Dear All,

Has anyone used Intel Open CV library for ARToolkit? I would like to use some functions of Open CV library into ARToolkit, anyone has such experience and can give me some advice?

Best Regards
Yuan Miaolong

This is a multi-part message in MIME format.
--------------040008030009010909080005
Content-Type: 
Content-Transfer-Encoding: 8bit




if was completely easy as you would exspect.
look at this codesnippet:
(modifies simple example (for linux (for YUV420 cams like phillips
webcams)) )

the sampel makes no sense right now,
but you could put any functionality
in balldetect()



regards,
hendrik





Am Die, 2003-05-13 um 06.48 schrieb Yuan Miaolong:
> Dear All,
> 
> Has anyone used Intel Open CV library for ARToolkit? I would like to use some functions of Open CV library into ARToolkit, anyone has such experience and can give me some advice?
> 
> Best Regards
> Yuan Miaolong

--------------040008030009010909080005
Content-Type: text/x-csrc; charset=windows-1252;
 name="simpleTe.c"
Content-Transfer-Encoding: 7bit
Content-Disposition: inline;
 filename="simpleTe.c"

#ifdef _WIN32
#include <windows.h>
#endif
#include <stdio.h>
#include <stdlib.h>
#ifndef __APPLE__
#include <GL/gl.h>
#include <GL/glut.h>
#else
#include <OpenGL/gl.h>
#include <GLUT/glut.h>
#endif
#include <AR/gsub.h>
#include <AR/video.h>
#include <AR/param.h>
#include <AR/ar.h>



/*todo hw -----------------------------------------------------

- get channel number 3/4



-------------------------------------------------------------*/


//opencv stuff
#include <cv.hpp>
#include <math.h>
void ballDetect();
CvImage *image;
CvSize *size;
int channels, maxlength;
IplImage *m_pEdge;  // result of canny edge detection
IplImage *m_pGray;  // result of conversion to grayscale
IplImage *img;		// tmp prescale gray
IplImage *pyr;		// tmp afterscale gray
int canny_thres;
CvPoint myCenter;
ARUint8  *dataPtr;




char            *vconf = "-dev=/dev/video0 -channel=0";
int             xsize, ysize;
int             thresh = 100;
int             count = 0;

char           *cparam_name    = "Data/camera_para.dat";
ARParam         cparam;

char           *patt_name      = "Data/patt.hiro";
int             patt_id;
double          patt_width     = 80.0;
double          patt_center[2] = {0.0, 0.0};
double          patt_trans[3][4];

static void   init(void);
static void   cleanup(void);
static void   keyEvent( unsigned char key, int x, int y);
static void   mainLoop(void);
static void   draw( void );

main(int argc, char *argv[])
{
    init();

    arVideoCapStart();
    argMainLoop( NULL, keyEvent, mainLoop );
}

static void   keyEvent( unsigned char key, int x, int y)
{
    /* quit if the ESC key is pressed */
    if( key == 0x1b ) {
        printf("*** %f (frame/sec)\n", (double)count/arUtilTimer());
        cleanup();
        exit(0);
    }
}

/* main loop */
static void mainLoop(void)
{
    //ARUint8         *dataPtr;
    ARMarkerInfo    *marker_info;
    int             marker_num;
    int             j, k;

    /* grab a vide frame */
    if( (dataPtr = (ARUint8 *)arVideoGetImage()) == NULL ) {
        arUtilSleep(2);
        return;
    }
    if( count == 0 ) arUtilTimerReset();
    count++;


    /* detect the markers in the video frame */
    if( arDetectMarker(dataPtr, thresh, &marker_info, &marker_num) < 0 ) {
        cleanup();
        exit(0);
    }

    //ballDetect();
    //argDrawMode2D();
    argDispImage( dataPtr, 0,0 );
    

    arVideoCapNext();

    /* check for object visibility */
    k = -1;
    for( j = 0; j < marker_num; j++ ) {
        if( patt_id == marker_info[j].id ) {
            if( k == -1 ) k = j;
            else if( marker_info[k].cf < marker_info[j].cf ) k = j;
        }
    }
    if( k == -1 ) {
        argSwapBuffers();
        return;
    }

    /* get the transformation between the marker and the real camera */
    arGetTransMat(&marker_info[k], patt_center, patt_width, patt_trans);

    draw();

    argSwapBuffers();
}

static void init( void )
{
    ARParam  wparam;

    /* open the video path */
    if( arVideoOpen( vconf ) < 0 ) exit(0);
    /* find the size of the window */
    if( arVideoInqSize(&xsize, &ysize) < 0 ) exit(0);
    printf("Image size (x,y) = (%d,%d)\n", xsize, ysize);

    /* set the initial camera parameters */
    if( arParamLoad(cparam_name, 1, &wparam) < 0 ) {
        printf("Camera parameter load error !!\n");
        exit(0);
    }
    arParamChangeSize( &wparam, xsize, ysize, &cparam );
    arInitCparam( &cparam );
    printf("*** Camera Parameter ***\n");
    arParamDisp( &cparam );

    if( (patt_id=arLoadPatt(patt_name)) < 0 ) {
        printf("pattern load error !!\n");
        exit(0);
    }

    /* open the graphics window */
#ifndef __APPLE__
    argInit( &cparam, 1.0, 0, 0, 0, 0 );
#else
    argInit( &cparam, 2.0, 0, 0, 0, 0 );
#endif

	//--------------------------------------------------------------------------
	//hwcode: OpenCV init
	m_pGray = m_pEdge = NULL;
	image = new CvImage();
	size = new CvSize();
	size->width = xsize;
	size->height = ysize;
 	channels = 3;
	canny_thres = 50;

	cvInitImageHeader( image, *size, IPL_DEPTH_8U, channels );

	m_pGray = cvCreateImage( *size, IPL_DEPTH_8U , 1);

	img = cvCreateImage(	*size,
				image->byte_per_pixel()*8/image->nChannels,
				1 );

	pyr = cvCreateImage(	cvSize(size->width/2, size->height/2),
				image->byte_per_pixel()*8/image->nChannels,
				1 );
	printf("CvImage created (x,y) = (%d,%d)\n", size->width, size->height);
	//--------------------------------------------------------------------------

}

/* cleanup function called when program exits */
static void cleanup(void)
{
    arVideoCapStop();
    arVideoClose();
    argCleanup();
    
    	cvReleaseImage(&m_pGray);
	cvReleaseImage(&m_pEdge);
	cvReleaseImage(&img);
	cvReleaseImage(&pyr);

}

static void draw( void )
{
    double    gl_para[16];
    GLfloat   mat_ambient[]     = {0.0, 0.0, 1.0, 1.0};
    GLfloat   mat_flash[]       = {0.0, 0.0, 1.0, 1.0};
    GLfloat   mat_flash_shiny[] = {50.0};
    GLfloat   light_position[]  = {100.0,-200.0,200.0,0.0};
    GLfloat   ambi[]            = {0.1, 0.1, 0.1, 0.1};
    GLfloat   lightZeroColor[]  = {0.9, 0.9, 0.9, 0.1};

    argDrawMode3D();

    argDraw3dCamera( 0, 0 );
    glClearDepth( 1.0 );
    glClear(GL_DEPTH_BUFFER_BIT |  GL_COLOR_BUFFER_BIT);
    glEnable(GL_DEPTH_TEST);
    glDepthFunc(GL_LEQUAL);
    
    /* load the camera transformation matrix */
    argConvGlpara(patt_trans, gl_para);
    glMatrixMode(GL_MODELVIEW);
    glLoadMatrixd( gl_para );

    glEnable(GL_LIGHTING);
    glEnable(GL_LIGHT0);
    glLightfv(GL_LIGHT0, GL_POSITION, light_position);
    glLightfv(GL_LIGHT0, GL_AMBIENT, ambi);
    glLightfv(GL_LIGHT0, GL_DIFFUSE, lightZeroColor);
    glMaterialfv(GL_FRONT, GL_SPECULAR, mat_flash);
    glMaterialfv(GL_FRONT, GL_SHININESS, mat_flash_shiny);	
    glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient);
    glMatrixMode(GL_MODELVIEW);
    glTranslatef( 0.0, 0.0, 25.0 );
    glutSolidCube(50.0);
    glDisable( GL_LIGHTING );

    glDisable( GL_DEPTH_TEST );
}


void ballDetect()
{
	cvSetImageData( image, dataPtr, size->width * channels );
	//printf("channels %d\n", channels);
	canny_thres = 100;
	//cvCvtColor( image ,m_pGray, CV_RGB2GRAY);
	//cvCanny(    m_pGray,m_pGray, canny_thres, canny_thres, 3 );
	//cvCvtColor( m_pGray ,image, CV_GRAY2RGB);
}



--------------040008030009010909080005
Content-Type: text/x-makefile; charset=windows-1252;
 name="Makefile.txt"
Content-Transfer-Encoding: 7bit
Content-Disposition: inline;
 filename="Makefile.txt"

INC_DIR= ../../include
LIB_DIR= ../../lib
BIN_DIR= ../../bin

LDFLAG=-L/usr/X11R6/lib -L$(LIB_DIR)
LIBS= -lARgsub -lARvideo -lAR -lglut -lGLU -lGL -lXi -lXmu -lX11 -lm -lopencv -lcvaux
CFLAG= -O -I/usr/X11R6/include -I$(INC_DIR) -I/usr/local/include/opencv

OBJS =
HEADDERS =


all: $(BIN_DIR)/simpleTest

$(BIN_DIR)/simpleTest: simpleTest.o $(OBJS)
	g++ -o $(BIN_DIR)/simpleTest simpleTest.o $(OBJS) $(LDFLAG) $(LIBS)

simpleTest.o: simpleTest.c $(HEADDERS)
	g++ -c $(CFLAG) simpleTest.c

clean:
	rm -f *.o
	rm -f $(BIN_DIR)/simpleTest

allclean:
	rm -f *.o
	rm -f $(BIN_DIR)/simpleTest
	rm -f Makefile

--------------040008030009010909080005--

This is a multi-part message in MIME format.
--------------040602030709070402070503
Content-Type: 
Content-Transfer-Encoding: 8bit




if was completely easy as you would exspect.
look at this codesnippet:
(modifies simple example (for linux (for YUV420 cams like phillips
webcams)) )

the sampel makes no sense right now,
but you could put any functionality
in balldetect()



regards,
hendrik





Am Die, 2003-05-13 um 06.48 schrieb Yuan Miaolong:
> Dear All,
> 
> Has anyone used Intel Open CV library for ARToolkit? I would like to use some functions of Open CV library into ARToolkit, anyone has such experience and can give me some advice?
> 
> Best Regards
> Yuan Miaolong

--------------040602030709070402070503
Content-Type: text/x-csrc; charset=windows-1252;
 name="simpleTe.c"
Content-Transfer-Encoding: 7bit
Content-Disposition: inline;
 filename="simpleTe.c"

#ifdef _WIN32
#include <windows.h>
#endif
#include <stdio.h>
#include <stdlib.h>
#ifndef __APPLE__
#include <GL/gl.h>
#include <GL/glut.h>
#else
#include <OpenGL/gl.h>
#include <GLUT/glut.h>
#endif
#include <AR/gsub.h>
#include <AR/video.h>
#include <AR/param.h>
#include <AR/ar.h>



/*todo hw -----------------------------------------------------

- get channel number 3/4



-------------------------------------------------------------*/


//opencv stuff
#include <cv.hpp>
#include <math.h>
void ballDetect();
CvImage *image;
CvSize *size;
int channels, maxlength;
IplImage *m_pEdge;  // result of canny edge detection
IplImage *m_pGray;  // result of conversion to grayscale
IplImage *img;		// tmp prescale gray
IplImage *pyr;		// tmp afterscale gray
int canny_thres;
CvPoint myCenter;
ARUint8  *dataPtr;




char            *vconf = "-dev=/dev/video0 -channel=0";
int             xsize, ysize;
int             thresh = 100;
int             count = 0;

char           *cparam_name    = "Data/camera_para.dat";
ARParam         cparam;

char           *patt_name      = "Data/patt.hiro";
int             patt_id;
double          patt_width     = 80.0;
double          patt_center[2] = {0.0, 0.0};
double          patt_trans[3][4];

static void   init(void);
static void   cleanup(void);
static void   keyEvent( unsigned char key, int x, int y);
static void   mainLoop(void);
static void   draw( void );

main(int argc, char *argv[])
{
    init();

    arVideoCapStart();
    argMainLoop( NULL, keyEvent, mainLoop );
}

static void   keyEvent( unsigned char key, int x, int y)
{
    /* quit if the ESC key is pressed */
    if( key == 0x1b ) {
        printf("*** %f (frame/sec)\n", (double)count/arUtilTimer());
        cleanup();
        exit(0);
    }
}

/* main loop */
static void mainLoop(void)
{
    //ARUint8         *dataPtr;
    ARMarkerInfo    *marker_info;
    int             marker_num;
    int             j, k;

    /* grab a vide frame */
    if( (dataPtr = (ARUint8 *)arVideoGetImage()) == NULL ) {
        arUtilSleep(2);
        return;
    }
    if( count == 0 ) arUtilTimerReset();
    count++;


    /* detect the markers in the video frame */
    if( arDetectMarker(dataPtr, thresh, &marker_info, &marker_num) < 0 ) {
        cleanup();
        exit(0);
    }

    //ballDetect();
    //argDrawMode2D();
    argDispImage( dataPtr, 0,0 );
    

    arVideoCapNext();

    /* check for object visibility */
    k = -1;
    for( j = 0; j < marker_num; j++ ) {
        if( patt_id == marker_info[j].id ) {
            if( k == -1 ) k = j;
            else if( marker_info[k].cf < marker_info[j].cf ) k = j;
        }
    }
    if( k == -1 ) {
        argSwapBuffers();
        return;
    }

    /* get the transformation between the marker and the real camera */
    arGetTransMat(&marker_info[k], patt_center, patt_width, patt_trans);

    draw();

    argSwapBuffers();
}

static void init( void )
{
    ARParam  wparam;

    /* open the video path */
    if( arVideoOpen( vconf ) < 0 ) exit(0);
    /* find the size of the window */
    if( arVideoInqSize(&xsize, &ysize) < 0 ) exit(0);
    printf("Image size (x,y) = (%d,%d)\n", xsize, ysize);

    /* set the initial camera parameters */
    if( arParamLoad(cparam_name, 1, &wparam) < 0 ) {
        printf("Camera parameter load error !!\n");
        exit(0);
    }
    arParamChangeSize( &wparam, xsize, ysize, &cparam );
    arInitCparam( &cparam );
    printf("*** Camera Parameter ***\n");
    arParamDisp( &cparam );

    if( (patt_id=arLoadPatt(patt_name)) < 0 ) {
        printf("pattern load error !!\n");
        exit(0);
    }

    /* open the graphics window */
#ifndef __APPLE__
    argInit( &cparam, 1.0, 0, 0, 0, 0 );
#else
    argInit( &cparam, 2.0, 0, 0, 0, 0 );
#endif

	//--------------------------------------------------------------------------
	//hwcode: OpenCV init
	m_pGray = m_pEdge = NULL;
	image = new CvImage();
	size = new CvSize();
	size->width = xsize;
	size->height = ysize;
 	channels = 3;
	canny_thres = 50;

	cvInitImageHeader( image, *size, IPL_DEPTH_8U, channels );

	m_pGray = cvCreateImage( *size, IPL_DEPTH_8U , 1);

	img = cvCreateImage(	*size,
				image->byte_per_pixel()*8/image->nChannels,
				1 );

	pyr = cvCreateImage(	cvSize(size->width/2, size->height/2),
				image->byte_per_pixel()*8/image->nChannels,
				1 );
	printf("CvImage created (x,y) = (%d,%d)\n", size->width, size->height);
	//--------------------------------------------------------------------------

}

/* cleanup function called when program exits */
static void cleanup(void)
{
    arVideoCapStop();
    arVideoClose();
    argCleanup();
    
    	cvReleaseImage(&m_pGray);
	cvReleaseImage(&m_pEdge);
	cvReleaseImage(&img);
	cvReleaseImage(&pyr);

}

static void draw( void )
{
    double    gl_para[16];
    GLfloat   mat_ambient[]     = {0.0, 0.0, 1.0, 1.0};
    GLfloat   mat_flash[]       = {0.0, 0.0, 1.0, 1.0};
    GLfloat   mat_flash_shiny[] = {50.0};
    GLfloat   light_position[]  = {100.0,-200.0,200.0,0.0};
    GLfloat   ambi[]            = {0.1, 0.1, 0.1, 0.1};
    GLfloat   lightZeroColor[]  = {0.9, 0.9, 0.9, 0.1};

    argDrawMode3D();

    argDraw3dCamera( 0, 0 );
    glClearDepth( 1.0 );
    glClear(GL_DEPTH_BUFFER_BIT |  GL_COLOR_BUFFER_BIT);
    glEnable(GL_DEPTH_TEST);
    glDepthFunc(GL_LEQUAL);
    
    /* load the camera transformation matrix */
    argConvGlpara(patt_trans, gl_para);
    glMatrixMode(GL_MODELVIEW);
    glLoadMatrixd( gl_para );

    glEnable(GL_LIGHTING);
    glEnable(GL_LIGHT0);
    glLightfv(GL_LIGHT0, GL_POSITION, light_position);
    glLightfv(GL_LIGHT0, GL_AMBIENT, ambi);
    glLightfv(GL_LIGHT0, GL_DIFFUSE, lightZeroColor);
    glMaterialfv(GL_FRONT, GL_SPECULAR, mat_flash);
    glMaterialfv(GL_FRONT, GL_SHININESS, mat_flash_shiny);	
    glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient);
    glMatrixMode(GL_MODELVIEW);
    glTranslatef( 0.0, 0.0, 25.0 );
    glutSolidCube(50.0);
    glDisable( GL_LIGHTING );

    glDisable( GL_DEPTH_TEST );
}


void ballDetect()
{
	cvSetImageData( image, dataPtr, size->width * channels );
	//printf("channels %d\n", channels);
	canny_thres = 100;
	//cvCvtColor( image ,m_pGray, CV_RGB2GRAY);
	//cvCanny(    m_pGray,m_pGray, canny_thres, canny_thres, 3 );
	//cvCvtColor( m_pGray ,image, CV_GRAY2RGB);
}



--------------040602030709070402070503
Content-Type: text/x-makefile; charset=windows-1252;
 name="Makefile.txt"
Content-Transfer-Encoding: 7bit
Content-Disposition: inline;
 filename="Makefile.txt"

INC_DIR= ../../include
LIB_DIR= ../../lib
BIN_DIR= ../../bin

LDFLAG=-L/usr/X11R6/lib -L$(LIB_DIR)
LIBS= -lARgsub -lARvideo -lAR -lglut -lGLU -lGL -lXi -lXmu -lX11 -lm -lopencv -lcvaux
CFLAG= -O -I/usr/X11R6/include -I$(INC_DIR) -I/usr/local/include/opencv

OBJS =
HEADDERS =


all: $(BIN_DIR)/simpleTest

$(BIN_DIR)/simpleTest: simpleTest.o $(OBJS)
	g++ -o $(BIN_DIR)/simpleTest simpleTest.o $(OBJS) $(LDFLAG) $(LIBS)

simpleTest.o: simpleTest.c $(HEADDERS)
	g++ -c $(CFLAG) simpleTest.c

clean:
	rm -f *.o
	rm -f $(BIN_DIR)/simpleTest

allclean:
	rm -f *.o
	rm -f $(BIN_DIR)/simpleTest
	rm -f Makefile

--------------040602030709070402070503--