From 2989832b9e808fa6f4d59c1b1abef477081a721e Mon Sep 17 00:00:00 2001 From: "N.N." Date: Sun, 5 Dec 2010 19:24:51 +0000 Subject: before alpha svn path=/trunk/externals/pidip/; revision=14570 --- doc/pdp_artkp-help.pd | 65 ++++++++++++++++++++++++++++++ modules/pdp_artkp.cpp | 109 +++++++++++++++++++++++++++++++++++++++++++++++--- 2 files changed, 169 insertions(+), 5 deletions(-) create mode 100755 doc/pdp_artkp-help.pd diff --git a/doc/pdp_artkp-help.pd b/doc/pdp_artkp-help.pd new file mode 100755 index 0000000..ac37df6 --- /dev/null +++ b/doc/pdp_artkp-help.pd @@ -0,0 +1,65 @@ +#N canvas 387 154 846 664 10; +#X obj 134 107 bng 15 250 50 0 empty empty empty 20 8 0 8 -262144 -1 +-1; +#X msg 54 182 loop \$1; +#X obj 55 160 tgl 15 0 empty empty empty 20 8 0 8 -262144 -1 -1 0 1 +; +#X msg 169 128 open \$1; +#X obj 168 104 openpanel; +#X obj 153 87 bng 15 250 50 0 empty empty empty 20 8 0 8 -262144 -1 +-1; +#X msg 91 108 stop; +#X obj 123 178 metro 70; +#X obj 255 156 metro 70; +#X obj 300 122 bng 15 250 50 0 empty empty empty 20 8 0 8 -262144 -1 +-1; +#X msg 257 123 stop; +#X obj 118 210 pdp_yqt; +#X obj 720 561 pdp_control; +#X msg 720 534 thread \$1; +#X floatatom 720 622 5 0 0 0 - - -; +#X obj 720 593 route pdp_drop; +#X obj 246 186 pdp_v4l2; +#X obj 348 154 metro 70; +#X obj 393 120 bng 15 250 50 0 empty empty empty 20 8 0 8 -262144 -1 +-1; +#X msg 350 121 stop; +#X obj 342 184 pdp_v4l; +#X text 376 248 pdp_artkp : pdp bindings for ARToolKitPkus( augmented +reality toolkit : http://studierstube.icg.tu-graz.ac.at/handheld_ar/artoolkitplus.php +); +#X text 378 336 written by Yves Degoyon (ydegoyon@free.fr); +#X text 377 290 to compile it \, you need ARToolKitPlus sources and +use ./configure --with-artkp=/path-to-sources ....; +#X obj 152 382 pdp_artkp; +#X obj 152 576 pdp_xv; +#X text 378 313 to make it run \, you need to install the files from +pidip/artkp in /usr/share/ARToolKitPlus....; +#X floatatom 213 412 5 0 0 0 - - -; +#X text 254 413 number of markers; +#X obj 209 502 print marker data :; +#X obj 216 437 print markers detected :; +#X connect 0 0 7 0; +#X connect 1 0 11 0; +#X connect 2 0 1 0; +#X connect 3 0 11 0; +#X connect 4 0 3 0; +#X connect 5 0 4 0; +#X connect 6 0 7 0; +#X connect 7 0 11 0; +#X connect 8 0 16 0; +#X connect 9 0 8 0; +#X connect 10 0 8 0; +#X connect 11 0 24 0; +#X connect 12 0 15 0; +#X connect 13 0 12 0; +#X connect 15 0 14 0; +#X connect 16 0 24 0; +#X connect 17 0 20 0; +#X connect 18 0 17 0; +#X connect 19 0 17 0; +#X connect 20 0 24 0; +#X connect 24 0 25 0; +#X connect 24 1 29 0; +#X connect 24 2 27 0; +#X connect 24 2 30 0; diff --git a/modules/pdp_artkp.cpp b/modules/pdp_artkp.cpp index 6331562..095bbd6 100755 --- a/modules/pdp_artkp.cpp +++ b/modules/pdp_artkp.cpp @@ -23,14 +23,26 @@ #include #include +#include "ARToolKitPlus/TrackerMultiMarkerImpl.h" + #include "pdp.h" +class PdLogger : public ARToolKitPlus::Logger +{ + void artLog(const char* msg) + { + post("pdp_artkp : %s", msg); + } +}; + typedef struct pdp_artkp { t_object x_obj; t_float x_f; t_outlet *x_outlet0; + t_outlet *x_outlet1; + t_outlet *x_outlet2; int x_packet0; int x_packet1; int x_dropped; @@ -40,17 +52,77 @@ typedef struct pdp_artkp int x_height; int x_size; + // ARToolKitPlus data + ARToolKitPlus::TrackerMultiMarker *x_tracker; /// the ARToolKitPlus marker tracker + PdLogger *x_logger; // tracker logger + int x_nummarkers; // number of detected markers + t_atom x_mdata[3]; // marker data ( list ) + } t_pdp_artkp; +static void pdp_artkp_init(t_pdp_artkp *x) +{ + if( (x->x_width>1024) || (x->x_height>1024) ) + { + post( "pdp_artkp : warning : detection might not work well with resolution > 1024"); + } + + x->x_tracker = new ARToolKitPlus::TrackerMultiMarkerImpl<6,6,6, 1, 16>(x->x_width, x->x_height); + + if( !x->x_tracker ) + { + post( "pdp_artkp : FATAL... could not allocate tracker"); + exit(-1); + } + + x->x_logger = new PdLogger; + if( !x->x_logger ) + { + post( "pdp_artkp : FATAL... could not allocate logger"); + exit(-1); + } + else + { + x->x_tracker->setLogger(x->x_logger); + } + + // setting pixel format + x->x_tracker->setPixelFormat(ARToolKitPlus::PIXEL_FORMAT_RGB); + + if(!x->x_tracker->init("/usr/share/ARToolKitPlus/camera.dat", "/usr/share/ARToolKitPlus/markerboard_480-499.cfg", 1.0f, 1000.0f)) + { + post( "pdp_artkp : FATAL... ARToolKitPlus init() failed."); + post( "pdp_artkp : did you install artkp data files in /usr/share/ARToolKitPlus ?"); + exit(-1); + } + + // the marker in the BCH test image has a thiner border... + x->x_tracker->setBorderWidth(0.125f); + + // activate automatic thresholding + x->x_tracker->activateAutoThreshold(true); + // let's use lookup-table undistortion for high-speed + // note: LUT only works with images up to 1024x1024 + x->x_tracker->setUndistortionMode(ARToolKitPlus::UNDIST_LUT); + + // RPP is more robust than ARToolKit's standard pose estimator + x->x_tracker->setPoseEstimator(ARToolKitPlus::POSE_ESTIMATOR_RPP); + + // switch to simple ID based markers + // use the tool in tools/IdPatGen to generate markers + x->x_tracker->setMarkerMode(ARToolKitPlus::MARKER_ID_SIMPLE); + +} static void pdp_artkp_process_rgb(t_pdp_artkp *x) { - t_pdp *header = pdp_packet_header(x->x_packet0); - short int *data = (short int *)pdp_packet_data(x->x_packet0); - t_pdp *newheader = pdp_packet_header(x->x_packet1); - short int *newdata = (short int *)pdp_packet_data(x->x_packet1); - int i; + t_pdp *header = pdp_packet_header(x->x_packet0); + unsigned char *data = (unsigned char *)pdp_packet_data(x->x_packet0); + t_pdp *newheader = pdp_packet_header(x->x_packet1); + unsigned char *newdata = (unsigned char *)pdp_packet_data(x->x_packet1); + int im; + int numDetected; if ((x->x_width != (t_int)header->info.image.width) || (x->x_height != (t_int)header->info.image.height)) @@ -61,13 +133,34 @@ static void pdp_artkp_process_rgb(t_pdp_artkp *x) x->x_width = header->info.image.width; x->x_height = header->info.image.height; x->x_size = x->x_width*x->x_height; + + pdp_artkp_init(x); } newheader->info.image.encoding = header->info.image.encoding; newheader->info.image.width = x->x_width; newheader->info.image.height = x->x_height; + numDetected = x->x_tracker->calc((unsigned char*)data); + if ( numDetected != x->x_nummarkers ) + { + x->x_nummarkers = numDetected; + outlet_float( x->x_outlet2, x->x_nummarkers ); + } + + for (im=0; imx_tracker->getDetectedMarker(im); + + SETFLOAT(&x->x_mdata[0], marker.id); + SETFLOAT(&x->x_mdata[1], marker.pos[0]); + SETFLOAT(&x->x_mdata[2], marker.pos[1]); + outlet_list( x->x_outlet1, 0, 3, x->x_mdata ); + + } + memcpy( newdata, data, x->x_size*3 ); + return; } @@ -140,6 +233,8 @@ void *pdp_artkp_new(t_floatarg f) t_pdp_artkp *x = (t_pdp_artkp *)pd_new(pdp_artkp_class); x->x_outlet0 = outlet_new(&x->x_obj, &s_anything); + x->x_outlet1 = outlet_new(&x->x_obj, &s_anything); + x->x_outlet2 = outlet_new(&x->x_obj, &s_anything); x->x_packet0 = -1; x->x_packet1 = -1; @@ -149,6 +244,10 @@ void *pdp_artkp_new(t_floatarg f) x->x_height = 240; x->x_size = x->x_width * x->x_height; + // init the ARToolKitPlus tracker + pdp_artkp_init(x); + x->x_nummarkers = 0; + return (void *)x; } -- cgit v1.2.1