Hi,
it's my first mail to the mailing list. I'm working on AR and would want to use Artoolkit+ and OpenCV, but I can't get my marker detected.
Here is my test code, if I uncomment the two lines which write and load the frame as an image file, all work well, but without the two lines the marker isn't detected... It seems to me there is an image format problem, but I can't figure what. Can you help me, please?
#################################################################
#include "cvcam.h"
#include "highgui.h"
#include "cv.h"
#include <ARToolKitPlus/TrackerSingleMarkerImpl.h>

class MyLogger : public ARToolKitPlus::Logger
{
    void artLog(const char* nStr)
    {
        printf(nStr);
    }
};

int main()
{
    const bool    useBCH = false;

    const int     width = 640, height = 480, bpp = 3,
                  numPixels = width*height*bpp;
    MyLogger      logger;

    ARToolKitPlus::TrackerSingleMarker *tracker = new ARToolKitPlus::TrackerSingleMarkerImpl<6,6,12,
                                                         ARToolKitPlus::PIXEL_FORMAT_RGB>(width,height);

    tracker->setLogger(&logger);

    tracker->init("Data/LogitechPro4000.dat", 1.0f, 1000.0f);

    tracker->setPatternWidth(60);

    tracker->setBorderWidth(useBCH ? 0.125f : 0.250f);

    tracker->setThreshold(80);

    tracker->setUndistortionMode(ARToolKitPlus::UNDIST_LUT);

    tracker->setPoseEstimator(ARToolKitPlus::POSE_ESTIMATOR_RPP);

    tracker->setMarkerMode(useBCH ? ARToolKitPlus::MARKER_ID_BCH : ARToolKitPlus::MARKER_ID_SIMPLE);

    IplImage *image;
    cvNamedWindow("Image", CV_WINDOW_AUTOSIZE);

    CvCapture* capture = cvCaptureFromCAM( 0 );
    if( !capture ) {
        fprintf( stderr, "ERROR: capture is NULL \n" );
        getchar();
        return -1;
    }
    cvNamedWindow( "Capture", CV_WINDOW_AUTOSIZE );

    while( 1 ) {
        IplImage* frame = cvQueryFrame( capture );
        if( !frame ) {
          fprintf( stderr, "ERROR: frame is null...\n" );
          getchar();
          break;
        }

        cvShowImage( "Capture", frame );
        image = cvCloneImage( frame );

        //if(!cvSaveImage("immagineTmp.jpg",image)) printf("Could not save\n");
        
        //image = cvLoadImage("immagineTmp.jpg", 1);

        cvShowImage( "Image", image );

        int markerId = tracker->calc((unsigned char *)(image->imageData));
        float conf = tracker->getConfidence();

        cvReleaseImage(&image);

        printf("\n\nFound marker %d  (confidence %d%%)\n\nPose-Matrix:\n  ", markerId, (int(conf*100.0f)));

        for(int i=0; i<16; i++)
            printf("%.2f  %s", tracker->getModelViewMatrix()[i], (i%4==3)?"\n  " : "");

        if( (cvWaitKey(10) & 255) == 27 ) {
            break;
        }
    }

    cvReleaseCapture( &capture );
    cvDestroyWindow( "Capture" );
    cvDestroyWindow("Image");

    return 0;
}
################################################################




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Hi Marco,

My suggestion is to dump the image into a file and use a tool such as
Irfanview/Photoshop/etc. to check the image format (look for RAW image
file in those tools). The way you configured ARTK+ it should be 640x480
in RGB24 (aka RGB888) format. It doesn't matter if it is RGB or BGR, but
the image must not be flipped.

Daniel


Marco P wrote:
> Hi,
> it's my first mail to the mailing list. I'm working on AR and would want to use Artoolkit+ and OpenCV, but I can't get my marker detected.
> Here is my test code, if I uncomment the two lines which write and load the frame as an image file, all work well, but without the two lines the marker isn't detected... It seems to me there is an image format problem, but I can't figure what. Can you help me, please?
> #################################################################
> #include "cvcam.h"
> #include "highgui.h"
> #include "cv.h"
> #include <ARToolKitPlus/TrackerSingleMarkerImpl.h>
>
> class MyLogger : public ARToolKitPlus::Logger
> {
>     void artLog(const char* nStr)
>     {
>         printf(nStr);
>     }
> };
>
> int main()
> {
>     const bool    useBCH = false;
>
>     const int     width = 640, height = 480, bpp = 3,
>                   numPixels = width*height*bpp;
>     MyLogger      logger;
>
>     ARToolKitPlus::TrackerSingleMarker *tracker = new ARToolKitPlus::TrackerSingleMarkerImpl<6,6,12,
>                                                          ARToolKitPlus::PIXEL_FORMAT_RGB>(width,height);
>
>     tracker->setLogger(&logger);
>
>     tracker->init("Data/LogitechPro4000.dat", 1.0f, 1000.0f);
>
>     tracker->setPatternWidth(60);
>
>     tracker->setBorderWidth(useBCH ? 0.125f : 0.250f);
>
>     tracker->setThreshold(80);
>
>     tracker->setUndistortionMode(ARToolKitPlus::UNDIST_LUT);
>
>     tracker->setPoseEstimator(ARToolKitPlus::POSE_ESTIMATOR_RPP);
>
>     tracker->setMarkerMode(useBCH ? ARToolKitPlus::MARKER_ID_BCH : ARToolKitPlus::MARKER_ID_SIMPLE);
>
>     IplImage *image;
>     cvNamedWindow("Image", CV_WINDOW_AUTOSIZE);
>
>     CvCapture* capture = cvCaptureFromCAM( 0 );
>     if( !capture ) {
>         fprintf( stderr, "ERROR: capture is NULL \n" );
>         getchar();
>         return -1;
>     }
>     cvNamedWindow( "Capture", CV_WINDOW_AUTOSIZE );
>
>     while( 1 ) {
>         IplImage* frame = cvQueryFrame( capture );
>         if( !frame ) {
>           fprintf( stderr, "ERROR: frame is null...\n" );
>           getchar();
>           break;
>         }
>
>         cvShowImage( "Capture", frame );
>         image = cvCloneImage( frame );
>
>         //if(!cvSaveImage("immagineTmp.jpg",image)) printf("Could not save\n");
>         
>         //image = cvLoadImage("immagineTmp.jpg", 1);
>
>         cvShowImage( "Image", image );
>
>         int markerId = tracker->calc((unsigned char *)(image->imageData));
>         float conf = tracker->getConfidence();
>
>         cvReleaseImage(&image);
>
>         printf("\n\nFound marker %d  (confidence %d%%)\n\nPose-Matrix:\n  ", markerId, (int(conf*100.0f)));
>
>         for(int i=0; i<16; i++)
>             printf("%.2f  %s", tracker->getModelViewMatrix()[i], (i%4==3)?"\n  " : "");
>
>         if( (cvWaitKey(10) & 255) == 27 ) {
>             break;
>         }
>     }
>
>     cvReleaseCapture( &capture );
>     cvDestroyWindow( "Capture" );
>     cvDestroyWindow("Image");
>
>     return 0;
> }
> ################################################################
>
>
>
>
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