ARX_c.h File Reference

#include <ARX/Platform.h>
#include <ARX/Error.h>
#include <stdint.h>

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Classes
struct	ARWTrackableStatus

Enumerations
enum	{ ARW_H_ALIGN_LEFT , ARW_H_ALIGN_CENTRE , ARW_H_ALIGN_RIGHT }
	Specifies desired horizontal alignment of video frames in drawing graphics context. More...
enum	{ ARW_V_ALIGN_TOP , ARW_V_ALIGN_CENTRE , ARW_V_ALIGN_BOTTOM }
	Specifies desired vertical alignment of video frames in drawing graphics context. More...
enum	{ ARW_SCALE_MODE_FIT , ARW_SCALE_MODE_FILL , ARW_SCALE_MODE_STRETCH , ARW_SCALE_MODE_1_TO_1 }
	Specifies desired scaling of video frames to drawing graphics context. More...
enum	{   ARW_TRACKER_OPTION_NFT_MULTIMODE = 0 , ARW_TRACKER_OPTION_SQUARE_THRESHOLD = 1 , ARW_TRACKER_OPTION_SQUARE_THRESHOLD_MODE = 2 , ARW_TRACKER_OPTION_SQUARE_LABELING_MODE = 3 ,   ARW_TRACKER_OPTION_SQUARE_PATTERN_DETECTION_MODE = 4 , ARW_TRACKER_OPTION_SQUARE_BORDER_SIZE = 5 , ARW_TRACKER_OPTION_SQUARE_MATRIX_CODE_TYPE = 6 , ARW_TRACKER_OPTION_SQUARE_IMAGE_PROC_MODE = 7 ,   ARW_TRACKER_OPTION_SQUARE_DEBUG_MODE = 8 , ARW_TRACKER_OPTION_SQUARE_PATTERN_SIZE = 9 , ARW_TRACKER_OPTION_SQUARE_PATTERN_COUNT_MAX = 10 , ARW_TRACKER_OPTION_2D_TRACKER_FEATURE_TYPE = 11 }
	Constants for use with tracker option setters/getters. More...
enum	{   ARW_TRACKABLE_OPTION_FILTERED = 1 , ARW_TRACKABLE_OPTION_FILTER_SAMPLE_RATE = 2 , ARW_TRACKABLE_OPTION_FILTER_CUTOFF_FREQ = 3 , ARW_TRACKABLE_OPTION_SQUARE_USE_CONT_POSE_ESTIMATION = 4 ,   ARW_TRACKABLE_OPTION_SQUARE_CONFIDENCE = 5 , ARW_TRACKABLE_OPTION_SQUARE_CONFIDENCE_CUTOFF = 6 , ARW_TRACKABLE_OPTION_NFT_SCALE = 7 , ARW_TRACKABLE_OPTION_MULTI_MIN_SUBMARKERS = 8 ,   ARW_TRACKABLE_OPTION_MULTI_MIN_CONF_MATRIX = 9 , ARW_TRACKABLE_OPTION_MULTI_MIN_CONF_PATTERN = 10 , ARW_TRACKABLE_OPTION_MULTI_MIN_INLIER_PROB = 11 }
	Constants for use with trackable option setters/getters. More...

Functions
ARX_EXTERN void	arwRegisterLogCallback (PFN_LOGCALLBACK callback)
	Registers a callback function to use when a message is logged. More...
ARX_EXTERN void	arwSetLogLevel (const int logLevel)
ARX_EXTERN bool	arwInitialiseAR ()
	Initialises the artoolkitX. More...
ARX_EXTERN bool	arwGetARToolKitVersion (char *buffer, int length)
	Gets the artoolkitX version as a string, such as "10.0.0". More...
ARX_EXTERN int	arwGetError ()
	Return error information Returns the value of the error flag. More...
ARX_EXTERN bool	arwChangeToResourcesDir (const char *resourcesDirectoryPath)
	Changes the working directory to the resources directory used by artoolkitX. More...
ARX_EXTERN bool	arwStartRunning (const char *vconf, const char *cparaName)
	Initialises and starts video capture. More...
ARX_EXTERN bool	arwStartRunningB (const char *vconf, const char *cparaBuff, const int cparaBuffLen)
	Initialises and starts video capture. More...
ARX_EXTERN bool	arwStartRunningStereo (const char *vconfL, const char *cparaNameL, const char *vconfR, const char *cparaNameR, const char *transL2RName)
ARX_EXTERN bool	arwStartRunningStereoB (const char *vconfL, const char *cparaBuffL, const int cparaBuffLenL, const char *vconfR, const char *cparaBuffR, int cparaBuffLenR, const char *transL2RBuff, const int transL2RBuffLen)
ARX_EXTERN bool	arwIsRunning ()
	Returns true if artoolkitX is running, i.e. More...
ARX_EXTERN bool	arwIsInited ()
	Returns true if artoolkitX is initialized and read for adding trackables. More...
ARX_EXTERN bool	arwStopRunning ()
	Stops video capture and frees video capture resources. More...
ARX_EXTERN bool	arwShutdownAR ()
	Shuts down the artoolkitX and frees all resources. More...
ARX_EXTERN bool	arwGetProjectionMatrix (const float nearPlane, const float farPlane, float p[16])
	Populates the given float array with the projection matrix computed from camera parameters for the video source. More...
ARX_EXTERN bool	arwGetProjectionMatrixStereo (const float nearPlane, const float farPlane, float pL[16], float pR[16])
	Populates the given float arrays with the projection matrices computed from camera parameters for each of the stereo video sources. More...
ARX_EXTERN bool	arwGetVideoParams (int *width, int *height, int *pixelSize, char *pixelFormatStringBuffer, int pixelFormatStringBufferLen)
	Returns the parameters of the video source frame. More...
ARX_EXTERN bool	arwGetVideoParamsStereo (int *widthL, int *heightL, int *pixelSizeL, char *pixelFormatStringBufferL, int pixelFormatStringBufferLenL, int *widthR, int *heightR, int *pixelSizeR, char *pixelFormatStringBufferR, int pixelFormatStringBufferLenR)
	Returns the parameters of the video source frames. More...
ARX_EXTERN bool	arwCapture ()
	Captures a newest frame from the video source. More...
ARX_EXTERN bool	arwUpdateAR ()
	Performs tracking and trackable updates. More...
ARX_EXTERN bool	arwUpdateTexture32 (uint32_t *buffer)
	Asks the video source to push the most recent frame into the passed-in buffer. More...
ARX_EXTERN bool	arwUpdateTexture32Stereo (uint32_t *bufferL, uint32_t *bufferR)
	Asks the video source to push the most recent stereo frame into the passed-in buffer. More...
ARX_EXTERN bool	arwDrawVideoInit (const int videoSourceIndex)
	Initialise drawing of video frames in a graphics context. More...
ARX_EXTERN bool	arwDrawVideoSettings (int videoSourceIndex, int width, int height, bool rotate90, bool flipH, bool flipV, int hAlign, int vAlign, int scalingMode, int32_t viewport[4])
	Specify the layout of the graphics context in which drawing of video frames will occur. More...
ARX_EXTERN bool	arwDrawVideo (const int videoSourceIndex)
	Draws the latest frame from the video source in the active graphics context. More...
ARX_EXTERN bool	arwDrawVideoFinal (const int videoSourceIndex)
	Finalise drawing of video frames in a graphics context. More...
ARX_EXTERN void	arwSetTrackerOptionBool (int option, bool value)
	Set boolean options associated with a tracker. More...
ARX_EXTERN void	arwSetTrackerOptionInt (int option, int value)
	Set integer options associated with a tracker. More...
ARX_EXTERN void	arwSetTrackerOptionFloat (int option, float value)
	Set floating-point options associated with a tracker. More...
ARX_EXTERN bool	arwGetTrackerOptionBool (int option)
	Get boolean options associated with a tracker. More...
ARX_EXTERN int	arwGetTrackerOptionInt (int option)
	Get integer options associated with a tracker. More...
ARX_EXTERN float	arwGetTrackerOptionFloat (int option)
	Get floating-point options associated with a tracker. More...
ARX_EXTERN int	arwAddTrackable (const char *cfg)
	Adds a trackable as specified in the given configuration string. More...
ARX_EXTERN bool	arwGetTrackables (int *count_p, ARWTrackableStatus **statuses_p)
	Gets all current trackables and their status. More...
ARX_EXTERN bool	arwRemoveTrackable (int trackableUID)
	Removes the trackable with the given unique identifier (UID). More...
ARX_EXTERN int	arwRemoveAllTrackables ()
	Clears the collection of trackables. More...
ARX_EXTERN bool	arwQueryTrackableVisibilityAndTransformation (int trackableUID, float matrix[16])
	Returns the visibility and pose of the specified trackable. More...
ARX_EXTERN bool	arwQueryTrackableVisibilityAndTransformationStereo (int trackableUID, float matrixL[16], float matrixR[16])
	Returns the visibility and stereo pose of the specified trackable. More...
ARX_EXTERN int	arwGetTrackablePatternCount (int trackableUID)
	Returns the number of pattern images associated with the specified trackable. More...
ARX_EXTERN bool	arwGetTrackablePatternConfig (int trackableUID, int patternID, float matrix[16], float *width, float *height, int *imageSizeX, int *imageSizeY)
	Gets configuration of a pattern associated with a trackable. More...
ARX_EXTERN bool	arwGetTrackablePatternImage (int trackableUID, int patternID, uint32_t *buffer)
	Gets a pattern image associated with a trackable. More...
ARX_EXTERN void	arwSetTrackableOptionBool (int trackableUID, int option, bool value)
	Set boolean options associated with a trackable. More...
ARX_EXTERN void	arwSetTrackableOptionInt (int trackableUID, int option, int value)
	Set integer options associated with a trackable. More...
ARX_EXTERN void	arwSetTrackableOptionFloat (int trackableUID, int option, float value)
	Set floating-point options associated with a trackable. More...
ARX_EXTERN bool	arwGetTrackableOptionBool (int trackableUID, int option)
	Get boolean options associated with a trackable. More...
ARX_EXTERN int	arwGetTrackableOptionInt (int trackableUID, int option)
	Get integer options associated with a trackable. More...
ARX_EXTERN float	arwGetTrackableOptionFloat (int trackableUID, int option)
	Get floating-point options associated with a trackable. More...
ARX_EXTERN bool	arwLoadOpticalParams (const char *optical_param_name, const char *optical_param_buff, const int optical_param_buffLen, const float projectionNearPlane, const float projectionFarPlane, float *fovy_p, float *aspect_p, float m[16], float p[16])
	Loads an optical parameters structure from file or from buffer. More...

Enumeration Type Documentation

anonymous enum

anonymous enum

Specifies desired horizontal alignment of video frames in drawing graphics context.

Enumerator
ARW_H_ALIGN_LEFT	Align the left edge of the video frame with the left edge of the context.
ARW_H_ALIGN_CENTRE	Align the centre of the video frame with the centre of the context.
ARW_H_ALIGN_RIGHT	Align the right edge of the video frame with the right edge of the context.

anonymous enum

anonymous enum

Specifies desired vertical alignment of video frames in drawing graphics context.

Enumerator
ARW_V_ALIGN_TOP	Align the top edge of the video frame with the top edge of the context.
ARW_V_ALIGN_CENTRE	Align the centre of the video frame with the centre of the context.
ARW_V_ALIGN_BOTTOM	Align the bottom edge of the video frame with the bottom edge of the context.

anonymous enum

anonymous enum

Specifies desired scaling of video frames to drawing graphics context.

Enumerator
ARW_SCALE_MODE_FIT	Scale the video frame proportionally up or down so that it fits visible in its entirety in the graphics context. When the graphics context is wider than the frame, it will be pillarboxed. When the graphics context is taller than the frame, it will be letterboxed.
ARW_SCALE_MODE_FILL	Scale the video frame proportionally up or down so that it fills the entire in the graphics context. When the graphics context is wider than the frame, the frame will be cropped top and/or bottom. When the graphics context is taller than the frame, the frame will be cropped left and/or right.
ARW_SCALE_MODE_STRETCH	Scale the video frame non-proportionally up or down so that it matches exactly the size of the graphics context. If the frame and the context have different aspect ratios, the frame will appear stretched or squashed.
ARW_SCALE_MODE_1_TO_1	Do not scale the video frame. One pixel of the video frame will be represented by one pixel of the graphics context.

anonymous enum

anonymous enum

Constants for use with tracker option setters/getters.

Enumerator
ARW_TRACKER_OPTION_NFT_MULTIMODE	int.
ARW_TRACKER_OPTION_SQUARE_THRESHOLD	Threshold value used for image binarization. int in range [0-255].
ARW_TRACKER_OPTION_SQUARE_THRESHOLD_MODE	Threshold mode used for image binarization. int.
ARW_TRACKER_OPTION_SQUARE_LABELING_MODE	int.
ARW_TRACKER_OPTION_SQUARE_PATTERN_DETECTION_MODE	int.
ARW_TRACKER_OPTION_SQUARE_BORDER_SIZE	float in range (0-0.5).
ARW_TRACKER_OPTION_SQUARE_MATRIX_CODE_TYPE	int.
ARW_TRACKER_OPTION_SQUARE_IMAGE_PROC_MODE	int.
ARW_TRACKER_OPTION_SQUARE_DEBUG_MODE	Enables or disable state of debug mode in the tracker. When enabled, a black and white debug image is generated during marker detection. The debug image is useful for visualising the binarization process and choosing a threshold value. bool.
ARW_TRACKER_OPTION_SQUARE_PATTERN_SIZE	Number of rows and columns in square template (pattern) markers. Defaults to AR_PATT_SIZE1, which is 16 in all versions of ARToolKit prior to 5.3. int.
ARW_TRACKER_OPTION_SQUARE_PATTERN_COUNT_MAX	Maximum number of square template (pattern) markers that may be loaded at once. Defaults to AR_PATT_NUM_MAX, which is at least 25 in all versions of ARToolKit prior to 5.3. int.
ARW_TRACKER_OPTION_2D_TRACKER_FEATURE_TYPE	Feature detector type used in the 2d Tracker - 0 AKAZE, 1 ORB, 2 BRISK, 3 KAZE.

anonymous enum

anonymous enum

Constants for use with trackable option setters/getters.

Enumerator
ARW_TRACKABLE_OPTION_FILTERED	bool, true for filtering enabled.
ARW_TRACKABLE_OPTION_FILTER_SAMPLE_RATE	float, sample rate for filter calculations.
ARW_TRACKABLE_OPTION_FILTER_CUTOFF_FREQ	float, cutoff frequency of filter.
ARW_TRACKABLE_OPTION_SQUARE_USE_CONT_POSE_ESTIMATION	bool, true to use continuous pose estimate.
ARW_TRACKABLE_OPTION_SQUARE_CONFIDENCE	float, confidence value of most recent marker match
ARW_TRACKABLE_OPTION_SQUARE_CONFIDENCE_CUTOFF	float, minimum allowable confidence value used in marker matching.
ARW_TRACKABLE_OPTION_NFT_SCALE	float, scale factor applied to NFT marker size.
ARW_TRACKABLE_OPTION_MULTI_MIN_SUBMARKERS	int, minimum number of submarkers for tracking to be valid.
ARW_TRACKABLE_OPTION_MULTI_MIN_CONF_MATRIX	float, minimum confidence value for submarker matrix tracking to be valid.
ARW_TRACKABLE_OPTION_MULTI_MIN_CONF_PATTERN	float, minimum confidence value for submarker pattern tracking to be valid.
ARW_TRACKABLE_OPTION_MULTI_MIN_INLIER_PROB	float, minimum inlier probability value for robust multimarker pose estimation (range 1.0 - 0.0).

Function Documentation

arwAddTrackable()

ARX_EXTERN int arwAddTrackable

(

const char *

cfg

)

Adds a trackable as specified in the given configuration string.

The format of the string can be one of:

• Square marker from pattern file: "single;pattern_file;pattern_width", e.g. "single;data/hiro.patt;80"
• Square marker from pattern passed in config: "single_buffer;pattern_width;buffer=[]", e.g. "single_buffer;80;buffer=234 221 237..."
• Square barcode marker: "single_barcode;barcode_id;pattern_width", e.g. "single_barcode;0;80"
• Multi-square marker: "multi;config_file", e.g. "multi;data/multi/marker.dat"
• Multi-square auto marker: "multi;origin_barcode_id;pattern_width", e.g. "multi;0;80.0"
• NFT marker: "nft;nft_dataset_pathname", e.g. "nft;gibraltar"

  Parameters

  cfg	The configuration string

  Returns

  The unique identifier (UID) of the trackable instantiated based on the configuration string, or -1 if an error occurred

arwCapture()

ARX_EXTERN bool arwCapture

(

)

Captures a newest frame from the video source.

Returns

true if successful, false if an error occurred

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arwChangeToResourcesDir()

ARX_EXTERN bool arwChangeToResourcesDir

(

const char *

resourcesDirectoryPath

)

Changes the working directory to the resources directory used by artoolkitX.

Normally, this would be called immediately after arwInitialiseAR()

Returns

true if successful, false if an error occurred

See also

arwInitialiseAR()

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arwDrawVideo()

ARX_EXTERN bool arwDrawVideo

(

const int

videoSourceIndex

)

Draws the latest frame from the video source in the active graphics context.

This function performs actual drawing of the latest video frame.

This function must only be called with a graphics context active (typically from the rendering thread) and only while arwIsRunning is true and only between calls to arwDrawVideoInit and arwDrawVideoFinal, and after at least one call to arwDrawVideoSettings.

Parameters

videoSourceIndex

The 0-based index of the video source which is supplying frames for drawing.

Returns

true if successful, false if an error occurred.

See also

arwIsRunning

arwDrawVideoInit

arwDrawVideoFinal

arwDrawVideoSettings

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arwDrawVideoFinal()

ARX_EXTERN bool arwDrawVideoFinal

(

const int

videoSourceIndex

)

Finalise drawing of video frames in a graphics context.

When drawing of video frames is no longer required, this function must be called to clean up structures allocated by the call to arwDrawVideoInit.

This function must only be called with a graphics context active (typically from the rendering thread).

Parameters

videoSourceIndex

The 0-based index of the video source which supplied frames for drawing.

Returns

true if successful, false if an error occurred.

See also

arwDrawVideoInit

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arwDrawVideoInit()

ARX_EXTERN bool arwDrawVideoInit

(

const int

videoSourceIndex

)

Initialise drawing of video frames in a graphics context.

If drawing of video frames into a graphics context is desired, this function must be called from the rendering thread to initialise graphics library structures for future drawing of video frames.

This function must be called only with a valid graphics context active (typically from the rendering thread) and only when the function arwIsRunning() returns true.

When drawing of video frames is no longer required, the function arwDrawVideoFinal must be called to clean up structures allocated by this call.

Parameters

videoSourceIndex

The 0-based index of the video source which will supply frames for drawing. Normally 0, but for the second camera in a stereo pair, 1.

Returns

true if successful, false if an error occurred.

See also

arwIsRunning

arwDrawVideoFinal

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arwDrawVideoSettings()

ARX_EXTERN bool arwDrawVideoSettings	(	int	videoSourceIndex,
		int	width,
		int	height,
		bool	rotate90,
		bool	flipH,
		bool	flipV,
		int	hAlign,
		int	vAlign,
		int	scalingMode,
		int32_t	viewport[4]
	)

Specify the layout of the graphics context in which drawing of video frames will occur.

As the layout of the graphics context (e.g. size, orientation) may differ widely from the format of the video frames which are to be drawn, this function specifies the layout of the graphics context and the desired scaling and positioning of the video frames within this context. Optionally, a calculated OpenGL-style viewport can be returned to the caller.

This function must only be called with a graphics context active (i.e. typically called only from a rendering thread) and only while arwIsRunning is true and only between calls to arwDrawVideoInit and arwDrawVideoFinal.

Parameters

videoSourceIndex	The 0-based index of the video source which is supplying frames for drawing. Normally 0, but for the second camera in a stereo pair, 1.
width	The width in pixels of the graphics context.
height	The height in pixels of the graphics context.
rotate90	If true, content should be rendered in the graphics context rotated 90-degrees.
flipH	If true, content should be rendered in the graphics context mirrored (flipped) in the horizontal dimension.
flipV	If true, content should be rendered in the graphics context mirrored (flipped) in the vertical dimension.
hAlign	An enum ARW_H_ALIGN_* specifying the desired horizontal alignment of video frames in the graphics context. If unsure, pass ARW_H_ALIGN_CENTRE.
vAlign	An enum ARW_V_ALIGN_* specifying the desired vertical alignment of video frames in the graphics context. If unsure, pass ARW_V_ALIGN_CENTRE.
scalingMode	An enum ARW_SCALE_MODE_* specifying the desired scaling of the video frames to the graphics context. If unsure, pass ARW_SCALE_MODE_FIT.
viewport	If non-null, must be an array of 4 32-bit signed integers, in which the calculated OpenGL-style viewport parameters will be returned. The order of the parameters is: x-coordinate of the left edge of the viewport (may be negative), the y-coordinate of the bottom edge of the viewport (may be negative), the width of the viewport in the x-axis in pixels, and the height of the viewport in the y-axis in pixels.

Returns

true if successful, false if an error occurred.

See also

arwIsRunning

arwDrawVideoInit

arwDrawVideoFinal

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arwGetARToolKitVersion()

ARX_EXTERN bool arwGetARToolKitVersion	(	char *	buffer,
		int	length
	)

Gets the artoolkitX version as a string, such as "10.0.0".

Must not be called prior to arwInitialiseAR().

Parameters

buffer	The character buffer to populate
length	The maximum number of characters to set in buffer

Returns

true if successful, false if an error occurred

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arwGetError()

ARX_EXTERN int arwGetError

(

)

Return error information Returns the value of the error flag.

Each detectable error is assigned a numeric code and symbolic name. When an error occurs, the error flag is set to the appropriate error code value. No other errors are recorded until arwGetError is called, the error code is returned, and the flag is reset to AR_ERROR_NONE. If a call to arwGetError returns AR_ERROR_NONE, there has been no detectable error since the last call to arwGetError, or since the the library was initialized.

To allow for distributed implementations, there may be several error flags. If any single error flag has recorded an error, the value of that flag is returned and that flag is reset to AR_ERROR_NONE when arwGetError is called. If more than one flag has recorded an error, arwGetError returns and clears an arbitrary error flag value. Thus, arwGetError should always be called in a loop, until it returns AR_ERROR_NONE, if all error flags are to be reset.

Initially, all error flags are set to AR_ERROR_NONE.

Returns

enum with error code.

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arwGetProjectionMatrix()

ARX_EXTERN bool arwGetProjectionMatrix	(	const float	nearPlane,
		const float	farPlane,
		float	p[16]
	)

Populates the given float array with the projection matrix computed from camera parameters for the video source.

Parameters

nearPlane	Near plane distance for projection matrix calculation.
farPlane	Far plane distance for projection matrix calculation.
p	Float array to populate with OpenGL compatible projection matrix.

Returns

true if successful, false if an error occurred

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arwGetProjectionMatrixStereo()

ARX_EXTERN bool arwGetProjectionMatrixStereo	(	const float	nearPlane,
		const float	farPlane,
		float	pL[16],
		float	pR[16]
	)

Populates the given float arrays with the projection matrices computed from camera parameters for each of the stereo video sources.

Parameters

nearPlane	Near plane distance for projection matrix calculation.
farPlane	Far plane distance for projection matrix calculation.
pL	Float array to populate with OpenGL compatible projection matrix for the left camera of the stereo video pair.
pR	Float array to populate with OpenGL compatible projection matrix for the right camera of the stereo video pair.

Returns

true if successful, false if an error occurred

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arwGetTrackableOptionBool()

ARX_EXTERN bool arwGetTrackableOptionBool	(	int	trackableUID,
		int	option
	)

Get boolean options associated with a trackable.

Parameters

trackableUID	The unique identifier (UID) of the trackable
option	Symbolic constant identifying trackable option to get.

Returns

true if option is set, false if option is not set or an error occurred.

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arwGetTrackableOptionFloat()

ARX_EXTERN float arwGetTrackableOptionFloat	(	int	trackableUID,
		int	option
	)

Get floating-point options associated with a trackable.

Parameters

trackableUID	The unique identifier (UID) of the trackable
option	Symbolic constant identifying trackable option to get.

Returns

floating-point value of option, or NAN if an error occurred.

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arwGetTrackableOptionInt()

ARX_EXTERN int arwGetTrackableOptionInt	(	int	trackableUID,
		int	option
	)

Get integer options associated with a trackable.

Parameters

trackableUID	The unique identifier (UID) of the trackable
option	Symbolic constant identifying trackable option to get.

Returns

integer value of option, or INT_MIN if an error occurred.

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arwGetTrackablePatternConfig()

ARX_EXTERN bool arwGetTrackablePatternConfig	(	int	trackableUID,
		int	patternID,
		float	matrix[16],
		float *	width,
		float *	height,
		int *	imageSizeX,
		int *	imageSizeY
	)

Gets configuration of a pattern associated with a trackable.

Parameters

trackableUID	The unique identifier (UID) of the trackable
patternID	The id of the pattern within the trackable, in range from 0 to arwGetTrackablePatternCount() - 1, inclusive. Ignored for single square markers and NFT markers (i.e. 0 assumed).
matrix	The float array to populate with the 4x4 transformation matrix of the pattern (column-major order).
width	Float value to set to the width of the pattern
height	Float value to set to the height of the pattern.
imageSizeX	Int value to set to the width of the pattern image (in pixels).
imageSizeY	Int value to set to the height of the pattern image (in pixels).

Returns

true if successful, false if an error occurred

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arwGetTrackablePatternCount()

ARX_EXTERN int arwGetTrackablePatternCount

(

int

trackableUID

)

Returns the number of pattern images associated with the specified trackable.

A single square marker trackable has one pattern image. A multi-square marker trackable has one or more pattern images. Images of NFT marker trackables are not currently supported, so at present this function will return 0 for NFT trackables.

Parameters

trackableUID

The unique identifier (UID) of the trackable

Returns

The number of pattern images.

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arwGetTrackablePatternImage()

ARX_EXTERN bool arwGetTrackablePatternImage	(	int	trackableUID,
		int	patternID,
		uint32_t *	buffer
	)

Gets a pattern image associated with a trackable.

The provided color buffer is populated with the image of the pattern for the specified trackable. If the trackable is a multi-square marker, then the pattern image specified by patternID is used. Images of NFT marker trackables are not currently supported, so at present this function will return no image for NFT trackables.

Parameters

trackableUID	The unique identifier (UID) of the trackable
patternID	The id for the pattern within that trackable. Ignored for single square marker and NFT marker trackables.
buffer	Pointer to a buffer of pixels (of type 'uint32_t') to be filled with pattern image. It is the caller's responsibility to ensure that the buffer is of sufficient size. Use arwGetTrackablePatternConfig to get the required size of this array (imageSizeX * imageSizeY elements). The pixels are RGBA in little-endian systems, or ABGR in big-endian systems.

Returns

true if successful, false if an error occurred

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arwGetTrackables()

ARX_EXTERN bool arwGetTrackables	(	int *	count_p,
		ARWTrackableStatus **	statuses_p
	)

Gets all current trackables and their status.

Parameters

count_p	Pointer to a location which will be filled with the number of trackable statuses in the array pointed to by statuses_p.
statuses_p	Pointer to a location which will be filled with a pointer to the first element of an array of trackable statuses, or NULL if the current status is not required. This array is allocated internally and must be deallocated (by calling free() on the pointer) when the caller has finished using the array.

Returns

true if the function proceeded without error, false if an error occurred

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arwGetTrackerOptionBool()

ARX_EXTERN bool arwGetTrackerOptionBool

(

int

option

)

Get boolean options associated with a tracker.

Parameters

option

Symbolic constant identifying tracker option to get.

Returns

true if option is set, false if option is not set or an error occurred.

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arwGetTrackerOptionFloat()

ARX_EXTERN float arwGetTrackerOptionFloat

(

int

option

)

Get floating-point options associated with a tracker.

Parameters

option

Symbolic constant identifying tracker option to get.

Returns

floating-point value of option, or NAN if an error occurred.

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arwGetTrackerOptionInt()

ARX_EXTERN int arwGetTrackerOptionInt

(

int

option

)

Get integer options associated with a tracker.

Parameters

option

Symbolic constant identifying tracker option to get.

Returns

integer value of option, or INT_MAX if an error occurred.

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arwGetVideoParams()

ARX_EXTERN bool arwGetVideoParams	(	int *	width,
		int *	height,
		int *	pixelSize,
		char *	pixelFormatStringBuffer,
		int	pixelFormatStringBufferLen
	)

Returns the parameters of the video source frame.

Parameters

width	Pointer to an int which will be filled with the width (in pixels) of the video frame, or NULL if this information is not required.
height	Pointer to an int which will be filled with the height (in pixels) of the video frame, or NULL if this information is not required.
pixelSize	Pointer to an int which will be filled with the numbers of bytes per pixel of the source frame.
pixelFormatStringBuffer	Pointer to a buffer which will be filled with the symolic name of the pixel format (as a nul-terminated C-string) of the video frame, or NULL if this information is not required. The name will be of the form "AR_PIXEL_FORMAT_xxx".
pixelFormatStringBufferLen	Length (in bytes) of pixelFormatStringBuffer, or 0 if this information is not required.

Returns

True if the values were returned OK, false if there is currently no video source or an error int[] .

See also

arwGetVideoParamsStereo

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arwGetVideoParamsStereo()

ARX_EXTERN bool arwGetVideoParamsStereo	(	int *	widthL,
		int *	heightL,
		int *	pixelSizeL,
		char *	pixelFormatStringBufferL,
		int	pixelFormatStringBufferLenL,
		int *	widthR,
		int *	heightR,
		int *	pixelSizeR,
		char *	pixelFormatStringBufferR,
		int	pixelFormatStringBufferLenR
	)

Returns the parameters of the video source frames.

Parameters

widthL	Pointer to an int which will be filled with the width (in pixels) of the video frame, or NULL if this information is not required.
widthR	Pointer to an int which will be filled with the width (in pixels) of the video frame, or NULL if this information is not required.
heightL	Pointer to an int which will be filled with the height (in pixels) of the video frame, or NULL if this information is not required.
heightR	Pointer to an int which will be filled with the height (in pixels) of the video frame, or NULL if this information is not required.
pixelSizeL	Pointer to an int which will be filled with the numbers of bytes per pixel of the source frame, or NULL if this information is not required.
pixelSizeR	Pointer to an int which will be filled with the numbers of bytes per pixel of the source frame, or NULL if this information is not required.
pixelFormatStringBufferL	Pointer to a buffer which will be filled with the symbolic name of the pixel format (as a nul-terminated C-string) of the video frame, or NULL if this information is not required. The name will be of the form "AR_PIXEL_FORMAT_xxx".
pixelFormatStringBufferR	Pointer to a buffer which will be filled with the symbolic name of the pixel format (as a nul-terminated C-string) of the video frame, or NULL if this information is not required. The name will be of the form "AR_PIXEL_FORMAT_xxx".
pixelFormatStringBufferLenL	Length (in bytes) of pixelFormatStringBufferL, or 0 if this information is not required.
pixelFormatStringBufferLenR	Length (in bytes) of pixelFormatStringBufferR, or 0 if this information is not required.

Returns

True if the values were returned OK, false if there is currently no stereo video source or an error int[] .

See also

arwGetVideoParams

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arwInitialiseAR()

ARX_EXTERN bool arwInitialiseAR

(

)

Initialises the artoolkitX.

For any square template (pattern) marker trackables, the number of rows and columns in the template defaults to AR_PATT_SIZE1 and the maximum number of markers that may be loaded for a single matching pass defaults to AR_PATT_NUM_MAX.

Returns

true if successful, false if an error occurred

See also

arwShutdownAR()

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arwIsInited()

ARX_EXTERN bool arwIsInited

(

)

Returns true if artoolkitX is initialized and read for adding trackables.

Returns

true when running, otherwise false

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arwIsRunning()

ARX_EXTERN bool arwIsRunning

(

)

Returns true if artoolkitX is running, i.e.

detecting trackables.

Returns

true when running, otherwise false

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arwLoadOpticalParams()

ARX_EXTERN bool arwLoadOpticalParams	(	const char *	optical_param_name,
		const char *	optical_param_buff,
		const int	optical_param_buffLen,
		const float	projectionNearPlane,
		const float	projectionFarPlane,
		float *	fovy_p,
		float *	aspect_p,
		float	m[16],
		float	p[16]
	)

Loads an optical parameters structure from file or from buffer.

Parameters

optical_param_name	If supplied, points to a buffer specifying the path to the optical parameters file (as generated by the calib_optical utility.)
optical_param_buff	If optical_param_name is NULL, the contents of this buffer will be interpreted as containing the contents of an optical parameters file.
optical_param_buffLen	Length of the buffer specified in optical_param_buff. Ignored if optical_param_buff is NULL.
projectionNearPlane	If p is non-NULL, near plane distance for projection matrix calculation.
projectionFarPlane	If p is non-NULL, far plane distance for projection matrix calculation.
fovy_p	Pointer to a float, which will be filled with the field-of-view (Y axis) component of the optical parameters, in degrees.
aspect_p	Pointer to a float, which will be filled with the aspect ratio (width / height) component of the optical parameters.
m	Pointer to an array of 16 floats, which will be filled with the transformation matrix component of the optical parameters.
p	(Optional) May be NULL, or a pointer to an array of 16 floats, which will be filled with the perspective matrix calculated from fovy and aspect combined with the near and far projection values supplied in projectionNearPlane and projectionFarPlane.

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arwQueryTrackableVisibilityAndTransformation()

ARX_EXTERN bool arwQueryTrackableVisibilityAndTransformation	(	int	trackableUID,
		float	matrix[16]
	)

Returns the visibility and pose of the specified trackable.

After a call to arwUpdate, all trackable information will be current. Any trackable can then be checked for visibility in the current frame, and if visible, additionally queried for its pose.

Parameters

trackableUID	The unique identifier (UID) of the trackable to query.
matrix	A float array to populate with an OpenGL-compatible transformation matrix.

Returns

true if the specified trackable is visible, false if not, or an error occurred.

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arwQueryTrackableVisibilityAndTransformationStereo()

ARX_EXTERN bool arwQueryTrackableVisibilityAndTransformationStereo	(	int	trackableUID,
		float	matrixL[16],
		float	matrixR[16]
	)

Returns the visibility and stereo pose of the specified trackable.

After a call to arwUpdate, all trackable information will be current. Any trackable can then be checked for visibility in the current frame, and if visible, additionally queried for its pose.

Parameters

trackableUID	The unique identifier (UID) of the trackable to query
matrixL	The float array to populate with an OpenGL-compatible transformation matrix for the left camera.
matrixR	The float array to populate with an OpenGL-compatible transformation matrix for the right camera.

Returns

true if the specified trackable is visible, false if not, or an error occurred

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arwRegisterLogCallback()

ARX_EXTERN void arwRegisterLogCallback

(

PFN_LOGCALLBACK

callback

)

Registers a callback function to use when a message is logged.

If the callback is to become invalid, be sure to call this function with NULL first so that the callback is unregistered.

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arwRemoveAllTrackables()

ARX_EXTERN int arwRemoveAllTrackables

(

)

Clears the collection of trackables.

Returns

The number of trackables removed

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arwRemoveTrackable()

ARX_EXTERN bool arwRemoveTrackable

(

int

trackableUID

)

Removes the trackable with the given unique identifier (UID).

Parameters

trackableUID

The unique identifier (UID) of the trackable to remove

Returns

true if the trackable was removed, false if an error occurred

arwSetLogLevel()

ARX_EXTERN void arwSetLogLevel

(

const int

logLevel

)

arwSetTrackableOptionBool()

ARX_EXTERN void arwSetTrackableOptionBool	(	int	trackableUID,
		int	option,
		bool	value
	)

Set boolean options associated with a trackable.

Parameters

trackableUID	The unique identifier (UID) of the trackable
option	Symbolic constant identifying trackable option to set.
value	The value to set it to.

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arwSetTrackableOptionFloat()

ARX_EXTERN void arwSetTrackableOptionFloat	(	int	trackableUID,
		int	option,
		float	value
	)

Set floating-point options associated with a trackable.

Parameters

trackableUID	The unique identifier (UID) of the trackable
option	Symbolic constant identifying trackable option to set.
value	The value to set it to.

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arwSetTrackableOptionInt()

ARX_EXTERN void arwSetTrackableOptionInt	(	int	trackableUID,
		int	option,
		int	value
	)

Set integer options associated with a trackable.

Parameters

trackableUID	The unique identifier (UID) of the trackable
option	Symbolic constant identifying trackable option to set.
value	The value to set it to.

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arwSetTrackerOptionBool()

ARX_EXTERN void arwSetTrackerOptionBool	(	int	option,
		bool	value
	)

Set boolean options associated with a tracker.

Parameters

option	Symbolic constant identifying tracker option to set.
value	The value to set it to.

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arwSetTrackerOptionFloat()

ARX_EXTERN void arwSetTrackerOptionFloat	(	int	option,
		float	value
	)

Set floating-point options associated with a tracker.

Parameters

option	Symbolic constant identifying tracker option to set.
value	The value to set it to.

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arwSetTrackerOptionInt()

ARX_EXTERN void arwSetTrackerOptionInt	(	int	option,
		int	value
	)

Set integer options associated with a tracker.

Parameters

option	Symbolic constant identifying tracker option to set.
value	The value to set it to.

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arwShutdownAR()

ARX_EXTERN bool arwShutdownAR

(

)

Shuts down the artoolkitX and frees all resources.

N.B.: If this is being called from the destructor of the same module which supplied the log callback, be sure to call arwRegisterLogCallback(NULL) prior to calling this function.

Returns

true if successful, false if an error occurred

See also

arwInitialiseAR()

arwStartRunning()

ARX_EXTERN bool arwStartRunning	(	const char *	vconf,
		const char *	cparaName
	)

Initialises and starts video capture.

Parameters

vconf	The video configuration string
cparaName	The camera parameter file, which is used to form the projection matrix

Returns

true if successful, false if an error occurred

See also

arwStopRunning()

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arwStartRunningB()

ARX_EXTERN bool arwStartRunningB	(	const char *	vconf,
		const char *	cparaBuff,
		const int	cparaBuffLen
	)

Initialises and starts video capture.

Parameters

vconf	The video configuration string
cparaBuff	A string containing the contents of a camera parameter file, which is used to form the projection matrix.
cparaBuffLen	Number of characters in cparaBuff.

Returns

true if successful, false if an error occurred

See also

arwStopRunning()

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arwStartRunningStereo()

ARX_EXTERN bool arwStartRunningStereo	(	const char *	vconfL,
		const char *	cparaNameL,
		const char *	vconfR,
		const char *	cparaNameR,
		const char *	transL2RName
	)

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arwStartRunningStereoB()

ARX_EXTERN bool arwStartRunningStereoB	(	const char *	vconfL,
		const char *	cparaBuffL,
		const int	cparaBuffLenL,
		const char *	vconfR,
		const char *	cparaBuffR,
		int	cparaBuffLenR,
		const char *	transL2RBuff,
		const int	transL2RBuffLen
	)

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arwStopRunning()

ARX_EXTERN bool arwStopRunning

(

)

Stops video capture and frees video capture resources.

Returns

true if successful, false if an error occurred

See also

arwStartRunning()

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arwUpdateAR()

ARX_EXTERN bool arwUpdateAR

(

)

Performs tracking and trackable updates.

The newest frame from the video source is retrieved and analysed. All loaded trackables are updated.

Returns

true if successful, false if an error occurred

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arwUpdateTexture32()

ARX_EXTERN bool arwUpdateTexture32

(

uint32_t *

buffer

)

Asks the video source to push the most recent frame into the passed-in buffer.

Parameters

buffer

Pointer to a buffer of pixels (of type 'uint32_t') to be filled with video. It is the caller's responsibility to ensure that the buffer is of sufficient size, e.g. using arwGetVideoParams. The pixels are RGBA in little-endian systems, or ABGR in big-endian systems.

Returns

true if successful, false if an error occurred

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arwUpdateTexture32Stereo()

ARX_EXTERN bool arwUpdateTexture32Stereo	(	uint32_t *	bufferL,
		uint32_t *	bufferR
	)

Asks the video source to push the most recent stereo frame into the passed-in buffer.

Parameters

bufferL	Pointer to a buffer of pixels (of type 'uint32_t') to be filled with video from the left camera. It is the caller's responsibility to ensure that the buffer is of sufficient size, e.g. using arwGetVideoParamsStereo. The pixels are RGBA in little-endian systems, or ABGR in big-endian systems.
bufferR	Pointer to a buffer of pixels (of type 'uint32_t') to be filled with video from the right camera. It is the caller's responsibility to ensure that the buffer is of sufficient size, e.g. using arwGetVideoParamsStereo. The pixels are RGBA in little-endian systems, or ABGR in big-endian systems.

Returns

true if successful, false if an error occurred

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