DetectionResults artoolkitplus_detection(const string& path) { cv::Mat image = cv::imread(path); cv::Size s = image.size(); // ARToolkitPlus initialization ARToolKitPlus::CameraImpl cam; cam.xsize = s.width; cam.ysize = s.height; // create a tracker that does: // - 6x6 sized marker images // - samples at a maximum of 6x6 // - works with luminance (gray) images // - can load a maximum of 1 pattern // - can detect a maximum of 512 patterns in one image ARToolKitPlus::TrackerSingleMarker *tracker = new ARToolKitPlus::TrackerSingleMarkerImpl<6,6,6, 1, 512>(s.width, s.height); tracker->setPixelFormat(ARToolKitPlus::PIXEL_FORMAT_BGR); tracker->init(NULL, 0,0); tracker->setCamera(&cam); // the marker in the BCH test image has a thiner border... tracker->setBorderWidth(0.125f); tracker->activateAutoThreshold(true); tracker->setNumAutoThresholdRetries(10); tracker->setUndistortionMode(ARToolKitPlus::UNDIST_NONE); tracker->setImageProcessingMode(ARToolKitPlus::IMAGE_FULL_RES); tracker->setMarkerMode(ARToolKitPlus::MARKER_ID_BCH); ARToolKitPlus::ARMarkerInfo *markers= NULL; vector<double> durations; int numDetected; for (int i = 0; i < ITERATIONS; i++) { int64 startCount = cv::getTickCount(); tracker->arDetectMarker(image.data, 160, &markers, &numDetected); int64 endCount = cv::getTickCount(); durations.push_back(((double) endCount - startCount)*1000/cv::getTickFrequency()); } set<int> foundIds; for(int i=0; i<numDetected; i++){ foundIds.insert(markers[i].id); } return make_pair(durations, foundIds); }
int initARtagPose(int width, int height, float markerWidth, vector<string> camParamFiles) { size_t numPixels = width*height; cameraBuffer = new unsigned char[numPixels]; imgwidth = width; imgheight = height; patternCenter_[0] = patternCenter_[1] = 0.0; patternWidth_ = markerWidth; numCams_ = camParamFiles.size(); trackers = new ARToolKitPlus::TrackerSingleMarker *[numCams_]; // create a tracker that does: // - 6x6 sized marker images // - samples at a maximum of 6x6 // - works with luminance (gray) images // - can load a maximum of 1 pattern // - can detect a maximum of 8 patterns in one image for (int i = 0; i < numCams_; ++i) { if (camParamFiles[i].compare("null") == 0) { trackers[i] = NULL; continue; } ARToolKitPlus::TrackerSingleMarker *tracker = new ARToolKitPlus::TrackerSingleMarkerImpl<6,6,6, 1, 8>(width,height); tracker->setPixelFormat(ARToolKitPlus::PIXEL_FORMAT_LUM); // load a camera file. if(!tracker->init(camParamFiles[i].c_str(), 1.0f, 1000.0f)) { printf("ERROR: init() failed\n"); delete cameraBuffer; delete tracker; return -1; } // define size of the marker tracker->setPatternWidth(patternWidth_); // the marker in the BCH test image has a thin border... tracker->setBorderWidth(THIN_PATTERN_BORDER); // set a threshold. alternatively we could also activate automatic thresholding tracker->setThreshold(150); tracker->activateAutoThreshold(true); // let's use lookup-table undistortion for high-speed // note: LUT only works with images up to 1024x1024 tracker->setUndistortionMode(ARToolKitPlus::UNDIST_LUT); // RPP is more robust than ARToolKit's standard pose estimator tracker->setPoseEstimator(ARToolKitPlus::POSE_ESTIMATOR_RPP); //tracker->setPoseEstimator(ARToolKitPlus::POSE_ESTIMATOR_ORIGINAL); // switch to simple ID based markers // use the tool in tools/IdPatGen to generate markers tracker->setMarkerMode(useBCH ? ARToolKitPlus::MARKER_ID_BCH : ARToolKitPlus::MARKER_ID_SIMPLE); trackers[i] = tracker; } init = true; return 0; }
int main(int argc, char** argv) { // switch this between true and false to test // simple-id versus BCH-id markers // const bool useBCH = false; const int width = 320, height = 240, bpp = 1; size_t numPixels = width*height*bpp; size_t numBytesRead; const char *fName = useBCH ? "data/image_320_240_8_marker_id_bch_nr0100.raw" : "data/image_320_240_8_marker_id_simple_nr031.raw"; unsigned char *cameraBuffer = new unsigned char[numPixels]; MyLogger logger; // try to load a test camera image. // these images files are expected to be simple 8-bit raw pixel // data without any header. the images are expetected to have a // size of 320x240. // if(FILE* fp = fopen(fName, "rb")) { numBytesRead = fread(cameraBuffer, 1, numPixels, fp); fclose(fp); } else { printf("Failed to open %s\n", fName); delete cameraBuffer; return -1; } if(numBytesRead != numPixels) { printf("Failed to read %s\n", fName); delete cameraBuffer; return -1; } // create a tracker that does: // - 6x6 sized marker images // - samples at a maximum of 6x6 // - works with luminance (gray) images // - can load a maximum of 1 pattern // - can detect a maximum of 8 patterns in one image ARToolKitPlus::TrackerSingleMarker *tracker = new ARToolKitPlus::TrackerSingleMarkerImpl<6,6,6, 1, 8>(width,height); const size_t memUsage = tracker->getMemoryUsage(); printf("ARToolKitPlus memory usage: %ld kBytes\n", memUsage/1024); const char* description = tracker->getDescription(); printf("ARToolKitPlus compile-time information:\n%s\n\n", description); // set a logger so we can output error messages // tracker->setLogger(&logger); tracker->setPixelFormat(ARToolKitPlus::PIXEL_FORMAT_LUM); //tracker->setLoadUndistLUT(true); // load a camera file. two types of camera files are supported: // - Std. ARToolKit // - MATLAB Camera Calibration Toolbox if(!tracker->init("data/LogitechPro4000.dat", 1.0f, 1000.0f)) // load std. ARToolKit camera file //if(!tracker->init("data/PGR_M12x0.5_2.5mm.cal", 1.0f, 1000.0f)) // load MATLAB file { printf("ERROR: init() failed\n"); delete cameraBuffer; delete tracker; return -1; } // define size of the marker tracker->setPatternWidth(80); // the marker in the BCH test image has a thin border... tracker->setBorderWidth(useBCH ? 0.125f : 0.250f); // set a threshold. alternatively we could also activate automatic thresholding tracker->setThreshold(150); // let's use lookup-table undistortion for high-speed // note: LUT only works with images up to 1024x1024 tracker->setUndistortionMode(ARToolKitPlus::UNDIST_LUT); // RPP is more robust than ARToolKit's standard pose estimator //tracker->setPoseEstimator(ARToolKitPlus::POSE_ESTIMATOR_RPP); // switch to simple ID based markers // use the tool in tools/IdPatGen to generate markers tracker->setMarkerMode(useBCH ? ARToolKitPlus::MARKER_ID_BCH : ARToolKitPlus::MARKER_ID_SIMPLE); // do the OpenGL camera setup //glMatrixMode(GL_PROJECTION) //glLoadMatrixf(tracker->getProjectionMatrix()); // here we go, just one call to find the camera pose int markerId = tracker->calc(cameraBuffer); float conf = (float)tracker->getConfidence(); // use the result of calc() to setup the OpenGL transformation //glMatrixMode(GL_MODELVIEW) //glLoadMatrixf(tracker->getModelViewMatrix()); printf("\n\nFound marker %d (confidence %d%%)\n\nPose-Matrix:\n ", markerId, (int(conf*100.0f))); for(int i=0; i<16; i++) printf("%.2f %s", tracker->getModelViewMatrix()[i], (i%4==3)?"\n " : ""); tracker->getDescription(); delete [] cameraBuffer; delete tracker; return 0; }