Augmented reality markers using ARtoolkit. More...

#include <jevoisbase/Components/ARtoolkit/ARtoolkit.H>

Inheritance diagram for ARtoolkit:

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Collaboration diagram for ARtoolkit:

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Classes
struct	arresults

Public Member Functions
void	postInit () override
	Core initialization. More...

void	postUninit () override

	~ARtoolkit ()
	Destructor. More...

void	detectMarkers (jevois::RawImage const &image)
	Detect markers in an image. More...

void	detectMarkers (cv::Mat const &image)
	Detect markers in an image. More...

void	drawDetections (jevois::RawImage &outimg, int txtx=-1, int txty=-1)
	Draw any markers previously detected by detectMarkers() More...

void	sendSerial (jevois::StdModule *mod)
	Send serial messages about detections. More...

Public Member Functions inherited from jevois::Component
	Component (std::string const &instance)

virtual	~Component ()

std::shared_ptr< Comp >	addSubComponent (std::string const &instance, Args &&...args)

void	removeSubComponent (std::shared_ptr< Comp > &component)

void	removeSubComponent (std::string const &instance, bool warnIfNotFound=true)

std::shared_ptr< Comp >	getSubComponent (std::string const &instance) const

bool	isTopLevel () const

Engine *	engine () const

bool	initialized () const

const std::string &	className () const

const std::string &	instanceName () const

std::vector< std::string >	setParamVal (std::string const &paramdescriptor, T const &val)

void	setParamValUnique (std::string const &paramdescriptor, T const &val)

std::vector< std::pair< std::string, T > >	getParamVal (std::string const &paramdescriptor) const

T	getParamValUnique (std::string const &paramdescriptor) const

std::vector< std::string >	setParamString (std::string const &paramdescriptor, std::string const &val)

void	setParamStringUnique (std::string const &paramdescriptor, std::string const &val)

std::vector< std::pair< std::string, std::string > >	getParamString (std::string const &paramdescriptor) const

std::string	getParamStringUnique (std::string const &paramdescriptor) const

void	freezeParam (std::string const &paramdescriptor)

void	unFreezeParam (std::string const &paramdescriptor)

void	freezeAllParams ()

void	unFreezeAllParams ()

std::string	descriptor () const

void	setParamsFromFile (std::string const &filename)

std::istream &	setParamsFromStream (std::istream &is, std::string const &absfile)

virtual void	paramInfo (std::shared_ptr< UserInterface > s, std::map< std::string, std::string > &categs, bool skipFrozen, std::string const &cname="", std::string const &pfx="")

void	foreachParam (std::function< void(std::string const &compname, ParameterBase *p)> func, std::string const &cname="")

std::shared_ptr< DynamicParameter< T > >	addDynamicParameter (std::string const &name, std::string const &description, T const &defaultValue, ParameterCategory const &category)

std::shared_ptr< DynamicParameter< T > >	addDynamicParameter (std::string const &name, std::string const &description, T const &defaultValue, ValidValuesSpec< T > const &validValuesSpec, ParameterCategory const &category)

void	setDynamicParameterCallback (std::string const &name, std::function< void(T const &)> cb, bool callnow=true)

void	removeDynamicParameter (std::string const &name)

void	setPath (std::string const &path)

std::filesystem::path	absolutePath (std::filesystem::path const &path="")

std::shared_ptr< Comp >	addSubComponent (std::string const &instance, Args &&...args)

void	removeSubComponent (std::shared_ptr< Comp > &component)

void	removeSubComponent (std::string const &instance, bool warnIfNotFound=true)

std::shared_ptr< Comp >	getSubComponent (std::string const &instance) const

bool	isTopLevel () const

Engine *	engine () const

bool	initialized () const

const std::string &	className () const

const std::string &	instanceName () const

std::vector< std::string >	setParamVal (std::string const &paramdescriptor, T const &val)

void	setParamValUnique (std::string const &paramdescriptor, T const &val)

std::vector< std::pair< std::string, T > >	getParamVal (std::string const &paramdescriptor) const

T	getParamValUnique (std::string const &paramdescriptor) const

std::vector< std::string >	setParamString (std::string const &paramdescriptor, std::string const &val)

void	setParamStringUnique (std::string const &paramdescriptor, std::string const &val)

std::vector< std::pair< std::string, std::string > >	getParamString (std::string const &paramdescriptor) const

std::string	getParamStringUnique (std::string const &paramdescriptor) const

void	freezeParam (std::string const &paramdescriptor)

void	unFreezeParam (std::string const &paramdescriptor)

void	freezeAllParams ()

void	unFreezeAllParams ()

std::string	descriptor () const

void	setParamsFromFile (std::string const &filename)

std::istream &	setParamsFromStream (std::istream &is, std::string const &absfile)

virtual void	paramInfo (std::shared_ptr< UserInterface > s, std::map< std::string, std::string > &categs, bool skipFrozen, std::string const &cname="", std::string const &pfx="")

void	foreachParam (std::function< void(std::string const &compname, ParameterBase *p)> func, std::string const &cname="")

std::shared_ptr< DynamicParameter< T > >	addDynamicParameter (std::string const &name, std::string const &description, T const &defaultValue, ParameterCategory const &category)

std::shared_ptr< DynamicParameter< T > >	addDynamicParameter (std::string const &name, std::string const &description, T const &defaultValue, ValidValuesSpec< T > const &validValuesSpec, ParameterCategory const &category)

void	setDynamicParameterCallback (std::string const &name, std::function< void(T const &)> cb, bool callnow=true)

void	removeDynamicParameter (std::string const &name)

void	setPath (std::string const &path)

std::filesystem::path	absolutePath (std::filesystem::path const &path="")

Public Member Functions inherited from jevois::ParameterRegistry
virtual	~ParameterRegistry ()

Public Attributes
std::vector< arresults >	itsResults
	Results of the last detection round. More...

Protected Member Functions
void	manualinit (int w, int h, AR_PIXEL_FORMAT pixformat)
	Manual initialization which should be run on first frame once its size is known. More...

void	detectInternal (unsigned char const *data)

Protected Member Functions inherited from jevois::Component
virtual void	preInit ()

virtual void	preUninit ()

virtual void	preInit ()

virtual void	preUninit ()

Protected Member Functions inherited from jevois::ParameterRegistry
void	addParameter (ParameterBase *const param)

void	removeParameter (ParameterBase *const param)

void	callbackInitCall ()

Protected Attributes
ARHandle *	arHandle = nullptr

ARPattHandle *	arPattHandle

int	gARPattDetectionMode

AR3DHandle *	ar3DHandle

ARParamLT *	gCparamLT = nullptr

ARMarkerSquare *	markersSquare = nullptr

int	markersSquareCount = 0

unsigned int	itsW

unsigned int	itsH

Related Functions
(Note that these are not member functions.)
	JEVOIS_DECLARE_PARAMETER (camparams, std::string, "File stem of camera parameters, or empty. Camera resolution " "will be appended, as well as a .dat extension. For example, specifying 'camera_para' " "here and running the camera sensor at 320x240 will attempt to load " "camera_para320x240.dat from within the module's directory (if relative stem) or " "from the specified absolute location (if absolute stem).", JEVOIS_SHARE_PATH "/camera/camera_para", ParamCateg)
	Parameter. More...

	JEVOIS_DECLARE_PARAMETER (contpose, bool, "Use continuous pose estimation in good quality video", true, ParamCateg)
	Parameter. More...

	JEVOIS_DECLARE_PARAMETER (msg3d, bool, "Send 3D serial messages if true, otherwise 2D", false, ParamCateg)
	Parameter. More...

	JEVOIS_DEFINE_ENUM_CLASS (Dict,(AR_MATRIX_CODE_3x3)(AR_MATRIX_CODE_3x3_HAMMING63)(AR_MATRIX_CODE_3x3_PARITY65))
	Enum for parameter. More...

	JEVOIS_DECLARE_PARAMETER (threshmode, DictThreshMode, "Dictionary threshold mode to use, affects " "robustness to varying lighting conditions", DictThreshMode::AR_LABELING_THRESH_MODE_AUTO_OTSU, DictThreshMode_Values, ParamCateg)
	Parameter. More...

	JEVOIS_DECLARE_PARAMETER (dictionary, Dict, "Symbol dictionary to use", Dict::AR_MATRIX_CODE_3x3_PARITY65, Dict_Values, ParamCateg)
	Parameter. More...

Detailed Description

Augmented reality markers using ARtoolkit.

Detect and decode patterns known as ARtoolkit markers, which are small 2D barcodes often used in augmented reality and robotics.

Definition at line 87 of file ARtoolkit.H.

Constructor & Destructor Documentation

◆ ~ARtoolkit()

ARtoolkit::~ARtoolkit ( )

Destructor.

Definition at line 25 of file ARtoolkit.C.

Member Function Documentation

◆ detectInternal()

void ARtoolkit::detectInternal ( unsigned char const * data )

protected

Definition at line 168 of file ARtoolkit.C.

References ar3DHandle, AR_PATTERN_TYPE_MATRIX, arHandle, itsResults, LERROR, _ARMarkerSquare::marker_height, _ARMarkerSquare::marker_width, markersSquare, markersSquareCount, demo::result, _ARMarkerSquare::valid, and _ARMarkerSquare::validPrev.

Referenced by detectMarkers().

◆ detectMarkers() [1/2]

void ARtoolkit::detectMarkers ( cv::Mat const & image )

Detect markers in an image.

Definition at line 151 of file ARtoolkit.C.

References arHandle, detectInternal(), demo::image, LFATAL, and manualinit().

◆ detectMarkers() [2/2]

void ARtoolkit::detectMarkers ( jevois::RawImage const & image )

Detect markers in an image.

Probably the fastest if you have not already converted your input image to cv::Mat

Definition at line 130 of file ARtoolkit.C.

References arHandle, detectInternal(), demo::image, LFATAL, and manualinit().

◆ drawDetections()

void ARtoolkit::drawDetections	(	jevois::RawImage &	outimg,
		int	txtx = `-1`,
		int	txty = `-1`
	)

Draw any markers previously detected by detectMarkers()

If txtx,txty are positive, also print a text string there

Definition at line 237 of file ARtoolkit.C.

References jevois::rawimage::drawCircle(), jevois::rawimage::drawLine(), itsResults, to_string(), and jevois::rawimage::writeText().

Referenced by PythonObject6D.PythonObject6D::process(), and FirstPython.FirstPython::process().

◆ manualinit()

void ARtoolkit::manualinit	(	int	w,
		int	h,
		AR_PIXEL_FORMAT	pixformat
	)

protected

Manual initialization which should be run on first frame once its size is known.

pixformat should be AR_PIXEL_FORMAT_BGR, AR_PIXEL_FORMAT_RGB_565, etc

Definition at line 58 of file ARtoolkit.C.

References jevois::Component::absolutePath(), ar3DHandle, arHandle, arPattHandle, gARPattDetectionMode, gCparamLT, h, itsH, itsW, LERROR, LFATAL, markersSquare, markersSquareCount, newMarkers(), to_string(), and demo::w.

Referenced by detectMarkers().

◆ postInit()

void ARtoolkit::postInit ( )

overridevirtual

Core initialization.

Note that initialization is only partial and will complete once the frame size and format is known at the first call to detectMarkers()

Reimplemented from jevois::Component.

Definition at line 29 of file ARtoolkit.C.

References freeze().

◆ postUninit()

void ARtoolkit::postUninit ( )

overridevirtual

Reimplemented from jevois::Component.

Definition at line 36 of file ARtoolkit.C.

References ar3DHandle, arHandle, arPattHandle, deleteMarkers(), gCparamLT, markersSquare, markersSquareCount, and unFreeze().

◆ sendSerial()

void ARtoolkit::sendSerial ( jevois::StdModule * mod )

Send serial messages about detections.

The module given should be the owner of this component, we will use it to actually send each serial message using some variant of jevois::Module::sendSetial().

Definition at line 281 of file ARtoolkit.C.

References itsH, itsResults, itsW, jevois::StdModule::sendSerialContour2D(), jevois::StdModule::sendSerialStd3D(), and to_string().

Friends And Related Function Documentation

◆ JEVOIS_DECLARE_PARAMETER() [1/5]

JEVOIS_DECLARE_PARAMETER	(	camparams	,
		std::string	,
		"File stem of camera	parameters,
		or empty. Camera resolution " "will be	appended,
		as well as a .dat extension. For	example,
		specifying 'camera_para' " "here and running the camera sensor at 320x240 will attempt to load " "camera_para320x240.dat from within the module 's directory(if relative stem) or " "from the specified absolute location(if absolute stem)."	,
		JEVOIS_SHARE_PATH "/camera/camera_para"	,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER() [2/5]

JEVOIS_DECLARE_PARAMETER	(	contpose	,
		bool	,
		"Use continuous pose estimation in good quality video"	,
		true	,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER() [3/5]

JEVOIS_DECLARE_PARAMETER	(	dictionary	,
		Dict	,
		"Symbol dictionary to use"	,
		Dict::AR_MATRIX_CODE_3x3_PARITY65	,
		Dict_Values	,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER() [4/5]

JEVOIS_DECLARE_PARAMETER	(	msg3d	,
		bool	,
		"Send 3D serial messages if	true,
		otherwise 2D"	,
		false	,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER() [5/5]

JEVOIS_DECLARE_PARAMETER	(	threshmode	,
		DictThreshMode	,
		"Dictionary threshold mode to	use,
		affects " "robustness to varying lighting conditions"	,
		DictThreshMode::AR_LABELING_THRESH_MODE_AUTO_OTSU	,
		DictThreshMode_Values	,
		ParamCateg
	)

◆ JEVOIS_DEFINE_ENUM_CLASS()

JEVOIS_DEFINE_ENUM_CLASS	(	Dict	,
		(AR_MATRIX_CODE_3x3)(AR_MATRIX_CODE_3x3_HAMMING63)(AR_MATRIX_CODE_3x3_PARITY65)
	)

dictionary to use according to the ARtoolkit AR_MATRIX_CODE_3x3 support 64 markers AR_MATRIX_CODE_3x3_HAMMING63 support 7 markers AR_MATRIX_CODE_3x3_PARITY65 support 32 markers the smaller the # of marker => larger distance between markers => better performance

Member Data Documentation

◆ ar3DHandle

AR3DHandle* ARtoolkit::ar3DHandle

protected

Definition at line 154 of file ARtoolkit.H.

Referenced by detectInternal(), manualinit(), and postUninit().

◆ arHandle

ARHandle* ARtoolkit::arHandle = nullptr

protected

Definition at line 151 of file ARtoolkit.H.

Referenced by detectInternal(), detectMarkers(), manualinit(), and postUninit().

◆ arPattHandle

ARPattHandle* ARtoolkit::arPattHandle

protected

Definition at line 152 of file ARtoolkit.H.

Referenced by manualinit(), and postUninit().

◆ gARPattDetectionMode

int ARtoolkit::gARPattDetectionMode

protected

Definition at line 153 of file ARtoolkit.H.

Referenced by manualinit().

◆ gCparamLT

ARParamLT* ARtoolkit::gCparamLT = nullptr

protected

Definition at line 155 of file ARtoolkit.H.

Referenced by manualinit(), and postUninit().

◆ itsH

unsigned int ARtoolkit::itsH

protected

Definition at line 158 of file ARtoolkit.H.

Referenced by manualinit(), and sendSerial().

◆ itsResults

std::vector<arresults> ARtoolkit::itsResults

Results of the last detection round.

Definition at line 139 of file ARtoolkit.H.

Referenced by detectInternal(), drawDetections(), and sendSerial().

◆ itsW

unsigned int ARtoolkit::itsW

protected

Definition at line 158 of file ARtoolkit.H.

Referenced by manualinit(), and sendSerial().

◆ markersSquare

ARMarkerSquare* ARtoolkit::markersSquare = nullptr

protected

Definition at line 156 of file ARtoolkit.H.

Referenced by detectInternal(), manualinit(), and postUninit().

◆ markersSquareCount

int ARtoolkit::markersSquareCount = 0

protected

Definition at line 157 of file ARtoolkit.H.

Referenced by detectInternal(), manualinit(), and postUninit().

The documentation for this class was generated from the following files:

include/jevoisbase/Components/ARtoolkit/ARtoolkit.H
src/Components/ARtoolkit/ARtoolkit.C

Classes

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Related Functions

Detailed Description

Constructor & Destructor Documentation

◆ ~ARtoolkit()

Member Function Documentation

◆ detectInternal()

◆ detectMarkers() [1/2]

◆ detectMarkers() [2/2]

◆ drawDetections()

◆ manualinit()

◆ postInit()

◆ postUninit()

◆ sendSerial()

Friends And Related Function Documentation

◆ JEVOIS_DECLARE_PARAMETER() [1/5]

◆ JEVOIS_DECLARE_PARAMETER() [2/5]

◆ JEVOIS_DECLARE_PARAMETER() [3/5]

◆ JEVOIS_DECLARE_PARAMETER() [4/5]

◆ JEVOIS_DECLARE_PARAMETER() [5/5]

◆ JEVOIS_DEFINE_ENUM_CLASS()

Member Data Documentation

◆ ar3DHandle

◆ arHandle

◆ arPattHandle

◆ gARPattDetectionMode

◆ gCparamLT

◆ itsH

◆ itsResults

◆ itsW

◆ markersSquare

◆ markersSquareCount