[Artoolkit] Framework Analysis of nftSimple
What is nftSimple?
Loads NFT dataset names from a configuration file.
The example uses the “Pinball.jpg” image supplied in the “Misc/patterns” folder. ARToolKit NFT requires a fast device, preferably dual-core for good operation, e.g. Samsung Galaxy SII or similar. Build/deployment for Android API 9 (Android OS v2.3) or later is recommended.
nftSimple - NFT Example
For developers who are already familiar with the code of simpleLite, it will be useful to do a side-by-side comparison of the code of nftSimple.
The basic flow of program operations (grab a frame, track markers, render) is very similar,
however there are significant changes in how the marker information is handled, as well as the control flow in the tracking loop.
To choose a resolution no greater than 800×600. A resolution of 640×480 is perfectly acceptable for NFT, and the greater frame rate achievable by using this resolution rather than a higher resolution is of more advantage than a larger frame size.
1. simpleLite -- Linux版本
/*! @typedef ARHandle @abstract (description) @discussion (description) @field arDebug (description) @field arPixelFormat (description) @field arPixelSize (description) @field arLabelingMode (description) @field arLabelingThresh (description) @field arImageProcMode To query this value, call arGetImageProcMode(). To set this value, call arSetImageProcMode(). @field arPatternDetectionMode (description) @field arMarkerExtractionMode (description) @field arParamLT (description) @field marker_num (description) @field markerInfo (description) @field marker2_num (description) @field markerInfo2 (description) @field history_num (description) @field history (description) @field labelInfo (description) @field pattHandle (description) @field pattRatio A value between 0.0 and 1.0, representing the proportion of the marker width which constitutes the pattern. In earlier versions, this value was fixed at 0.5. @field matrixCodeType When matrix code pattern detection mode is active, indicates the type of matrix code to detect. */ typedef struct { int arDebug; AR_PIXEL_FORMAT arPixelFormat; int arPixelSize; int arLabelingMode; int arLabelingThresh; int arImageProcMode; int arPatternDetectionMode; int arMarkerExtractionMode; ARParamLT *arParamLT; int xsize; int ysize; int marker_num; ARMarkerInfo markerInfo[AR_SQUARE_MAX]; int marker2_num; ARMarkerInfo2 markerInfo2[AR_SQUARE_MAX]; int history_num; ARTrackingHistory history[AR_SQUARE_MAX]; ARLabelInfo labelInfo; ARPattHandle *pattHandle; AR_LABELING_THRESH_MODE arLabelingThreshMode; int arLabelingThreshAutoInterval; int arLabelingThreshAutoIntervalTTL; int arLabelingThreshAutoBracketOver; int arLabelingThreshAutoBracketUnder; ARImageProcInfo *arImageProcInfo; ARdouble pattRatio; AR_MATRIX_CODE_TYPE matrixCodeType; } ARHandle;
/* * simpleLite.c * * Copyright 2015 Daqri LLC. All Rights Reserved. * Copyright 2002-2015 ARToolworks, Inc. All Rights Reserved. * * Author(s): Philip Lamb. * */ // ============================================================================ // Includes // ============================================================================ #include <stdio.h> #include <string.h> #ifdef _WIN32 # define snprintf _snprintf #endif #include <stdlib.h> // malloc(), free() #ifdef __APPLE__ # include <GLUT/glut.h> #else # include <GL/glut.h> #endif #include <AR/config.h> #include <AR/video.h> #include <AR/param.h> // arParamDisp() #include <AR/ar.h> #include <AR/gsub_lite.h> // ============================================================================ // Constants // ============================================================================ #define VIEW_SCALEFACTOR 1.0 // Units received from ARToolKit tracking will be multiplied by this factor before being used in OpenGL drawing. #define VIEW_DISTANCE_MIN 40.0 // Objects closer to the camera than this will not be displayed. OpenGL units. #define VIEW_DISTANCE_MAX 10000.0 // Objects further away from the camera than this will not be displayed. OpenGL units. // ============================================================================ // Global variables // ============================================================================ // Preferences. static int windowed = TRUE; // Use windowed (TRUE) or fullscreen mode (FALSE) on launch. static int windowWidth = 640; // Initial window width, also updated during program execution. static int windowHeight = 480; // Initial window height, also updated during program execution. static int windowDepth = 32; // Fullscreen mode bit depth. static int windowRefresh= 0; // Fullscreen mode refresh rate. Set to 0 to use default rate. // Image acquisition. static ARUint8 *gARTImage = NULL; static int gARTImageSavePlease = FALSE; // Marker detection. static ARHandle *gARHandle = NULL; static ARPattHandle *gARPattHandle = NULL; static long gCallCountMarkerDetect = 0; // Transformation matrix retrieval. static AR3DHandle *gAR3DHandle = NULL; static ARdouble gPatt_width = 80.0; // Per-marker, but we are using only 1 marker. static ARdouble gPatt_trans[3][4]; // Per-marker, but we are using only 1 marker. static int gPatt_found = FALSE; // Per-marker, but we are using only 1 marker. static int gPatt_id; // Per-marker, but we are using only 1 marker. // Drawing. static ARParamLT *gCparamLT = NULL; static ARGL_CONTEXT_SETTINGS_REF gArglSettings = NULL; static int gShowHelp = 1; static int gShowMode = 1; static int gDrawRotate = FALSE; static float gDrawRotateAngle = 0; // For use in drawing. // ============================================================================ // Function prototypes. // ============================================================================ static void print(const char *text, const float x, const float y, int calculateXFromRightEdge, int calculateYFromTopEdge); static void drawBackground(const float width, const float height, const float x, const float y); static void printHelpKeys(); static void printMode(); // ============================================================================ // Functions // ============================================================================ // Something to look at, draw a rotating colour cube. static void DrawCube(void) { // Colour cube data. int i; float fSize = 40.0f; const GLfloat cube_vertices [8][3] = { /* +z */ {0.5f, 0.5f, 0.5f}, {0.5f, -0.5f, 0.5f}, {-0.5f, -0.5f, 0.5f}, {-0.5f, 0.5f, 0.5f}, /* -z */ {0.5f, 0.5f, -0.5f}, {0.5f, -0.5f, -0.5f}, {-0.5f, -0.5f, -0.5f}, {-0.5f, 0.5f, -0.5f} }; const GLubyte cube_vertex_colors [8][4] = { {255, 255, 255, 255}, {255, 255, 0, 255}, {0, 255, 0, 255}, {0, 255, 255, 255}, {255, 0, 255, 255}, {255, 0, 0, 255}, {0, 0, 0, 255}, {0, 0, 255, 255} }; const GLubyte cube_faces [6][4] = { /* ccw-winding */ /* +z */ {3, 2, 1, 0}, /* -y */ {2, 3, 7, 6}, /* +y */ {0, 1, 5, 4}, /* -x */ {3, 0, 4, 7}, /* +x */ {1, 2, 6, 5}, /* -z */ {4, 5, 6, 7} }; glPushMatrix(); // Save world coordinate system. glRotatef(gDrawRotateAngle, 0.0f, 0.0f, 1.0f); // Rotate about z axis. glScalef(fSize, fSize, fSize); glTranslatef(0.0f, 0.0f, 0.5f); // Place base of cube on marker surface. glDisable(GL_LIGHTING); glDisable(GL_TEXTURE_2D); glDisable(GL_BLEND); glColorPointer(4, GL_UNSIGNED_BYTE, 0, cube_vertex_colors); glVertexPointer(3, GL_FLOAT, 0, cube_vertices); glEnableClientState(GL_VERTEX_ARRAY); glEnableClientState(GL_COLOR_ARRAY); for (i = 0; i < 6; i++) { glDrawElements(GL_TRIANGLE_FAN, 4, GL_UNSIGNED_BYTE, &(cube_faces[i][0])); } glDisableClientState(GL_COLOR_ARRAY); glColor4ub(0, 0, 0, 255); for (i = 0; i < 6; i++) { glDrawElements(GL_LINE_LOOP, 4, GL_UNSIGNED_BYTE, &(cube_faces[i][0])); } glPopMatrix(); // Restore world coordinate system. } static void DrawCubeUpdate(float timeDelta) { if (gDrawRotate) { gDrawRotateAngle += timeDelta * 45.0f; // Rotate cube at 45 degrees per second. if (gDrawRotateAngle > 360.0f) gDrawRotateAngle -= 360.0f; } } static int setupCamera(const char *cparam_name, char *vconf, ARParamLT **cparamLT_p, ARHandle **arhandle, AR3DHandle **ar3dhandle) { ARParam cparam; int xsize, ysize; AR_PIXEL_FORMAT pixFormat; // Open the video path. if (arVideoOpen(vconf) < 0) { ARLOGe("setupCamera(): Unable to open connection to camera.\n"); return (FALSE); } // Find the size of the window. if (arVideoGetSize(&xsize, &ysize) < 0) { ARLOGe("setupCamera(): Unable to determine camera frame size.\n"); arVideoClose(); return (FALSE); } ARLOGi("Camera image size (x,y) = (%d,%d)\n", xsize, ysize); // Get the format in which the camera is returning pixels. pixFormat = arVideoGetPixelFormat(); if (pixFormat == AR_PIXEL_FORMAT_INVALID) { ARLOGe("setupCamera(): Camera is using unsupported pixel format.\n"); arVideoClose(); return (FALSE); } // Load the camera parameters, resize for the window and init. if (arParamLoad(cparam_name, 1, &cparam) < 0) { ARLOGe("setupCamera(): Error loading parameter file %s for camera.\n", cparam_name); arVideoClose(); return (FALSE); } if (cparam.xsize != xsize || cparam.ysize != ysize) { ARLOGw("*** Camera Parameter resized from %d, %d. ***\n", cparam.xsize, cparam.ysize); arParamChangeSize(&cparam, xsize, ysize, &cparam); } #ifdef DEBUG ARLOG("*** Camera Parameter ***\n"); arParamDisp(&cparam); #endif if ((*cparamLT_p = arParamLTCreate(&cparam, AR_PARAM_LT_DEFAULT_OFFSET)) == NULL) { ARLOGe("setupCamera(): Error: arParamLTCreate.\n"); return (FALSE); } if ((*arhandle = arCreateHandle(*cparamLT_p)) == NULL) { ARLOGe("setupCamera(): Error: arCreateHandle.\n"); return (FALSE); } if (arSetPixelFormat(*arhandle, pixFormat) < 0) { ARLOGe("setupCamera(): Error: arSetPixelFormat.\n"); return (FALSE); } if (arSetDebugMode(*arhandle, AR_DEBUG_DISABLE) < 0) { ARLOGe("setupCamera(): Error: arSetDebugMode.\n"); return (FALSE); } if ((*ar3dhandle = ar3DCreateHandle(&cparam)) == NULL) { ARLOGe("setupCamera(): Error: ar3DCreateHandle.\n"); return (FALSE); } if (arVideoCapStart() != 0) { ARLOGe("setupCamera(): Unable to begin camera data capture.\n"); return (FALSE); } return (TRUE); } static int setupMarker(const char *patt_name, int *patt_id, ARHandle *arhandle, ARPattHandle **pattHandle_p) { if ((*pattHandle_p = arPattCreateHandle()) == NULL) { ARLOGe("setupMarker(): Error: arPattCreateHandle.\n"); return (FALSE); } // Loading only 1 pattern in this example. if ((*patt_id = arPattLoad(*pattHandle_p, patt_name)) < 0) { ARLOGe("setupMarker(): Error loading pattern file %s.\n", patt_name); arPattDeleteHandle(*pattHandle_p); return (FALSE); } arPattAttach(arhandle, *pattHandle_p); return (TRUE); } static void cleanup(void) { arglCleanup(gArglSettings); gArglSettings = NULL; arPattDetach(gARHandle); arPattDeleteHandle(gARPattHandle); arVideoCapStop(); ar3DDeleteHandle(&gAR3DHandle); arDeleteHandle(gARHandle); arParamLTFree(&gCparamLT); arVideoClose(); } static void Keyboard(unsigned char key, int x, int y) { int mode, threshChange = 0; AR_LABELING_THRESH_MODE modea; switch (key) { case 0x1B: // Quit. case 'Q': case 'q': cleanup(); exit(0); break; case ' ': gDrawRotate = !gDrawRotate; break; case 'X': case 'x': arGetImageProcMode(gARHandle, &mode); switch (mode) { case AR_IMAGE_PROC_FRAME_IMAGE: mode = AR_IMAGE_PROC_FIELD_IMAGE; break; case AR_IMAGE_PROC_FIELD_IMAGE: default: mode = AR_IMAGE_PROC_FRAME_IMAGE; break; } arSetImageProcMode(gARHandle, mode); break; case 'C': case 'c': ARLOGe("*** Camera - %f (frame/sec)\n", (double)gCallCountMarkerDetect/arUtilTimer()); gCallCountMarkerDetect = 0; arUtilTimerReset(); break; case 'a': case 'A': arGetLabelingThreshMode(gARHandle, &modea); switch (modea) { case AR_LABELING_THRESH_MODE_MANUAL: modea = AR_LABELING_THRESH_MODE_AUTO_MEDIAN; break; case AR_LABELING_THRESH_MODE_AUTO_MEDIAN: modea = AR_LABELING_THRESH_MODE_AUTO_OTSU; break; case AR_LABELING_THRESH_MODE_AUTO_OTSU: modea = AR_LABELING_THRESH_MODE_AUTO_ADAPTIVE; break; case AR_LABELING_THRESH_MODE_AUTO_ADAPTIVE: modea = AR_LABELING_THRESH_MODE_AUTO_BRACKETING; break; case AR_LABELING_THRESH_MODE_AUTO_BRACKETING: default: modea = AR_LABELING_THRESH_MODE_MANUAL; break; } arSetLabelingThreshMode(gARHandle, modea); break; case '-': threshChange = -5; break; case '+': case '=': threshChange = +5; break; case 'D': case 'd': arGetDebugMode(gARHandle, &mode); arSetDebugMode(gARHandle, !mode); break; case 's': case 'S': if (!gARTImageSavePlease) gARTImageSavePlease = TRUE; break; case '?': case '/': gShowHelp++; if (gShowHelp > 1) gShowHelp = 0; break; case 'm': case 'M': gShowMode = !gShowMode; break; default: break; } if (threshChange) { int threshhold; arGetLabelingThresh(gARHandle, &threshhold); threshhold += threshChange; if (threshhold < 0) threshhold = 0; if (threshhold > 255) threshhold = 255; arSetLabelingThresh(gARHandle, threshhold); } } static void mainLoop(void) { static int imageNumber = 0; static int ms_prev; int ms; float s_elapsed; ARUint8 *image; ARdouble err; int j, k; // Find out how long since mainLoop() last ran. ms = glutGet(GLUT_ELAPSED_TIME); s_elapsed = (float)(ms - ms_prev) * 0.001f; if (s_elapsed < 0.01f) return; // Don't update more often than 100 Hz. ms_prev = ms; // Update drawing. 怎么又画一次？Display不是有画么？ DrawCubeUpdate(s_elapsed); // Grab a video frame. if ((image = arVideoGetImage()) != NULL) { gARTImage = image; // Save the fetched image. if (gARTImageSavePlease) { char imageNumberText[15]; sprintf(imageNumberText, "image-%04d.jpg", imageNumber++); if (arVideoSaveImageJPEG(gARHandle->xsize, gARHandle->ysize, gARHandle->arPixelFormat, gARTImage, imageNumberText, 75, 0) < 0) { ARLOGe("Error saving video image.\n"); } gARTImageSavePlease = FALSE; } gCallCountMarkerDetect++; // Increment ARToolKit FPS counter. // Detect the markers in the video frame. if (arDetectMarker(gARHandle, gARTImage) < 0) { // --> exit(-1); } // Check through the marker_info array for highest confidence // visible marker matching our preferred pattern. k = -1; for (j = 0; j < gARHandle->marker_num; j++) { if (gARHandle->markerInfo[j].id == gPatt_id) { if (k == -1) k = j; // First marker detected. else if (gARHandle->markerInfo[j].cf > gARHandle->markerInfo[k].cf) k = j; // Higher confidence marker detected. } } if (k != -1) { // Get the transformation between the marker and the real camera into gPatt_trans. err = arGetTransMatSquare(gAR3DHandle, &(gARHandle->markerInfo[k]), gPatt_width, gPatt_trans); gPatt_found = TRUE; } else { gPatt_found = FALSE; } // Tell GLUT the display has changed. glutPostRedisplay(); } } // // This function is called on events when the visibility of the // GLUT window changes (including when it first becomes visible). // static void Visibility(int visible) { if (visible == GLUT_VISIBLE) { glutIdleFunc(mainLoop); } else { glutIdleFunc(NULL); } } // // This function is called when the // GLUT window is resized. // static void Reshape(int w, int h) { windowWidth = w; windowHeight = h; glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); glViewport(0, 0, (GLsizei) w, (GLsizei) h); // Call through to anyone else who needs to know about window sizing here. } // // This function is called when the window needs redrawing. // static void Display(void) { ARdouble p[16]; ARdouble m[16]; // Select correct buffer for this context. glDrawBuffer(GL_BACK); glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); // Clear the buffers for new frame. arglPixelBufferDataUpload(gArglSettings, gARTImage); arglDispImage(gArglSettings); gARTImage = NULL; // Invalidate image data. // Projection transformation. arglCameraFrustumRH(&(gCparamLT->param), VIEW_DISTANCE_MIN, VIEW_DISTANCE_MAX, p); glMatrixMode(GL_PROJECTION); #ifdef ARDOUBLE_IS_FLOAT glLoadMatrixf(p); #else glLoadMatrixd(p); #endif glMatrixMode(GL_MODELVIEW); glEnable(GL_DEPTH_TEST); // Viewing transformation. glLoadIdentity(); // Lighting and geometry that moves with the camera should go here. // (I.e. must be specified before viewing transformations.) //none if (gPatt_found) { // Calculate the camera position relative to the marker. // Replace VIEW_SCALEFACTOR with 1.0 to make one drawing unit equal to 1.0 ARToolKit units (usually millimeters). arglCameraViewRH((const ARdouble (*)[4])gPatt_trans, m, VIEW_SCALEFACTOR); #ifdef ARDOUBLE_IS_FLOAT glLoadMatrixf(m); #else glLoadMatrixd(m); #endif // All lighting and geometry to be drawn relative to the marker goes here. DrawCube(); } // gPatt_found // Any 2D overlays go here. glMatrixMode(GL_PROJECTION); glLoadIdentity(); glOrtho(0, (GLdouble)windowWidth, 0, (GLdouble)windowHeight, -1.0, 1.0); glMatrixMode(GL_MODELVIEW); glLoadIdentity(); glDisable(GL_LIGHTING); glDisable(GL_DEPTH_TEST); // // Draw help text and mode. // if (gShowMode) { printMode(); } if (gShowHelp) { if (gShowHelp == 1) { printHelpKeys(); } } glutSwapBuffers(); } int main(int argc, char** argv) { char glutGamemode[32]; char cparam_name[] = "Data/camera_para.dat"; char vconf[] = ""; char patt_name[] = "Data/hiro.patt"; // // Library inits. // glutInit(&argc, argv); // // Video setup. // if (!setupCamera(cparam_name, vconf, &gCparamLT, &gARHandle, &gAR3DHandle)) { ARLOGe("main(): Unable to set up AR camera.\n"); exit(-1); } // // Graphics setup. // // Set up GL context(s) for OpenGL to draw into. glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH); if (!windowed) { if (windowRefresh) sprintf(glutGamemode, "%ix%i:%i@%i", windowWidth, windowHeight, windowDepth, windowRefresh); else sprintf(glutGamemode, "%ix%i:%i", windowWidth, windowHeight, windowDepth); glutGameModeString(glutGamemode); glutEnterGameMode(); } else { glutInitWindowSize(windowWidth, windowHeight); glutCreateWindow(argv[0]); } // Setup ARgsub_lite library for current OpenGL context. if ((gArglSettings = arglSetupForCurrentContext(&(gCparamLT->param), arVideoGetPixelFormat())) == NULL) { ARLOGe("main(): arglSetupForCurrentContext() returned error.\n"); cleanup(); exit(-1); } arglSetupDebugMode(gArglSettings, gARHandle); arUtilTimerReset(); // Load marker(s). if (!setupMarker(patt_name, &gPatt_id, gARHandle, &gARPattHandle)) { ARLOGe("main(): Unable to set up AR marker.\n"); cleanup(); exit(-1); } // Register GLUT event-handling callbacks. // NB: mainLoop() is registered by Visibility. glutDisplayFunc(Display); glutReshapeFunc(Reshape); glutVisibilityFunc(Visibility); glutKeyboardFunc(Keyboard); glutMainLoop(); return (0); } // // The following functions provide the onscreen help text and mode info. // static void print(const char *text, const float x, const float y, int calculateXFromRightEdge, int calculateYFromTopEdge) { int i, len; GLfloat x0, y0; if (!text) return; if (calculateXFromRightEdge) { x0 = windowWidth - x - (float)glutBitmapLength(GLUT_BITMAP_HELVETICA_10, (const unsigned char *)text); } else { x0 = x; } if (calculateYFromTopEdge) { y0 = windowHeight - y - 10.0f; } else { y0 = y; } glRasterPos2f(x0, y0); len = (int)strlen(text); for (i = 0; i < len; i++) glutBitmapCharacter(GLUT_BITMAP_HELVETICA_10, text[i]); } static void drawBackground(const float width, const float height, const float x, const float y) { GLfloat vertices[4][2]; vertices[0][0] = x; vertices[0][1] = y; vertices[1][0] = width + x; vertices[1][1] = y; vertices[2][0] = width + x; vertices[2][1] = height + y; vertices[3][0] = x; vertices[3][1] = height + y; glLoadIdentity(); glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); glEnable(GL_BLEND); glVertexPointer(2, GL_FLOAT, 0, vertices); glEnableClientState(GL_VERTEX_ARRAY); glColor4f(0.0f, 0.0f, 0.0f, 0.5f); // 50% transparent black. glDrawArrays(GL_TRIANGLE_FAN, 0, 4); glColor4f(1.0f, 1.0f, 1.0f, 1.0f); // Opaque white. //glLineWidth(1.0f); //glDrawArrays(GL_LINE_LOOP, 0, 4); glDisableClientState(GL_VERTEX_ARRAY); glDisable(GL_BLEND); } static void printHelpKeys() { int i; GLfloat w, bw, bh; const char *helpText[] = { "Keys:\n", " ? or / Show/hide this help.", " q or [esc] Quit program.", " d Activate / deactivate debug mode.", " m Toggle display of mode info.", " a Toggle between available threshold modes.", " - and + Switch to manual threshold mode, and adjust threshhold up/down by 5.", " x Change image processing mode.", " c Calulcate frame rate.", }; #define helpTextLineCount (sizeof(helpText)/sizeof(char *)) bw = 0.0f; for (i = 0; i < helpTextLineCount; i++) { w = (float)glutBitmapLength(GLUT_BITMAP_HELVETICA_10, (unsigned char *)helpText[i]); if (w > bw) bw = w; } bh = helpTextLineCount * 10.0f /* character height */+ (helpTextLineCount - 1) * 2.0f /* line spacing */; drawBackground(bw, bh, 2.0f, 2.0f); for (i = 0; i < helpTextLineCount; i++) print(helpText[i], 2.0f, (helpTextLineCount - 1 - i)*12.0f + 2.0f, 0, 0);; } static void printMode() { int len, thresh, line, mode, xsize, ysize; AR_LABELING_THRESH_MODE threshMode; ARdouble tempF; char text[256], *text_p; glColor3ub(255, 255, 255); line = 1; // Image size and processing mode. arVideoGetSize(&xsize, &ysize); arGetImageProcMode(gARHandle, &mode); if (mode == AR_IMAGE_PROC_FRAME_IMAGE) text_p = "full frame"; else text_p = "even field only"; snprintf(text, sizeof(text), "Processing %dx%d video frames %s", xsize, ysize, text_p); print(text, 2.0f, (line - 1)*12.0f + 2.0f, 0, 1); line++; // Threshold mode, and threshold, if applicable. arGetLabelingThreshMode(gARHandle, &threshMode); switch (threshMode) { case AR_LABELING_THRESH_MODE_MANUAL: text_p = "MANUAL"; break; case AR_LABELING_THRESH_MODE_AUTO_MEDIAN: text_p = "AUTO_MEDIAN"; break; case AR_LABELING_THRESH_MODE_AUTO_OTSU: text_p = "AUTO_OTSU"; break; case AR_LABELING_THRESH_MODE_AUTO_ADAPTIVE: text_p = "AUTO_ADAPTIVE"; break; case AR_LABELING_THRESH_MODE_AUTO_BRACKETING: text_p = "AUTO_BRACKETING"; break; default: text_p = "UNKNOWN"; break; } snprintf(text, sizeof(text), "Threshold mode: %s", text_p); if (threshMode != AR_LABELING_THRESH_MODE_AUTO_ADAPTIVE) { arGetLabelingThresh(gARHandle, &thresh); len = (int)strlen(text); snprintf(text + len, sizeof(text) - len, ", thresh=%d", thresh); } print(text, 2.0f, (line - 1)*12.0f + 2.0f, 0, 1); line++; // Border size, image processing mode, pattern detection mode. arGetBorderSize(gARHandle, &tempF); snprintf(text, sizeof(text), "Border: %0.1f%%", tempF*100.0); arGetPatternDetectionMode(gARHandle, &mode); switch (mode) { case AR_TEMPLATE_MATCHING_COLOR: text_p = "Colour template (pattern)"; break; case AR_TEMPLATE_MATCHING_MONO: text_p = "Mono template (pattern)"; break; case AR_MATRIX_CODE_DETECTION: text_p = "Matrix (barcode)"; break; case AR_TEMPLATE_MATCHING_COLOR_AND_MATRIX: text_p = "Colour template + Matrix (2 pass, pattern + barcode)"; break; case AR_TEMPLATE_MATCHING_MONO_AND_MATRIX: text_p = "Mono template + Matrix (2 pass, pattern + barcode "; break; default: text_p = "UNKNOWN"; break; } len = (int)strlen(text); snprintf(text + len, sizeof(text) - len, ", Pattern detection mode: %s", text_p); print(text, 2.0f, (line - 1)*12.0f + 2.0f, 0, 1); line++; // Window size. snprintf(text, sizeof(text), "Drawing into %dx%d window", windowWidth, windowHeight); print(text, 2.0f, (line - 1)*12.0f + 2.0f, 0, 1); line++; }
接下来，就是令人高潮的 arDetectMarker.c，爱你一万年！
就俩函数：
- int arDetectMarker( ARHandle *arHandle, ARUint8 *dataPtr );
- static void confidenceCutoff(ARHandle *arHandle);
Let's go.
int arDetectMarker( ARHandle *arHandle, ARUint8 *dataPtr ) { ARdouble rarea, rlen, rlenmin; ARdouble diff, diffmin; int cid, cdir; int i, j, k; int detectionIsDone = 0; int threshDiff; #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]); 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; }
2. nftSimple -- Linux版本
static void mainLoop(void)
{
static int ms_prev;
int ms;
float s_elapsed;
ARUint8 *image;
// NFT results.
static int detectedPage = -2; // -2 Tracking not inited, -1 tracking inited OK, >= 0 tracking online on page.
static float trackingTrans[3][4];
int i, j, k;
// Find out how long since mainLoop() last ran.
ms = glutGet(GLUT_ELAPSED_TIME);
s_elapsed = (float)(ms - ms_prev) * 0.001f;
if (s_elapsed < 0.01f) return; // Don't update more often than 100 Hz.
ms_prev = ms;
// Update drawing.
DrawCubeUpdate(s_elapsed);
// Grab a video frame.
if ((image = arVideoGetImage()) != NULL) {
gARTImage = image; // Save the fetched image.
gCallCountMarkerDetect++; // Increment ARToolKit FPS counter.
// Run marker detection on frame
if (threadHandle) {
// Perform NFT tracking.
float err;
int ret;
int pageNo;
if( detectedPage == -2 ) {
trackingInitStart( threadHandle, gARTImage ); //--> (1)
detectedPage = -1;
}
if( detectedPage == -1 ) {
ret = trackingInitGetResult( threadHandle, trackingTrans, &pageNo); //--> (2) identify object
if( ret == 1 ) {
if (pageNo >= 0 && pageNo < surfaceSetCount) {
ARLOGd("Detected page %d.\n", pageNo);
detectedPage = pageNo;
ar2SetInitTrans(surfaceSet[detectedPage], trackingTrans); //--> (3)
} else {
ARLOGe("Detected bad page %d.\n", pageNo);
detectedPage = -2;
}
} else if( ret < 0 ) {
ARLOGd("No page detected.\n");
detectedPage = -2;
}
}
if( detectedPage >= 0 && detectedPage < surfaceSetCount) {
if( ar2Tracking(ar2Handle, surfaceSet[detectedPage], gARTImage, trackingTrans, &err) < 0 ) { //--> track object
ARLOGd("Tracking lost.\n");
detectedPage = -2;
} else {
ARLOGd("Tracked page %d (max %d).\n", detectedPage, surfaceSetCount - 1);
}
}
} else {
ARLOGe("Error: threadHandle\n");
detectedPage = -2;
}
// Update markers.
for (i = 0; i < markersNFTCount; i++) {
markersNFT[i].validPrev = markersNFT[i].valid;
if (markersNFT[i].pageNo >= 0 && markersNFT[i].pageNo == detectedPage) {
markersNFT[i].valid = TRUE;
for (j = 0; j < 3; j++) for (k = 0; k < 4; k++) markersNFT[i].trans[j][k] = trackingTrans[j][k];
}
else markersNFT[i].valid = FALSE;
if (markersNFT[i].valid) {
// Filter the pose estimate.
if (markersNFT[i].ftmi) {
if (arFilterTransMat(markersNFT[i].ftmi, markersNFT[i].trans, !markersNFT[i].validPrev) < 0) {
ARLOGe("arFilterTransMat error with marker %d.\n", i);
}
}
if (!markersNFT[i].validPrev) {
// Marker has become visible, tell any dependent objects.
// --->
}
// We have a new pose, so set that.
arglCameraViewRH((const ARdouble (*)[4])markersNFT[i].trans, markersNFT[i].pose.T, VIEW_SCALEFACTOR);
// Tell any dependent objects about the update.
// --->
} else {
if (markersNFT[i].validPrev) {
// Marker has ceased to be visible, tell any dependent objects.
// --->
}
}
}
// Tell GLUT the display has changed.
glutPostRedisplay();
}
}
(1)
int trackingInitStart( THREAD_HANDLE_T *threadHandle, ARUint8 *imagePtr ) { TrackingInitHandle *trackingInitHandle; if (!threadHandle || !imagePtr) { ARLOGe("trackingInitStart(): Error: NULL threadHandle or imagePtr.\n"); return (-1); } trackingInitHandle = (TrackingInitHandle *)threadGetArg(threadHandle); if (!trackingInitHandle) { ARLOGe("trackingInitStart(): Error: NULL trackingInitHandle.\n"); return (-1); } memcpy( trackingInitHandle->imagePtr, imagePtr, trackingInitHandle->imageSize );
// 填充 *threadHandle，貌似就复制了个图
// 填好了给threadStartSignal，设置好进程信号
threadStartSignal( threadHandle ); return 0; }
(2)
typedef struct { KpmHandle *kpmHandle; // KPM-related data. ARUint8 *imagePtr; // Pointer to image being tracked. int imageSize; // Bytes per image. float trans[3][4]; // Transform containing pose of tracked image. int page; // Assigned page number of tracked image. int flag; // Tracked successfully. } TrackingInitHandle;
int trackingInitGetResult( THREAD_HANDLE_T *threadHandle, float trans[3][4], int *page )
{
TrackingInitHandle *trackingInitHandle;
int i, j;
if (!threadHandle || !trans || !page) {
ARLOGe("trackingInitGetResult(): Error: NULL threadHandle or trans or page.\n");
return (-1);
}
if( threadGetStatus( threadHandle ) == 0 ) return 0;
threadEndWait( threadHandle );
trackingInitHandle = (TrackingInitHandle *)threadGetArg(threadHandle);
if (!trackingInitHandle) return (-1);
if( trackingInitHandle->flag ) {
for (j = 0; j < 3; j++) {
for (i = 0; i < 4; i++)
trans[j][i] = trackingInitHandle->trans[j][i]; //感觉关键部分是另一个thread干的，这个thread就接收下结果
}
*page = trackingInitHandle->page;
return 1;
}
return -1;
}
(3)
int ar2SetInitTrans( AR2SurfaceSetT *surfaceSet, float trans[3][4] )
{
int i, j;
if( surfaceSet == NULL ) return -1;
surfaceSet->contNum = 1;
for( j = 0; j < 3; j++ ) {
for( i = 0; i < 4; i++ )
surfaceSet->trans1[j][i] = trans[j][i];
}
surfaceSet->prevFeature[0].flag = -1;
return 0;
}
接下来，跟踪“干活儿”的那个线程。
int main(int argc, char** argv)
{
char glutGamemode[32];
const char *cparam_name = "Data2/camera_para.dat";
char vconf[] = "";
const char markerConfigDataFilename[] = "Data2/markers.dat";
#ifdef DEBUG
arLogLevel = AR_LOG_LEVEL_DEBUG;
#endif
//
// Library inits.
//
glutInit(&argc, argv);
//
// Video setup.
//
#ifdef _WIN32
CoInitialize(NULL);
#endif
if (!setupCamera(cparam_name, vconf, &gCparamLT)) {
ARLOGe("main(): Unable to set up AR camera.\n");
exit(-1);
}
//
// AR init.
//
// Create the OpenGL projection from the calibrated camera parameters.
arglCameraFrustumRH(&(gCparamLT->param), VIEW_DISTANCE_MIN, VIEW_DISTANCE_MAX, cameraLens);
if (!initNFT(gCparamLT, arVideoGetPixelFormat())) { // --> (1)
ARLOGe("main(): Unable to init NFT.\n");
exit(-1);
}
//
// Graphics setup.
//
// Set up GL context(s) for OpenGL to draw into.
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH);
if (!prefWindowed) {
if (prefRefresh) sprintf(glutGamemode, "%ix%i:%i@%i", prefWidth, prefHeight, prefDepth, prefRefresh);
else sprintf(glutGamemode, "%ix%i:%i", prefWidth, prefHeight, prefDepth);
glutGameModeString(glutGamemode);
glutEnterGameMode();
} else {
glutInitWindowSize(gCparamLT->param.xsize, gCparamLT->param.ysize);
glutCreateWindow(argv[0]);
}
// Setup ARgsub_lite library for current OpenGL context.
if ((gArglSettings = arglSetupForCurrentContext(&(gCparamLT->param), arVideoGetPixelFormat())) == NULL) {
ARLOGe("main(): arglSetupForCurrentContext() returned error.\n");
cleanup();
exit(-1);
}
arUtilTimerReset();
//
// Markers setup.
//
// Load marker(s).
newMarkers(markerConfigDataFilename, &markersNFT, &markersNFTCount); // --> (2)
if (!markersNFTCount) {
ARLOGe("Error loading markers from config. file '%s'.\n", markerConfigDataFilename);
cleanup();
exit(-1);
}
ARLOGi("Marker count = %d\n", markersNFTCount);
// Marker data has been loaded, so now load NFT data.
if (!loadNFTData()) { // --> (3)
ARLOGe("Error loading NFT data.\n");
cleanup();
exit(-1);
}
// Start the video.
if (arVideoCapStart() != 0) {
ARLOGe("setupCamera(): Unable to begin camera data capture.\n");
return (FALSE);
}
// Register GLUT event-handling callbacks.
// NB: mainLoop() is registered by Visibility.
glutDisplayFunc(Display);
glutReshapeFunc(Reshape);
glutVisibilityFunc(Visibility);
glutKeyboardFunc(Keyboard);
glutMainLoop();
return (0);
}
(1)
// Modifies globals: kpmHandle, ar2Handle.
static int initNFT(ARParamLT *cparamLT, AR_PIXEL_FORMAT pixFormat)
{
ARLOGd("Initialising NFT.\n");
//
// NFT init.
//
// KPM init. (Key Point Matching)
kpmHandle = kpmCreateHandle(cparamLT, pixFormat);
if (!kpmHandle) {
ARLOGe("Error: kpmCreateHandle.\n");
return (FALSE);
}
//kpmSetProcMode( kpmHandle, KpmProcHalfSize );
// AR2 init.
if( (ar2Handle = ar2CreateHandle(cparamLT, pixFormat, AR2_TRACKING_DEFAULT_THREAD_NUM)) == NULL ) {
ARLOGe("Error: ar2CreateHandle.\n");
kpmDeleteHandle(&kpmHandle);
return (FALSE);
}
if (threadGetCPU() <= 1) {
ARLOGi("Using NFT tracking settings for a single CPU.\n");
ar2SetTrackingThresh(ar2Handle, 5.0);
ar2SetSimThresh(ar2Handle, 0.50);
ar2SetSearchFeatureNum(ar2Handle, 16);
ar2SetSearchSize(ar2Handle, 6);
ar2SetTemplateSize1(ar2Handle, 6);
ar2SetTemplateSize2(ar2Handle, 6);
} else {
ARLOGi("Using NFT tracking settings for more than one CPU.\n");
ar2SetTrackingThresh(ar2Handle, 5.0);
ar2SetSimThresh(ar2Handle, 0.50);
ar2SetSearchFeatureNum(ar2Handle, 16);
ar2SetSearchSize(ar2Handle, 12);
ar2SetTemplateSize1(ar2Handle, 6);
ar2SetTemplateSize2(ar2Handle, 6);
}
// NFT dataset loading will happen later.
return (TRUE);
}
(2)
typedef struct _ARMarkerNFT { // ARMarker protected bool valid; bool validPrev; ARdouble trans[3][4]; ARPose pose; ARdouble marker_width; ARdouble marker_height; // ARMarker private ARFilterTransMatInfo *ftmi; ARdouble filterCutoffFrequency; ARdouble filterSampleRate; // ARMarkerNFT int pageNo; char *datasetPathname; } ARMarkerNFT;
void newMarkers(const char *markersConfigDataFilePathC, ARMarkerNFT **markersNFT_out, int *markersNFTCount_out)
{
FILE *fp;
char buf[MAXPATHLEN], buf1[MAXPATHLEN];
int tempI;
ARMarkerNFT *markersNFT;
int markersNFTCount;
ARdouble tempF;
int i;
char markersConfigDataDirC[MAXPATHLEN];
size_t markersConfigDataDirCLen;
if (!markersConfigDataFilePathC || markersConfigDataFilePathC[0] == '\0' || !markersNFT_out || !markersNFTCount_out) return;
// Load the marker data file.
ARLOGd("Opening marker config. data file from path '%s'.\n", markersConfigDataFilePathC);
arUtilGetDirectoryNameFromPath(markersConfigDataDirC, markersConfigDataFilePathC, MAXPATHLEN, 1); // 1 = add '/' at end.
markersConfigDataDirCLen = strlen(markersConfigDataDirC);
if ((fp = fopen(markersConfigDataFilePathC, "r")) == NULL) {
ARLOGe("Error: unable to locate marker config data file '%s'.\n", markersConfigDataFilePathC);
return;
}
// First line is number of markers to read.
get_buff(buf, MAXPATHLEN, fp, 1);if (sscanf(buf, "%d", &tempI) != 1 ) {
ARLOGe("Error in marker configuration data file; expected marker count.\n");
fclose(fp);
return;
}
arMallocClear(markersNFT, ARMarkerNFT, tempI);
markersNFTCount = tempI;
ARLOGd("Reading %d marker configuration(s).\n", markersNFTCount);
for (i = 0; i < markersNFTCount; i++) {
// Read marker name.
if (!get_buff(buf, MAXPATHLEN, fp, 1)) {
ARLOGe("Error in marker configuration data file; expected marker name.\n");
break;
}
// Read marker type.
if (!get_buff(buf1, MAXPATHLEN, fp, 1)) {
ARLOGe("Error in marker configuration data file; expected marker type.\n");
break;
}
// Interpret marker type, and read more data.
if (strcmp(buf1, "SINGLE") == 0) {
ARLOGe("Error in marker configuration data file; SINGLE markers not supported in this build.\n");
} else if (strcmp(buf1, "MULTI") == 0) {
ARLOGe("Error in marker configuration data file; MULTI markers not supported in this build.\n");
} else if (strcmp(buf1, "NFT") == 0) {
markersNFT[i].valid = markersNFT[i].validPrev = FALSE;
arMalloc(markersNFT[i].datasetPathname, char, markersConfigDataDirCLen + strlen(buf) + 1);
strcpy( markersNFT[i].datasetPathname, markersConfigDataDirC);
strcpy( markersNFT[i].datasetPathname + markersConfigDataDirCLen, buf);
markersNFT[i].pageNo = -1;
} else {
ARLOGe("Error in marker configuration data file; unsupported marker type %s.\n", buf1);
}
// Look for optional tokens. A blank line marks end of options.
while (get_buff(buf, MAXPATHLEN, fp, 0) && (buf[0] != '\0')) {
if (strncmp(buf, "FILTER", 6) == 0) {
markersNFT[i].filterCutoffFrequency = AR_FILTER_TRANS_MAT_CUTOFF_FREQ_DEFAULT;
markersNFT[i].filterSampleRate = AR_FILTER_TRANS_MAT_SAMPLE_RATE_DEFAULT;
if (strlen(buf) != 6) {
if (sscanf(&buf[6],
#ifdef ARDOUBLE_IS_FLOAT
"%f"
#else
"%lf"
#endif
, &tempF) == 1) markersNFT[i].filterCutoffFrequency = tempF;
}
markersNFT[i].ftmi = arFilterTransMatInit(markersNFT[i].filterSampleRate, markersNFT[i].filterCutoffFrequency);
}
// Unknown tokens are ignored.
}
}
fclose(fp);
// If not all markers were read, an error occurred.
if (i < markersNFTCount) {
// Clean up.
for (; i >= 0; i--) {
if (markersNFT[i].datasetPathname) free(markersNFT[i].datasetPathname);
if (markersNFT[i].ftmi) arFilterTransMatFinal(markersNFT[i].ftmi);
}
free(markersNFT);
*markersNFTCount_out = 0;
*markersNFT_out = NULL;
return;
}
*markersNFTCount_out = markersNFTCount;
*markersNFT_out = markersNFT;
}
(3)
// References globals: markersNFTCount
// Modifies globals: threadHandle, surfaceSet[], surfaceSetCount, markersNFT[]
static int loadNFTData(void)
{
int i;
KpmRefDataSet *refDataSet;
// If data was already loaded, stop KPM tracking thread and unload previously loaded data.
if (threadHandle) {
ARLOGi("Reloading NFT data.\n");
unloadNFTData();
} else {
ARLOGi("Loading NFT data.\n");
}
refDataSet = NULL;
for (i = 0; i < markersNFTCount; i++) {
// Load KPM data.
KpmRefDataSet *refDataSet2;
ARLOGi("Reading %s.fset3\n", markersNFT[i].datasetPathname);
if (kpmLoadRefDataSet(markersNFT[i].datasetPathname, "fset3", &refDataSet2) < 0 ) {
ARLOGe("Error reading KPM data from %s.fset3\n", markersNFT[i].datasetPathname);
markersNFT[i].pageNo = -1;
continue;
}
markersNFT[i].pageNo = surfaceSetCount;
ARLOGi(" Assigned page no. %d.\n", surfaceSetCount);
if (kpmChangePageNoOfRefDataSet(refDataSet2, KpmChangePageNoAllPages, surfaceSetCount) < 0) {
ARLOGe("Error: kpmChangePageNoOfRefDataSet\n");
exit(-1);
}
if (kpmMergeRefDataSet(&refDataSet, &refDataSet2) < 0) {
ARLOGe("Error: kpmMergeRefDataSet\n");
exit(-1);
}
ARLOGi(" Done.\n");
// Load AR2 data.
ARLOGi("Reading %s.fset\n", markersNFT[i].datasetPathname);
if ((surfaceSet[surfaceSetCount] = ar2ReadSurfaceSet(markersNFT[i].datasetPathname, "fset", NULL)) == NULL ) {
ARLOGe("Error reading data from %s.fset\n", markersNFT[i].datasetPathname);
}
ARLOGi(" Done.\n");
surfaceSetCount++;
if (surfaceSetCount == PAGES_MAX) break;
}
if (kpmSetRefDataSet(kpmHandle, refDataSet) < 0) {
ARLOGe("Error: kpmSetRefDataSet\n");
exit(-1);
}
kpmDeleteRefDataSet(&refDataSet);
// Start the KPM tracking thread.
threadHandle = trackingInitInit(kpmHandle); // --> (4)
if (!threadHandle) exit(-1);
ARLOGi("Loading of NFT data complete.\n");
return (TRUE);
}
(4)
THREAD_HANDLE_T *trackingInitInit( KpmHandle *kpmHandle )
{
TrackingInitHandle *trackingInitHandle;
THREAD_HANDLE_T *threadHandle;
if (!kpmHandle) {
ARLOGe("trackingInitInit(): Error: NULL KpmHandle.\n");
return (NULL);
}
trackingInitHandle = (TrackingInitHandle *)malloc(sizeof(TrackingInitHandle));
if( trackingInitHandle == NULL ) return NULL;
trackingInitHandle->kpmHandle = kpmHandle;
trackingInitHandle->imageSize = kpmHandleGetXSize(kpmHandle) * kpmHandleGetYSize(kpmHandle) * arUtilGetPixelSize(kpmHandleGetPixelFormat(kpmHandle));
trackingInitHandle->imagePtr = (ARUint8 *)malloc(trackingInitHandle->imageSize);
trackingInitHandle->flag = 0;
threadHandle = threadInit(0, trackingInitHandle, trackingInitMain);
return threadHandle;
}
typedef struct {
KpmHandle *kpmHandle; // KPM-related data.
ARUint8 *imagePtr; // Pointer to image being tracked.
int imageSize; // Bytes per image.
float trans[3][4]; // Transform containing pose of tracked image.
int page; // Assigned page number of tracked image.
int flag; // Tracked successfully.
} TrackingInitHandle;
THREAD_HANDLE_T *threadInit( int ID, void *arg, void *(*start_routine)(THREAD_HANDLE_T*) )
{
THREAD_HANDLE_T *flag;
int err;
#if !defined(_WINRT) && !defined(ARUTIL_DISABLE_PTHREADS)
pthread_t thread;
pthread_attr_t attr;
#endif
if ((flag = malloc(sizeof(THREAD_HANDLE_T))) == NULL) return NULL;
flag->ID = ID;
flag->startF = 0;
flag->endF = 0;
flag->busyF = 0;
flag->arg = arg;
pthread_mutex_init( &(flag->mut), NULL );
pthread_cond_init( &(flag->cond1), NULL );
pthread_cond_init( &(flag->cond2), NULL );
#if !defined(_WINRT) && !defined(ARUTIL_DISABLE_PTHREADS)
pthread_attr_init(&attr); // 初始化一个线程对象的属性
pthread_attr_setdetachstate(&attr, 1); // Preclude the need to do pthread_join on the thread after it exits.
err = pthread_create(&thread, &attr, (void *(*)(void*))start_routine, flag); // --> (5)
pthread_attr_destroy(&attr);
#elif defined(_WIN32)
# ifdef _WINRT
err = arCreateDetachedThreadWinRT(start_routine, flag);
# else
struct start_routine_proxy_arg *srpa_p = malloc(sizeof(struct start_routine_proxy_arg));
srpa_p->start_routine = start_routine;
srpa_p->arg = flag;
err = (_beginthread(start_routine_proxy, 0, srpa_p) == -1L);
# endif
#else
# error No routine available to create a thread.
#endif
if (err == 0) {
return flag;
} else {
threadFree(&flag);
return NULL;
}
}
(5)
static void *trackingInitMain( THREAD_HANDLE_T *threadHandle )
{
TrackingInitHandle *trackingInitHandle;
KpmHandle *kpmHandle;
KpmResult *kpmResult = NULL;
int kpmResultNum;
ARUint8 *imagePtr;
float err;
int i, j, k;
if (!threadHandle) {
ARLOGe("Error starting tracking thread: empty THREAD_HANDLE_T.\n");
return (NULL);
}
trackingInitHandle = (TrackingInitHandle *)threadGetArg(threadHandle);
if (!threadHandle) {
ARLOGe("Error starting tracking thread: empty trackingInitHandle.\n");
return (NULL);
}
kpmHandle = trackingInitHandle->kpmHandle;
imagePtr = trackingInitHandle->imagePtr;
if (!kpmHandle || !imagePtr) {
ARLOGe("Error starting tracking thread: empty kpmHandle/imagePtr.\n");
return (NULL);
}
ARLOGi("Start tracking thread.\n");
kpmGetResult( kpmHandle, &kpmResult, &kpmResultNum ); // 单独提取出kpmHandle中的两个元素 for 方便
/* 总算找到了你！下章见。 */
for(;;)
{
if( threadStartWait(threadHandle) < 0 ) break;
kpmMatching(kpmHandle, imagePtr);
trackingInitHandle->flag = 0;
for( i = 0; i < kpmResultNum; i++ )
{
if( kpmResult[i].camPoseF != 0 ) continue;
ARLOGd("kpmGetPose OK.\n");
if( trackingInitHandle->flag == 0 || err > kpmResult[i].error )
{ // Take the first or best result.
trackingInitHandle->flag = 1;
trackingInitHandle->page = kpmResult[i].pageNo;
for (j = 0; j < 3; j++) for (k = 0; k < 4; k++) trackingInitHandle->trans[j][k] = kpmResult[i].camPose[j][k];
err = kpmResult[i].error;
}
}
threadEndSignal(threadHandle);
}
ARLOGi("End tracking thread.\n");
return (NULL);
}
见：[Artoolkit] kpmMatching Analysis of nftSimple
