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Diffstat (limited to 'ARToolKitPlus/sample/multi/src/main.cpp')
| -rw-r--r-- | ARToolKitPlus/sample/multi/src/main.cpp | 174 |
1 files changed, 0 insertions, 174 deletions
diff --git a/ARToolKitPlus/sample/multi/src/main.cpp b/ARToolKitPlus/sample/multi/src/main.cpp deleted file mode 100644 index 9cf4ce2..0000000 --- a/ARToolKitPlus/sample/multi/src/main.cpp +++ /dev/null @@ -1,174 +0,0 @@ -/* ========================================================================
-* PROJECT: ARToolKitPlus
-* ========================================================================
-* This work is based on the original ARToolKit developed by
-* Hirokazu Kato
-* Mark Billinghurst
-* HITLab, University of Washington, Seattle
-* http://www.hitl.washington.edu/artoolkit/
-*
-* Copyright of the derived and new portions of this work
-* (C) 2006 Graz University of Technology
-*
-* This framework is free software; you can redistribute it and/or modify
-* it under the terms of the GNU General Public License as published by
-* the Free Software Foundation; either version 2 of the License, or
-* (at your option) any later version.
-*
-* This framework is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this framework; if not, write to the Free Software
-* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
-*
-* For further information please contact
-* Dieter Schmalstieg
-* <schmalstieg@icg.tu-graz.ac.at>
-* Graz University of Technology,
-* Institut for Computer Graphics and Vision,
-* Inffeldgasse 16a, 8010 Graz, Austria.
-* ========================================================================
-** @author Daniel Wagner
-*
-* $Id: main.cpp 126 2006-01-26 14:01:41Z daniel $
-* @file
- * ======================================================================== */
-
-
-//
-// Simple example to demonstrate multi-marker tracking with ARToolKitPlus
-// This sample does not open any graphics window. It just
-// loads test images and shows use to use the ARToolKitPlus API.
-//
-
-#include "ARToolKitPlus/TrackerMultiMarkerImpl.h"
-
-
-class MyLogger : public ARToolKitPlus::Logger
-{
- void artLog(const char* nStr)
- {
- printf(nStr);
- }
-};
-
-
-int main(int argc, char** argv)
-{
- const int width = 320, height = 240, bpp = 1;
- size_t numPixels = width*height*bpp;
- size_t numBytesRead;
- const char *fName = "data/markerboard_480-499.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::TrackerMultiMarker *tracker = new ARToolKitPlus::TrackerMultiMarkerImpl<6,6,6, 1, 16>(width,height);
-
- 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);
-
- // load a camera file. two types of camera files are supported:
- // - Std. ARToolKit
- // - MATLAB Camera Calibration Toolbox
- if(!tracker->init("data/LogitechPro4000.dat", "data/markerboard_480-499.cfg", 1.0f, 1000.0f))
- {
- printf("ERROR: init() failed\n");
- delete cameraBuffer;
- delete tracker;
- return -1;
- }
-
- // the marker in the BCH test image has a thiner border...
- tracker->setBorderWidth(0.125f);
-
- // set a threshold. we could also activate automatic thresholding
- tracker->setThreshold(160);
-
- // 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(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 numDetected = tracker->calc(cameraBuffer);
-
- // use the result of calc() to setup the OpenGL transformation
- //glMatrixMode(GL_MODELVIEW)
- //glLoadMatrixf(tracker->getModelViewMatrix());
-
- printf("\n%d good Markers found and used for pose estimation.\nPose-Matrix:\n ", numDetected);
- for(int i=0; i<16; i++)
- printf("%.2f %s", tracker->getModelViewMatrix()[i], (i%4==3)?"\n " : "");
-
- bool showConfig = false;
-
- if(showConfig)
- {
- const ARToolKitPlus::ARMultiMarkerInfoT *artkpConfig = tracker->getMultiMarkerConfig();
- printf("%d markers defined in multi marker cfg\n", artkpConfig->marker_num);
-
- printf("marker matrices:\n");
- for(int multiMarkerCounter = 0; multiMarkerCounter < artkpConfig->marker_num; multiMarkerCounter++)
- {
- printf("marker %d, id %d:\n", multiMarkerCounter, artkpConfig->marker[multiMarkerCounter].patt_id);
- for(int row = 0; row < 3; row++)
- {
- for(int column = 0; column < 4; column++)
- printf("%.2f ", artkpConfig->marker[multiMarkerCounter].trans[row][column]);
- printf("\n");
- }
- }
- }
-
- delete [] cameraBuffer;
- delete tracker;
- return 0;
-}
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