File osgART-1.0-ARToolKitPlus-tracker.patch of Package osgART
Index: osgART-1.0/bin/osgART.bkl
===================================================================
--- osgART-1.0.orig/bin/osgART.bkl
+++ osgART-1.0/bin/osgART.bkl
@@ -69,6 +69,18 @@
</module>
+ <module id="osgart_artoolkitplus_tracker" template="simple">
+ <cxx-rtti>on</cxx-rtti>
+ <sources>$(addPrefixToList('../src/osgART/Tracker/ARToolKitPlus/','ARToolKitPlusTracker.cpp MultiMarker.cpp SingleMarker.cpp SimpleMarker.cpp Main.cpp gsub.cpp'))</sources>
+
+ <include>../include</include>
+ <include>.</include>
+
+ <library>osgART</library>
+
+ <sys-lib>osg</sys-lib>
+ <sys-lib>ARToolKitPlus</sys-lib>
+ </module>
<module id="osgart_dummyimage">
<cxx-rtti>on</cxx-rtti>
Index: osgART-1.0/src/osgART/Tracker/ARToolKitPlus/ARToolKitPlusTracker
===================================================================
--- /dev/null
+++ osgART-1.0/src/osgART/Tracker/ARToolKitPlus/ARToolKitPlusTracker
@@ -0,0 +1,205 @@
+/*
+ * osgART/Tracker/ARToolKit/ARToolKitPlusTracker
+ * osgART: AR ToolKit for OpenSceneGraph
+ *
+ * Copyright (c) 2005-2007 ARToolworks, Inc. All rights reserved.
+ *
+ * Rev Date Who Changes
+ * 1.0 2006-12-08 --- Version 1.0 release.
+ *
+ */
+/*
+ * This file is part of osgART - AR Toolkit for OpenSceneGraph
+ *
+ * Copyright (c) 2005-2007 ARToolworks, Inc. All rights reserved.
+ *
+ * (See the AUTHORS file in the root of this distribution.)
+ *
+ *
+ * OSGART 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.
+ *
+ * OSGART 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 OSGART; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ */
+
+
+#ifndef OSGART_ARTTOOLKITTRACKER
+#define OSGART_ARTTOOLKITTRACKER
+
+/**
+ * \file ARToolKitPlusTracker
+ * \brief A wrapper class for ARToolkit tracking system.
+ *
+ * Support Marker-Based tracking based on computer vision based on ARToolKit
+ * Algorithm. This class provided video/graphic independent marker detection and
+ * support multiple marker tracking.
+ *
+ * \author Philip Lamb philip.lamb@artoolworks.com
+ * \author Julian Looser Julian.Looser@hitlabnz.org
+ * \author Raphael Grasset Raphael.Grasset@hitlabnz.org
+ */
+
+#include "osgART/Export"
+#include "osgART/Marker"
+#include "osgART/GenericVideo"
+#include "osgART/GenericTracker"
+
+#include <string>
+
+#include <ARToolKitPlus/TrackerMultiMarker.h>
+
+
+namespace osgART {
+
+ /**
+ * \class ARToolKitPlusTracker
+ * \brief A tracker based on ARToolKit 2x.
+ *
+ * This tracker supports single and multi-markers.
+ *
+ */
+ class ARToolKitPlusTracker : public GenericTracker
+ {
+
+ public:
+
+ /**
+ * \brief constructor.
+ */
+ ARToolKitPlusTracker(void);
+
+ /**
+ * \brief set the openGL parameters for the projection matrix.
+ *
+ * Initialize internal parameters computation for delivers an openGL Matrix (modify
+ * nothing to openGL state machine).
+ * \param n near field of view
+ * \param f far field of view
+ */
+ void setProjection(const double n, const double f);
+
+ /**
+ * \brief Set the threshold value for the tracking algorithm.
+ *
+ * Define the threshold used to binarize the image in ARToolkit.
+ * \param thresh integer value between 0 (dark) and 255 (bright)
+ */
+ void setThreshold(const int& thresh);
+
+ /**
+ * \brief Get the current threshold value for the tracking algorithm.
+ *
+ * \return The current threshold.
+ */
+ int getThreshold() const;
+
+
+ unsigned char* getDebugImage();
+ void setDebugMode(bool d);
+ bool getDebugMode();
+
+
+ /**
+ * \brief Initialize ARToolKit.
+ *
+ * This core function initializes different parameters of ARToolKit: load tracked markers, initialize
+ * camera parameters.
+ * \param xsize width of the image to analyze
+ * \param ysize height of the image to analyze
+ * \param pattlist_name a file structure of the marker
+ * \param camera_name description file of the camera used (pinhole model)
+ */
+ virtual bool init(int xsize, int ysize,
+ const std::string& pattlist_name = "Data/markers_list.dat",
+ const std::string& camera_name="Data/camera_para.dat");
+
+ /**
+ * \brief Register a single marker with the tracker.
+ *
+ * \param pattFile the pattern file name
+ * \param width the width of the physical marker
+ * \param center the x-y coordinates of the center of the marker (usually 0,0)
+ * \return the internal ID of the new marker, or -1 on failure
+ */
+ int addSingleMarker(const std::string& pattFile,
+ double width, double center[2]);
+
+ int addSimpleMarker(const std::string& pattFile,
+ double width, double center[2]);
+
+ /**
+ * \brief Register a multi-marker with the tracker
+ *
+ * \param multiFile the multi-marker configuration file name
+ * \return the internal ID of the new marker, or -1 on failure
+ */
+ int addMultiMarker(const std::string& multiFile);
+
+ /**
+ * \brief set the image which will be used for tracking.
+ *
+ * \param image Pointer to raw image pixels.
+ * \param format OSGART-defined pixel format of the raw pixels. This will be converted
+ * to a format understood by ARToolKit internally.
+ */
+ virtual void setImageRaw(unsigned char * image, PixelFormatType format = VIDEOFORMAT_GREY8);
+
+ /**
+ * \brief update the tracking.
+ *
+ * This core function applies the ARToolKit algorithm to the last image defined by setImage.
+ */
+ void update();
+
+ virtual Marker* getMarker(int markerId);
+
+ protected:
+
+ /**
+ * \brief destructor.
+ */
+ virtual ~ARToolKitPlusTracker();
+
+ virtual void createUndistortedMesh(int,int,float,float,osg::Geometry&);
+
+ private:
+
+ struct CameraParameter;
+ CameraParameter* m_cparam;
+
+ bool setupMarkers(const std::string& patternListFile);
+ void cleanupMarkers(void);
+
+ std::string cparamName;
+ int m_threshold;
+
+ bool m_debugmode;
+
+ int m_marker_num;
+
+ int m_artoolkit_pixformat;
+ int m_artoolkit_pixsize;
+
+ ARToolKitPlus::TrackerMultiMarker *m_tracker;
+
+ };
+
+
+
+
+};
+
+
+#endif
+
+
Index: osgART-1.0/src/osgART/Tracker/ARToolKitPlus/ARToolKitPlusTracker.cpp
===================================================================
--- /dev/null
+++ osgART-1.0/src/osgART/Tracker/ARToolKitPlus/ARToolKitPlusTracker.cpp
@@ -0,0 +1,640 @@
+/*
+ * osgART/Tracker/ARToolKit/ARToolKitPlusTracker
+ * osgART: AR ToolKit for OpenSceneGraph
+ *
+ * Copyright (c) 2005-2007 ARToolworks, Inc. All rights reserved.
+ *
+ * Rev Date Who Changes
+ * 1.0 2006-12-08 --- Version 1.0 release.
+ *
+ */
+/*
+ * This file is part of osgART - AR Toolkit for OpenSceneGraph
+ *
+ * Copyright (c) 2005-2007 ARToolworks, Inc. All rights reserved.
+ *
+ * (See the AUTHORS file in the root of this distribution.)
+ *
+ *
+ * OSGART 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.
+ *
+ * OSGART 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 OSGART; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ */
+
+
+#include "ARToolKitPlusTracker"
+
+/*
+#include <AR/config.h>
+#include <AR/video.h>
+#include <AR/ar.h>
+#include <AR/gsub_lite.h>
+#ifndef AR_HAVE_HEADER_VERSION_2_72
+#error ARToolKit v2.72 or later is required to build the OSGART ARToolKit tracker.
+#endif
+*/
+
+//#include <ARToolKitPlus/Tracker.h>
+
+#include "gsub.h"
+
+#include "SingleMarker"
+#include "MultiMarker"
+#include "SimpleMarker"
+
+#include <osgART/GenericVideo>
+#include <osg/Notify>
+
+#include <iostream>
+#include <fstream>
+
+#include <ARToolKitPlus/TrackerMultiMarker.h>
+
+#define PD_LOOP 3
+
+using namespace ARToolKitPlus;
+
+template <typename T>
+int Observer2Ideal( const T dist_factor[4],
+ const T ox,
+ const T oy,
+ T *ix, T *iy )
+{
+ T z02, z0, p, q, z, px, py;
+ register int i = 0;
+
+ px = ox - dist_factor[0];
+ py = oy - dist_factor[1];
+ p = dist_factor[2]/100000000.0;
+ z02 = px*px+ py*py;
+ q = z0 = sqrt(px*px+ py*py);
+
+ for( i = 1; ; i++ ) {
+ if( z0 != 0.0 ) {
+ z = z0 - ((1.0 - p*z02)*z0 - q) / (1.0 - 3.0*p*z02);
+ px = px * z / z0;
+ py = py * z / z0;
+ }
+ else {
+ px = 0.0;
+ py = 0.0;
+ break;
+ }
+ if( i == PD_LOOP ) break;
+
+ z02 = px*px+ py*py;
+ z0 = sqrt(px*px+ py*py);
+ }
+
+ *ix = px / dist_factor[3] + dist_factor[0];
+ *iy = py / dist_factor[3] + dist_factor[1];
+
+ return(0);
+}
+
+
+namespace osgART {
+
+ struct ARToolKitPlusTracker::CameraParameter
+ {
+ Camera cparam;
+ };
+
+
+ ARToolKitPlusTracker::ARToolKitPlusTracker() : GenericTracker(),
+ m_threshold(100),
+ m_debugmode(false),
+ m_marker_num(0),
+ m_cparam(new CameraParameter)
+ {
+
+ // create a new field
+ m_fields["threshold"] = new CallbackField<ARToolKitPlusTracker,int>(this,
+ &ARToolKitPlusTracker::getThreshold,
+ &ARToolKitPlusTracker::setThreshold);
+
+ // attach a new field to the name "debug"
+ m_fields["debug"] = new TypedField<bool>(&m_debugmode);
+
+ // for statistics
+ m_fields["markercount"] = new TypedField<int>(&m_marker_num);
+ }
+
+ ARToolKitPlusTracker::~ARToolKitPlusTracker()
+ {
+ delete m_cparam;
+ }
+
+
+ bool ARToolKitPlusTracker::init(int xsize, int ysize,
+ const std::string& pattlist_name,
+ const std::string& camera_name)
+ {
+ Camera wparam;
+
+ // Set the initial camera parameters.
+ cparamName = camera_name;
+ //if(arParamLoad((char*)cparamName.c_str(), 2, &wparam) < 0) {
+
+
+ m_tracker = new ARToolKitPlus::TrackerMultiMarker(xsize,ysize,9,6,6,6,9);
+
+ m_tracker->setMarkerMode(MARKER_ID_SIMPLE);
+ m_tracker->setBorderWidth(0.125);
+ //m_tracker->setMarkerMode(MARKER_TEMPLATE);
+ //m_tracker->setBorderWidth(0.25);
+
+
+ // these are all accuracy enhancements, you can comment them out to return to the defaults
+ m_tracker->activateAutoThreshold(true);
+ m_tracker->setNumAutoThresholdRetries(5);
+ m_tracker->setPoseEstimator(POSE_ESTIMATOR_RPP);
+ m_tracker->setImageProcessingMode(IMAGE_FULL_RES);
+
+
+
+ //if(!m_tracker->loadCameraFile((char*)cparamName.c_str(),10.0f,8000.0f)) {
+ // we use this "high level" init function because it sets up some things that i can't access
+ // with the lower level functions (!!). we pass in an empty marker file because we want to add
+ // markers one by one and keep track of them.
+
+ float near = 10.0f;
+ float far = 8000.0f;
+
+ if(!m_tracker->init((char*)cparamName.c_str(),"Data/empty.cfg",near,far)) {
+
+ //
+ osg::notify(osg::FATAL)
+ << "osgART::ARToolKitPlusTracker::init(video,patternlist,cameraparam) Can't load camera parameters from '"<<
+ camera_name <<"'." << std::endl;
+
+ return false;
+ }
+
+ //m_tracker->convertProjectionMatrixToOpenGLStyle(&(m_cparam->cparam), near, far, m_projectionMatrix);
+
+
+ // slightly less ugly hack
+ arglCameraFrustumRH(m_tracker->getCamera(), near, far, m_projectionMatrix);
+
+/*
+ printf("PROJECTION MATRIX:\n");
+ for(int i=0;i<16;i++) {
+ printf(" %f",m_projectionMatrix[i] = m_tracker->getProjectionMatrix()[i]);
+ if(i%4==3) printf("\n");
+ }
+ */
+
+ //arParamChangeSize(&wparam, xsize, ysize,&(m_cparam->cparam));
+ //Tracker::changeCameraSize(xsize,ysize);
+ //arInitCparam(&(m_cparam->cparam));
+ //arParamDisp(&(m_cparam->cparam));
+
+ //arFittingMode = AR_FITTING_TO_IDEAL;
+ //arImageProcMode = AR_IMAGE_PROC_IN_FULL;
+
+ //setProjection(10.0f, 8000.0f);
+ setDebugMode(m_debugmode);
+ setThreshold(m_threshold);
+
+ if (!setupMarkers(pattlist_name)) {
+ std::cerr << "ERROR: Marker setup failed." << std::endl;
+ return false;
+ }
+
+ // Success
+ return true;
+ }
+
+
+ std::string trim(std::string& s,const std::string& drop = " ")
+ {
+ std::string r=s.erase(s.find_last_not_of(drop)+1);
+ return r.erase(0,r.find_first_not_of(drop));
+ }
+
+
+ bool ARToolKitPlusTracker::setupMarkers(const std::string& patternListFile)
+ {
+ std::ifstream markerFile;
+
+ // Need to check whether the passed file even exists
+
+ markerFile.open(patternListFile.c_str());
+
+ // Need to check for error when opening file
+ if (!markerFile.is_open()) return false;
+
+ bool ret = true;
+
+ int patternNum = 0;
+ markerFile >> patternNum;
+
+ std::string patternName, patternType;
+
+ // Need EOF checking in here... atm it assumes there are really as many markers as the number says
+
+ for (int i = 0; (i < patternNum) && (!markerFile.eof()); i++)
+ {
+ // jcl64: Get the whole line for the marker file (will handle spaces in filename)
+ patternName = "";
+ while (trim(patternName) == "" && !markerFile.eof()) {
+ getline(markerFile, patternName);
+ }
+
+
+ // Check whether markerFile exists?
+
+ markerFile >> patternType;
+
+ if (patternType == "SINGLE")
+ {
+
+ double width, center[2];
+ markerFile >> width >> center[0] >> center[1];
+ if (addSingleMarker(patternName, width, center) == -1) {
+ std::cerr << "Error adding single pattern: " << patternName << std::endl;
+ ret = false;
+ break;
+ }
+
+ }
+ else if (patternType == "MULTI")
+ {
+ if (addMultiMarker(patternName) == -1) {
+ std::cerr << "Error adding multi-marker pattern: " << patternName << std::endl;
+ ret = false;
+ break;
+ }
+
+ }
+ else if (patternType == "SIMPLE")
+ {
+ double width, center[2];
+ markerFile >> width >> center[0] >> center[1];
+ if (addSimpleMarker(patternName,width,center) == -1) {
+ std::cerr << "Error adding simple-marker pattern: " << patternName << std::endl;
+ ret = false;
+ break;
+ }
+
+ }
+ else
+ {
+ std::cerr << "Unrecognized pattern type: " << patternType << std::endl;
+ ret = false;
+ break;
+ }
+ }
+
+ markerFile.close();
+
+ return ret;
+ }
+
+ int
+ ARToolKitPlusTracker::addSingleMarker(const std::string& pattFile, double width, double center[2]) {
+
+ SingleMarker* singleMarker = new SingleMarker(m_tracker);
+
+ if (!singleMarker->initialise(pattFile, width, center))
+ {
+ singleMarker->unref();
+ return -1;
+ }
+
+ m_markerlist.push_back(singleMarker);
+
+ return m_markerlist.size() - 1;
+ }
+
+ int
+ ARToolKitPlusTracker::addSimpleMarker(const std::string& pattFile, double width, double center[2]) {
+
+ SimpleMarker* simpleMarker = new SimpleMarker(m_tracker);
+
+ if (!simpleMarker->initialise(atoi(pattFile.c_str()), width, center))
+ {
+ simpleMarker->unref();
+ return -1;
+ }
+
+ m_markerlist.push_back(simpleMarker);
+
+ return m_markerlist.size() - 1;
+ }
+
+ int
+ ARToolKitPlusTracker::addMultiMarker(const std::string& multiFile)
+ {
+ MultiMarker* multiMarker = new MultiMarker(m_tracker);
+
+ if (!multiMarker->initialise(multiFile))
+ {
+ multiMarker->unref();
+ return -1;
+ }
+
+ m_markerlist.push_back(multiMarker);
+
+ return m_markerlist.size() - 1;
+
+ }
+
+ void ARToolKitPlusTracker::setThreshold(const int& thresh)
+ {
+ m_threshold = osg::clampBetween(thresh,0,255);
+ }
+
+ int ARToolKitPlusTracker::getThreshold() const
+ {
+ return m_threshold;
+ }
+
+ unsigned char* ARToolKitPlusTracker::getDebugImage() {
+ //return arImage;
+ return 0;
+ }
+
+ void ARToolKitPlusTracker::setDebugMode(bool d)
+ {
+ m_debugmode = d;
+ //arDebug = (m_debugmode) ? 1 : 0;
+ }
+
+ bool ARToolKitPlusTracker::getDebugMode()
+ {
+ return m_debugmode;
+ }
+
+ /*virtual*/
+ void ARToolKitPlusTracker::setImageRaw(unsigned char * image, PixelFormatType format)
+ {
+ if (m_imageptr_format != format) {
+ // format has changed.
+ // Translate the pixel format to an appropriate type for ARToolKit v2.
+ switch (format) {
+ case VIDEOFORMAT_RGB24:
+ m_artoolkit_pixformat = PIXEL_FORMAT_RGB;
+ m_artoolkit_pixsize = 3;
+ break;
+ case VIDEOFORMAT_BGR24:
+ m_artoolkit_pixformat = PIXEL_FORMAT_BGR;
+ m_artoolkit_pixsize = 3;
+ break;
+ case VIDEOFORMAT_BGRA32:
+ m_artoolkit_pixformat = PIXEL_FORMAT_BGRA;
+ m_artoolkit_pixsize = 4;
+ break;
+ case VIDEOFORMAT_RGBA32:
+ m_artoolkit_pixformat = PIXEL_FORMAT_RGBA;
+ m_artoolkit_pixsize = 4;
+ break;
+ /*
+ case VIDEOFORMAT_ARGB32:
+ m_artoolkit_pixformat = PIXEL_FORMAT_ARGB;
+ m_artoolkit_pixsize = 4;
+ break;
+ */
+ case VIDEOFORMAT_ABGR32:
+ m_artoolkit_pixformat = PIXEL_FORMAT_ABGR;
+ m_artoolkit_pixsize = 4;
+ break;
+ /*
+ case VIDEOFORMAT_YUV422:
+ m_artoolkit_pixformat = PIXEL_FORMAT_2vuy;
+ m_artoolkit_pixsize = 2;
+ break;
+ */
+ case VIDEOFORMAT_Y8:
+ case VIDEOFORMAT_GREY8:
+ m_artoolkit_pixformat = PIXEL_FORMAT_LUM;
+ m_artoolkit_pixsize = 1;
+ break;
+ default:
+ break;
+ }
+ }
+
+ // We are only augmenting method in parent class.
+ GenericTracker::setImageRaw(image, format);
+ }
+
+ void ARToolKitPlusTracker::update()
+ {
+
+ ARMarkerInfo *marker_info; // Pointer to array holding the details of detected markers.
+
+
+ register int j, k;
+
+ // Do not update with a null image
+ if (m_imageptr == NULL) return;
+
+#if 0
+ // Check that the format matches the one passed in.
+ if (AR_PIX_SIZE_DEFAULT != m_artoolkit_pixsize || AR_DEFAULT_PIXEL_FORMAT != m_artoolkit_pixformat) {
+ std::cerr << "osgart_artoolkit_tracker::update() Incompatible pixelformat!" << std::endl;
+ return;
+ }
+#endif
+
+ // Detect the markers in the video frame.
+ if(m_tracker->arDetectMarker(m_imageptr, m_threshold, &marker_info, &m_marker_num) < 0)
+ {
+ std::cerr << "Error detecting markers in image." << std::endl;
+ return;
+ }
+
+ /*
+ int *detected_markers;
+ m_tracker->getDetectedMarkers(detected_markers);
+ osg::notify() << "detected ids: ";
+ for(j = 0; j < m_tracker->getNumDetectedMarkers() ; j++) {
+ if(j>0)
+ osg::notify() << ", ";
+ osg::notify() << detected_markers[j];
+ }
+ osg::notify() << std::endl;
+ */
+
+
+ osg::notify() << "m_marker_num " << m_marker_num << std::endl;
+ /*
+ for (j = 0 ; j < m_marker_num ; j++ ) {
+
+ osg::notify() << "index: " << j << std::endl;
+ osg::notify() << "area: " << marker_info[j].area << std::endl;
+ osg::notify() << "id: " << marker_info[j].id << std::endl;
+ osg::notify() << "dir: " << marker_info[j].dir << std::endl;
+ osg::notify() << "cf: " << marker_info[j].cf << std::endl;
+ osg::notify() << "pos: " << marker_info[j].pos[0] << "," << marker_info[j].pos[1] << std::endl;
+ }
+ */
+
+ MarkerList::iterator _end = m_markerlist.end();
+
+ // Check through the marker_info array for highest confidence
+ // visible marker matching our preferred pattern.
+ for (MarkerList::iterator iter = m_markerlist.begin();
+ iter != _end;
+ ++iter)
+ {
+
+ SingleMarker* singleMarker = dynamic_cast<SingleMarker*>((*iter).get());
+ SimpleMarker* simpleMarker = dynamic_cast<SimpleMarker*>((*iter).get());
+ MultiMarker* multiMarker = dynamic_cast<MultiMarker*>((*iter).get());
+
+ if (singleMarker)
+ {
+
+ k = -1;
+ for (j = 0; j < m_marker_num; j++)
+ {
+ if (singleMarker->getPatternID() == marker_info[j].id)
+ {
+ if (k == -1) k = j; // First marker detected.
+ else
+ if(marker_info[j].cf > marker_info[k].cf) k = j; // Higher confidence marker detected.
+
+ }
+ }
+
+ if(k != -1)
+ {
+ singleMarker->update(&marker_info[k]);
+ }
+ else
+ {
+ singleMarker->update(NULL);
+ }
+ }
+ else if (simpleMarker)
+ {
+ //osg::notify() << "testing simpleMarker, name: " << simpleMarker->getName() << std::endl;
+
+ k = -1;
+ for (j = 0; j < m_marker_num; j++)
+ {
+ //osg::notify() << "testing detected marker, id: " << marker_info[j].id << std::endl;
+
+ if (simpleMarker->getPatternID() == marker_info[j].id)
+ {
+ //osg::notify() << "matched marker, name: " << simpleMarker->getName() << ", id=" << marker_info[j].id << std::endl;
+ if (k == -1) k = j; // First marker detected.
+ else
+ if(marker_info[j].cf > marker_info[k].cf) k = j; // Higher confidence marker detected.
+
+ }
+ }
+
+ if(k != -1)
+ {
+ simpleMarker->update(&marker_info[k]);
+ }
+ else
+ {
+ simpleMarker->update(NULL);
+ }
+ osg::Vec3d trans = simpleMarker->getTransform().getTrans();
+ //printf("simple marker %s transform: %f %f %f %s\n",simpleMarker->getName().c_str(),trans.x(),trans.y(),trans.z(),simpleMarker->isValid()?"valid":"invalid");
+ }
+ else if (multiMarker)
+ {
+ multiMarker->update(marker_info, m_marker_num);
+
+ } else {
+ std::cerr << "ARToolKitPlusTracker::update() : Unknown marker type id!" << std::endl;
+ }
+ }
+// #endif
+
+ }
+
+ void ARToolKitPlusTracker::setProjection(const double n, const double f)
+ {
+ m_tracker->setCamera(m_tracker->getCamera(),n,f);
+
+ arglCameraFrustumRH(m_tracker->getCamera(), n, f, m_projectionMatrix);
+ //convertProjectionMatrixToOpenGLStyle(&(m_cparam->cparam), n, f, m_projectionMatrix);
+ }
+
+
+ Marker* ARToolKitPlusTracker::getMarker(int markerId) {
+ MarkerList::iterator _end = m_markerlist.end();
+
+ for (MarkerList::iterator iter = m_markerlist.begin();
+ iter != _end;
+ ++iter)
+ {
+
+ SingleMarker* singleMarker = dynamic_cast<SingleMarker*>((*iter).get());
+ SimpleMarker* simpleMarker = dynamic_cast<SimpleMarker*>((*iter).get());
+ MultiMarker* multiMarker = dynamic_cast<MultiMarker*>((*iter).get());
+
+ if (singleMarker && singleMarker->getPatternID()==markerId)
+ return singleMarker;
+ else if (simpleMarker && simpleMarker->getPatternID()==markerId)
+ return simpleMarker;
+ }
+
+ return NULL;
+
+ }
+
+ void ARToolKitPlusTracker::createUndistortedMesh(
+ int width, int height,
+ float maxU, float maxV,
+ osg::Geometry &geometry)
+ {
+
+ osg::Vec3Array *coords = dynamic_cast<osg::Vec3Array*>(geometry.getVertexArray());
+ osg::Vec2Array* tcoords = dynamic_cast<osg::Vec2Array*>(geometry.getTexCoordArray(0));
+
+ unsigned int rows = 20, cols = 20;
+ float rowSize = height / (float)rows;
+ float colSize = width / (float)cols;
+ ARFloat x, y, px, py, u, v;
+
+ for (unsigned int r = 0; r < rows; r++) {
+ for (unsigned int c = 0; c <= cols; c++) {
+
+ x = c * colSize;
+ y = r * rowSize;
+
+ m_tracker->getCamera()->observ2Ideal(x, y, &px, &py);
+ coords->push_back(osg::Vec3(px, py, 0.0f));
+
+ u = (c / (float)cols) * maxU;
+ v = (1.0f - (r / (float)rows)) * maxV;
+ tcoords->push_back(osg::Vec2(u, v));
+
+ x = c * colSize;
+ y = (r+1) * rowSize;
+
+ m_tracker->getCamera()->observ2Ideal(x, y, &px, &py);
+ coords->push_back(osg::Vec3(px, py, 0.0f));
+
+ u = (c / (float)cols) * maxU;
+ v = (1.0f - ((r+1) / (float)rows)) * maxV;
+ tcoords->push_back(osg::Vec2(u, v));
+
+ }
+
+ geometry.addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::QUAD_STRIP,
+ r * 2 * (cols+1), 2 * (cols+1)));
+ }
+ }
+
+}; // namespace osgART
Index: osgART-1.0/src/osgART/Tracker/ARToolKitPlus/gsub.cpp
===================================================================
--- /dev/null
+++ osgART-1.0/src/osgART/Tracker/ARToolKitPlus/gsub.cpp
@@ -0,0 +1,173 @@
+
+#include <GL/gl.h>
+#include "gsub.h"
+#include <math.h>
+#include <stdio.h>
+
+using namespace ARToolKitPlus;
+
+
+void arglCameraViewRH(const ARFloat para[3][4], GLdouble m_modelview[16], const double scale)
+{
+ m_modelview[0 + 0*4] = para[0][0]; // R1C1
+ m_modelview[0 + 1*4] = para[0][1]; // R1C2
+ m_modelview[0 + 2*4] = para[0][2];
+ m_modelview[0 + 3*4] = para[0][3];
+ m_modelview[1 + 0*4] = -para[1][0]; // R2
+ m_modelview[1 + 1*4] = -para[1][1];
+ m_modelview[1 + 2*4] = -para[1][2];
+ m_modelview[1 + 3*4] = -para[1][3];
+ m_modelview[2 + 0*4] = -para[2][0]; // R3
+ m_modelview[2 + 1*4] = -para[2][1];
+ m_modelview[2 + 2*4] = -para[2][2];
+ m_modelview[2 + 3*4] = -para[2][3];
+ m_modelview[3 + 0*4] = 0.0;
+ m_modelview[3 + 1*4] = 0.0;
+ m_modelview[3 + 2*4] = 0.0;
+ m_modelview[3 + 3*4] = 1.0;
+ if (scale != 0.0) {
+ m_modelview[12] *= scale;
+ m_modelview[13] *= scale;
+ m_modelview[14] *= scale;
+ }
+}
+
+static double norm( double a, double b, double c )
+{
+ return( sqrt( a*a + b*b + c*c ) );
+}
+
+static double dot( double a1, double a2, double a3,
+ double b1, double b2, double b3 )
+{
+ return( a1 * b1 + a2 * b2 + a3 * b3 );
+}
+
+int arParamDecompMat( const ARFloat source[3][4], double cpara[3][4], double trans[3][4] )
+{
+ int r, c;
+ double Cpara[3][4];
+ double rem1, rem2, rem3;
+
+ if( source[2][3] >= 0 ) {
+ for( r = 0; r < 3; r++ ){
+ for( c = 0; c < 4; c++ ){
+ Cpara[r][c] = source[r][c];
+ }
+ }
+ }
+ else {
+ for( r = 0; r < 3; r++ ){
+ for( c = 0; c < 4; c++ ){
+ Cpara[r][c] = -(source[r][c]);
+ }
+ }
+ }
+
+ for( r = 0; r < 3; r++ ){
+ for( c = 0; c < 4; c++ ){
+ cpara[r][c] = 0.0;
+ }
+ }
+ cpara[2][2] = norm( Cpara[2][0], Cpara[2][1], Cpara[2][2] );
+ trans[2][0] = Cpara[2][0] / cpara[2][2];
+ trans[2][1] = Cpara[2][1] / cpara[2][2];
+ trans[2][2] = Cpara[2][2] / cpara[2][2];
+ trans[2][3] = Cpara[2][3] / cpara[2][2];
+
+ cpara[1][2] = dot( trans[2][0], trans[2][1], trans[2][2],
+ Cpara[1][0], Cpara[1][1], Cpara[1][2] );
+ rem1 = Cpara[1][0] - cpara[1][2] * trans[2][0];
+ rem2 = Cpara[1][1] - cpara[1][2] * trans[2][1];
+ rem3 = Cpara[1][2] - cpara[1][2] * trans[2][2];
+ cpara[1][1] = norm( rem1, rem2, rem3 );
+ trans[1][0] = rem1 / cpara[1][1];
+ trans[1][1] = rem2 / cpara[1][1];
+ trans[1][2] = rem3 / cpara[1][1];
+
+ cpara[0][2] = dot( trans[2][0], trans[2][1], trans[2][2],
+ Cpara[0][0], Cpara[0][1], Cpara[0][2] );
+ cpara[0][1] = dot( trans[1][0], trans[1][1], trans[1][2],
+ Cpara[0][0], Cpara[0][1], Cpara[0][2] );
+ rem1 = Cpara[0][0] - cpara[0][1]*trans[1][0] - cpara[0][2]*trans[2][0];
+ rem2 = Cpara[0][1] - cpara[0][1]*trans[1][1] - cpara[0][2]*trans[2][1];
+ rem3 = Cpara[0][2] - cpara[0][1]*trans[1][2] - cpara[0][2]*trans[2][2];
+ cpara[0][0] = norm( rem1, rem2, rem3 );
+ trans[0][0] = rem1 / cpara[0][0];
+ trans[0][1] = rem2 / cpara[0][0];
+ trans[0][2] = rem3 / cpara[0][0];
+
+ trans[1][3] = (Cpara[1][3] - cpara[1][2]*trans[2][3]) / cpara[1][1];
+ trans[0][3] = (Cpara[0][3] - cpara[0][1]*trans[1][3]
+ - cpara[0][2]*trans[2][3]) / cpara[0][0];
+
+ for( r = 0; r < 3; r++ ){
+ for( c = 0; c < 3; c++ ){
+ cpara[r][c] /= cpara[2][2];
+ }
+ }
+
+ return 0;
+}
+
+void arglCameraFrustumRH(const Camera *cparam, const double focalmin, const double focalmax, GLdouble m_projection[16])
+{
+ double icpara[3][4];
+ double trans[3][4];
+ double p[3][3], q[4][4];
+ int width, height;
+ int i, j;
+
+ width = cparam->xsize;
+ height = cparam->ysize;
+
+ if (arParamDecompMat(cparam->mat, icpara, trans) < 0) {
+ printf("arglCameraFrustum(): arParamDecompMat() indicated parameter error.\n"); // Windows bug: when running multi-threaded, can't write to stderr!
+ return;
+ }
+ for (i = 0; i < 4; i++) {
+ icpara[1][i] = (height - 1)*(icpara[2][i]) - icpara[1][i];
+ }
+
+ for(i = 0; i < 3; i++) {
+ for(j = 0; j < 3; j++) {
+ p[i][j] = icpara[i][j] / icpara[2][2];
+ }
+ }
+ q[0][0] = (2.0 * p[0][0] / (width - 1));
+ q[0][1] = (2.0 * p[0][1] / (width - 1));
+ q[0][2] = -((2.0 * p[0][2] / (width - 1)) - 1.0);
+ q[0][3] = 0.0;
+
+ q[1][0] = 0.0;
+ q[1][1] = -(2.0 * p[1][1] / (height - 1));
+ q[1][2] = -((2.0 * p[1][2] / (height - 1)) - 1.0);
+ q[1][3] = 0.0;
+
+ q[2][0] = 0.0;
+ q[2][1] = 0.0;
+ q[2][2] = (focalmax + focalmin)/(focalmin - focalmax);
+ q[2][3] = 2.0 * focalmax * focalmin / (focalmin - focalmax);
+
+ q[3][0] = 0.0;
+ q[3][1] = 0.0;
+ q[3][2] = -1.0;
+ q[3][3] = 0.0;
+
+ for (i = 0; i < 4; i++) { // Row.
+ // First 3 columns of the current row.
+ for (j = 0; j < 3; j++) { // Column.
+ m_projection[i + j*4] = q[i][0] * trans[0][j] +
+ q[i][1] * trans[1][j] +
+ q[i][2] * trans[2][j];
+ }
+ // Fourth column of the current row.
+ m_projection[i + 3*4] = q[i][0] * trans[0][3] +
+ q[i][1] * trans[1][3] +
+ q[i][2] * trans[2][3] +
+ q[i][3];
+ }
+}
+
+
+
Index: osgART-1.0/src/osgART/Tracker/ARToolKitPlus/gsub.h
===================================================================
--- /dev/null
+++ osgART-1.0/src/osgART/Tracker/ARToolKitPlus/gsub.h
@@ -0,0 +1,14 @@
+#ifndef _GSUB_HEADER_
+#define _GSUB_HEADER_
+
+#include <ARToolKitPlus/ar.h>
+#include <ARToolKitPlus/Camera.h>
+
+using namespace ARToolKitPlus;
+
+// this is pretty ugly but just dumping it here...
+void arglCameraViewRH(const ARFloat para[3][4], GLdouble m_modelview[16], const double scale);
+
+void arglCameraFrustumRH(const Camera *cparam, const double focalmin, const double focalmax, GLdouble m_projection[16]);
+
+#endif
Index: osgART-1.0/src/osgART/Tracker/ARToolKitPlus/Main.cpp
===================================================================
--- /dev/null
+++ osgART-1.0/src/osgART/Tracker/ARToolKitPlus/Main.cpp
@@ -0,0 +1,47 @@
+/*
+ * osgART/Tracker/ARToolKit/Main
+ * osgART: AR ToolKit for OpenSceneGraph
+ *
+ * Copyright (c) 2005-2007 ARToolworks, Inc. All rights reserved.
+ *
+ * Rev Date Who Changes
+ * 1.0 2006-12-08 --- Version 1.0 release.
+ *
+ */
+/*
+ * This file is part of osgART - AR Toolkit for OpenSceneGraph
+ *
+ * Copyright (c) 2005-2007 ARToolworks, Inc. All rights reserved.
+ *
+ * (See the AUTHORS file in the root of this distribution.)
+ *
+ *
+ * OSGART 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.
+ *
+ * OSGART 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 OSGART; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ */
+
+
+#include "osgART/VideoPlugin"
+#include "osgART/VideoConfig"
+#include "osgART/GenericVideo"
+
+#include "ARToolKitPlusTracker"
+
+DLL_API osgART::GenericTracker* osgart_create_tracker()
+{
+ return new osgART::ARToolKitPlusTracker();
+}
+
+OSGART_PLUGIN_ENTRY()
Index: osgART-1.0/src/osgART/Tracker/ARToolKitPlus/MultiMarker
===================================================================
--- /dev/null
+++ osgART-1.0/src/osgART/Tracker/ARToolKitPlus/MultiMarker
@@ -0,0 +1,94 @@
+/*
+ * osgART/Tracker/ARToolKit/MultiMarker
+ * osgART: AR ToolKit for OpenSceneGraph
+ *
+ * Copyright (c) 2005-2007 ARToolworks, Inc. All rights reserved.
+ *
+ * Rev Date Who Changes
+ * 1.0 2006-12-08 --- Version 1.0 release.
+ *
+ */
+/*
+ * This file is part of osgART - AR Toolkit for OpenSceneGraph
+ *
+ * Copyright (c) 2005-2007 ARToolworks, Inc. All rights reserved.
+ *
+ * (See the AUTHORS file in the root of this distribution.)
+ *
+ *
+ * OSGART 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.
+ *
+ * OSGART 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 OSGART; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ */
+
+
+#ifndef OSGART_MULTIMARKER
+#define OSGART_MULTIMARKER 1
+
+// STL include
+#include <string>
+#include <vector>
+
+// local include
+#include "osgART/Export"
+#include "osgART/Marker"
+
+// ARToolKit multimarker include
+#include <ARToolKitPlus/Tracker.h>
+
+namespace osgART {
+
+ /**
+ * \class MultiMarker
+ * \brief A marker consisting of many patterns which can be treated as one.
+ */
+ class MultiMarker : public Marker
+ {
+ public:
+
+ /**
+ * \brief default constructor.
+ *
+ */
+ MultiMarker(ARToolKitPlus::Tracker* tracker);
+
+ bool initialise(const std::string& multiFile);
+
+ virtual void setActive(bool a);
+
+ void update(ARToolKitPlus::ARMarkerInfo* markerInfo, int markerCount);
+
+ /**
+ * \brief return the type of the maker.
+ * return if the marker is a single or multi-pattern marker.
+ * \return the type of the marker
+ */
+ MarkerType getType() const;
+
+
+ protected:
+
+ /**
+ * \brief destructor.
+ */
+ virtual ~MultiMarker();
+
+ ARToolKitPlus::Tracker *m_tracker;
+
+ ARToolKitPlus::ARMultiMarkerInfoT* m_multi;
+
+ };
+};
+
+#endif
Index: osgART-1.0/src/osgART/Tracker/ARToolKitPlus/MultiMarker.cpp
===================================================================
--- /dev/null
+++ osgART-1.0/src/osgART/Tracker/ARToolKitPlus/MultiMarker.cpp
@@ -0,0 +1,98 @@
+/*
+ * osgART/Tracker/ARToolKit/MultiMarker
+ * osgART: AR ToolKit for OpenSceneGraph
+ *
+ * Copyright (c) 2005-2007 ARToolworks, Inc. All rights reserved.
+ *
+ * Rev Date Who Changes
+ * 1.0 2006-12-08 --- Version 1.0 release.
+ *
+ */
+/*
+ * This file is part of osgART - AR Toolkit for OpenSceneGraph
+ *
+ * Copyright (c) 2005-2007 ARToolworks, Inc. All rights reserved.
+ *
+ * (See the AUTHORS file in the root of this distribution.)
+ *
+ *
+ * OSGART 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.
+ *
+ * OSGART 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 OSGART; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ */
+
+
+#include "MultiMarker"
+
+/*#include <AR/gsub_lite.h>*/
+#include "gsub.h"
+
+//#include <assert.h>
+
+namespace osgART {
+
+ MultiMarker::MultiMarker(ARToolKitPlus::Tracker *tracker) : m_tracker(tracker), Marker() {
+ }
+
+ MultiMarker::~MultiMarker() {
+ // jcl64: Free the multimarker
+ if (m_multi) m_tracker->arMultiFreeConfig(m_multi);
+ }
+
+ /* virtual */
+ Marker::MarkerType MultiMarker::getType() const {
+ return Marker::ART_MULTI;
+ }
+
+ bool
+ MultiMarker::initialise(const std::string& multiFile) {
+
+ // Check if multifile exists!!!
+ m_multi = m_tracker->arMultiReadConfigFile(multiFile.c_str());
+ if (m_multi == NULL) return false;
+
+ setName(multiFile);
+ setActive(false);
+
+ return true;
+ }
+
+ void
+ MultiMarker::setActive(bool a) {
+ m_active = a;
+
+ // not implemented
+ //assert(0);
+
+ /*
+ if (m_active) arMultiActivate(m_multi);
+ else arMultiDeactivate(m_multi);
+ */
+ }
+
+ void
+ MultiMarker::update(ARToolKitPlus::ARMarkerInfo* markerInfo, int markerCount)
+ {
+ m_valid = (m_tracker->arMultiGetTransMat(markerInfo, markerCount, m_multi) >= 0);
+ if (m_valid) {
+ double modelView[16];
+ arglCameraViewRH(m_multi->trans, modelView, 1.0); // scale = 1.0.
+ osg::Matrix tmp(modelView);
+ updateTransform(tmp);
+ } else {
+ m_seen = false;
+ }
+ }
+
+};
Index: osgART-1.0/src/osgART/Tracker/ARToolKitPlus/SimpleMarker
===================================================================
--- /dev/null
+++ osgART-1.0/src/osgART/Tracker/ARToolKitPlus/SimpleMarker
@@ -0,0 +1,109 @@
+/*
+ * osgART/Tracker/ARToolKit/SimpleMarker
+ * osgART: AR ToolKit for OpenSceneGraph
+ *
+ * Copyright (c) 2005-2007 ARToolworks, Inc. All rights reserved.
+ *
+ * Rev Date Who Changes
+ * 1.0 2006-12-08 --- Version 1.0 release.
+ *
+ */
+/*
+ * This file is part of osgART - AR Toolkit for OpenSceneGraph
+ *
+ * Copyright (c) 2005-2007 ARToolworks, Inc. All rights reserved.
+ *
+ * (See the AUTHORS file in the root of this distribution.)
+ *
+ *
+ * OSGART 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.
+ *
+ * OSGART 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 OSGART; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ */
+
+
+#ifndef OSGART_SIMPLEMARKER
+#define OSGART_SIMPLEMARKER 1
+
+// STL include
+#include <string>
+#include <vector>
+
+// local include
+#include "osgART/Export"
+#include "osgART/Marker"
+
+// AR ToolKit include
+//#include <AR/ar.h>
+#include <ARToolKitPlus/Tracker.h>
+
+namespace osgART {
+
+ /**
+ * \class SimpleMarker.
+ * \brief A marker consisting of a single pattern.
+ */
+ class SimpleMarker : public Marker
+ {
+ public:
+
+ virtual bool isSameKindAs(const osg::Object* obj) const {
+ return dynamic_cast<const SimpleMarker*>(obj) != 0L;
+ }
+ virtual const char* className() const { return "SimpleMarker"; }
+
+
+ /**
+ * \brief default constructor.
+ *
+ */
+ SimpleMarker(ARToolKitPlus::Tracker *tracker);
+
+
+ bool initialise(int id, double width, double center[2]);
+
+ virtual void setActive(bool a);
+
+ void update(ARToolKitPlus::ARMarkerInfo* markerInfo);
+
+ int getPatternID();
+ double getPatternWidth();
+ ARFloat* getPatternCenter();
+
+
+ MarkerType getType() const;
+
+
+ protected:
+
+ /**
+ * \brief destructor.
+ */
+ virtual ~SimpleMarker();
+
+ ARToolKitPlus::Tracker *m_tracker;
+
+ int patt_id;
+ ARFloat patt_width;
+ ARFloat patt_center[2];
+ ARFloat patt_trans[3][4];
+
+ double m_confidence;
+
+ friend class ARToolKitPlusTracker;
+
+ };
+};
+
+#endif
Index: osgART-1.0/src/osgART/Tracker/ARToolKitPlus/SimpleMarker.cpp
===================================================================
--- /dev/null
+++ osgART-1.0/src/osgART/Tracker/ARToolKitPlus/SimpleMarker.cpp
@@ -0,0 +1,126 @@
+/*
+ * osgART/Tracker/ARToolKit/SimpleMarker
+ * osgART: AR ToolKit for OpenSceneGraph
+ *
+ * Copyright (c) 2005-2007 ARToolworks, Inc. All rights reserved.
+ *
+ * Rev Date Who Changes
+ * 1.0 2006-12-08 --- Version 1.0 release.
+ *
+ */
+/*
+ * This file is part of osgART - AR Toolkit for OpenSceneGraph
+ *
+ * Copyright (c) 2005-2007 ARToolworks, Inc. All rights reserved.
+ *
+ * (See the AUTHORS file in the root of this distribution.)
+ *
+ *
+ * OSGART 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.
+ *
+ * OSGART 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 OSGART; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ */
+
+
+#include "SimpleMarker"
+
+#include <ARToolKitPlus/Tracker.h>
+/*#include <AR/gsub_lite.h>*/
+#include "gsub.h"
+#include <stdio.h>
+#include <string.h>
+
+namespace osgART {
+
+ SimpleMarker::SimpleMarker(ARToolKitPlus::Tracker *tracker) : m_tracker(tracker), Marker(),
+ patt_id(-1)
+ {
+ m_fields["confidence"] = new TypedField<double>(&m_confidence);
+ }
+
+ SimpleMarker::~SimpleMarker()
+ {
+ // jcl64: Free the pattern
+ //if (patt_id >= 0) m_tracker->arFreePatt(patt_id);
+ //patt_id = -1;
+ }
+
+ Marker::MarkerType SimpleMarker::getType() const
+ {
+ return Marker::ART_SINGLE;
+ }
+
+ bool SimpleMarker::initialise(int id, double width, double center[2])
+ {
+ char name[1024];
+
+
+ //printf("1: patt_id=%d\n",patt_id);
+ if (patt_id >= 0) return (false);
+ patt_id = id;
+ //printf("2: patt_id=%d\n",patt_id);
+ if (patt_id < 0) return false;
+ patt_width = width;
+ patt_center[0] = center[0];
+ patt_center[1] = center[1];
+ snprintf(name,1024,"simple%d",patt_id);
+ setName(name);
+ setActive(false);
+ //printf("3: patt_id=%d\n",patt_id);
+ return true;
+ }
+
+ void SimpleMarker::update(ARToolKitPlus::ARMarkerInfo* markerInfo)
+ {
+ if (markerInfo == 0L) {
+ m_valid = false;
+ m_seen = false;
+ } else {
+ m_valid = true;
+ //arGetTransMatCont(markerInfo, patt_trans, patt_center, patt_width, patt_trans);
+ m_tracker->arGetTransMat(markerInfo, patt_center, patt_width, patt_trans);
+ m_confidence = markerInfo->cf;
+ double modelView[16];
+ arglCameraViewRH(patt_trans, modelView, 1.0); // scale = 1.0.
+ osg::Matrix tmp(modelView);
+ updateTransform(tmp);
+ }
+ }
+
+ void SimpleMarker::setActive(bool a)
+ {
+ m_active = a;
+
+ /*
+ if (m_active) arActivatePatt(patt_id);
+ else arDeactivatePatt(patt_id);
+ */
+
+ }
+
+ int SimpleMarker::getPatternID()
+ {
+ return patt_id;
+ }
+
+ double SimpleMarker::getPatternWidth()
+ {
+ return patt_width;
+ }
+
+ ARFloat* SimpleMarker::getPatternCenter()
+ {
+ return patt_center;
+ }
+};
Index: osgART-1.0/src/osgART/Tracker/ARToolKitPlus/SingleMarker
===================================================================
--- /dev/null
+++ osgART-1.0/src/osgART/Tracker/ARToolKitPlus/SingleMarker
@@ -0,0 +1,109 @@
+/*
+ * osgART/Tracker/ARToolKit/SingleMarker
+ * osgART: AR ToolKit for OpenSceneGraph
+ *
+ * Copyright (c) 2005-2007 ARToolworks, Inc. All rights reserved.
+ *
+ * Rev Date Who Changes
+ * 1.0 2006-12-08 --- Version 1.0 release.
+ *
+ */
+/*
+ * This file is part of osgART - AR Toolkit for OpenSceneGraph
+ *
+ * Copyright (c) 2005-2007 ARToolworks, Inc. All rights reserved.
+ *
+ * (See the AUTHORS file in the root of this distribution.)
+ *
+ *
+ * OSGART 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.
+ *
+ * OSGART 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 OSGART; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ */
+
+
+#ifndef OSGART_SINGLEMARKER
+#define OSGART_SINGLEMARKER 1
+
+// STL include
+#include <string>
+#include <vector>
+
+// local include
+#include "osgART/Export"
+#include "osgART/Marker"
+
+// AR ToolKit include
+//#include <AR/ar.h>
+#include <ARToolKitPlus/Tracker.h>
+
+namespace osgART {
+
+ /**
+ * \class SingleMarker.
+ * \brief A marker consisting of a single pattern.
+ */
+ class SingleMarker : public Marker
+ {
+ public:
+
+ virtual bool isSameKindAs(const osg::Object* obj) const {
+ return dynamic_cast<const SingleMarker*>(obj) != 0L;
+ }
+ virtual const char* className() const { return "SingleMarker"; }
+
+
+ /**
+ * \brief default constructor.
+ *
+ */
+ SingleMarker(ARToolKitPlus::Tracker *tracker);
+
+
+ bool initialise(const std::string& pattFile, double width, double center[2]);
+
+ virtual void setActive(bool a);
+
+ void update(ARToolKitPlus::ARMarkerInfo* markerInfo);
+
+ int getPatternID();
+ double getPatternWidth();
+ ARFloat* getPatternCenter();
+
+
+ MarkerType getType() const;
+
+
+ protected:
+
+ /**
+ * \brief destructor.
+ */
+ virtual ~SingleMarker();
+
+ ARToolKitPlus::Tracker *m_tracker;
+
+ int patt_id;
+ ARFloat patt_width;
+ ARFloat patt_center[2];
+ ARFloat patt_trans[3][4];
+
+ double m_confidence;
+
+ friend class ARToolKitPlusTracker;
+
+ };
+};
+
+#endif
Index: osgART-1.0/src/osgART/Tracker/ARToolKitPlus/SingleMarker.cpp
===================================================================
--- /dev/null
+++ osgART-1.0/src/osgART/Tracker/ARToolKitPlus/SingleMarker.cpp
@@ -0,0 +1,125 @@
+/*
+ * osgART/Tracker/ARToolKit/SingleMarker
+ * osgART: AR ToolKit for OpenSceneGraph
+ *
+ * Copyright (c) 2005-2007 ARToolworks, Inc. All rights reserved.
+ *
+ * Rev Date Who Changes
+ * 1.0 2006-12-08 --- Version 1.0 release.
+ *
+ */
+/*
+ * This file is part of osgART - AR Toolkit for OpenSceneGraph
+ *
+ * Copyright (c) 2005-2007 ARToolworks, Inc. All rights reserved.
+ *
+ * (See the AUTHORS file in the root of this distribution.)
+ *
+ *
+ * OSGART 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.
+ *
+ * OSGART 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 OSGART; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ */
+
+
+#include "SingleMarker"
+
+#include <ARToolKitPlus/Tracker.h>
+/*#include <AR/gsub_lite.h>*/
+#include "gsub.h"
+#include <string.h>
+
+namespace osgART {
+
+ SingleMarker::SingleMarker(ARToolKitPlus::Tracker *tracker) : m_tracker(tracker), Marker(),
+ patt_id(-1)
+ {
+ m_fields["confidence"] = new TypedField<double>(&m_confidence);
+ }
+
+ SingleMarker::~SingleMarker()
+ {
+ // jcl64: Free the pattern
+ if (patt_id >= 0) m_tracker->arFreePatt(patt_id);
+ patt_id = -1;
+ }
+
+ Marker::MarkerType SingleMarker::getType() const
+ {
+ return Marker::ART_SINGLE;
+ }
+
+ bool SingleMarker::initialise(const std::string& pattFile, double width, double center[2])
+ {
+ char str[1024];
+
+ printf("1: patt_id=%d\n",patt_id);
+ if (patt_id >= 0) return (false);
+ // danged const..
+ strncpy(str,pattFile.c_str(),1024);
+ patt_id = m_tracker->arLoadPatt(str);
+ printf("2: patt_id=%d\n",patt_id);
+ if (patt_id < 0) return false;
+ patt_width = width;
+ patt_center[0] = center[0];
+ patt_center[1] = center[1];
+ setName(pattFile);
+ setActive(false);
+ printf("3: patt_id=%d\n",patt_id);
+ return true;
+ }
+
+ void SingleMarker::update(ARToolKitPlus::ARMarkerInfo* markerInfo)
+ {
+ if (markerInfo == 0L) {
+ m_valid = false;
+ m_seen = false;
+ } else {
+ m_valid = true;
+ //arGetTransMatCont(markerInfo, patt_trans, patt_center, patt_width, patt_trans);
+ m_tracker->arGetTransMat(markerInfo, patt_center, patt_width, patt_trans);
+ m_confidence = markerInfo->cf;
+ double modelView[16];
+ arglCameraViewRH(patt_trans, modelView, 1.0); // scale = 1.0.
+ osg::Matrix tmp(modelView);
+ updateTransform(tmp);
+ }
+ }
+
+ void SingleMarker::setActive(bool a)
+ {
+ m_active = a;
+
+ /*
+ if (m_active) arActivatePatt(patt_id);
+ else arDeactivatePatt(patt_id);
+ */
+
+ }
+
+ int SingleMarker::getPatternID()
+ {
+ return patt_id;
+ }
+
+ double SingleMarker::getPatternWidth()
+ {
+ return patt_width;
+ }
+
+ ARFloat* SingleMarker::getPatternCenter()
+ {
+ return patt_center;
+ }
+};
