ARToolkitPlus marker detection done before or after radial distortion correction?

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Hi ARToolkitPlus users:
=20
We're using hardware texture mapping to correct for spherical radial
distortion in our video stream. It works great. However, I can't help =
but
wonder that ARToolKitPlus must be already doing radial distortion =
correction
before it computes the pose of the markers. My question is: does
ARToolkitPlus already rectify for radial distortion the entire source =
video
bitmap internally before applying the actual image processing algorithms =
for
edge detection of the markers? If so, is this bitmap readily available =
for
visualization purposes? OR are you doing the image processing on the raw
undistorted bitmap and somehow using the radial distortion parameters to
correct the computed marker pose AFTER the image processing is done?
=20
Regards,
Victor.

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<DIV><FONT face=3DArial color=3D#0000ff size=3D2><SPAN =
class=3D296411305-25062007>Hi=20
ARToolkitPlus users:</SPAN></FONT></DIV>
<DIV><FONT face=3DArial color=3D#0000ff size=3D2><SPAN=20
class=3D296411305-25062007></SPAN></FONT>&nbsp;</DIV>
<DIV><FONT face=3DArial color=3D#0000ff size=3D2><SPAN =
class=3D296411305-25062007>We're=20
using hardware texture mapping to correct for spherical radial =
distortion in our=20
video stream. It works great. However, I can't help but wonder that=20
ARToolKitPlus must be already doing radial distortion correction before =
it=20
computes the pose of the markers. My question is: does ARToolkitPlus=20
already&nbsp;rectify&nbsp;for radial distortion&nbsp;the entire source =
video=20
bitmap internally before applying the actual image processing algorithms =
for=20
edge detection of the markers? If so, is this bitmap readily available =
for=20
visualization purposes? OR are you doing the image processing on the raw =

undistorted bitmap and somehow using the radial distortion parameters to =
correct=20
the computed marker pose AFTER the image processing is =
done?</SPAN></FONT></DIV>
<DIV><FONT face=3DArial color=3D#0000ff size=3D2><SPAN=20
class=3D296411305-25062007></SPAN></FONT>&nbsp;</DIV>
<DIV><FONT face=3DArial color=3D#0000ff size=3D2><SPAN=20
class=3D296411305-25062007>Regards,</SPAN></FONT></DIV>
<DIV><FONT face=3DArial color=3D#0000ff size=3D2><SPAN=20
class=3D296411305-25062007>Victor.</SPAN></FONT></DIV></BODY></HTML>

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From:	"Victor Ng-Thow-Hing" <victorngthowhing@y ........>	Received:	Jun 24, 2007
To	<artoolkit@h ..................>
Subject:	ARToolkitPlus marker detection done before or after radial distortion correction?
This is a multi-part message in MIME format. ------=_NextPart_000_0001_01C7B6AD.9B33D010 Content-Type: text/plain; charset="us-ascii" Content-Transfer-Encoding: quoted-printable Hi ARToolkitPlus users: =20 We're using hardware texture mapping to correct for spherical radial distortion in our video stream. It works great. However, I can't help = but wonder that ARToolKitPlus must be already doing radial distortion = correction before it computes the pose of the markers. My question is: does ARToolkitPlus already rectify for radial distortion the entire source = video bitmap internally before applying the actual image processing algorithms = for edge detection of the markers? If so, is this bitmap readily available = for visualization purposes? OR are you doing the image processing on the raw undistorted bitmap and somehow using the radial distortion parameters to correct the computed marker pose AFTER the image processing is done? =20 Regards, Victor. ------=_NextPart_000_0001_01C7B6AD.9B33D010 Content-Type: text/html; charset="us-ascii" Content-Transfer-Encoding: quoted-printable <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN"> <HTML><HEAD> <META HTTP-EQUIV=3D"Content-Type" CONTENT=3D"text/html; = charset=3Dus-ascii"> <TITLE>Message</TITLE> <META content=3D"MSHTML 6.00.6000.16481" name=3DGENERATOR></HEAD> <BODY> <DIV><FONT face=3DArial color=3D#0000ff size=3D2><SPAN = class=3D296411305-25062007>Hi=20 ARToolkitPlus users:</SPAN></FONT></DIV> <DIV><FONT face=3DArial color=3D#0000ff size=3D2><SPAN=20 class=3D296411305-25062007></SPAN></FONT> </DIV> <DIV><FONT face=3DArial color=3D#0000ff size=3D2><SPAN = class=3D296411305-25062007>We're=20 using hardware texture mapping to correct for spherical radial = distortion in our=20 video stream. It works great. However, I can't help but wonder that=20 ARToolKitPlus must be already doing radial distortion correction before = it=20 computes the pose of the markers. My question is: does ARToolkitPlus=20 already rectify for radial distortion the entire source = video=20 bitmap internally before applying the actual image processing algorithms = for=20 edge detection of the markers? If so, is this bitmap readily available = for=20 visualization purposes? OR are you doing the image processing on the raw = undistorted bitmap and somehow using the radial distortion parameters to = correct=20 the computed marker pose AFTER the image processing is = done?</SPAN></FONT></DIV> <DIV><FONT face=3DArial color=3D#0000ff size=3D2><SPAN=20 class=3D296411305-25062007></SPAN></FONT> </DIV> <DIV><FONT face=3DArial color=3D#0000ff size=3D2><SPAN=20 class=3D296411305-25062007>Regards,</SPAN></FONT></DIV> <DIV><FONT face=3DArial color=3D#0000ff size=3D2><SPAN=20 class=3D296411305-25062007>Victor.</SPAN></FONT></DIV></BODY></HTML> ------=_NextPart_000_0001_01C7B6AD.9B33D010--

From:	Daniel Wagner <daniel@i ...............>	Received:	Jul 5, 2007
To	artoolkit@h ..................
Subject:	Re: ARToolkitPlus marker detection done before or after radial distortion correction?
Sorry for the late reply. ARToolKitPlus (same as ARToolKit) does not rectify the whole image as this would waste lots of processing power and not result in usable images (unless high quality filtering was used). Instead it only corrects those pixel coordinates that are really required, which are mostly the edges (used for calculating the markers' corners). Daniel Victor Ng-Thow-Hing wrote: > Hi ARToolkitPlus users: > > We're using hardware texture mapping to correct for spherical radial > distortion in our video stream. It works great. However, I can't help > but wonder that ARToolKitPlus must be already doing radial distortion > correction before it computes the pose of the markers. My question is: > does ARToolkitPlus already rectify for radial distortion the entire > source video bitmap internally before applying the actual image > processing algorithms for edge detection of the markers? If so, is > this bitmap readily available for visualization purposes? OR are you > doing the image processing on the raw undistorted bitmap and somehow > using the radial distortion parameters to correct the computed marker > pose AFTER the image processing is done? > > Regards, > Victor.