forked from mikocml/jsartoolkit5
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ARToolKitJS.cpp
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ARToolKitJS.cpp
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/*
** From: ar.h L:94 **
#ifdef ARDOUBLE_IS_FLOAT
typedef float ARdouble;
#else
typedef double ARdouble;
#endif
** According to config.h ARDOUBLE_IS_FLOAT is false when compiling with emscripten. This means we are dealing with 64bit float
*/
#include <stdio.h>
#include <AR/ar.h>
//#include <AR/gsub_lite.h>
// #include <AR/gsub_es2.h>
#include <AR/arMulti.h>
#include <emscripten.h>
#include <string>
#include <vector>
#include <unordered_map>
#include <AR/config.h>
#include <AR/arFilterTransMat.h>
#include <AR2/tracking.h>
#include <AR/paramGL.h>
#include <AR/video.h>
#include <KPM/kpm.h>
#include "trackingMod.h"
#define PAGES_MAX 10 // Maximum number of pages expected. You can change this down (to save memory) or up (to accomodate more pages.)
struct multi_marker {
int id;
ARMultiMarkerInfoT *multiMarkerHandle;
};
struct arController {
int id;
ARParam param;
ARParamLT *paramLT = NULL;
ARUint8 *videoFrame = NULL;
int videoFrameSize;
ARUint8 *videoLuma = NULL;
int width = 0;
int height = 0;
ARHandle *arhandle = NULL;
ARPattHandle *arPattHandle = NULL;
ARMultiMarkerInfoT *arMultiMarkerHandle = NULL;
AR3DHandle* ar3DHandle;
KpmHandle* kpmHandle;
AR2HandleT* ar2Handle;
int detectedPage = -2; // -2 Tracking not inited, -1 tracking inited OK, >= 0 tracking online on page.
int surfaceSetCount = 0; // Running NFT marker id
AR2SurfaceSetT *surfaceSet[PAGES_MAX];
std::unordered_map<int, AR2SurfaceSetT*> surfaceSets;
ARdouble nearPlane = 0.0001;
ARdouble farPlane = 1000.0;
std::vector<multi_marker> multi_markers;
int patt_id = 0; // Running pattern marker id
ARdouble cameraLens[16];
AR_PIXEL_FORMAT pixFormat = AR_PIXEL_FORMAT_RGBA;
};
std::unordered_map<int, arController> arControllers;
std::unordered_map<int, ARParam> cameraParams;
// ============================================================================
// Global variables
// ============================================================================
static ARdouble gTransform[3][4];
static int gARControllerID = 0;
static int gCameraID = 0;
static int ARCONTROLLER_NOT_FOUND = -1;
static int MULTIMARKER_NOT_FOUND = -2;
static int MARKER_INDEX_OUT_OF_BOUNDS = -3;
static ARMarkerInfo gMarkerInfo;
extern "C" {
/**
NFT API bindings
*/
int getNFTMarkerInfo(int id, int markerIndex) {
if (arControllers.find(id) == arControllers.end()) { return ARCONTROLLER_NOT_FOUND; }
arController *arc = &(arControllers[id]);
if (arc->surfaceSetCount <= markerIndex) {
return MARKER_INDEX_OUT_OF_BOUNDS;
}
KpmResult *kpmResult = NULL;
int kpmResultNum = -1;
float trans[3][4];
float err = -1;
if (arc->detectedPage == -2) {
kpmMatching( arc->kpmHandle, arc->videoLuma );
kpmGetResult( arc->kpmHandle, &kpmResult, &kpmResultNum );
int i, j, k;
int flag = -1;
for( i = 0; i < kpmResultNum; i++ ) {
if (kpmResult[i].pageNo == markerIndex && kpmResult[i].camPoseF == 0 ) {
if( flag == -1 || err > kpmResult[i].error ) { // Take the first or best result.
flag = i;
err = kpmResult[i].error;
}
}
}
if (flag > -1) {
arc->detectedPage = kpmResult[0].pageNo;
for (j = 0; j < 3; j++) {
for (k = 0; k < 4; k++) {
trans[j][k] = kpmResult[flag].camPose[j][k];
}
}
ar2SetInitTrans(arc->surfaceSet[arc->detectedPage], trans);
} else {
arc->detectedPage = -2;
}
}
if (arc->detectedPage >= 0) {
int trackResult = ar2TrackingMod(arc->ar2Handle, arc->surfaceSet[arc->detectedPage], arc->videoFrame, trans, &err);
if( trackResult < 0 ) {
ARLOGi("Tracking lost. %d\n", trackResult);
arc->detectedPage = -2;
} else {
ARLOGi("Tracked page %d (max %d).\n",arc->surfaceSet[arc->detectedPage], arc->surfaceSetCount - 1);
}
}
if (arc->detectedPage >= 0) {
EM_ASM_({
var $a = arguments;
var i = 0;
if (!artoolkit["NFTMarkerInfo"]) {
artoolkit["NFTMarkerInfo"] = ({
id: 0,
error: -1,
found: 0,
pose: [0,0,0,0, 0,0,0,0, 0,0,0,0]
});
}
var markerInfo = artoolkit["NFTMarkerInfo"];
markerInfo["id"] = $a[i++];
markerInfo["error"] = $a[i++];
markerInfo["found"] = 1;
markerInfo["pose"][0] = $a[i++];
markerInfo["pose"][1] = $a[i++];
markerInfo["pose"][2] = $a[i++];
markerInfo["pose"][3] = $a[i++];
markerInfo["pose"][4] = $a[i++];
markerInfo["pose"][5] = $a[i++];
markerInfo["pose"][6] = $a[i++];
markerInfo["pose"][7] = $a[i++];
markerInfo["pose"][8] = $a[i++];
markerInfo["pose"][9] = $a[i++];
markerInfo["pose"][10] = $a[i++];
markerInfo["pose"][11] = $a[i++];
},
markerIndex,
err,
trans[0][0],
trans[0][1],
trans[0][2],
trans[0][3],
trans[1][0],
trans[1][1],
trans[1][2],
trans[1][3],
trans[2][0],
trans[2][1],
trans[2][2],
trans[2][3]
);
} else {
EM_ASM_({
var $a = arguments;
var i = 0;
if (!artoolkit["NFTMarkerInfo"]) {
artoolkit["NFTMarkerInfo"] = ({
id: 0,
error: -1,
found: 0,
pose: [0,0,0,0, 0,0,0,0, 0,0,0,0]
});
}
var markerInfo = artoolkit["NFTMarkerInfo"];
markerInfo["id"] = $a[i++];
markerInfo["error"] = -1;
markerInfo["found"] = 0;
markerInfo["pose"][0] = 0;
markerInfo["pose"][1] = 0;
markerInfo["pose"][2] = 0;
markerInfo["pose"][3] = 0;
markerInfo["pose"][4] = 0;
markerInfo["pose"][5] = 0;
markerInfo["pose"][6] = 0;
markerInfo["pose"][7] = 0;
markerInfo["pose"][8] = 0;
markerInfo["pose"][9] = 0;
markerInfo["pose"][10] = 0;
markerInfo["pose"][11] = 0;
},
markerIndex
);
}
return 0;
}
int detectNFTMarker(int id) {
if (arControllers.find(id) == arControllers.end()) { return -1; }
arController *arc = &(arControllers[id]);
KpmResult *kpmResult = NULL;
int kpmResultNum = -1;
return kpmResultNum;
}
KpmHandle *createKpmHandle(ARParamLT *cparamLT) {
KpmHandle *kpmHandle;
kpmHandle = kpmCreateHandle(cparamLT);
return kpmHandle;
}
int getKpmImageWidth(KpmHandle *kpmHandle) {
return kpmHandleGetXSize(kpmHandle);
}
int getKpmImageHeight(KpmHandle *kpmHandle) {
return kpmHandleGetYSize(kpmHandle);
}
// disbling this; maybe a very old implementation?
//int getKpmPixelSize(KpmHandle *kpmHandle) {
// return arUtilGetPixelSize(GetPixelFormat(kpmHandle));
//}
int setupAR2(int id) {
if (arControllers.find(id) == arControllers.end()) { return -1; }
arController *arc = &(arControllers[id]);
//arc->pixFormat = arVideoGetPixelFormat();
if ((arc->ar2Handle = ar2CreateHandleMod(arc->paramLT, arc->pixFormat)) == NULL) {
ARLOGe("Error: ar2CreateHandle.\n");
kpmDeleteHandle(&arc->kpmHandle);
}
// Settings for devices with single-core CPUs.
ar2SetTrackingThresh(arc->ar2Handle, 5.0);
ar2SetSimThresh(arc->ar2Handle, 0.50);
ar2SetSearchFeatureNum(arc->ar2Handle, 16);
ar2SetSearchSize(arc->ar2Handle, 6);
ar2SetTemplateSize1(arc->ar2Handle, 6);
ar2SetTemplateSize2(arc->ar2Handle, 6);
arc->kpmHandle = createKpmHandle(arc->paramLT);
return 0;
}
int loadNFTMarker(arController *arc, int surfaceSetCount, const char* datasetPathname) {
int i, pageNo;
KpmRefDataSet *refDataSet;
KpmHandle *kpmHandle = arc->kpmHandle;
refDataSet = NULL;
// Load KPM data.
KpmRefDataSet *refDataSet2;
ARLOGi("Reading %s.fset3\n", datasetPathname);
if (kpmLoadRefDataSet(datasetPathname, "fset3", &refDataSet2) < 0 ) {
ARLOGe("Error reading KPM data from %s.fset3\n", datasetPathname);
pageNo = -1;
return (FALSE);
}
pageNo = surfaceSetCount;
ARLOGi(" Assigned page no. %d.\n", surfaceSetCount);
if (kpmChangePageNoOfRefDataSet(refDataSet2, KpmChangePageNoAllPages, surfaceSetCount) < 0) {
ARLOGe("Error: kpmChangePageNoOfRefDataSet\n");
return (FALSE);
}
if (kpmMergeRefDataSet(&refDataSet, &refDataSet2) < 0) {
ARLOGe("Error: kpmMergeRefDataSet\n");
return (FALSE);
}
ARLOGi(" Done.\n");
// Load AR2 data.
ARLOGi("Reading %s.fset\n", datasetPathname);
if ((arc->surfaceSet[surfaceSetCount] = ar2ReadSurfaceSet(datasetPathname, "fset", NULL)) == NULL ) {
ARLOGe("Error reading data from %s.fset\n", datasetPathname);
}
ARLOGi(" Done.\n");
if (surfaceSetCount == PAGES_MAX) exit(-1);
if (kpmSetRefDataSet(kpmHandle, refDataSet) < 0) {
ARLOGe("Error: kpmSetRefDataSet\n");
return (FALSE);
}
kpmDeleteRefDataSet(&refDataSet);
ARLOGi("Loading of NFT data complete.\n");
return (TRUE);
}
/***************
* Set Log Level
****************/
void setLogLevel(int level) {
arLogLevel = level;
}
int getLogLevel() {
return arLogLevel;
}
/***********
* Teardown *
***********/
void deleteHandle(arController *arc) {
if (arc->arhandle != NULL) {
arPattDetach(arc->arhandle);
arDeleteHandle(arc->arhandle);
arc->arhandle = NULL;
}
if (arc->ar3DHandle != NULL) {
ar3DDeleteHandle(&(arc->ar3DHandle));
arc->ar3DHandle = NULL;
}
if (arc->paramLT != NULL) {
arParamLTFree(&(arc->paramLT));
arc->paramLT = NULL;
}
}
int teardown(int id) {
if (arControllers.find(id) == arControllers.end()) { return -1; }
arController *arc = &(arControllers[id]);
//TODO: Fix Cleanup luma.
// if(arc->videoLuma) {
// free(arc->videoLuma);
// arc->videoLuma = NULL;
// }
if (arc->videoFrame) {
free(arc->videoFrame);
arc->videoFrame = NULL;
arc->videoFrameSize = 0;
}
deleteHandle(arc);
arPattDeleteHandle(arc->arPattHandle);
arControllers.erase(id);
for (int i=0; i<arc->multi_markers.size(); i++) {
arMultiFreeConfig(arc->multi_markers[i].multiMarkerHandle);
}
delete &arc->multi_markers;
delete arc;
return 0;
}
/*****************
* Camera loading *
*****************/
int loadCamera(std::string cparam_name) {
ARParam param;
if (arParamLoad(cparam_name.c_str(), 1, ¶m) < 0) {
ARLOGe("loadCamera(): Error loading parameter file %s for camera.\n", cparam_name.c_str());
return -1;
}
int cameraID = gCameraID++;
cameraParams[cameraID] = param;
return cameraID;
}
int setCamera(int id, int cameraID) {
if (arControllers.find(id) == arControllers.end()) { return -1; }
arController *arc = &(arControllers[id]);
if (cameraParams.find(cameraID) == cameraParams.end()) { return -1; }
arc->param = cameraParams[cameraID];
if (arc->param.xsize != arc->width || arc->param.ysize != arc->height) {
ARLOGw("*** Camera Parameter resized from %d, %d. ***\n", arc->param.xsize, arc->param.ysize);
arParamChangeSize(&(arc->param), arc->width, arc->height, &(arc->param));
}
// ARLOGi("*** Camera Parameter ***\n");
// arParamDisp(&(arc->param));
deleteHandle(arc);
if ((arc->paramLT = arParamLTCreate(&(arc->param), AR_PARAM_LT_DEFAULT_OFFSET)) == NULL) {
ARLOGe("setCamera(): Error: arParamLTCreate.\n");
return -1;
}
// ARLOGi("setCamera(): arParamLTCreated\n..%d, %d\n", (arc->paramLT->param).xsize, (arc->paramLT->param).ysize);
// setup camera
if ((arc->arhandle = arCreateHandle(arc->paramLT)) == NULL) {
ARLOGe("setCamera(): Error: arCreateHandle.\n");
return -1;
}
// AR_DEFAULT_PIXEL_FORMAT
int set = arSetPixelFormat(arc->arhandle, arc->pixFormat);
// ARLOGi("setCamera(): arCreateHandle done\n");
arc->ar3DHandle = ar3DCreateHandle(&(arc->param));
if (arc->ar3DHandle == NULL) {
ARLOGe("setCamera(): Error creating 3D handle");
return -1;
}
// ARLOGi("setCamera(): ar3DCreateHandle done\n");
arPattAttach(arc->arhandle, arc->arPattHandle);
// ARLOGi("setCamera(): Pattern handler attached.\n");
arglCameraFrustumRH(&((arc->paramLT)->param), arc->nearPlane, arc->farPlane, arc->cameraLens);
arc->kpmHandle = createKpmHandle(arc->paramLT);
return 0;
}
/*****************
* Marker loading *
*****************/
static int loadMarker(const char *patt_name, int *patt_id, ARHandle *arhandle, ARPattHandle **pattHandle_p) {
// Loading only 1 pattern in this example.
if ((*patt_id = arPattLoad(*pattHandle_p, patt_name)) < 0) {
ARLOGe("loadMarker(): Error loading pattern file %s.\n", patt_name);
arPattDeleteHandle(*pattHandle_p);
return (FALSE);
}
return (TRUE);
}
static int loadMultiMarker(const char *patt_name, ARHandle *arHandle, ARPattHandle **pattHandle_p, ARMultiMarkerInfoT **arMultiConfig) {
if( (*arMultiConfig = arMultiReadConfigFile(patt_name, *pattHandle_p)) == NULL ) {
ARLOGe("config data load error !!\n");
arPattDeleteHandle(*pattHandle_p);
return (FALSE);
}
if( (*arMultiConfig)->patt_type == AR_MULTI_PATTERN_DETECTION_MODE_TEMPLATE ) {
arSetPatternDetectionMode( arHandle, AR_TEMPLATE_MATCHING_COLOR );
} else if( (*arMultiConfig)->patt_type == AR_MULTI_PATTERN_DETECTION_MODE_MATRIX ) {
arSetPatternDetectionMode( arHandle, AR_MATRIX_CODE_DETECTION );
} else { // AR_MULTI_PATTERN_DETECTION_MODE_TEMPLATE_AND_MATRIX
arSetPatternDetectionMode( arHandle, AR_TEMPLATE_MATCHING_COLOR_AND_MATRIX );
}
return (TRUE);
}
int addMarker(int id, std::string patt_name) {
if (arControllers.find(id) == arControllers.end()) { return -1; }
arController *arc = &(arControllers[id]);
// const char *patt_name
// Load marker(s).
if (!loadMarker(patt_name.c_str(), &(arc->patt_id), arc->arhandle, &(arc->arPattHandle))) {
ARLOGe("ARToolKitJS(): Unable to set up AR marker.\n");
return -1;
}
return arc->patt_id;
}
int addNFTMarker(int id, std::string datasetPathname) {
if (arControllers.find(id) == arControllers.end()) { return -1; }
arController *arc = &(arControllers[id]);
// Load marker(s).
int patt_id = arc->surfaceSetCount;
if (!loadNFTMarker(arc, patt_id, datasetPathname.c_str())) {
ARLOGe("ARToolKitJS(): Unable to set up NFT marker.\n");
return -1;
}
arc->surfaceSetCount++;
return patt_id;
}
int addMultiMarker(int id, std::string patt_name) {
if (arControllers.find(id) == arControllers.end()) { return -1; }
arController *arc = &(arControllers[id]);
// const char *patt_name
// Load marker(s).
if (!loadMultiMarker(patt_name.c_str(), arc->arhandle, &(arc->arPattHandle), &(arc->arMultiMarkerHandle))) {
ARLOGe("ARToolKitJS(): Unable to set up AR multimarker.\n");
return -1;
}
int multiMarker_id = arc->multi_markers.size();
multi_marker marker = multi_marker();
marker.id = multiMarker_id;
marker.multiMarkerHandle = arc->arMultiMarkerHandle;
arc->multi_markers.push_back(marker);
return marker.id;
}
int getMultiMarkerNum(int id, int multiMarker_id) {
if (arControllers.find(id) == arControllers.end()) { return -1; }
arController *arc = &(arControllers[id]);
int mId = multiMarker_id;
if (mId < 0 || arc->multi_markers.size() <= mId) {
return -1;
}
return (arc->multi_markers[mId].multiMarkerHandle)->marker_num;
}
int getMultiMarkerCount(int id) {
if (arControllers.find(id) == arControllers.end()) { return -1; }
arController *arc = &(arControllers[id]);
return arc->multi_markers.size();
}
/**********************
* Setters and getters *
**********************/
void setProjectionNearPlane(int id, const ARdouble projectionNearPlane) {
if (arControllers.find(id) == arControllers.end()) { return; }
arController *arc = &(arControllers[id]);
arc->nearPlane = projectionNearPlane;
}
ARdouble getProjectionNearPlane(int id) {
if (arControllers.find(id) == arControllers.end()) { return -1; }
arController *arc = &(arControllers[id]);
return arc->nearPlane;
}
void setProjectionFarPlane(int id, const ARdouble projectionFarPlane) {
if (arControllers.find(id) == arControllers.end()) { return; }
arController *arc = &(arControllers[id]);
arc->farPlane = projectionFarPlane;
}
ARdouble getProjectionFarPlane(int id) {
if (arControllers.find(id) == arControllers.end()) { return -1; }
arController *arc = &(arControllers[id]);
return arc->farPlane;
}
void setPatternDetectionMode(int id, int mode) {
if (arControllers.find(id) == arControllers.end()) { return; }
arController *arc = &(arControllers[id]);
if (arSetPatternDetectionMode(arc->arhandle, mode) == 0) {
ARLOGi("Pattern detection mode set to %d.\n", mode);
}
}
int getPatternDetectionMode(int id) {
if (arControllers.find(id) == arControllers.end()) { return -1; }
int mode;
arController *arc = &(arControllers[id]);
if (arGetPatternDetectionMode(arc->arhandle, &mode) == 0) {
return mode;
}
return -1;
}
void setPattRatio(int id, float ratio) {
if (arControllers.find(id) == arControllers.end()) { return; }
arController *arc = &(arControllers[id]);
if (ratio <= 0.0f || ratio >= 1.0f) return;
ARdouble pattRatio = (ARdouble)ratio;
if (arc->arhandle) {
if (arSetPattRatio(arc->arhandle, pattRatio) == 0) {
ARLOGi("Pattern ratio size set to %f.\n", pattRatio);
}
}
}
ARdouble getPattRatio(int id) {
if (arControllers.find(id) == arControllers.end()) { return -1; }
arController *arc = &(arControllers[id]);
ARdouble pattRatio;
if (arc->arhandle) {
if (arGetPattRatio(arc->arhandle, &pattRatio) == 0) {
return pattRatio;
}
}
return -1;
}
void setMatrixCodeType(int id, int type) {
if (arControllers.find(id) == arControllers.end()) { return; }
arController *arc = &(arControllers[id]);
AR_MATRIX_CODE_TYPE matrixType = (AR_MATRIX_CODE_TYPE)type;
arSetMatrixCodeType(arc->arhandle, matrixType);
}
int getMatrixCodeType(int id) {
if (arControllers.find(id) == arControllers.end()) { return -1; }
arController *arc = &(arControllers[id]);
AR_MATRIX_CODE_TYPE matrixType;
arGetMatrixCodeType(arc->arhandle, &matrixType);
return matrixType;
}
void setLabelingMode(int id, int mode) {
if (arControllers.find(id) == arControllers.end()) { return; }
arController *arc = &(arControllers[id]);
int labelingMode = mode;
if (arSetLabelingMode(arc->arhandle, labelingMode) == 0) {
ARLOGi("Labeling mode set to %d\n", labelingMode);
}
}
int getLabelingMode(int id) {
if (arControllers.find(id) == arControllers.end()) { return -1; }
arController *arc = &(arControllers[id]);
int labelingMode;
if (arGetLabelingMode(arc->arhandle, &labelingMode) == 0) {
return labelingMode;
}
return -1;
}
void setThreshold(int id, int threshold) {
if (arControllers.find(id) == arControllers.end()) { return; }
arController *arc = &(arControllers[id]);
if (threshold < 0 || threshold > 255) return;
if (arSetLabelingThresh(arc->arhandle, threshold) == 0) {
ARLOGi("Threshold set to %d\n", threshold);
};
// default 100
// arSetLabelingThreshMode
// AR_LABELING_THRESH_MODE_MANUAL, AR_LABELING_THRESH_MODE_AUTO_MEDIAN, AR_LABELING_THRESH_MODE_AUTO_OTSU, AR_LABELING_THRESH_MODE_AUTO_ADAPTIVE
}
int getThreshold(int id) {
if (arControllers.find(id) == arControllers.end()) { return -1; }
arController *arc = &(arControllers[id]);
int threshold;
if (arGetLabelingThresh(arc->arhandle, &threshold) == 0) {
return threshold;
};
return -1;
}
void setThresholdMode(int id, int mode) {
if (arControllers.find(id) == arControllers.end()) { return; }
arController *arc = &(arControllers[id]);
AR_LABELING_THRESH_MODE thresholdMode = (AR_LABELING_THRESH_MODE)mode;
if (arSetLabelingThreshMode(arc->arhandle, thresholdMode) == 0) {
ARLOGi("Threshold mode set to %d\n", (int)thresholdMode);
}
}
int getThresholdMode(int id) {
if (arControllers.find(id) == arControllers.end()) { return -1; }
arController *arc = &(arControllers[id]);
AR_LABELING_THRESH_MODE thresholdMode;
if (arGetLabelingThreshMode(arc->arhandle, &thresholdMode) == 0) {
return thresholdMode;
}
return -1;
}
int setDebugMode(int id, int enable) {
if (arControllers.find(id) == arControllers.end()) { return NULL; }
arController *arc = &(arControllers[id]);
arSetDebugMode(arc->arhandle, enable ? AR_DEBUG_ENABLE : AR_DEBUG_DISABLE);
ARLOGi("Debug mode set to %s\n", enable ? "on." : "off.");
return enable;
}
int getProcessingImage(int id) {
if (arControllers.find(id) == arControllers.end()) { return NULL; }
arController *arc = &(arControllers[id]);
return (int)arc->arhandle->labelInfo.bwImage;
}
int getDebugMode(int id) {
if (arControllers.find(id) == arControllers.end()) { return NULL; }
arController *arc = &(arControllers[id]);
int enable;
arGetDebugMode(arc->arhandle, &enable);
return enable;
}
void setImageProcMode(int id, int mode) {
if (arControllers.find(id) == arControllers.end()) { return; }
arController *arc = &(arControllers[id]);
int imageProcMode = mode;
if (arSetImageProcMode(arc->arhandle, mode) == 0) {
ARLOGi("Image proc. mode set to %d.\n", imageProcMode);
}
}
int getImageProcMode(int id) {
if (arControllers.find(id) == arControllers.end()) { return -1; }
arController *arc = &(arControllers[id]);
int imageProcMode;
if (arGetImageProcMode(arc->arhandle, &imageProcMode) == 0) {
return imageProcMode;
}
return -1;
}
/*
* Marker processing
*/
void matrixCopy(ARdouble src[3][4], ARdouble dst[3][4]) {
for (int i=0; i<3; i++) {
for (int j=0; j<4; j++) {
dst[i][j] = src[i][j];
}
}
}
int getTransMatSquare(int id, int markerIndex, int markerWidth) {
if (arControllers.find(id) == arControllers.end()) { return ARCONTROLLER_NOT_FOUND; }
arController *arc = &(arControllers[id]);
if (arc->arhandle->marker_num <= markerIndex) {
return MARKER_INDEX_OUT_OF_BOUNDS;
}
ARMarkerInfo* marker = markerIndex < 0 ? &gMarkerInfo : &((arc->arhandle)->markerInfo[markerIndex]);
arGetTransMatSquare(arc->ar3DHandle, marker, markerWidth, gTransform);
return 0;
}
int getTransMatSquareCont(int id, int markerIndex, int markerWidth) {
if (arControllers.find(id) == arControllers.end()) { return ARCONTROLLER_NOT_FOUND; }
arController *arc = &(arControllers[id]);
if (arc->arhandle->marker_num <= markerIndex) {
return MARKER_INDEX_OUT_OF_BOUNDS;
}
ARMarkerInfo* marker = markerIndex < 0 ? &gMarkerInfo : &((arc->arhandle)->markerInfo[markerIndex]);
arGetTransMatSquareCont(arc->ar3DHandle, marker, gTransform, markerWidth, gTransform);
return 0;
}
int setMarkerInfoDir(int id, int markerIndex, int dir) {
if (arControllers.find(id) == arControllers.end()) { return ARCONTROLLER_NOT_FOUND; }
arController *arc = &(arControllers[id]);
if (arc->arhandle->marker_num <= markerIndex) {
return MARKER_INDEX_OUT_OF_BOUNDS;
}
ARMarkerInfo* marker = markerIndex < 0 ? &gMarkerInfo : &((arc->arhandle)->markerInfo[markerIndex]);
marker->dir = dir;
return 0;
}
int setMarkerInfoVertex(int id, int markerIndex) {
if (arControllers.find(id) == arControllers.end()) { return ARCONTROLLER_NOT_FOUND; }
arController *arc = &(arControllers[id]);
if (arc->arhandle->marker_num <= markerIndex) {
return MARKER_INDEX_OUT_OF_BOUNDS;
}
ARMarkerInfo* marker = markerIndex < 0 ? &gMarkerInfo : &((arc->arhandle)->markerInfo[markerIndex]);
auto v = marker->vertex;
v[0][0] = gTransform[0][0];
v[0][1] = gTransform[0][1];
v[1][0] = gTransform[0][2];
v[1][1] = gTransform[0][3];
v[2][0] = gTransform[1][0];
v[2][1] = gTransform[1][1];
v[3][0] = gTransform[1][2];
v[3][1] = gTransform[1][3];
marker->pos[0] = (v[0][0] + v[1][0] + v[2][0] + v[3][0]) * 0.25;
marker->pos[1] = (v[0][1] + v[1][1] + v[2][1] + v[3][1]) * 0.25;
return 0;
}
int getTransMatMultiSquareRobust(int id, int multiMarkerId) {
if (arControllers.find(id) == arControllers.end()) { return ARCONTROLLER_NOT_FOUND; }
arController *arc = &(arControllers[id]);
if (arc->multi_markers.size() <= multiMarkerId || multiMarkerId < 0) {
return MULTIMARKER_NOT_FOUND;
}
multi_marker *multiMatch = &(arc->multi_markers[multiMarkerId]);
ARMultiMarkerInfoT *arMulti = multiMatch->multiMarkerHandle;
arGetTransMatMultiSquareRobust( arc->ar3DHandle, arc->arhandle->markerInfo, arc->arhandle->marker_num, arMulti );
matrixCopy(arMulti->trans, gTransform);
return 0;
}
int getTransMatMultiSquare(int id, int multiMarkerId) {
if (arControllers.find(id) == arControllers.end()) { return ARCONTROLLER_NOT_FOUND; }
arController *arc = &(arControllers[id]);
if (arc->multi_markers.size() <= multiMarkerId || multiMarkerId < 0) {
return MULTIMARKER_NOT_FOUND;
}
multi_marker *multiMatch = &(arc->multi_markers[multiMarkerId]);
ARMultiMarkerInfoT *arMulti = multiMatch->multiMarkerHandle;
arGetTransMatMultiSquare( arc->ar3DHandle, arc->arhandle->markerInfo, arc->arhandle->marker_num, arMulti );
matrixCopy(arMulti->trans, gTransform);
return 0;
}
int detectMarker(int id) {
if (arControllers.find(id) == arControllers.end()) { return ARCONTROLLER_NOT_FOUND; }
arController *arc = &(arControllers[id]);
// Convert video frame to AR2VideoBufferT
AR2VideoBufferT buff = {0};
buff.buff = arc->videoFrame;
buff.fillFlag = 1;
buff.buffLuma = arc->videoLuma;
return arDetectMarker( arc->arhandle, &buff);
}
int getMarkerNum(int id) {
if (arControllers.find(id) == arControllers.end()) { return ARCONTROLLER_NOT_FOUND; }
arController *arc = &(arControllers[id]);
return arc->arhandle->marker_num;
}
int getMultiEachMarkerInfo(int id, int multiMarkerId, int markerIndex) {
if (arControllers.find(id) == arControllers.end()) { return ARCONTROLLER_NOT_FOUND; }
arController *arc = &(arControllers[id]);
if (arc->multi_markers.size() <= multiMarkerId || multiMarkerId < 0) {
return MULTIMARKER_NOT_FOUND;
}
multi_marker *multiMatch = &(arc->multi_markers[multiMarkerId]);
ARMultiMarkerInfoT *arMulti = multiMatch->multiMarkerHandle;
if (arMulti->marker_num <= markerIndex || markerIndex < 0) {
return MARKER_INDEX_OUT_OF_BOUNDS;
}
ARMultiEachMarkerInfoT *marker = &(arMulti->marker[markerIndex]);
matrixCopy(marker->trans, gTransform);
EM_ASM_({
if (!artoolkit["multiEachMarkerInfo"]) {
artoolkit["multiEachMarkerInfo"] = ({});
}
var multiEachMarker = artoolkit["multiEachMarkerInfo"];
multiEachMarker['visible'] = $0;
multiEachMarker['pattId'] = $1;
multiEachMarker['pattType'] = $2;
multiEachMarker['width'] = $3;
},
marker->visible,
marker->patt_id,
marker->patt_type,
marker->width
);
return 0;
}
int getMarkerInfo(int id, int markerIndex) {
if (arControllers.find(id) == arControllers.end()) { return ARCONTROLLER_NOT_FOUND; }
arController *arc = &(arControllers[id]);
if (arc->arhandle->marker_num <= markerIndex) {
return MARKER_INDEX_OUT_OF_BOUNDS;
}
ARMarkerInfo* markerInfo = markerIndex < 0 ? &gMarkerInfo : &((arc->arhandle)->markerInfo[markerIndex]);
EM_ASM_({
var $a = arguments;
var i = 12;
if (!artoolkit["markerInfo"]) {
artoolkit["markerInfo"] = ({
pos: [0,0],
line: [[0,0,0], [0,0,0], [0,0,0], [0,0,0]],
vertex: [[0,0], [0,0], [0,0], [0,0]]
});
}
var markerInfo = artoolkit["markerInfo"];
markerInfo["area"] = $0;
markerInfo["id"] = $1;
markerInfo["idPatt"] = $2;
markerInfo["idMatrix"] = $3;
markerInfo["dir"] = $4;
markerInfo["dirPatt"] = $5;
markerInfo["dirMatrix"] = $6;
markerInfo["cf"] = $7;
markerInfo["cfPatt"] = $8;
markerInfo["cfMatrix"] = $9;
markerInfo["pos"][0] = $10;
markerInfo["pos"][1] = $11;
markerInfo["line"][0][0] = $a[i++];
markerInfo["line"][0][1] = $a[i++];
markerInfo["line"][0][2] = $a[i++];
markerInfo["line"][1][0] = $a[i++];
markerInfo["line"][1][1] = $a[i++];
markerInfo["line"][1][2] = $a[i++];
markerInfo["line"][2][0] = $a[i++];
markerInfo["line"][2][1] = $a[i++];
markerInfo["line"][2][2] = $a[i++];
markerInfo["line"][3][0] = $a[i++];