: Re: big input stream
>
> Well,
>
> actually, changing the values indicated by Daniel
> worked out ok for me, I get a correct pose estimation
> for HD. I'm using ArToolKitPlus, perhaps there are
> some more limitations in ArToolKit (can't imagine
> why...).
Not quite right... actually I see only correct poses when
the marker is centered in the image. I guess this has
somehow to do with my camera calibration matrix. How
can I model an ideal camera or even better an orthographic
projection? Here's how I currently generate my calibration
matrix:
float width = // witdh of input stream/image
float height = // height of input stream image
ARParamDouble param;
// first column
param.mat[0][0] = 2*width/(width/height);
param.mat[1][0] = 0.0;
param.mat[2][0] = 0.0;
// second column
param.mat[0][1] = 0.0;
param.mat[1][1] = 2*height;
param.mat[2][1] = 0.0;
// third column
param.mat[0][2] = width/2.0;
param.mat[1][2] = height/2.0;
param.mat[2][2] = 1.0;
// fourth column
param.mat[0][3] = 0.0;
param.mat[1][3] = 0.0;
param.mat[2][3] = 0.0;
param.xsize = (int)width;
param.ysize = (int)height;
param.dist_factor[0] = width/2.0;
param.dist_factor[1] = height/2.0;
param.dist_factor[2] = 26.3; // fixed, taken from some default
calib.
param.dist_factor[3] = 1.009989; // fixed.. taken from somwwhere ;)
Note in my case of application there's no need for scientifically correct
matching, I just need the pose more or less, but it should work ok on
big photos where the marker could be located on the margins of the image.
Regards,
Toni
> Scrive Philip Lamb <phil@e ..........>:
>
> > Antonio,
> >
> > If you're working with big images (anything greater than 1024 pixels
> > wide or tall qualifies as big for ARToolKit) you will run into a
> > variety of hard-coded size limits in various places in the toolkit.
> > There are some in the tracker (libAR) and some on the output side.
> >
> > At the moment, the way I usually tackle these limits is to scale the
> > image down to 1024 pixels each side, and use that size for tracking
> > (with appropriate size changes to the camera parameters). The
> > resulting pose estimation can then be applied to the full-size image
> > for rendering.
> >
> > Proper handling of HD image streams is something that will definitely
> > be tackled in ARToolKit in the future... we just have to find the
> > time. Patches from the community always welcomed!
> >
> > Regards,
> > Phil.
> >
> > On 17/04/2007, at 10:21 AM, Antonio Bleile wrote:
> >
> > > Hi,
> > >
> > > I'm currently experiencing a problem when the marker
> > > size is too big (in pixels...!). I have an HD stream
> > > and whenever the marker is too close to the camera and
> > > thus the marker is projected on let's say a 600x600 pixel
> > > region, ArToolKit(Plus) does not track anymore. Of course
> > > it becomes worse on photographic images taken from cameras
> > > with high megapixel values (>= 10...). Is this a hardcoded
> > > limitation somewhere? Any switches?
> > >
> > > Regards,
> > >
> > > Toni
> >
> >
>
>
>
>
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