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Merge branch 'develop'
2 parents 4905df9 + 17bb865 commit 8416e84

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Lines changed: 41 additions & 2042 deletions

‎JenkinsFile‎

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@@ -4,14 +4,12 @@ node("master") {
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moduleName="SolARPipelineNaturalImageMarker"
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dirName="SolARBuild"
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buildDir="SolARPipeline_NaturalImageMarker"
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android=true
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}
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SolArModulePipeline {
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moduleName="SolARSample_NaturalImageMarker"
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dirName="SolARBuild"
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buildDir="SolARSample_NaturalImageMarker_Mono,SolARSample_NaturalImageMarker_Multi,SolARPipeline_NaturalImageMarker/tests/SolARPipelineTest_NaturalImageMarker"
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android=false
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buildDir="SolARPipeline_NaturalImageMarker/tests/SolARPipelineTest_NaturalImageMarker"
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packageScripts="bundleSamples"
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}
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‎README.md‎

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@@ -7,20 +7,20 @@ The SolAR **Natural Image Marker sample** show a SolAR pipeline for augmented re
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This pipeline loads a reference image marker, then tries to detect it on real-time camera images and to estimate the pose of the camera in relation to the coordinate system of the image marker. If the marker is detected, the pipeline over the current camera image renders a 3D cube from a virtual camera which pose corresponds to the one estimated by the pipeline.
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| ![](./SolARSample_NaturalImageMarker_Mono/standalone.jpg) | ![](./SolARPipeline_NaturalImageMarker/plugin.jpg) |
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| ![](./SolARPipeline_NaturalImageMarker/tests/SolARPipelineTest_NaturalImageMarker/standalone.jpg) | ![](./SolARPipeline_NaturalImageMarker/plugin.jpg) |
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|:-:|:-:|
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| SolARSample_NaturalImageMarker_Mono/SolARSample_NaturalImageMarker_Multi | SolARPipeline_NaturalImageMarker |
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| SolARPipelineTest_NaturalImageMarker | SolARPipeline_NaturalImageMarker |
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## How to run
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* To run it, first print the marker [graf1.png](./SolARSample_NaturalImageMarker_Mono/graf1.png).
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* To run it, first print the marker [graf1.png](./SolARPipeline_NaturalImageMarker/tests/SolARPipelineTest_NaturalImageMarker/graf1.png).
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* If you want to change your natural image, you can edit the [grafMarker.yml](./SolARSample_NaturalImageMarker_Mono/grafMarker.yml).
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* If you want to change your natural image, you can edit the [grafMarker.yml](./SolARPipeline_NaturalImageMarker/tests/SolARPipelineTest_NaturalImageMarker/grafMarker.yml).
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* If you want to change the calibration parameters of the camera, edit the [camera_calibration.json](./SolARSample_NaturalImageMarker_Mono/camera_calibration.json).
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* If you want to change the calibration parameters of the camera, edit the [camera_calibration.json](./SolARPipeline_NaturalImageMarker/tests/SolARPipelineTest_NaturalImageMarker/camera_calibration.json).
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* To change properties of the components of the natural pipeline, edit the [conf_NaturalImageMarker.xml](./SolARSample_NaturalImageMarker_Mono/conf_NaturalImageMarker.xml) file.
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* To change properties of the components of the natural pipeline, edit the [conf_NaturalImageMarker.xml](./SolARPipeline_NaturalImageMarker/tests/SolARPipelineTest_NaturalImageMarker/SolARPipelineTest_NaturalImageMarker_conf.xml) file.
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If you want to run your Natural image samples after having built them, do not forget to install the required dependencies if not already done:
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@@ -32,35 +32,7 @@ and for debug mode:
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For more information about how to install remaken on your machine, visit the [install page](https://solarframework.github.io/install/) on the SolAR website.
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### SolARSample_NaturalImageMarker_Mono
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37-
* Open a terminal in the `bin/Release` or `bin/Debug`folder and execute :
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> #### Windows
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>
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SolARSample_NaturalImageMarker_Mono.exe
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> #### Linux
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>
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./run.sh ./ SolARSample_NaturalImageMarker_Mono.exe
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* When the application is started, point the camera to the natural image marker (you can see a virtual cube on the marker).
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* Press `escape` to quit the application.
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### SolARSample_NaturalImageMarker_Multi
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* Open a terminal in the `bin/Release` or `bin/Debug`folder and execute :
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> #### Windows
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>
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SolARSample_NaturalImageMarker_Multi.exe
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> #### Linux
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>
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./run.sh ./SolARSample_NaturalImageMarker_Multi
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* When the application is started, point the camera to the natural image marker (you can see a virtual cube on the marker).
63-
* Press `escape` to quit the application.
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### SolARPipelineTest_NaturalImageMarker
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‎SolARPipeline_NaturalImageMarker/SolARPipeline_NaturalImageMarker.pro‎

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@@ -8,7 +8,7 @@ QMAKE_PROJECT_DEPTH = 0
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TARGET = SolARPipelineNaturalImageMarker
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INSTALLSUBDIR = SolARBuild
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FRAMEWORK = $$TARGET
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VERSION=0.11.0
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VERSION=1.0.0
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DEFINES += MYVERSION=$${VERSION}
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DEFINES += TEMPLATE_LIBRARY
@@ -53,30 +53,17 @@ unix {
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QMAKE_POST_LINK += "make install"
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}
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unix:!android {
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unix {
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QMAKE_CXXFLAGS += -Wignored-qualifiers
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}
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60-
macx {
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DEFINES += _MACOS_TARGET_
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QMAKE_MAC_SDK= macosx
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QMAKE_CFLAGS += -mmacosx-version-min=10.7 -std=c11 #-x objective-c++
64-
QMAKE_CXXFLAGS += -mmacosx-version-min=10.7 -std=c11 -std=c++11 -O3 -fPIC#-x objective-c++
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QMAKE_LFLAGS += -mmacosx-version-min=10.7 -v -lstdc++
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LIBS += -lstdc++ -lc -lpthread
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}
68-
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win32 {
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DEFINES += WIN64 UNICODE _UNICODE
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QMAKE_COMPILER_DEFINES += _WIN64
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QMAKE_CXXFLAGS += -wd4250 -wd4251 -wd4244 -wd4275
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}
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android {
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ANDROID_ABIS="arm64-v8a"
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}
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header_files.path = $${PROJECTDEPLOYDIR}/interfaces
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header_files.files = $$files($${PWD}/interfaces/*.h*)
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‎SolARPipeline_NaturalImageMarker/packagedependencies.txt‎

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@@ -1,2 +1,2 @@
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SolARFramework|0.11.0|SolARFramework|SolARBuild@github|https://github.com/SolarFramework/SolarFramework/releases/download
1+
SolARFramework|1.0.0|SolARFramework|SolARBuild@github|https://github.com/SolarFramework/SolarFramework/releases/download
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‎SolARPipeline_NaturalImageMarker/src/PipelineNaturalImageMarker.cpp‎

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@@ -21,7 +21,7 @@
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namespace xpcf=org::bcom::xpcf;
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// Declaration of the module embedding the fiducial marker pipeline
24-
XPCF_DECLARE_MODULE("5bbc1452-8d7f-4512-83f1-7bf48453809f", "NaturalImageMarkerModule", "The module embedding a pipeline to estimate the pose based on a natural image marker")
24+
XPCF_DECLARE_MODULE("5bbc1452-8d7f-4512-83f1-7bf48453809f", "SolARPipelineNaturalImageMarker", "The module embedding a pipeline to estimate the pose based on a natural image marker")
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extern "C" XPCF_MODULEHOOKS_API xpcf::XPCFErrorCode XPCF_getComponent(const boost::uuids::uuid& componentUUID,SRef<xpcf::IComponentIntrospect>& interfaceRef)
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{

‎SolARPipeline_NaturalImageMarker/src/component.cpp‎

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Original file line numberDiff line numberDiff line change
@@ -121,15 +121,6 @@ FrameworkReturnCode PipelineNaturalImageMarker::init()
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for(int j=0;j<4;j++)
122122
m_pose(i,j)=0.f;
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// initialize pose estimation based on planar points with the camera intrinsec parameters (please refeer to the use of intrinsec parameters file)
125-
m_poseEstimationPlanar->setCameraParameters(m_camera->getIntrinsicsParameters(), m_camera->getDistortionParameters());
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// initialize projection component with the camera intrinsec parameters (please refeer to the use of intrinsec parameters file)
128-
m_projection->setCameraParameters(m_camera->getIntrinsicsParameters(), m_camera->getDistortionParameters());
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// initialize unprojection component with the camera intrinsec parameters (please refeer to the use of intrinsec parameters file)
131-
m_unprojection->setCameraParameters(m_camera->getIntrinsicsParameters(), m_camera->getDistortionParameters());
132-
133124
m_isTrack = false;
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m_needNewTrackedPoints = false;
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@@ -226,7 +217,7 @@ bool PipelineNaturalImageMarker::processDetection()
226217
m_img_mapper->map(ref2Dpoints, ref3Dpoints);
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// Estimate the pose from the 2D-3D planar correspondence
229-
if (m_poseEstimationPlanar->estimate(cam2Dpoints, ref3Dpoints, inliers, pose) != FrameworkReturnCode::_SUCCESS)
220+
if (m_poseEstimationPlanar->estimate(cam2Dpoints, ref3Dpoints, m_camera->getParameters(), inliers, pose) != FrameworkReturnCode::_SUCCESS)
230221
{
231222
valid_pose = false;
232223
LOG_DEBUG("No pose from Detection for this frame");
@@ -299,7 +290,7 @@ bool PipelineNaturalImageMarker::processTracking()
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std::vector<Point2Df> projectedMarkerCorners;
300291
std::vector<Keypoint> newKeypoints;
301292
// Get the projection of the corner of the marker in the current image
302-
m_projection->project(m_markerWorldCorners, projectedMarkerCorners, m_pose);
293+
m_projection->project(m_markerWorldCorners, m_pose, m_camera->getParameters(), projectedMarkerCorners);
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304295
// Detect the keypoints within the contours of the marker defined by the projected corners
305296
m_kpDetectorRegion->detect(m_previousCamImage, projectedMarkerCorners, newKeypoints);
@@ -309,7 +300,7 @@ bool PipelineNaturalImageMarker::processTracking()
309300
m_imagePoints_track.push_back(Point2Df(keypoint.getX(), keypoint.getY()));
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311302
// get back the 3D positions of the detected keypoints in world space
312-
m_unprojection->unproject(m_imagePoints_track, m_worldPoints_track, m_pose);
303+
m_unprojection->unproject(m_imagePoints_track, m_pose, m_camera->getParameters(), m_worldPoints_track);
313304
LOG_DEBUG("Reinitialize points to track");
314305
}
315306
else {
@@ -343,7 +334,7 @@ bool PipelineNaturalImageMarker::processTracking()
343334
}
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// Estimate the pose from the 2D-3D planar correspondence
346-
if (m_poseEstimationPlanar->estimate(pts2D, pts3D, inliers, m_pose) != FrameworkReturnCode::_SUCCESS)
337+
if (m_poseEstimationPlanar->estimate(pts2D, pts3D, m_camera->getParameters(), inliers, m_pose) != FrameworkReturnCode::_SUCCESS)
347338
{
348339
m_isTrack = false;
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valid_pose = false;

‎SolARPipeline_NaturalImageMarker/tests/SolARPipelineTest_NaturalImageMarker/SolARPipelineTest_NaturalImageMarker.pro‎

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## global defintions : target lib name, version
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TARGET = SolARPipelineTest_NaturalImageMarker
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VERSION=0.11.0
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VERSION=1.0.0
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PROJECTDEPLOYDIR = $${PWD}/../../../deploy
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DEFINES += MYVERSION=$${VERSION}
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QMAKE_POST_LINK += "make install install_deps"
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}
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macx {
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DEFINES += _MACOS_TARGET_
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QMAKE_MAC_SDK= macosx
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QMAKE_CFLAGS += -mmacosx-version-min=10.7 -std=c11 #-x objective-c++
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QMAKE_CXXFLAGS += -mmacosx-version-min=10.7 -std=c11 -std=c++11 -O3 -fPIC#-x objective-c++
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QMAKE_LFLAGS += -mmacosx-version-min=10.7 -v -lstdc++
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LIBS += -lstdc++ -lc -lpthread
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}
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config_files.path = $${TARGETDEPLOYDIR}
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config_files.files=$$files($${PWD}/SolARPipelineTest_NaturalImageMarker_conf.xml)\
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$$files($${PWD}/camera_calibration.json)\
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$$files($${PWD}/NaturalImageMarker.yml)\
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$$files($${PWD}/grafMarker.yml)\
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$$files($${PWD}/graf1.png)
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INSTALLS += config_files
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‎SolARPipeline_NaturalImageMarker/tests/SolARPipelineTest_NaturalImageMarker/SolARPipelineTest_NaturalImageMarker_conf.xml‎

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<?xml version="1.0"?>
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<xpcf-registry autoAlias="true" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
3-
<module uuid="5bbc1452-8d7f-4512-83f1-7bf48453809f" name="SolARPipelineNaturalImageMarker" path="$XPCF_MODULE_ROOT/SolARBuild/SolARPipelineNaturalImageMarker/0.11.0/lib/x86_64/shared" description="The module embedding a pipeline to estimate the pose based on a natural Image marker">
3+
<module uuid="5bbc1452-8d7f-4512-83f1-7bf48453809f" name="SolARPipelineNaturalImageMarker" path="$XPCF_MODULE_ROOT/SolARBuild/SolARPipelineNaturalImageMarker/1.0.0/lib/x86_64/shared" description="The module embedding a pipeline to estimate the pose based on a natural Image marker">
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<component uuid="6f6c7ae8-764c-49b3-a2fc-e9a4f539b9b1" name="PipelineNaturalImageMarker" description="A pipeline to estimate the pose based on a natural Image marker">
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<interface uuid="125f2007-1bf9-421d-9367-fbdc1210d006" name="IComponentIntrospect" description="IComponentIntrospect" />
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<interface uuid="b5a6225e-6a91-4050-b298-886f4c17d9d2" name="IPoseEstimationPipeline" description="The interface to define a video see-throuh pipeline" />
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</component>
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</module>
9-
<module uuid="15e1990b-86b2-445c-8194-0cbe80ede970" name="SolARModuleOpenCV" path="$XPCF_MODULE_ROOT/SolARBuild/SolARModuleOpenCV/0.11.0/lib/x86_64/shared" description="moduleOpenCV">
9+
<module uuid="15e1990b-86b2-445c-8194-0cbe80ede970" name="SolARModuleOpenCV" path="$XPCF_MODULE_ROOT/SolARBuild/SolARModuleOpenCV/1.0.0/lib/x86_64/shared" description="moduleOpenCV">
1010
<component uuid="5B7396F4-A804-4F3C-A0EB-FB1D56042BB4" name="SolARCameraOpencv" description="SolARCameraOpencv">
1111
<interface uuid="125f2007-1bf9-421d-9367-fbdc1210d006" name="IComponentIntrospect" description="IComponentIntrospect"/>
1212
<interface uuid="5DDC7DF0-8377-437F-9C81-3643F7676A5B" name="ICamera" description="ICamera"/>
@@ -64,7 +64,7 @@
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<interface uuid="81a20f52-6bf9-4949-b914-df2f614bc945" name="I3DOverlay" description="I3DOverlay"/>
6565
</component>
6666
</module>
67-
<module uuid="28b89d39-41bd-451d-b19e-d25a3d7c5797" name="SolARModuleTools" path="$XPCF_MODULE_ROOT/SolARBuild/SolARModuleTools/0.11.0/lib/x86_64/shared" description="Module Tools">
67+
<module uuid="28b89d39-41bd-451d-b19e-d25a3d7c5797" name="SolARModuleTools" path="$XPCF_MODULE_ROOT/SolARBuild/SolARModuleTools/1.0.0/lib/x86_64/shared" description="Module Tools">
6868
<component uuid="a2ef5542-029e-4fce-9974-0aea14b29d6f" name="SolARSBPatternReIndexer" description="SolARSBPatternReIndexer">
6969
<interface uuid="125f2007-1bf9-421d-9367-fbdc1210d006" name="IComponentIntrospect" description="IComponentIntrospect" />
7070
<interface uuid="79c5b810-d557-11e7-9296-cec278b6b50a" name="ISBPatternReIndexer" description="ISBPatternReIndexer" />

‎SolARPipeline_NaturalImageMarker/tests/SolARPipelineTest_NaturalImageMarker/main.cpp‎

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Original file line numberDiff line numberDiff line change
@@ -48,7 +48,6 @@ int main(){
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4949
// Set camera parameters
5050
CameraParameters camParam = pipeline->getCameraParameters();
51-
overlay3DComponent->setCameraParameters(camParam.intrinsic, camParam.distortion);
5251

5352
unsigned char* r_imageData=new unsigned char[camParam.resolution.width * camParam.resolution.height * 3];
5453
SRef<Image> camImage=xpcf::utils::make_shared<Image>(r_imageData,camParam.resolution.width,camParam.resolution.height, Image::LAYOUT_BGR, Image::INTERLEAVED, Image::TYPE_8U);
@@ -75,7 +74,7 @@ int main(){
7574
for(int j=0;j<3;j++)
7675
s_pose(3,j)=0;
7776
s_pose(3,3)=1;
78-
overlay3DComponent->draw(s_pose, camImage);
77+
overlay3DComponent->draw(s_pose, camParam, camImage);
7978
}
8079

8180
if (imageViewerResult->display(camImage) == SolAR::FrameworkReturnCode::_STOP){

‎SolARPipeline_NaturalImageMarker/tests/SolARPipelineTest_NaturalImageMarker/packagedependencies.txt‎

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SolARFramework|0.11.0|SolARFramework|SolARBuild@github|https://github.com/SolarFramework/SolarFramework/releases/download
1+
SolARFramework|1.0.0|SolARFramework|SolARBuild@github|https://github.com/SolarFramework/SolarFramework/releases/download

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