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ARToolKit.js

Emscripten port of ARToolKit to JavaScript

Project Structure

  • web (demos and examples using ARToolKit.js)
  • tools (build scripts for building ARToolKit.js)
  • emscripten (source code for ARToolKit.js)
  • builds (compiled versions of ARToolKit.js)
  • docs (documentation, coming...)

Build Instructions

  1. Install Emscripten (w/ node.js + python)
  2. Configure parameters in jsartoolkit/tools/makem.js
  3. Run node jsartoolkit/tools/makem.js (Make sure EMSCRIPTEN env variable is set. E.g. EMSCRIPTEN=/usr/lib/emsdk_portable/emscripten/master/ node jsartoolkit/tools/makem)
  4. The built ASM.js files are in jsartoolkit/build. There's a build with debug symbols in artoolkit.debug.js and the optimized build with bundled JS API in artoolkit.min.js.

ARToolKit JS API

<script async src="jsartoolkit/build/artoolkit.min.js></script> - include optimized ASM.js build and JS API

ARToolKit JS debug build

<script src="jsartoolkit/build/artoolkit.debug.js></script> - include debug build

<script src="jsartoolkit/js/artoolkit.api.js></script> - include JS API

ARToolKit Three.js helper API

<script async src="jsartoolkit/build/artoolkit.min.js></script> - include optimized ASM.js build and JS API

<script async src="three.min.js"></script> - include Three.js

<script async src="jsartoolkit/js/artoolkit.three.js></script> - include Three.js helper API

<script>
window.ARThreeOnLoad = function() {
    console.log("Three.js helper API loaded");
};

if (window.ARController && window.ARController.getUserMediaThreeScene) {
    ARThreeOnLoad();
}
</script>

Examples

See jsartoolkit/examples for examples on using the raw API and the Three.js helper API.

The basic operation goes like this: load a camera param, create an AR controller, set pattern detection mode, load pattern markers or multimarkers if needed, add a getMarker event listener, and call the AR controller's process method with the image.

<script src="jsartoolkit/build/artoolkit.min.js"></script>
<script>
    var param = new ARCameraParam();
    param.onload = function() {
        var img = document.getElementById('my-image');
        var ar = new ARController(img.width, img.height, param);

        // Set pattern detection mode to detect both pattern markers and barcode markers.
        // This is more error-prone than detecting only pattern markers (default) or only barcode markers.
        //
        // For barcode markers, use artoolkit.AR_MATRIX_CODE_DETECTION
        // For pattern markers, use artoolkit.AR_TEMPLATE_MATCHING_COLOR
        // 
        ar.setPatternDetectionMode(artoolkit.AR_TEMPLATE_MATCHING_COLOR_AND_MATRIX);

        ar.addEventListener('markerNum', function(ev) {
            console.log('got markers', markerNum);
        })
        ar.addEventListener('getMarker', function(ev) {
            console.log('found marker?', ev);
        })

        ar.loadMarker('Data/patt.hiro', function(marker) {
            console.log('loaded marker', marker);
            ar.process(img);
        });
    };
    param.src = 'Data/camera_para.dat';

Public

the calls your JS apps needs

  • artoolkit.init(path, camera_param_path) - load path for artoolkit emscripten files
  • artoolkit.onReady(callback) - runs callback when artoolkit has completely downloaded, initalized and ready to run
  • artoolkit.setup(width, height); - initalize a buffer size for a canvas of width & height
  • artoolkit.process(canvas); - extracts a frame from a canvas and process it
  • artoolkit.debugSetup() - enables debugging, adds a threshold image to the dom
  • artoolkit.getDetectedMarkers() - returns an array of detected markers from last detection process
  • artoolkit.getCameraMatrix() -
  • artoolkit.getTransformationMatrix() -

Internals

calls called from emscripten runtime -> artoolkit.js

  • artoolkit.onFrameMalloc(object) - gets called when frame buffer gets allocated for canvas
  • artoolkit.onMarkerNum(number) - gets called with the numbers of markers detected
  • artoolkit.onGetMarker(object, index) - gets called with the marker struct for the positioned marker

calls available from js -> emscripten

  • _setup(width, height)
  • _setThreshold(int) - 0 to 255
  • _process()
  • _setDebugMode(boolean)
  • _addMarker(string)
  • setThreshold
  • setThresholdMode() eg. `Module.setThresholdMode(Module.AR_LABELING_THRESH_MODE_AUTO_MEDIAN / AR_LABELING_THRESH_MODE_AUTO_OTSU );
  • setLabelingMode
  • setPatternDetectionMode
  • setMatrixCodeType() : Eg. Module.setMatrixCodeType(Module.AR_MATRIX_CODE_3x3);
  • setImageProcMode
  • setPattRatio

Examples

artoolkit.init('', 'camera_para.dat').onReady(function() {
  artoolkit.setProjectionNearPlane(1);
  artoolkit.setProjectionFarPlane(1000);
  artoolkit.setPatternDetectionMode(artoolkit.CONSTANTS.AR_MATRIX_CODE_DETECTION);
  artoolkit.setMatrixCodeType(artoolkit.CONSTANTS.AR_MATRIX_CODE_4x4);
})

artoolkit.init('', 'camera_para.dat').onReady(function() {
  artoolkit.addMarker('../bin/Data/patt.hiro', function(marker) {
    artoolkit.process(v);
  })
})

Constants

prepend all these constants with Module. or artoolkit.CONSTANTS to access them

- AR_DEBUG_DISABLE
- AR_DEBUG_ENABLE
- AR_DEFAULT_DEBUG_MODE
- AR_LABELING_WHITE_REGION
- AR_LABELING_BLACK_REGION
- AR_DEFAULT_LABELING_MODE
- AR_DEFAULT_LABELING_THRESH
- AR_IMAGE_PROC_FRAME_IMAGE
- AR_IMAGE_PROC_FIELD_IMAGE
- AR_DEFAULT_IMAGE_PROC_MODE
- AR_TEMPLATE_MATCHING_COLOR
- AR_TEMPLATE_MATCHING_MONO
- AR_MATRIX_CODE_DETECTION
- AR_TEMPLATE_MATCHING_COLOR_AND_MATRIX
- AR_TEMPLATE_MATCHING_MONO_AND_MATRIX
- AR_DEFAULT_PATTERN_DETECTION_MODE
- AR_USE_TRACKING_HISTORY
- AR_NOUSE_TRACKING_HISTORY
- AR_USE_TRACKING_HISTORY_V2
- AR_DEFAULT_MARKER_EXTRACTION_MODE
- AR_MAX_LOOP_COUNT
- AR_LOOP_BREAK_THRESH
- AR_MATRIX_CODE_3x3
- AR_MATRIX_CODE_3x3_HAMMING63 5
- AR_MATRIX_CODE_3x3_PARITY65 2
- AR_MATRIX_CODE_4x4
- AR_MATRIX_CODE_4x4_BCH_13_9_3 7
- AR_MATRIX_CODE_4x4_BCH_13_5_5 10
- AR_LABELING_THRESH_MODE_MANUAL
- AR_LABELING_THRESH_MODE_AUTO_MEDIAN
- AR_LABELING_THRESH_MODE_AUTO_OTSU
- AR_LABELING_THRESH_MODE_AUTO_ADAPTIVE
- AR_MARKER_INFO_CUTOFF_PHASE_NONE
- AR_MARKER_INFO_CUTOFF_PHASE_PATTERN_EXTRACTION
- AR_MARKER_INFO_CUTOFF_PHASE_MATCH_GENERIC
- AR_MARKER_INFO_CUTOFF_PHASE_MATCH_CONTRAST
- AR_MARKER_INFO_CUTOFF_PHASE_MATCH_BARCODE_NOT_FOUND
- AR_MARKER_INFO_CUTOFF_PHASE_MATCH_BARCODE_EDC_FAIL
- AR_MARKER_INFO_CUTOFF_PHASE_MATCH_CONFIDENCE
- AR_MARKER_INFO_CUTOFF_PHASE_POSE_ERROR
- AR_MARKER_INFO_CUTOFF_PHASE_POSE_ERROR_MULTI
- AR_MARKER_INFO_CUTOFF_PHASE_HEURISTIC_TROUBLESOME_MATRIX_CODES