int arDetectMarkerLite( ARUint8 *dataPtr, int thresh,
ARMarkerInfo **marker_info, int *marker_num )
{
ARInt16 *limage;
int label_num;
int *area, *clip, *label_ref;
double *pos;
int i;
*marker_num = 0;
limage = arLabeling( dataPtr, thresh,
&label_num, &area, &pos, &clip, &label_ref );
if( limage == 0 ) return -1;
marker_info2 = arDetectMarker2( limage, label_num, label_ref,
area, pos, clip, AR_AREA_MAX, AR_AREA_MIN,
1.0, &wmarker_num);
if( marker_info2 == 0 ) return -1;
wmarker_info = arGetMarkerInfo( dataPtr, marker_info2, &wmarker_num );
if( wmarker_info == 0 ) return -1;
for( i = 0; i < wmarker_num; i++ ) {
if( wmarker_info[i].cf < AR_CF_THRESHOLD ) wmarker_info[i].id = -1;
}
*marker_num = wmarker_num;
*marker_info = wmarker_info;
return 0;
}
int arDetectMarker( ARHandle *arHandle, ARUint8 *dataPtr )
{
ARdouble rarea, rlen, rlenmin;
ARdouble diff, diffmin;
int cid, cdir;
int i, j, k;
int detectionIsDone = 0;
#if DEBUG_PATT_GETID
cnt = 0;
#endif
arHandle->marker_num = 0;
if (arHandle->arLabelingThreshMode == AR_LABELING_THRESH_MODE_AUTO_BRACKETING) {
if (arHandle->arLabelingThreshAutoIntervalTTL > 0) {
arHandle->arLabelingThreshAutoIntervalTTL--;
} else {
int thresholds[3];
int marker_nums[3];
thresholds[0] = arHandle->arLabelingThresh + arHandle->arLabelingThreshAutoBracketOver;
if (thresholds[0] > 255) thresholds[0] = 255;
thresholds[1] = arHandle->arLabelingThresh - arHandle->arLabelingThreshAutoBracketUnder;
if (thresholds[1] < 0) thresholds[1] = 0;
thresholds[2] = arHandle->arLabelingThresh;
for (i = 0; i < 3; i++) {
if (arLabeling(dataPtr, arHandle->xsize, arHandle->ysize, arHandle->arPixelFormat, arHandle->arDebug, arHandle->arLabelingMode, thresholds[i], arHandle->arImageProcMode, &(arHandle->labelInfo), NULL) < 0) return -1;
if (arDetectMarker2(arHandle->xsize, arHandle->ysize, &(arHandle->labelInfo), arHandle->arImageProcMode, AR_AREA_MAX, AR_AREA_MIN, AR_SQUARE_FIT_THRESH, arHandle->markerInfo2, &(arHandle->marker2_num)) < 0) return -1;
if (arGetMarkerInfo(dataPtr, arHandle->xsize, arHandle->ysize, arHandle->arPixelFormat, arHandle->markerInfo2, arHandle->marker2_num, arHandle->pattHandle, arHandle->arImageProcMode, arHandle->arPatternDetectionMode, &(arHandle->arParamLT->paramLTf), arHandle->pattRatio, arHandle->markerInfo, &(arHandle->marker_num), arHandle->matrixCodeType) < 0) return -1;
marker_nums[i] = arHandle->marker_num;
}
if (arHandle->arDebug == AR_DEBUG_ENABLE) ARLOGe("Auto threshold (bracket) marker counts -[%3d: %3d] [%3d: %3d] [%3d: %3d]+.\n", thresholds[1], marker_nums[1], thresholds[2], marker_nums[2], thresholds[0], marker_nums[0]);
// If neither of the bracketed values was superior, then change the size of the bracket.
if (marker_nums[0] <= marker_nums[2] && marker_nums[1] <= marker_nums[2]) {
if (arHandle->arLabelingThreshAutoBracketOver < arHandle->arLabelingThreshAutoBracketUnder) {
arHandle->arLabelingThreshAutoBracketOver++;
} else if (arHandle->arLabelingThreshAutoBracketOver > arHandle->arLabelingThreshAutoBracketUnder) {
arHandle->arLabelingThreshAutoBracketUnder++;
} else {
arHandle->arLabelingThreshAutoBracketOver++;
arHandle->arLabelingThreshAutoBracketUnder++;
}
if ((thresholds[2] + arHandle->arLabelingThreshAutoBracketOver) >= 255) arHandle->arLabelingThreshAutoBracketOver = 1; // If the bracket has hit the end of the range, reset it.
if ((thresholds[2] - arHandle->arLabelingThreshAutoBracketOver) <= 0) arHandle->arLabelingThreshAutoBracketUnder = 1; // If a bracket has hit the end of the range, reset it.
detectionIsDone = 1;
} else {
arHandle->arLabelingThresh = (marker_nums[0] >= marker_nums[1] ? thresholds[0] : thresholds[1]);
int threshDiff = arHandle->arLabelingThresh - thresholds[2];
if (threshDiff > 0) {
arHandle->arLabelingThreshAutoBracketOver = threshDiff;
arHandle->arLabelingThreshAutoBracketUnder = 1;
} else {
arHandle->arLabelingThreshAutoBracketOver = 1;
arHandle->arLabelingThreshAutoBracketUnder = -threshDiff;
}
if (arHandle->arDebug == AR_DEBUG_ENABLE) ARLOGe("Auto threshold (bracket) adjusted threshold to %d.\n", arHandle->arLabelingThresh);
}
arHandle->arLabelingThreshAutoIntervalTTL = arHandle->arLabelingThreshAutoInterval;
}
}
if (!detectionIsDone) {
#if !AR_DISABLE_THRESH_MODE_AUTO_ADAPTIVE
if (arHandle->arLabelingThreshMode == AR_LABELING_THRESH_MODE_AUTO_ADAPTIVE) {
int ret;
ret = arImageProcLumaHistAndBoxFilterWithBias(arHandle->arImageProcInfo, dataPtr, AR_LABELING_THRESH_ADAPTIVE_KERNEL_SIZE_DEFAULT, AR_LABELING_THRESH_ADAPTIVE_BIAS_DEFAULT);
if (ret < 0) return (ret);
ret = arLabeling(arHandle->arImageProcInfo->image, arHandle->arImageProcInfo->imageX, arHandle->arImageProcInfo->imageY,
AR_PIXEL_FORMAT_MONO, arHandle->arDebug, arHandle->arLabelingMode,
0, AR_IMAGE_PROC_FRAME_IMAGE,
&(arHandle->labelInfo), arHandle->arImageProcInfo->image2);
if (ret < 0) return (ret);
} else { // !adaptive
#endif
if (arHandle->arLabelingThreshMode == AR_LABELING_THRESH_MODE_AUTO_MEDIAN || arHandle->arLabelingThreshMode == AR_LABELING_THRESH_MODE_AUTO_OTSU) {
// Do an auto-threshold operation.
if (arHandle->arLabelingThreshAutoIntervalTTL > 0) {
arHandle->arLabelingThreshAutoIntervalTTL--;
} else {
int ret;
unsigned char value;
if (arHandle->arLabelingThreshMode == AR_LABELING_THRESH_MODE_AUTO_MEDIAN) ret = arImageProcLumaHistAndCDFAndMedian(arHandle->arImageProcInfo, dataPtr, &value);
else ret = arImageProcLumaHistAndOtsu(arHandle->arImageProcInfo, dataPtr, &value);
if (ret < 0) return (ret);
if (arHandle->arDebug == AR_DEBUG_ENABLE && arHandle->arLabelingThresh != value) ARLOGe("Auto threshold (%s) adjusted threshold to %d.\n", (arHandle->arLabelingThreshMode == AR_LABELING_THRESH_MODE_AUTO_MEDIAN ? "median" : "Otsu"), value);
arHandle->arLabelingThresh = value;
arHandle->arLabelingThreshAutoIntervalTTL = arHandle->arLabelingThreshAutoInterval;
}
}
if( arLabeling(dataPtr, arHandle->xsize, arHandle->ysize,
arHandle->arPixelFormat, arHandle->arDebug, arHandle->arLabelingMode,
arHandle->arLabelingThresh, arHandle->arImageProcMode,
&(arHandle->labelInfo), NULL) < 0 ) {
return -1;
}
#if !AR_DISABLE_THRESH_MODE_AUTO_ADAPTIVE
}
#endif
if( arDetectMarker2( arHandle->xsize, arHandle->ysize,
&(arHandle->labelInfo), arHandle->arImageProcMode,
AR_AREA_MAX, AR_AREA_MIN, AR_SQUARE_FIT_THRESH,
arHandle->markerInfo2, &(arHandle->marker2_num) ) < 0 ) {
return -1;
}
if( arGetMarkerInfo(dataPtr, arHandle->xsize, arHandle->ysize, arHandle->arPixelFormat,
arHandle->markerInfo2, arHandle->marker2_num,
arHandle->pattHandle, arHandle->arImageProcMode,
arHandle->arPatternDetectionMode, &(arHandle->arParamLT->paramLTf), arHandle->pattRatio,
arHandle->markerInfo, &(arHandle->marker_num),
arHandle->matrixCodeType ) < 0 ) {
return -1;
}
} // !detectionIsDone
// If history mode is not enabled, just perform a basic confidence cutoff.
if (arHandle->arMarkerExtractionMode == AR_NOUSE_TRACKING_HISTORY) {
confidenceCutoff(arHandle);
return 0;
}
/*------------------------------------------------------------*/
// For all history records, check every identified marker, to see if the position and size of the marker
// as recorded in the history record is very similar to one of the identified markers.
// If it is, and the history record has a higher confidence value, then use the pattern matching
// information (marker ID, confidence, and direction) info from the history instead.
for( i = 0; i < arHandle->history_num; i++ ) {
rlenmin = 0.5;
cid = -1;
for( j = 0; j < arHandle->marker_num; j++ ) {
rarea = (ARdouble)arHandle->history[i].marker.area / (ARdouble)arHandle->markerInfo[j].area;
if( rarea < 0.7 || rarea > 1.43 ) continue;
rlen = ( (arHandle->markerInfo[j].pos[0] - arHandle->history[i].marker.pos[0])
* (arHandle->markerInfo[j].pos[0] - arHandle->history[i].marker.pos[0])
+ (arHandle->markerInfo[j].pos[1] - arHandle->history[i].marker.pos[1])
* (arHandle->markerInfo[j].pos[1] - arHandle->history[i].marker.pos[1]) )
/ arHandle->markerInfo[j].area;
if( rlen < rlenmin ) {
rlenmin = rlen;
cid = j;
}
}
if (cid >= 0) {
if (arHandle->arPatternDetectionMode == AR_TEMPLATE_MATCHING_COLOR || arHandle->arPatternDetectionMode == AR_TEMPLATE_MATCHING_MONO || arHandle->arPatternDetectionMode == AR_MATRIX_CODE_DETECTION) {
if (arHandle->markerInfo[cid].cf < arHandle->history[i].marker.cf) {
arHandle->markerInfo[cid].cf = arHandle->history[i].marker.cf;
arHandle->markerInfo[cid].id = arHandle->history[i].marker.id;
diffmin = 10000.0 * 10000.0;
cdir = -1;
for( j = 0; j < 4; j++ ) {
diff = 0;
for( k = 0; k < 4; k++ ) {
diff += (arHandle->history[i].marker.vertex[k][0] - arHandle->markerInfo[cid].vertex[(j+k)%4][0])
* (arHandle->history[i].marker.vertex[k][0] - arHandle->markerInfo[cid].vertex[(j+k)%4][0])
+ (arHandle->history[i].marker.vertex[k][1] - arHandle->markerInfo[cid].vertex[(j+k)%4][1])
* (arHandle->history[i].marker.vertex[k][1] - arHandle->markerInfo[cid].vertex[(j+k)%4][1]);
}
if( diff < diffmin ) {
diffmin = diff;
cdir = (arHandle->history[i].marker.dir - j + 4) % 4;
}
}
arHandle->markerInfo[cid].dir = cdir;
// Copy the id, cf, and dir back to the appropriate mode-dependent values too.
if (arHandle->arPatternDetectionMode == AR_TEMPLATE_MATCHING_COLOR || arHandle->arPatternDetectionMode == AR_TEMPLATE_MATCHING_MONO) {
arHandle->markerInfo[cid].idPatt = arHandle->markerInfo[cid].id;
arHandle->markerInfo[cid].cfPatt = arHandle->markerInfo[cid].cf;
arHandle->markerInfo[cid].dirPatt = arHandle->markerInfo[cid].dir;
} else {
arHandle->markerInfo[cid].idMatrix = arHandle->markerInfo[cid].id;
arHandle->markerInfo[cid].cfMatrix = arHandle->markerInfo[cid].cf;
arHandle->markerInfo[cid].dirMatrix = arHandle->markerInfo[cid].dir;
}
}
} else if (arHandle->arPatternDetectionMode == AR_TEMPLATE_MATCHING_COLOR_AND_MATRIX || arHandle->arPatternDetectionMode == AR_TEMPLATE_MATCHING_MONO_AND_MATRIX) {
if (arHandle->markerInfo[cid].cfPatt < arHandle->history[i].marker.cfPatt || arHandle->markerInfo[cid].cfMatrix < arHandle->history[i].marker.cfMatrix) {
arHandle->markerInfo[cid].cfPatt = arHandle->history[i].marker.cfPatt;
arHandle->markerInfo[cid].idPatt = arHandle->history[i].marker.idPatt;
arHandle->markerInfo[cid].cfMatrix = arHandle->history[i].marker.cfMatrix;
arHandle->markerInfo[cid].idMatrix = arHandle->history[i].marker.idMatrix;
diffmin = 10000.0 * 10000.0;
cdir = -1;
for( j = 0; j < 4; j++ ) {
diff = 0;
for( k = 0; k < 4; k++ ) {
diff += (arHandle->history[i].marker.vertex[k][0] - arHandle->markerInfo[cid].vertex[(j+k)%4][0])
* (arHandle->history[i].marker.vertex[k][0] - arHandle->markerInfo[cid].vertex[(j+k)%4][0])
+ (arHandle->history[i].marker.vertex[k][1] - arHandle->markerInfo[cid].vertex[(j+k)%4][1])
* (arHandle->history[i].marker.vertex[k][1] - arHandle->markerInfo[cid].vertex[(j+k)%4][1]);
}
if( diff < diffmin ) {
diffmin = diff;
cdir = j;
}
}
arHandle->markerInfo[cid].dirPatt = (arHandle->history[i].marker.dirPatt - cdir + 4) % 4;
arHandle->markerInfo[cid].dirMatrix = (arHandle->history[i].marker.dirMatrix - cdir + 4) % 4;
}
}
else return -1; // Unsupported arPatternDetectionMode.
} // cid >= 0
}
confidenceCutoff(arHandle);
// Age all history records (and expire old records, i.e. where count >= 4).
for( i = j = 0; i < arHandle->history_num; i++ ) {
arHandle->history[i].count++;
if( arHandle->history[i].count < 4 ) {
if (i != j) arHandle->history[j] = arHandle->history[i];
j++;
}
}
arHandle->history_num = j;
// Save current marker info in history.
for( i = 0; i < arHandle->marker_num; i++ ) {
if( arHandle->markerInfo[i].id < 0 ) continue;
// Check if an ARTrackingHistory record already exists for this marker ID.
for( j = 0; j < arHandle->history_num; j++ ) {
if( arHandle->history[j].marker.id == arHandle->markerInfo[i].id ) break;
}
if( j == arHandle->history_num ) { // If a pre-existing ARTrackingHistory record was not found,
if( arHandle->history_num == AR_SQUARE_MAX ) break; // exit if we've filled all available history slots,
arHandle->history_num++; // Otherwise count the newly created record.
}
arHandle->history[j].marker = arHandle->markerInfo[i]; // Save the marker info.
arHandle->history[j].count = 1; // Reset count to indicate info is fresh.
}
if( arHandle->arMarkerExtractionMode == AR_USE_TRACKING_HISTORY_V2 ) {
return 0;
}
for( i = 0; i < arHandle->history_num; i++ ) {
for( j = 0; j < arHandle->marker_num; j++ ) {
rarea = (ARdouble)arHandle->history[i].marker.area / (ARdouble)arHandle->markerInfo[j].area;
if( rarea < 0.7 || rarea > 1.43 ) continue;
rlen = ( (arHandle->markerInfo[j].pos[0] - arHandle->history[i].marker.pos[0])
* (arHandle->markerInfo[j].pos[0] - arHandle->history[i].marker.pos[0])
+ (arHandle->markerInfo[j].pos[1] - arHandle->history[i].marker.pos[1])
* (arHandle->markerInfo[j].pos[1] - arHandle->history[i].marker.pos[1]) )
/ arHandle->markerInfo[j].area;
if( rlen < 0.5 ) break;
}
if( j == arHandle->marker_num ) {
arHandle->markerInfo[arHandle->marker_num] = arHandle->history[i].marker;
arHandle->marker_num++;
}
}
return 0;
}
int arDetectMarker( ARUint8 *dataPtr, int *thresh,
ARMarkerInfo **marker_info, int *marker_num )
{
ARInt16 *limage;
int label_num;
int *area, *clip, *label_ref;
double *pos;
double rarea, rlen, rlenmin;
double diff, diffmin;
int cid, cdir;
int i, j, k;
int _thresh;
*marker_num = 0;
_thresh = *thresh;
for (i = 0; i < 4; ++i) {
limage = arLabeling( dataPtr, _thresh,
&label_num, &area, &pos, &clip, &label_ref );
if( limage ) {
marker_info2 = arDetectMarker2( limage, label_num, label_ref,
area, pos, clip, AR_AREA_MAX, AR_AREA_MIN,
1.0, &wmarker_num );
if( marker_info2 ) {
wmarker_info = arGetMarkerInfo(dataPtr, marker_info2, &wmarker_num );
/* if( wmarker_info && wmarker_num > 0 ) { */
if( wmarker_info && checkImportantMarkers(wmarker_num, wmarker_info) ) {
*thresh = _thresh;
break;
}
}
}
/* Try some values around the base threshold */
_thresh += ((i+1)*15) * ((i+1)%2 ? 1 : -1);
}
for( i = 0; i < prev_num; i++ ) {
rlenmin = 10.0;
cid = -1;
for( j = 0; j < wmarker_num; j++ ) {
rarea = (double)prev_info[i].marker.area / (double)wmarker_info[j].area;
if( rarea < 0.7 || rarea > 1.43 ) continue;
rlen = ( (wmarker_info[j].pos[0] - prev_info[i].marker.pos[0])
* (wmarker_info[j].pos[0] - prev_info[i].marker.pos[0])
+ (wmarker_info[j].pos[1] - prev_info[i].marker.pos[1])
* (wmarker_info[j].pos[1] - prev_info[i].marker.pos[1]) ) / wmarker_info[j].area;
if( rlen < 0.5 && rlen < rlenmin ) {
rlenmin = rlen;
cid = j;
}
}
if( cid >= 0 && wmarker_info[cid].cf < prev_info[i].marker.cf ) {
wmarker_info[cid].cf = prev_info[i].marker.cf;
wmarker_info[cid].id = prev_info[i].marker.id;
diffmin = 10000.0 * 10000.0;
cdir = -1;
for( j = 0; j < 4; j++ ) {
diff = 0;
for( k = 0; k < 4; k++ ) {
diff += (prev_info[i].marker.vertex[k][0] - wmarker_info[cid].vertex[(j+k)%4][0])
* (prev_info[i].marker.vertex[k][0] - wmarker_info[cid].vertex[(j+k)%4][0])
+ (prev_info[i].marker.vertex[k][1] - wmarker_info[cid].vertex[(j+k)%4][1])
* (prev_info[i].marker.vertex[k][1] - wmarker_info[cid].vertex[(j+k)%4][1]);
}
if( diff < diffmin ) {
diffmin = diff;
cdir = (prev_info[i].marker.dir - j + 4) % 4;
}
}
wmarker_info[cid].dir = cdir;
}
}
for( i = 0; i < wmarker_num; i++ ) {
/*
printf("cf = %g\n", wmarker_info[i].cf);
*/
if( wmarker_info[i].cf < AR_CF_THRESHOLD ) wmarker_info[i].id = -1;
}
/*------------------------------------------------------------*/
for( i = j = 0; i < prev_num; i++ ) {
prev_info[i].count++;
if( prev_info[i].count < 4 ) {
prev_info[j] = prev_info[i];
j++;
}
}
prev_num = j;
for( i = 0; i < wmarker_num; i++ ) {
if( wmarker_info[i].id < 0 ) continue;
for( j = 0; j < prev_num; j++ ) {
if( prev_info[j].marker.id == wmarker_info[i].id ) break;
}
prev_info[j].marker = wmarker_info[i];
prev_info[j].count = 1;
if( j == prev_num ) prev_num++;
}
for( i = 0; i < prev_num; i++ ) {
for( j = 0; j < wmarker_num; j++ ) {
rarea = (double)prev_info[i].marker.area / (double)wmarker_info[j].area;
if( rarea < 0.7 || rarea > 1.43 ) continue;
rlen = ( (wmarker_info[j].pos[0] - prev_info[i].marker.pos[0])
* (wmarker_info[j].pos[0] - prev_info[i].marker.pos[0])
+ (wmarker_info[j].pos[1] - prev_info[i].marker.pos[1])
* (wmarker_info[j].pos[1] - prev_info[i].marker.pos[1]) ) / wmarker_info[j].area;
if( rlen < 0.5 ) break;
}
if( j == wmarker_num ) {
wmarker_info[wmarker_num] = prev_info[i].marker;
wmarker_num++;
}
}
*marker_num = wmarker_num;
*marker_info = wmarker_info;
return 0;
}
// marker detection using tracking history
//
AR_TEMPL_FUNC int
AR_TEMPL_TRACKER::arDetectMarker(uint8_t *dataPtr, int _thresh, ARMarkerInfo **marker_info, int *marker_num)
{
int16_t *limage=NULL;
int label_num;
int *area, *clip, *label_ref;
ARFloat *pos;
ARFloat rarea, rlen, rlenmin;
ARFloat diff, diffmin;
int cid, cdir;
int i, j, k;
trackedCorners.clear();
autoThreshold.reset();
checkImageBuffer();
// FILE* fp = fopen("imgdump.raw", "wb");
// fwrite(dataPtr, 1, 320*240*2, fp);
// fclose(fp);
*marker_num = 0;
for(int numTries = 0;;)
{
limage = arLabeling(dataPtr, _thresh, &label_num, &area, &pos, &clip, &label_ref);
if(limage)
{
marker_info2 = arDetectMarker2(limage, label_num, label_ref, area, pos, clip, AR_AREA_MAX, AR_AREA_MIN, 1.0, &wmarker_num);
assert(wmarker_num <= MAX_IMAGE_PATTERNS);
if(marker_info2)
{
wmarker_info = arGetMarkerInfo(dataPtr, marker_info2, &wmarker_num, _thresh);
assert(wmarker_num <= MAX_IMAGE_PATTERNS);
if(wmarker_info && wmarker_num>0)
break;
}
}
if(!autoThreshold.enable)
break;
else
{
_thresh = thresh = (rand() % 230) + 10;
if(++numTries>autoThreshold.numRandomRetries)
break;
}
}
if(!limage || !marker_info2 || !wmarker_info)
return -1;
for( i = 0; i < prev_num; i++ ) {
rlenmin = 10.0;
cid = -1;
for( j = 0; j < wmarker_num; j++ ) {
rarea = (ARFloat)prev_info[i].marker.area / (ARFloat)wmarker_info[j].area;
if( rarea < 0.7 || rarea > 1.43 ) continue;
rlen = ( (wmarker_info[j].pos[0] - prev_info[i].marker.pos[0])
* (wmarker_info[j].pos[0] - prev_info[i].marker.pos[0])
+ (wmarker_info[j].pos[1] - prev_info[i].marker.pos[1])
* (wmarker_info[j].pos[1] - prev_info[i].marker.pos[1]) ) / wmarker_info[j].area;
if( rlen < 0.5 && rlen < rlenmin ) {
rlenmin = rlen;
cid = j;
}
}
if( cid >= 0 && wmarker_info[cid].cf < prev_info[i].marker.cf ) {
wmarker_info[cid].cf = prev_info[i].marker.cf;
wmarker_info[cid].id = prev_info[i].marker.id;
diffmin = 10000.0 * 10000.0;
cdir = -1;
for( j = 0; j < 4; j++ ) {
diff = 0;
for( k = 0; k < 4; k++ ) {
diff += (prev_info[i].marker.vertex[k][0] - wmarker_info[cid].vertex[(j+k)%4][0])
* (prev_info[i].marker.vertex[k][0] - wmarker_info[cid].vertex[(j+k)%4][0])
+ (prev_info[i].marker.vertex[k][1] - wmarker_info[cid].vertex[(j+k)%4][1])
* (prev_info[i].marker.vertex[k][1] - wmarker_info[cid].vertex[(j+k)%4][1]);
}
if( diff < diffmin ) {
diffmin = diff;
cdir = (prev_info[i].marker.dir - j + 4) % 4;
}
}
wmarker_info[cid].dir = cdir;
}
}
for( i = 0; i < wmarker_num; i++ ) {
if( wmarker_info[i].cf < 0.5 ) wmarker_info[i].id = -1;
}
/*------------------------------------------------------------*/
for( i = j = 0; i < prev_num; i++ ) {
prev_info[i].count++;
if( prev_info[i].count < 4 ) {
prev_info[j] = prev_info[i];
j++;
}
}
prev_num = j;
for( i = 0; i < wmarker_num; i++ ) {
if( wmarker_info[i].id < 0 )
continue;
for( j = 0; j < prev_num; j++ ) {
if( prev_info[j].marker.id == wmarker_info[i].id )
break;
}
if(j<MAX_IMAGE_PATTERNS)
{
prev_info[j].marker = wmarker_info[i];
prev_info[j].count = 1;
if( j == prev_num )
prev_num++;
}
}
for( i = 0; i < prev_num; i++ ) {
for( j = 0; j < wmarker_num; j++ ) {
rarea = (ARFloat)prev_info[i].marker.area / (ARFloat)wmarker_info[j].area;
if( rarea < 0.7 || rarea > 1.43 ) continue;
rlen = ( (wmarker_info[j].pos[0] - prev_info[i].marker.pos[0])
* (wmarker_info[j].pos[0] - prev_info[i].marker.pos[0])
+ (wmarker_info[j].pos[1] - prev_info[i].marker.pos[1])
* (wmarker_info[j].pos[1] - prev_info[i].marker.pos[1]) ) / wmarker_info[j].area;
if( rlen < 0.5 ) break;
}
if(j==wmarker_num && wmarker_num<MAX_IMAGE_PATTERNS) {
wmarker_info[wmarker_num] = prev_info[i].marker;
wmarker_num++;
assert(wmarker_num <= MAX_IMAGE_PATTERNS);
}
}
*marker_num = wmarker_num;
*marker_info = wmarker_info;
assert(*marker_num <= MAX_IMAGE_PATTERNS);
if(autoThreshold.enable)
thresh = autoThreshold.calc();
return 0;
}
// marker detection without using tracking history
//
AR_TEMPL_FUNC int
AR_TEMPL_TRACKER::arDetectMarkerLite(uint8_t *dataPtr, int _thresh, ARMarkerInfo **marker_info, int *marker_num)
{
int16_t *limage = NULL;
int label_num;
int *area, *clip, *label_ref;
ARFloat *pos;
int i;
trackedCorners.clear();
autoThreshold.reset();
checkImageBuffer();
*marker_num = 0;
for(int numTries = 0;;)
{
limage = arLabeling(dataPtr, _thresh, &label_num, &area, &pos, &clip, &label_ref);
if(limage)
{
marker_info2 = arDetectMarker2(limage, label_num, label_ref, area, pos, clip, AR_AREA_MAX, AR_AREA_MIN, 1.0, &wmarker_num);
if(marker_info2)
{
wmarker_info = arGetMarkerInfo(dataPtr, marker_info2, &wmarker_num, _thresh);
if(wmarker_info && wmarker_num>0)
break;
}
}
if(!autoThreshold.enable)
break;
else
{
_thresh = thresh = (rand() % 230) + 10;
if(++numTries>autoThreshold.numRandomRetries)
break;
}
}
if(!limage || !marker_info2 || !wmarker_info)
return -1;
limage = arLabeling(dataPtr, _thresh, &label_num, &area, &pos, &clip, &label_ref);
if( limage == 0 ) return -1;
marker_info2 = arDetectMarker2(limage, label_num, label_ref, area, pos, clip, AR_AREA_MAX, AR_AREA_MIN, 1.0, &wmarker_num);
if( marker_info2 == 0 ) return -1;
wmarker_info = arGetMarkerInfo(dataPtr, marker_info2, &wmarker_num, _thresh);
if( wmarker_info == 0 ) return -1;
for( i = 0; i < wmarker_num; i++ )
if( wmarker_info[i].cf < 0.5 )
wmarker_info[i].id = -1;
*marker_num = wmarker_num;
*marker_info = wmarker_info;
if(autoThreshold.enable)
thresh = autoThreshold.calc();
return 0;
}
int arDetectMarker( ARUint8 *dataPtr, int thresh,
ARMarkerInfo **marker_info, int *marker_num )
{
ARInt16 *limage;
int label_num;
int *area, *clip, *label_ref;
double *pos;
double rarea, rlen, rlenmin;
double diff, diffmin;
int cid, cdir;
int i, j, k;
*marker_num = 0;
limage = arLabeling( dataPtr, thresh,
&label_num, &area, &pos, &clip, &label_ref );
if( limage == 0 ) return -1;
marker_info2 = arDetectMarker2( limage, label_num, label_ref,
area, pos, clip, AR_AREA_MAX, AR_AREA_MIN,
1.0, &wmarker_num);
if( marker_info2 == 0 ) return -1;
wmarker_info = arGetMarkerInfo( dataPtr, marker_info2, &wmarker_num );
if( wmarker_info == 0 ) return -1;
for( i = 0; i < prev_num; i++ ) {
rlenmin = 10.0;
cid = -1;
for( j = 0; j < wmarker_num; j++ ) {
rarea = (double)prev_info[i].marker.area / (double)wmarker_info[j].area;
if( rarea < 0.7 || rarea > 1.43 ) continue;
rlen = ( (wmarker_info[j].pos[0] - prev_info[i].marker.pos[0])
* (wmarker_info[j].pos[0] - prev_info[i].marker.pos[0])
+ (wmarker_info[j].pos[1] - prev_info[i].marker.pos[1])
* (wmarker_info[j].pos[1] - prev_info[i].marker.pos[1]) ) / wmarker_info[j].area;
if( rlen < 0.5 && rlen < rlenmin ) {
rlenmin = rlen;
cid = j;
}
}
if( cid >= 0 && wmarker_info[cid].cf < prev_info[i].marker.cf ) {
wmarker_info[cid].cf = prev_info[i].marker.cf;
wmarker_info[cid].id = prev_info[i].marker.id;
diffmin = 10000.0 * 10000.0;
cdir = -1;
for( j = 0; j < 4; j++ ) {
diff = 0;
for( k = 0; k < 4; k++ ) {
diff += (prev_info[i].marker.vertex[k][0] - wmarker_info[cid].vertex[(j+k)%4][0])
* (prev_info[i].marker.vertex[k][0] - wmarker_info[cid].vertex[(j+k)%4][0])
+ (prev_info[i].marker.vertex[k][1] - wmarker_info[cid].vertex[(j+k)%4][1])
* (prev_info[i].marker.vertex[k][1] - wmarker_info[cid].vertex[(j+k)%4][1]);
}
if( diff < diffmin ) {
diffmin = diff;
cdir = (prev_info[i].marker.dir - j + 4) % 4;
}
}
wmarker_info[cid].dir = cdir;
}
}
for( i = 0; i < wmarker_num; i++ ) {
/*
printf("cf = %g\n", wmarker_info[i].cf);
*/
if( wmarker_info[i].cf < 0.5 ) wmarker_info[i].id = -1;
}
/*------------------------------------------------------------*/
for( i = j = 0; i < prev_num; i++ ) {
prev_info[i].count++;
if( prev_info[i].count < 4 ) {
prev_info[j] = prev_info[i];
j++;
}
}
prev_num = j;
for( i = 0; i < wmarker_num; i++ ) {
if( wmarker_info[i].id < 0 ) continue;
for( j = 0; j < prev_num; j++ ) {
if( prev_info[j].marker.id == wmarker_info[i].id ) break;
}
prev_info[j].marker = wmarker_info[i];
prev_info[j].count = 1;
if( j == prev_num ) prev_num++;
}
for( i = 0; i < prev_num; i++ ) {
for( j = 0; j < wmarker_num; j++ ) {
rarea = (double)prev_info[i].marker.area / (double)wmarker_info[j].area;
if( rarea < 0.7 || rarea > 1.43 ) continue;
rlen = ( (wmarker_info[j].pos[0] - prev_info[i].marker.pos[0])
* (wmarker_info[j].pos[0] - prev_info[i].marker.pos[0])
+ (wmarker_info[j].pos[1] - prev_info[i].marker.pos[1])
* (wmarker_info[j].pos[1] - prev_info[i].marker.pos[1]) ) / wmarker_info[j].area;
if( rlen < 0.5 ) break;
}
if( j == wmarker_num ) {
wmarker_info[wmarker_num] = prev_info[i].marker;
wmarker_num++;
}
}
*marker_num = wmarker_num;
*marker_info = wmarker_info;
return 0;
}
int arDetectMarker( ARUint8 *dataPtr, int thresh,
ARMarkerInfo **marker_info, int *marker_num )
{
ARInt16 *limage;
int label_num;
int *area, *clip, *label_ref;
double *pos;
double rarea, rlen, rlenmin;
double diff, diffmin;
int cid, cdir;
int i, j, k;
#ifdef DEBUG_LOGGING
__android_log_write(ANDROID_LOG_INFO,"AR","entered arDetectMarker");
#endif
*marker_num = 0;
limage = arLabeling( dataPtr, thresh,
&label_num, &area, &pos, &clip, &label_ref );
if( limage == 0 ) {
#ifdef DEBUG_LOGGING
__android_log_write(ANDROID_LOG_INFO,"AR","arLabeling not successful(returned 0)");
#endif
return -1;
}
#ifdef DEBUG_LOGGING
__android_log_print(ANDROID_LOG_INFO,"AR","detected %d labels",label_num);
#endif
marker_info2 = arDetectMarker2( limage, label_num, label_ref,
area, pos, clip, AR_AREA_MAX, AR_AREA_MIN,
1.0, &wmarker_num);
if( marker_info2 == 0 ) {
#ifdef DEBUG_LOGGING
__android_log_write(ANDROID_LOG_INFO,"AR","arDetectMarker not successful(returned 0)");
#endif
return -1;
}
#ifdef DEBUG_LOGGING
__android_log_print(ANDROID_LOG_INFO,"AR","got %d marker candidates",wmarker_num);
#endif
wmarker_info = arGetMarkerInfo( dataPtr, marker_info2, &wmarker_num );
if( wmarker_info == 0 ) {
#ifdef DEBUG_LOGGING
__android_log_write(ANDROID_LOG_INFO,"AR","arGetMarkerInfo not successful(returned 0)");
#endif
return -1;
}
#ifdef DEBUG_LOGGING
__android_log_print(ANDROID_LOG_INFO,"AR","got marker_info for %d markers",wmarker_num);
#endif
for( i = 0; i < prev_num; i++ ) {
rlenmin = 10.0;
cid = -1;
for( j = 0; j < wmarker_num; j++ ) {
rarea = (double)prev_info[i].marker.area / (double)wmarker_info[j].area;
if( rarea < 0.7 || rarea > 1.43 ) {
#ifdef DEBUG_LOGGING
__android_log_print(ANDROID_LOG_INFO,"AR","relative area of marker %d too low or too high (%f)",i,rarea);
#endif
continue;
}
rlen = ( (wmarker_info[j].pos[0] - prev_info[i].marker.pos[0])
* (wmarker_info[j].pos[0] - prev_info[i].marker.pos[0])
+ (wmarker_info[j].pos[1] - prev_info[i].marker.pos[1])
* (wmarker_info[j].pos[1] - prev_info[i].marker.pos[1]) ) / wmarker_info[j].area;
if( rlen < AR_MIN_CF && rlen < rlenmin ) {
rlenmin = rlen;
cid = j;
}
}
if( cid >= 0 && wmarker_info[cid].cf < prev_info[i].marker.cf ) {
wmarker_info[cid].cf = prev_info[i].marker.cf;
wmarker_info[cid].id = prev_info[i].marker.id;
diffmin = 10000.0 * 10000.0;
cdir = -1;
for( j = 0; j < 4; j++ ) {
diff = 0;
for( k = 0; k < 4; k++ ) {
diff += (prev_info[i].marker.vertex[k][0] - wmarker_info[cid].vertex[(j+k)%4][0])
* (prev_info[i].marker.vertex[k][0] - wmarker_info[cid].vertex[(j+k)%4][0])
+ (prev_info[i].marker.vertex[k][1] - wmarker_info[cid].vertex[(j+k)%4][1])
* (prev_info[i].marker.vertex[k][1] - wmarker_info[cid].vertex[(j+k)%4][1]);
}
if( diff < diffmin ) {
diffmin = diff;
cdir = (prev_info[i].marker.dir - j + 4) % 4;
}
}
wmarker_info[cid].dir = cdir;
}
}
for( i = 0; i < wmarker_num; i++ ) {
/*
printf("cf = %g\n", wmarker_info[i].cf);
*/
#ifdef DEBUG_LOGGING
__android_log_print(ANDROID_LOG_INFO,"AR","cf[i] = %g id[i]=%d",i,wmarker_info[i].cf,wmarker_info[i].id);
#endif
if( wmarker_info[i].cf < AR_MIN_CF ) {
//#ifdef DEBUG_LOGGING
__android_log_print(ANDROID_LOG_INFO,"AR","confidence value of marker %d too low(%f < %f)",i,wmarker_info[i].cf,AR_MIN_CF);
//#endif
wmarker_info[i].id = -1;
}
}
/*------------------------------------------------------------*/
for( i = j = 0; i < prev_num; i++ ) {
prev_info[i].count++;
if( prev_info[i].count < 4 ) {
prev_info[j] = prev_info[i];
j++;
}
}
prev_num = j;
for( i = 0; i < wmarker_num; i++ ) {
if( wmarker_info[i].id < 0 ) continue;
for( j = 0; j < prev_num; j++ ) {
if( prev_info[j].marker.id == wmarker_info[i].id ) break;
}
prev_info[j].marker = wmarker_info[i];
prev_info[j].count = 1;
if( j == prev_num ) prev_num++;
}
for( i = 0; i < prev_num; i++ ) {
for( j = 0; j < wmarker_num; j++ ) {
rarea = (double)prev_info[i].marker.area / (double)wmarker_info[j].area;
if( rarea < 0.7 || rarea > 1.43 ) continue;
rlen = ( (wmarker_info[j].pos[0] - prev_info[i].marker.pos[0])
* (wmarker_info[j].pos[0] - prev_info[i].marker.pos[0])
+ (wmarker_info[j].pos[1] - prev_info[i].marker.pos[1])
* (wmarker_info[j].pos[1] - prev_info[i].marker.pos[1]) ) / wmarker_info[j].area;
if( rlen < AR_MIN_CF ) break;
}
if( j == wmarker_num ) {
wmarker_info[wmarker_num] = prev_info[i].marker;
wmarker_num++;
}
}
*marker_num = wmarker_num;
*marker_info = wmarker_info;
#ifdef DEBUG_LOGGING
__android_log_print(ANDROID_LOG_INFO,"AR","left arDetectMarker, detected %d markers", wmarker_num);
#endif
return 0;
}
