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/* ========================================================================
* 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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