This directory contains the JavaCPP Presets module for:
- ARToolKitPlus 2.3.1 https://launchpad.net/artoolkitplus
Please refer to the parent README.md file for more detailed information about the JavaCPP Presets.
Java API documentation is available here:
Here is a simple example of ARToolKitPlus ported to Java from this C++ source file and for this data:
- http://bazaar.launchpad.net/~rojtberg/artoolkitplus/trunk/view/head:/sample/multi/main.cpp
- http://bazaar.launchpad.net/~rojtberg/artoolkitplus/trunk/files/head:/sample/data/
We can use Maven 3 to download and install automatically all the class files as well as the native binaries. To run this sample code, after creating the pom.xml and MultiMain.java source files below, simply execute on the command line:
$ mvn compile exec:java<project>
<modelVersion>4.0.0</modelVersion>
<groupId>org.bytedeco.artoolkitplus</groupId>
<artifactId>multimain</artifactId>
<version>1.5.2</version>
<properties>
<exec.mainClass>MultiMain</exec.mainClass>
</properties>
<dependencies>
<dependency>
<groupId>org.bytedeco</groupId>
<artifactId>artoolkitplus-platform</artifactId>
<version>2.3.1-1.5.2</version>
</dependency>
</dependencies>
<build>
<sourceDirectory>.</sourceDirectory>
</build>
</project>/**
* Copyright (C) 2010 ARToolkitPlus Authors
*
* This program 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 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
* Authors:
* Daniel Wagner
* Pavel Rojtberg
*/
// Simple example to demonstrate multi-marker tracking with ARToolKitPlus
// This sample does not open any graphics window. It just
// loads test images and shows use to use the ARToolKitPlus API.
import java.io.*;
import org.bytedeco.javacpp.*;
import org.bytedeco.artoolkitplus.*;
import static org.bytedeco.artoolkitplus.global.ARToolKitPlus.*;
public class MultiMain {
public static void main(String[] args) throws IOException {
final int width = 320, height = 240, bpp = 1;
int numPixels = width * height * bpp;
int numBytesRead = 0;
String fName = "data/markerboard_480-499.raw";
byte[] cameraBuffer = new byte[numPixels];
// try to load a test camera image.
// these images files are expected to be simple 8-bit raw pixel
// data without any header. the images are expetected to have a
// size of 320x240.
try {
FileInputStream stream = new FileInputStream(fName);
numBytesRead = stream.read(cameraBuffer);
stream.close();
} catch (IOException e) {
System.out.println("Failed to open " + fName);
System.exit(-1);
}
if (numBytesRead != numPixels) {
System.out.println("Failed to read " + fName);
System.exit(-1);
}
// create a tracker that does:
// - 6x6 sized marker images (required for binary markers)
// - samples at a maximum of 6x6
// - works with luminance (gray) images
// - can load a maximum of 0 non-binary pattern
// - can detect a maximum of 8 patterns in one image
TrackerMultiMarker tracker = new TrackerMultiMarker(width, height, 8, 6, 6, 6, 0);
tracker.setPixelFormat(PIXEL_FORMAT_LUM);
// load a camera file.
if (!tracker.init("data/PGR_M12x0.5_2.5mm.cal", "data/markerboard_480-499.cfg", 1.0f, 1000.0f)) {
System.out.println("ERROR: init() failed");
System.exit(-1);
}
tracker.getCamera().printSettings();
// the marker in the BCH test image has a thiner border...
tracker.setBorderWidth(0.125f);
// set a threshold. we could also activate automatic thresholding
tracker.setThreshold(160);
// let's use lookup-table undistortion for high-speed
// note: LUT only works with images up to 1024x1024
tracker.setUndistortionMode(UNDIST_LUT);
// switch to simple ID based markers
// use the tool in tools/IdPatGen to generate markers
tracker.setMarkerMode(MARKER_ID_SIMPLE);
// do the OpenGL camera setup
//glMatrixMode(GL_PROJECTION)
//glLoadMatrixf(tracker.getProjectionMatrix());
// here we go, just one call to find the camera pose
int numDetected = tracker.calc(cameraBuffer);
// use the result of calc() to setup the OpenGL transformation
//glMatrixMode(GL_MODELVIEW)
//glLoadMatrixf(tracker.getModelViewMatrix());
System.out.println("\n" + numDetected + " good Markers found and used for pose estimation.\nPose-Matrix:");
System.out.print(" ");
for (int i = 0; i < 16; i++) {
System.out.printf("%.2f ", tracker.getModelViewMatrix().get(i));
if (i % 4 == 3) {
System.out.println();
System.out.print(" ");
}
}
boolean showConfig = false;
if (showConfig) {
final ARMultiMarkerInfoT artkpConfig = tracker.getMultiMarkerConfig();
System.out.println(artkpConfig.marker_num() + " markers defined in multi marker cfg");
System.out.println("marker matrices:");
for (int multiMarkerCounter = 0; multiMarkerCounter < artkpConfig.marker_num(); multiMarkerCounter++) {
ARMultiEachMarkerInfoT marker = artkpConfig.marker();
System.out.println("marker " + multiMarkerCounter + ", id " + marker.position(multiMarkerCounter).patt_id() + ":");
for (int row = 0; row < 3; row++) {
for (int column = 0; column < 4; column++) {
System.out.printf("%.2f ", marker.position(multiMarkerCounter).trans(row, column));
}
System.out.println();
}
}
}
}
}