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 --- modules/pdp_artkp.cpp | 109 +++++++++++++++++++++++++++++++++++++++++++++++--- 1 file changed, 104 insertions(+), 5 deletions(-) (limited to 'modules/pdp_artkp.cpp') 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