case 0x1B: // Quit.
case 'Q':
case 'q':
cleanup();
exit(0);
break;
case ' ':
gDrawRotate = !gDrawRotate;
break;
case 'C':
case 'c':
ARLOGe("*** Camera - %f (frame/sec)\n", (double)gCallCountMarkerDetect/arUtilTimer());
gCallCountMarkerDetect = 0;
arUtilTimerReset();
debugReportMode(gARHandle);
break;
case '-':
threshChange = -5;
break;
case '+':
case '=':
threshChange = +5;
break;
case 'D':
case 'd':
arGetDebugMode(gARHandle, &mode);
arSetDebugMode(gARHandle, !mode);
break;
case 'B':
case 'b':
arGetLabelingMode(gARHandle, &mode);
if (mode == AR_LABELING_BLACK_REGION) arSetLabelingMode(gARHandle, AR_LABELING_WHITE_REGION);
else arSetLabelingMode(gARHandle, AR_LABELING_BLACK_REGION);
break;
case '?':
case '/':
ARLOG("Keys:\n");
ARLOG(" q or [esc] Quit demo.\n");
ARLOG(" c Calulcate frame rate.\n");
ARLOG(" - and + Adjust threshhold.\n");
ARLOG(" d Activate / deactivate debug mode.\n");
ARLOG(" b Toggle between detection of black markers and white markers.\n");
ARLOG(" ? or / Show this help.\n");
ARLOG("\nAdditionally, the ARVideo library supplied the following help text:\n");
arVideoDispOption();
break;
default:
break;
}
if (threshChange) {
int threshhold;
arGetLabelingThresh(gARHandle, &threshhold);
threshhold += threshChange;
if (threshhold < 0) threshhold = 0;
if (threshhold > 255) threshhold = 255;
arSetLabelingThresh(gARHandle, threshhold);
ARLOG("Threshhold changed to %d.\n", threshhold);
}
}
static void Keyboard(unsigned char key, int x, int y)
{
int mode, threshChange = 0;
AR_LABELING_THRESH_MODE modea;
switch (key) {
case 0x1B: // Quit.
case 'Q':
case 'q':
cleanup();
exit(0);
break;
case ' ':
gDrawRotate = !gDrawRotate;
break;
case 'X':
case 'x':
arGetImageProcMode(gARHandle, &mode);
switch (mode) {
case AR_IMAGE_PROC_FRAME_IMAGE: mode = AR_IMAGE_PROC_FIELD_IMAGE; break;
case AR_IMAGE_PROC_FIELD_IMAGE:
default: mode = AR_IMAGE_PROC_FRAME_IMAGE; break;
}
arSetImageProcMode(gARHandle, mode);
break;
case 'C':
case 'c':
mode = arglDrawModeGet(gArglSettings);
if (mode == AR_DRAW_BY_GL_DRAW_PIXELS) {
arglDrawModeSet(gArglSettings, AR_DRAW_BY_TEXTURE_MAPPING);
arglTexmapModeSet(gArglSettings, AR_DRAW_TEXTURE_FULL_IMAGE);
} else {
mode = arglTexmapModeGet(gArglSettings);
if (mode == AR_DRAW_TEXTURE_FULL_IMAGE) arglTexmapModeSet(gArglSettings, AR_DRAW_TEXTURE_HALF_IMAGE);
else arglDrawModeSet(gArglSettings, AR_DRAW_BY_GL_DRAW_PIXELS);
}
ARLOGe("*** Camera - %f (frame/sec)\n", (double)gCallCountMarkerDetect/arUtilTimer());
gCallCountMarkerDetect = 0;
arUtilTimerReset();
break;
case 'a':
case 'A':
arGetLabelingThreshMode(gARHandle, &modea);
switch (modea) {
case AR_LABELING_THRESH_MODE_MANUAL: modea = AR_LABELING_THRESH_MODE_AUTO_MEDIAN; break;
case AR_LABELING_THRESH_MODE_AUTO_MEDIAN: modea = AR_LABELING_THRESH_MODE_AUTO_OTSU; break;
case AR_LABELING_THRESH_MODE_AUTO_OTSU: modea = AR_LABELING_THRESH_MODE_AUTO_ADAPTIVE; break;
case AR_LABELING_THRESH_MODE_AUTO_ADAPTIVE: modea = AR_LABELING_THRESH_MODE_AUTO_BRACKETING; break;
case AR_LABELING_THRESH_MODE_AUTO_BRACKETING:
default: modea = AR_LABELING_THRESH_MODE_MANUAL; break;
}
arSetLabelingThreshMode(gARHandle, modea);
break;
case '-':
threshChange = -5;
break;
case '+':
case '=':
threshChange = +5;
break;
case 'D':
case 'd':
arGetDebugMode(gARHandle, &mode);
arSetDebugMode(gARHandle, !mode);
break;
case 's':
case 'S':
if (!gARTImageSavePlease) gARTImageSavePlease = TRUE;
break;
case '?':
case '/':
gShowHelp++;
if (gShowHelp > 1) gShowHelp = 0;
break;
case 'm':
case 'M':
gShowMode = !gShowMode;
break;
default:
break;
}
if (threshChange) {
int threshhold;
arGetLabelingThresh(gARHandle, &threshhold);
threshhold += threshChange;
if (threshhold < 0) threshhold = 0;
if (threshhold > 255) threshhold = 255;
arSetLabelingThresh(gARHandle, threshhold);
}
}
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;
}
