DemoARtoolkit Class Reference

Augmented reality markers using ARtoolkit. More...

Inheritance diagram for DemoARtoolkit:

Collaboration diagram for DemoARtoolkit:

Public Member Functions
	DemoARtoolkit (std::string const &instance)
virtual	~DemoARtoolkit ()
virtual void	process (jevois::InputFrame &&inframe) override
virtual void	process (jevois::InputFrame &&inframe, jevois::OutputFrame &&outframe) override
virtual void	process (jevois::InputFrame &&inframe, jevois::GUIhelper &helper) override
	Processing function with zero-copy and GUI on JeVois-Pro.
Public Member Functions inherited from jevois::StdModule
	StdModule (std::string const &instance)
virtual	~StdModule ()
void	sendSerialImg1Dx (unsigned int camw, float x, float size=0.0F, std::string const &id="", std::string const &extra="")
void	sendSerialStd1Dx (float x, float size=0.0F, std::string const &id="", std::string const &extra="")
void	sendSerialImg1Dy (unsigned int camh, float y, float size=0.0F, std::string const &id="", std::string const &extra="")
void	sendSerialStd1Dy (float y, float size=0.0F, std::string const &id="", std::string const &extra="")
void	sendSerialImg2D (unsigned int camw, unsigned int camh, float x, float y, float w=0.0F, float h=0.0F, std::string const &id="", std::string const &extra="")
void	sendSerialStd2D (float x, float y, float w=0.0F, float h=0.0F, std::string const &id="", std::string const &extra="")
void	sendSerialContour2D (unsigned int camw, unsigned int camh, std::vector< cv::Point_< T > > points, std::string const &id="", std::string const &extra="")
void	sendSerialStd3D (float x, float y, float z, float w=0.0F, float h=0.0F, float d=0.0F, float q1=0.0F, float q2=0.0F, float q3=0.0f, float q4=0.0F, std::string const &id="", std::string const &extra="")
void	sendSerialStd3D (std::vector< cv::Point3f > points, std::string const &id="", std::string const &extra="")
void	sendSerialObjReco (std::vector< ObjReco > const &res)
void	sendSerialObjDetImg2D (unsigned int camw, unsigned int camh, float x, float y, float w, float h, std::vector< ObjReco > const &res)
void	sendSerialObjDetImg2D (unsigned int camw, unsigned int camh, ObjDetect const &det)
void	sendSerialObjDetImg2D (unsigned int camw, unsigned int camh, ObjDetectOBB const &det)
	JEVOIS_DEFINE_ENUM_CLASS (SerStyle,(Terse)(Normal)(Detail)(Fine))
	JEVOIS_DECLARE_PARAMETER (serstyle, SerStyle, "Style for standardized serial messages as defined in " "http://jevois.org/doc/UserSerialStyle.html", SerStyle::Terse, SerStyle_Values, ParamCateg)
	JEVOIS_DECLARE_PARAMETER (serprec, unsigned int, "Number of decimal points in standardized serial messages as " "defined in http://jevois.org/doc/UserSerialStyle.html", 0U, jevois::Range< unsigned int >(0U, 10U), ParamCateg)
	JEVOIS_DEFINE_ENUM_CLASS (SerStamp,(None)(Frame)(Time)(FrameTime)(FrameDateTime))
	JEVOIS_DECLARE_PARAMETER (serstamp, SerStamp, "Prepend standardized serial messages with a frame number, " "time, frame+time, or frame+date+time. See details in " "http://jevois.org/doc/UserSerialStyle.html", SerStamp::None, SerStamp_Values, ParamCateg)
	JEVOIS_DEFINE_ENUM_CLASS (SerMark,(None)(Start)(Stop)(Both))
	JEVOIS_DECLARE_PARAMETER (sermark, SerMark, "Send serial message to mark the beginning (MARK START) of the " "processing of a video frame from the camera sensor, the end (MARK STOP), or both. " "Useful, among others, if one needs to know when no results were sent over serial " "on a given frame. Combine with parameter serstamp if you need to know the frame number.", SerMark::None, SerMark_Values, ParamCateg)
Public Member Functions inherited from jevois::Module
	Module (std::string const &instance)
virtual	~Module ()
virtual void	sendSerial (std::string const &str)
virtual void	parseSerial (std::string const &str, std::shared_ptr< UserInterface > s)
virtual void	supportedCommands (std::ostream &os)
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
bool	initialized () const
std::string const &	className () const
std::string const &	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, bool doit)
void	freezeAllParams (bool doit)
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, bool throw_if_not_found=true)
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
bool	initialized () const
std::string const &	className () const
std::string const &	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, bool doit)
void	freezeAllParams (bool doit)
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, bool throw_if_not_found=true)
void	setPath (std::string const &path)
std::filesystem::path	absolutePath (std::filesystem::path const &path="")
Public Member Functions inherited from jevois::ParameterRegistry
virtual	~ParameterRegistry ()

Protected Attributes
std::shared_ptr< ARtoolkit >	itsARtoolkit

Additional Inherited Members
Protected Member Functions inherited from jevois::StdModule
void	sendSerialMarkStart ()
void	sendSerialMarkStop ()
std::string	getStamp () const
Protected Member Functions inherited from jevois::Component
virtual void	preInit ()
virtual void	postInit ()
virtual void	preUninit ()
virtual void	postUninit ()
virtual void	preInit ()
virtual void	postInit ()
virtual void	preUninit ()
virtual void	postUninit ()
Protected Member Functions inherited from jevois::ParameterRegistry
void	addParameter (ParameterBase *const param)
void	removeParameter (ParameterBase *const param)
void	callbackInitCall ()

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. See https://github.com/artoolkit/ARToolKit5 - This module uses version 5.x for now.

This algorithm is very fast. It runs at 400+ frames/s at 320x240 and can easily sustain the maximum 15 frames/s of the JeVois camera sensor chip at 1280x1024. It may be interesting to combine it with other algorithms running on the quad-core JeVois processor (see for example the MarkersCombo module).

Sample patterns

This module uses by default the dictionary of 3x3 patterns with parity (32 different patterns). You can download them from http://jevois.org/data/ARtoolkit3x3par.zip

Also see the files in jevoisbase/Contrib/ARToolKit5arm/doc/patterns/ for more.

Serial Messages

This module can send standardized serial messages as described in Standardized serial messages formatting.

When msg3d is turned on, 3D messages will be sent, otherwise 2D messages.

One message is issued for every detected marker, on every video frame.

2D messages when msg3d is off:

• Serial message type: 2D
• id: decoded ARtoolkit marker ID, with a prefix 'A'
• x, y, or vertices: standardized 2D coordinates of marker center or corners
• w, h: standardized marker size
• extra: none (empty string)

3D messages when msg3d is on:

• Serial message type: 3D
• id: decoded ARtoolkit marker ID, with a prefix 'A'
• x, y, z, or vertices: 3D coordinates in millimeters of marker center or corners
• w, h, d: marker size in millimeters, a depth of 1mm is always used
• extra: none (empty string)

If you will use the quaternion data (Detail message style; see Standardized serial messages formatting), you should probably set the serprec parameter to something non-zero to get enough accuracy in the quaternion values.

See Standardized serial messages formatting for more on standardized serial messages, and Helper functions to convert coordinates from camera resolution to standardized for more info on standardized coordinates.

For information about camera calibration and obtaining precise location, distance and pose estimates, see this tutorial.

Author

Shixian Wen

Display Name:

Demo ARtoolkit

Videomapping:

NONE 0 0 0 YUYV 320 240 60.0 JeVois DemoARtoolkit

Videomapping:

NONE 0 0 0 YUYV 640 480 30.0 JeVois DemoARtoolkit

Videomapping:

NONE 0 0 0 YUYV 1280 1024 15.0 JeVois DemoARtoolkit

Videomapping:

YUYV 320 258 60.0 YUYV 320 240 60.0 JeVois DemoARtoolkit

Videomapping:

YUYV 640 498 30.0 YUYV 640 480 30.0 JeVois DemoARtoolkit

Email:

shixianw@usc.edu

Address:

University of Southern California, HNB-10A, 3641 Watt Way, Los Angeles, CA 90089-2520, USA

Copyright

Copyright (C) 2017 by Shixian Wen, iLab and the University of Southern California

Main URL:

http://jevois.org

Support URL:

http://jevois.org/doc

Other URL:

http://iLab.usc.edu

License:

GPL v3

Distribution:

Unrestricted

Restrictions:

None

Definition at line 94 of file DemoARtoolkit.C.

Constructor & Destructor Documentation

DemoARtoolkit()

DemoARtoolkit::DemoARtoolkit ( std::string const &  instance )

inline

Definition at line 98 of file DemoARtoolkit.C.

References itsARtoolkit.

~DemoARtoolkit()

virtual DemoARtoolkit::~DemoARtoolkit ( )

inlinevirtual

Definition at line 104 of file DemoARtoolkit.C.

Member Function Documentation

process() [1/3]

virtual void DemoARtoolkit::process ( jevois::InputFrame &&  inframe )

inlineoverridevirtual

Reimplemented from jevois::Module.

Definition at line 108 of file DemoARtoolkit.C.

References jevois::rawimage::convertToCvGray(), jevois::RawImage::fmt, itsARtoolkit, jevois::Timer::start(), and jevois::Timer::stop().

process() [2/3]

virtual void DemoARtoolkit::process ( jevois::InputFrame &&  inframe, jevois::GUIhelper &  helper  )

inlineoverridevirtual

Processing function with zero-copy and GUI on JeVois-Pro.

Reimplemented from jevois::Module.

Definition at line 177 of file DemoARtoolkit.C.

References jevois::GUIhelper::drawInputFrame(), jevois::GUIhelper::endFrame(), h, jevois::GUIhelper::iinfo(), jevois::GUIhelper::itext(), itsARtoolkit, jevois::Timer::start(), jevois::GUIhelper::startFrame(), and jevois::Timer::stop().

process() [3/3]

virtual void DemoARtoolkit::process ( jevois::InputFrame &&  inframe, jevois::OutputFrame &&  outframe  )

inlineoverridevirtual

Reimplemented from jevois::Module.

Definition at line 135 of file DemoARtoolkit.C.

References jevois::async(), jevois::yuyv::Black, jevois::rawimage::drawFilledRect(), jevois::RawImage::fmt, h, jevois::RawImage::height, itsARtoolkit, jevois::rawimage::paste(), jevois::RawImage::require(), jevois::Timer::start(), jevois::Timer::stop(), jevois::yuyv::White, jevois::RawImage::width, and jevois::rawimage::writeText().

Member Data Documentation

itsARtoolkit

std::shared_ptr<ARtoolkit> DemoARtoolkit::itsARtoolkit

protected

Definition at line 216 of file DemoARtoolkit.C.

Referenced by DemoARtoolkit(), process(), process(), and process().

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

• src/Modules/DemoARtoolkit/DemoARtoolkit.C