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NFT marker loading, detection and readback. Add note to README about …
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…libjpeg.
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@kig
kig committed May 2, 2016
1 parent 0cccfef commit ac88ae7
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7 changes: 5 additions & 2 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -23,12 +23,15 @@ Emscripten port of [ARToolKit](https://github.com/artoolkit/artoolkit5) to JavaS
- or, set the `ARTOOLKIT5_ROOT` environment variable to point to your ARToolKit5 clone
- or, change the `tools/makem.js` file to point to your artoolkit5 clone (line 62, 83, 107, 140)

3. Building
3. Copy libjpeg-6b to emscripten/jpeg-6b
- or, set the `LIBJPEG_ROOT` environment variable to point to your libjpeg source directory

4. Building
1. Make sure `EMSCRIPTEN` env variable is set (e.g. `EMSCRIPTEN=/usr/lib/emsdk_portable/emscripten/master/ node tools/makem.js`
2. Rename the `ARTOOLKIT5_ROOT/include/AR/config.h.in` file to `config.h`
3. Run `node tools/makem.js`

4. The built ASM.js files are in `/build`. There's a build with debug symbols in `artoolkit.debug.js` and the optimized build with bundled JS API in `artoolkit.min.js`.
5. The built ASM.js files are in `/build`. There's a build with debug symbols in `artoolkit.debug.js` and the optimized build with bundled JS API in `artoolkit.min.js`.

# ARToolKit JS API

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37,851 changes: 34,966 additions & 2,885 deletions build/artoolkit.debug.js
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29 changes: 16 additions & 13 deletions build/artoolkit.min.js
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6 changes: 6 additions & 0 deletions emscripten/ARBindEM.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -7,8 +7,11 @@ EMSCRIPTEN_BINDINGS(constant_bindings) {
function("setup", &setup);
function("teardown", &teardown);

function("setupAR2", &setupAR2);

function("_addMarker", &addMarker);
function("_addMultiMarker", &addMultiMarker);
function("_addNFTMarker", &addNFTMarker);

function("getMultiMarkerNum", &getMultiMarkerNum);
function("getMultiMarkerCount", &getMultiMarkerCount);
Expand All @@ -27,8 +30,11 @@ EMSCRIPTEN_BINDINGS(constant_bindings) {
function("detectMarker", &detectMarker);
function("getMarkerNum", &getMarkerNum);

function("detectNFTMarker", &detectNFTMarker);

function("getMultiEachMarker", &getMultiEachMarkerInfo);
function("getMarker", &getMarkerInfo);
function("getNFTMarker", &getNFTMarkerInfo);


/* AR Toolkit C APIS */
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196 changes: 164 additions & 32 deletions emscripten/ARToolKitJS.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,12 @@ struct arController {
ARMultiMarkerInfoT *arMultiMarkerHandle = NULL;
AR3DHandle* ar3DHandle;

KpmHandle* kpmHandle;
AR2HandleT* ar2Handle;

int surfaceSetCount = 0; // Running NFT marker id
std::unordered_map<int, AR2SurfaceSetT*> surfaceSets;

ARdouble nearPlane = 0.0001;
ARdouble farPlane = 1000.0;

Expand Down Expand Up @@ -69,35 +75,130 @@ extern "C" {
/**
NFT API bindings
*/
void ar2_SetInitTrans() {
//surface, surfaceSet[detectedPage], trackingTrans);
// ar2SetInitTrans
}

float kpmMatch(KpmHandle *kpmHandle, ARUint8 *imagePtr, float trans[3][4], int *pageNo ) {
KpmResult *kpmResult = NULL;
int kpmResultNum;
float err = -1;
int i, j, k;
int getNFTMarkerInfo(int id, int markerIndex) {
if (arControllers.find(id) == arControllers.end()) { return ARCONTROLLER_NOT_FOUND; }
arController *arc = &(arControllers[id]);

kpmGetResult( kpmHandle, &kpmResult, &kpmResultNum );
if (arc->surfaceSetCount <= markerIndex) {
return MARKER_INDEX_OUT_OF_BOUNDS;
}

KpmResult *kpmResult = NULL;
int kpmResultNum = -1;

kpmMatching( kpmHandle, imagePtr );
kpmGetResult( arc->kpmHandle, &kpmResult, &kpmResultNum );

int flag = 0;
int i, j, k;
int flag = -1;
float err = -1;
float trans[3][4];
for( i = 0; i < kpmResultNum; i++ ) {
if( kpmResult[i].camPoseF != 0 ) continue;
ARLOGd("kpmGetPose OK.\n");
if( flag == 0 || err > kpmResult[i].error ) { // Take the first or best result.
flag = 1;
*pageNo = kpmResult[i].pageNo;
for (j = 0; j < 3; j++)
for (k = 0; k < 4; k++)
trans[j][k] = kpmResult[i].camPose[j][k];
err = kpmResult[i].error;
}
if (kpmResult[i].pageNo == markerIndex) {
if( kpmResult[i].camPoseF != 0 ) continue;
if( flag == -1 || err > kpmResult[i].error ) { // Take the first or best result.
flag = i;
err = kpmResult[i].error;
}
}
}
return err;

if (flag > -1) {
for (j = 0; j < 3; j++)
for (k = 0; k < 4; k++)
trans[j][k] = kpmResult[flag].camPose[j][k];
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[1][0],
trans[1][1],
trans[1][2],
trans[1][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;

kpmMatching( arc->kpmHandle, arc->videoFrame );
kpmGetResult( arc->kpmHandle, &kpmResult, &kpmResultNum );
return kpmResultNum;
}

KpmHandle *createKpmHandle(ARParamLT *cparamLT) {
Expand All @@ -121,7 +222,7 @@ extern "C" {
AR2HandleT* initAR2(ARParamLT *cparamLT, KpmHandle *kpmHandle) {
AR2HandleT *ar2Handle = NULL;
// AR2 init.
if( (ar2Handle = ar2CreateHandle(cparamLT, AR_PIXEL_FORMAT_RGBA, AR2_TRACKING_DEFAULT_THREAD_NUM)) == NULL ) {
if( (ar2Handle = ar2CreateHandle(cparamLT, AR_PIXEL_FORMAT_RGBA, 1)) == NULL ) {
ARLOGe("Error: ar2CreateHandle.\n");
kpmDeleteHandle(&kpmHandle);
return NULL;
Expand All @@ -136,11 +237,23 @@ extern "C" {
return ar2Handle;
}

int loadNFTMarker(KpmHandle *kpmHandle, const char* datasetPathname) {
int i, pageNo, surfaceSetCount = 0;
int setupAR2(int id) {
if (arControllers.find(id) == arControllers.end()) { return -1; }
arController *arc = &(arControllers[id]);

arc->kpmHandle = createKpmHandle(arc->paramLT);
arc->ar2Handle = initAR2(arc->paramLT, arc->kpmHandle);

return 0;
}

int loadNFTMarker(arController *arc, int surfaceSetCount, const char* datasetPathname) {
int i, pageNo;
AR2SurfaceSetT *surfaceSet;
KpmRefDataSet *refDataSet;

KpmHandle *kpmHandle = arc->kpmHandle;

refDataSet = NULL;

// Load KPM data.
Expand All @@ -149,17 +262,17 @@ extern "C" {
if (kpmLoadRefDataSet(datasetPathname, "fset3", &refDataSet2) < 0 ) {
ARLOGe("Error reading KPM data from %s.fset3\n", datasetPathname);
pageNo = -1;
return -1;
return (FALSE);
}
pageNo = surfaceSetCount;
ARLOGi(" Assigned page no. %d.\n", surfaceSetCount);
if (kpmChangePageNoOfRefDataSet(refDataSet2, KpmChangePageNoAllPages, surfaceSetCount) < 0) {
ARLOGe("Error: kpmChangePageNoOfRefDataSet\n");
return -1;
return (FALSE);
}
if (kpmMergeRefDataSet(&refDataSet, &refDataSet2) < 0) {
ARLOGe("Error: kpmMergeRefDataSet\n");
return -1;
return (FALSE);
}
ARLOGi(" Done.\n");

Expand All @@ -171,16 +284,16 @@ extern "C" {
}
ARLOGi(" Done.\n");

surfaceSetCount++;
arc->surfaceSets[surfaceSetCount] = surfaceSet;

if (kpmSetRefDataSet(kpmHandle, refDataSet) < 0) {
ARLOGe("Error: kpmSetRefDataSet\n");
return -1;
return (FALSE);
}
kpmDeleteRefDataSet(&refDataSet);

ARLOGi("Loading of NFT data complete.\n");
return 0;
return (TRUE);
}

/***************
Expand Down Expand Up @@ -306,6 +419,9 @@ extern "C" {

arglCameraFrustum(&((arc->paramLT)->param), arc->nearPlane, arc->farPlane, arc->cameraLens);

arc->kpmHandle = createKpmHandle(arc->paramLT);
arc->ar2Handle = initAR2(arc->paramLT, arc->kpmHandle);

return 0;
}

Expand Down Expand Up @@ -360,6 +476,22 @@ extern "C" {
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]);
Expand Down
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